From 1e985f3aed7ec8f2b61b8fbd7d2c56d3028341cc Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Thu, 28 Jun 2012 16:01:27 -0700
Subject: [PATCH 001/543] MixerCurve: start branch with integrated mixer curve
 widget featuring all heli coolness for every curve.

---
 .../uavobjectwidgetutils/mixercurve.cpp       | 14 +++
 .../plugins/uavobjectwidgetutils/mixercurve.h | 22 +++++
 .../uavobjectwidgetutils/mixercurve.ui        | 85 +++++++++++++++++++
 .../uavobjectwidgetutils.pro                  |  9 +-
 4 files changed, 128 insertions(+), 2 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui

diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
new file mode 100644
index 000000000..4997f1493
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
@@ -0,0 +1,14 @@
+#include "mixercurve.h"
+#include "ui_mixercurve.h"
+
+MixerCurve::MixerCurve(QWidget *parent) :
+    QFrame(parent),
+    ui(new Ui::MixerCurve)
+{
+    ui->setupUi(this);
+}
+
+MixerCurve::~MixerCurve()
+{
+    delete ui;
+}
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
new file mode 100644
index 000000000..a4e7fdf6a
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
@@ -0,0 +1,22 @@
+#ifndef MIXERCURVE_H
+#define MIXERCURVE_H
+
+#include <QFrame>
+
+namespace Ui {
+class MixerCurve;
+}
+
+class MixerCurve : public QFrame
+{
+    Q_OBJECT
+    
+public:
+    explicit MixerCurve(QWidget *parent = 0);
+    ~MixerCurve();
+    
+private:
+    Ui::MixerCurve *ui;
+};
+
+#endif // MIXERCURVE_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui
new file mode 100644
index 000000000..48573bf24
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui
@@ -0,0 +1,85 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MixerCurve</class>
+ <widget class="QFrame" name="MixerCurve">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>322</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MixerCurve</string>
+  </property>
+  <property name="frameShape">
+   <enum>QFrame::StyledPanel</enum>
+  </property>
+  <property name="frameShadow">
+   <enum>QFrame::Raised</enum>
+  </property>
+  <widget class="MixerCurveWidget" name="mixerCurveWidget" native="true">
+   <property name="geometry">
+    <rect>
+     <x>80</x>
+     <y>40</y>
+     <width>221</width>
+     <height>241</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="spinCurveMin">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>260</y>
+     <width>51</width>
+     <height>22</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="spinCurveMax">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>40</y>
+     <width>51</width>
+     <height>22</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QTableWidget" name="curveSettings">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>70</y>
+     <width>61</width>
+     <height>181</height>
+    </rect>
+   </property>
+   <property name="rowCount">
+    <number>5</number>
+   </property>
+   <property name="columnCount">
+    <number>1</number>
+   </property>
+   <row/>
+   <row/>
+   <row/>
+   <row/>
+   <row/>
+   <column/>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>MixerCurveWidget</class>
+   <extends>QWidget</extends>
+   <header>mixercurvewidget.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/uavobjectwidgetutils.pro b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/uavobjectwidgetutils.pro
index caacc1e9c..e4a0fee99 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/uavobjectwidgetutils.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/uavobjectwidgetutils.pro
@@ -10,13 +10,18 @@ HEADERS += uavobjectwidgetutils_global.h \
     mixercurvewidget.h \
     mixercurvepoint.h \
     mixercurveline.h \
- smartsavebutton.h
+ smartsavebutton.h \
+    mixercurve.h
 SOURCES += uavobjectwidgetutilsplugin.cpp \
     configtaskwidget.cpp \
     mixercurvewidget.cpp \
     mixercurvepoint.cpp \
     mixercurveline.cpp \
-    smartsavebutton.cpp
+    smartsavebutton.cpp \
+    mixercurve.cpp
 
 
 OTHER_FILES += UAVObjectWidgetUtils.pluginspec
+
+FORMS += \
+    mixercurve.ui

From 7f3a810fa605c29d4830ac6281f8d2daa2c096ac Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Sat, 30 Jun 2012 14:35:38 -0700
Subject: [PATCH 002/543] MixerCurve: alpha version of integrated mixer curve;
 only in fixedwing config currently.

---
 .../src/plugins/config/airframe.ui            |  60 +---
 .../config/configvehicletypewidget.cpp        |  21 +-
 .../plugins/config/configvehicletypewidget.h  |   1 -
 .../uavobjectwidgetutils/mixercurve.cpp       | 259 +++++++++++++++-
 .../plugins/uavobjectwidgetutils/mixercurve.h |  49 ++-
 .../uavobjectwidgetutils/mixercurve.ui        | 284 ++++++++++++++++--
 .../uavobjectwidgetutils/mixercurvewidget.cpp |  14 +-
 .../uavobjectwidgetutils/mixercurvewidget.h   |   4 +-
 8 files changed, 596 insertions(+), 96 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 47006a789..8fd8ce73e 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -471,23 +471,7 @@ margin:1px;</string>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_16">
                   <item>
-                   <spacer name="verticalSpacer_6">
-                    <property name="orientation">
-                     <enum>Qt::Vertical</enum>
-                    </property>
-                    <property name="sizeType">
-                     <enum>QSizePolicy::Fixed</enum>
-                    </property>
-                    <property name="sizeHint" stdset="0">
-                     <size>
-                      <width>20</width>
-                      <height>20</height>
-                     </size>
-                    </property>
-                   </spacer>
-                  </item>
-                  <item>
-                   <widget class="MixerCurveWidget" name="fixedWingThrottle" native="true">
+                   <widget class="MixerCurve" name="fixedWingThrottle" native="true">
                     <property name="sizePolicy">
                      <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                       <horstretch>0</horstretch>
@@ -496,14 +480,14 @@ margin:1px;</string>
                     </property>
                     <property name="minimumSize">
                      <size>
-                      <width>100</width>
-                      <height>100</height>
+                      <width>350</width>
+                      <height>350</height>
                      </size>
                     </property>
                     <property name="maximumSize">
                      <size>
-                      <width>200</width>
-                      <height>200</height>
+                      <width>500</width>
+                      <height>500</height>
                      </size>
                     </property>
                     <property name="sizeIncrement">
@@ -514,26 +498,6 @@ margin:1px;</string>
                     </property>
                    </widget>
                   </item>
-                  <item>
-                   <widget class="QPushButton" name="fwThrottleReset">
-                    <property name="maximumSize">
-                     <size>
-                      <width>200</width>
-                      <height>16777215</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Reset</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="fwThrottleCurveItemValue">
-                    <property name="text">
-                     <string>Val: 0.00</string>
-                    </property>
-                   </widget>
-                  </item>
                  </layout>
                 </widget>
                </item>
@@ -2784,14 +2748,14 @@ 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;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;/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;
 &lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
 &lt;tr&gt;
 &lt;td style=&quot;border: none;&quot;&gt;
 &lt;p align=&quot;center&quot; 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:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD IS DANGEROUS&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:'Ubuntu'; font-size:11pt;&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;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
-&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&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;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
            </property>
           </widget>
          </item>
@@ -2889,7 +2853,7 @@ p, li { white-space: pre-wrap; }
   <customwidget>
    <class>MixerCurveWidget</class>
    <extends>QWidget</extends>
-   <header>mixercurvewidget.h</header>
+   <header location="global">uavobjectwidgetutils/mixercurvewidget.h</header>
    <container>1</container>
   </customwidget>
   <customwidget>
@@ -2898,6 +2862,12 @@ p, li { white-space: pre-wrap; }
    <header>cfg_vehicletypes/configccpmwidget.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>MixerCurve</class>
+   <extends>QWidget</extends>
+   <header location="global">uavobjectwidgetutils/mixercurve.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <resources>
   <include location="../coreplugin/core.qrc"/>
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 84b531d6b..293821d55 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -207,7 +207,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
     //mdl connect(m_heli->m_ccpm->ccpmType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
 
 	//Connect throttle curve reset pushbuttons to reset functions
-    connect(m_aircraft->fwThrottleReset, SIGNAL(clicked()), this, SLOT(resetFwMixer()));
+    //connect(m_aircraft->fwThrottleReset, SIGNAL(clicked()), this, SLOT(resetFwMixer()));
     connect(m_aircraft->mrThrottleCurveReset, SIGNAL(clicked()), this, SLOT(resetMrMixer()));
     connect(m_aircraft->gvThrottleCurve1Reset, SIGNAL(clicked()), this, SLOT(resetGvFrontMixer()));	
     connect(m_aircraft->gvThrottleCurve2Reset, SIGNAL(clicked()), this, SLOT(resetGvRearMixer()));	
@@ -487,7 +487,7 @@ void ConfigVehicleTypeWidget::resetFwMixer()
 {
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements(),1);
+    //resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements(),1);
 }
 
 /**
@@ -497,7 +497,7 @@ void ConfigVehicleTypeWidget::resetMrMixer()
 {
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements(),0.9);
+    //resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements(),0.9);
 }
 
 /**
@@ -507,7 +507,7 @@ void ConfigVehicleTypeWidget::resetGvFrontMixer()
 {
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    resetMixer(m_aircraft->groundVehicleThrottle1, field->getNumElements(),1);
+    //resetMixer(m_aircraft->groundVehicleThrottle1, field->getNumElements(),1);
 }
 
 /**
@@ -517,7 +517,7 @@ void ConfigVehicleTypeWidget::resetGvRearMixer()
 {
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
-    resetMixer(m_aircraft->groundVehicleThrottle2, field->getNumElements(),1);
+    //resetMixer(m_aircraft->groundVehicleThrottle2, field->getNumElements(),1);
 }
 
 /**
@@ -537,7 +537,7 @@ void ConfigVehicleTypeWidget::resetCt2Mixer()
 {
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
-    resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements(),1);
+    //resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements(),1);
 }
 
 
@@ -550,15 +550,6 @@ void ConfigVehicleTypeWidget::resetMixer(MixerCurveWidget *mixer, int numElement
     mixer->initLinearCurve((quint32)numElements,maxvalue);
 }
 
-/**
-  Updates the currently moved fixed wing throttle curve item value
-  */
-void ConfigVehicleTypeWidget::updateFwThrottleCurveValue(QList<double> list, double value)
-{
-    Q_UNUSED(list);
-    m_aircraft->fwThrottleCurveItemValue->setText(QString().sprintf("Val: %.2f",value));
-}
-
 /**
   Updates the currently moved multi-rotor throttle curve item value
   */
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
index 3cca72ba1..fb7571cd2 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
@@ -99,7 +99,6 @@ private slots:
     void resetGvRearMixer();
     void resetCt1Mixer();
     void resetCt2Mixer();
-    void updateFwThrottleCurveValue(QList<double> list, double value);
     void updateMrThrottleCurveValue(QList<double> list, double value);
     void updateGvThrottle1CurveValue(QList<double> list, double value);
     void updateGvThrottle2CurveValue(QList<double> list, double value);
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
index 4997f1493..c319138dd 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
@@ -1,14 +1,265 @@
+#include <math.h>
 #include "mixercurve.h"
-#include "ui_mixercurve.h"
 
 MixerCurve::MixerCurve(QWidget *parent) :
     QFrame(parent),
-    ui(new Ui::MixerCurve)
+    m_mixerUI(new Ui::MixerCurve),
+    m_curveType(MixerCurve::MIXERCURVE_THROTTLE)
 {
-    ui->setupUi(this);
+    m_mixerUI->setupUi(this);
+
+    m_curve = m_mixerUI->CurveWidget;
+    m_settings = m_mixerUI->CurveSettings;
+
+    UpdateCurveSettings();
+
+    connect(m_mixerUI->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings()));
+    connect(m_mixerUI->ResetCurve, SIGNAL(clicked()), this, SLOT(ResetCurve()));
+    connect(m_mixerUI->GenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve()));
+    connect(m_curve, SIGNAL(curveUpdated()), this, SLOT(UpdateSettings()));
+
+    connect(m_mixerUI->CurveMin, SIGNAL(valueChanged(double)), this, SLOT(CurveMinChanged(double)));
+    connect(m_mixerUI->CurveMax, SIGNAL(valueChanged(double)), this, SLOT(CurveMaxChanged(double)));
+    connect(m_mixerUI->CurveStep, SIGNAL(valueChanged(double)), this, SLOT(GenerateCurve()));
 }
 
 MixerCurve::~MixerCurve()
 {
-    delete ui;
+    delete m_mixerUI;
+}
+
+void MixerCurve::ResetCurve()
+{
+    m_curve->setMin((m_curveType == MixerCurve::MIXERCURVE_THROTTLE) ? 0.0 : -1.0);
+    m_curve->setMax(1.0);
+
+    m_mixerUI->CurveMin->setValue(m_curve->getMin());
+    m_mixerUI->CurveMax->setValue(m_curve->getMax());
+
+    initLinearCurve(MixerCurveWidget::NODE_NUMELEM, m_curve->getMax(), m_curve->getMin());
+
+    UpdateSettings();
+}
+
+void MixerCurve::UpdateCurveSettings()
+{
+    //get the user settings
+    QString curveType = m_mixerUI->CurveType->currentText();
+
+    switch (m_curveType) {
+        case MixerCurve::MIXERCURVE_THROTTLE:
+        {
+            m_mixerUI->CurveMin->setMinimum(0.0);
+            m_mixerUI->CurveMax->setMinimum(0.0);
+            m_mixerUI->CurveStep->setMinimum(0.0);
+            break;
+        }
+        case MixerCurve::MIXERCURVEPITCH:
+        {
+            m_mixerUI->CurveMin->setMinimum(-1.0);
+            m_mixerUI->CurveMax->setMinimum(-1.0);
+            m_mixerUI->CurveStep->setMinimum(0.0);
+            break;
+        }
+    }
+    m_mixerUI->CurveMin->setMaximum(1.0);
+    m_mixerUI->CurveMax->setMaximum(1.0);
+    m_mixerUI->CurveStep->setMaximum(100.0);
+
+    //set default visible
+    m_mixerUI->minLabel->setText("Min");
+    m_mixerUI->minLabel->setVisible(true);
+    m_mixerUI->CurveMin->setVisible(true);
+    m_mixerUI->maxLabel->setVisible(false);
+    m_mixerUI->CurveMax->setVisible(false);
+    m_mixerUI->stepLabel->setVisible(false);
+    m_mixerUI->CurveStep->setVisible(false);
+
+    if ( curveType.compare("Flat")==0)
+    {
+        m_mixerUI->minLabel->setText("Value");
+    }
+    if ( curveType.compare("Linear")==0)
+    {
+        m_mixerUI->maxLabel->setVisible(true);
+        m_mixerUI->CurveMax->setVisible(true);
+    }
+    if ( curveType.compare("Step")==0)
+    {
+        m_mixerUI->maxLabel->setVisible(true);
+        m_mixerUI->CurveMax->setVisible(true);
+        m_mixerUI->stepLabel->setText("Step at");
+        m_mixerUI->stepLabel->setVisible(true);
+        m_mixerUI->CurveStep->setVisible(true);
+    }
+    if ( curveType.compare("Exp")==0)
+    {
+        m_mixerUI->maxLabel->setVisible(true);
+        m_mixerUI->CurveMax->setVisible(true);
+        m_mixerUI->stepLabel->setText("Strength");
+        m_mixerUI->stepLabel->setVisible(true);
+        m_mixerUI->CurveStep->setVisible(true);
+    }
+    if ( curveType.compare("Log")==0)
+    {
+        m_mixerUI->maxLabel->setVisible(true);
+        m_mixerUI->CurveMax->setVisible(true);
+        m_mixerUI->stepLabel->setText("Strength");
+        m_mixerUI->stepLabel->setVisible(true);
+        m_mixerUI->CurveStep->setVisible(true);
+    }
+}
+
+void MixerCurve::GenerateCurve()
+{
+   double scale;
+   double newValue;
+
+   //get the user settings
+   double value1 = getMin();
+   double value2 = getMax();
+   double value3 = getStep();
+
+   QString CurveType = m_mixerUI->CurveType->currentText();
+
+   QList<double> points;
+
+   for (int i=0; i<MixerCurveWidget::NODE_NUMELEM; i++)
+   {
+       scale =((double)i/(double)(MixerCurveWidget::NODE_NUMELEM - 1));
+
+       if ( CurveType.compare("Flat")==0)
+       {
+           points.append(value1);
+       }
+       if ( CurveType.compare("Linear")==0)
+       {
+           newValue =value1 +(scale*(value2-value1));
+           points.append(newValue);
+       }
+       if ( CurveType.compare("Step")==0)
+       {
+           if (scale*100<value3)
+           {
+               points.append(value1);
+           }
+           else
+           {
+               points.append(value2);
+           }
+       }
+       if ( CurveType.compare("Exp")==0)
+       {
+           newValue =value1 +(((exp(scale*(value3/10))-1))/(exp((value3/10))-1)*(value2-value1));
+           points.append(newValue);
+       }
+       if ( CurveType.compare("Log")==0)
+       {
+           newValue = value1 +(((log(scale*(value3*2)+1))/(log(1+(value3*2))))*(value2-value1));
+           points.append(newValue);
+       }
+   }
+
+   initCurve(&points);
+}
+
+void MixerCurve::initCurve (const QList<double>* points)
+{
+    m_curve->initCurve(points);
+    UpdateSettings();
+}
+
+QList<double> MixerCurve::getCurve()
+{
+    return m_curve->getCurve();
+}
+
+void MixerCurve::initLinearCurve(int numPoints, double maxValue, double minValue)
+{
+    m_curve->initLinearCurve(numPoints, maxValue, minValue);
+}
+
+void MixerCurve::setCurve(const QList<double>* points)
+{
+    m_curve->setCurve(points);
+    UpdateSettings();
+}
+
+void MixerCurve::setMin(double value)
+{
+    m_curve->setMin(value);
+}
+
+double MixerCurve::getMin()
+{
+    return m_curve->getMin();
+}
+
+void MixerCurve::setMax(double value)
+{
+    m_curve->setMax(value);
+}
+
+double MixerCurve::getMax()
+{
+    return m_curve->getMax();
+}
+
+double MixerCurve::getStep()
+{
+    return m_mixerUI->CurveStep->value();
+}
+
+void MixerCurve::UpdateSettings()
+{
+    QList<double> points = m_curve->getCurve();
+
+    int ptCnt = points.count();
+    for (int i=0; i<ptCnt; i++)
+    {
+        QTableWidgetItem* item = m_settings->item((ptCnt - 1) - i, 0);
+        if (item)
+            item->setText(QString().sprintf("%.2f",points.at(i)));
+    }
+}
+
+void MixerCurve::CurveMinChanged(double value)
+{
+    setMin(value);
+
+    // the min changed so redraw the curve
+    //  mixercurvewidget::setCurve will trim any points below min
+    QList<double> points = getCurve();
+    setCurve(&points);
+}
+
+void MixerCurve::CurveMaxChanged(double value)
+{
+    setMax(value);
+
+    // the max changed so redraw the curve
+    //  mixercurvewidget::setCurve will trim any points above max
+    QList<double> points = getCurve();
+    setCurve(&points);
+}
+
+double MixerCurve::setRange(double min, double max)
+{
+    return m_curve->setRange(min, max);
+}
+
+void MixerCurve::showEvent(QShowEvent *event)
+{
+    Q_UNUSED(event)
+    // Thit fitInView method should only be called now, once the
+    // widget is shown, otherwise it cannot compute its values and
+    // the result is usually a ahrsbargraph that is way too small.
+    //fitInView(this, Qt::KeepAspectRatio);
+
+}
+
+void MixerCurve::resizeEvent(QResizeEvent* event)
+{
+    Q_UNUSED(event);
+    //fitInView(this, Qt::KeepAspectRatio);
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
index a4e7fdf6a..eeebe0d22 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
@@ -2,21 +2,64 @@
 #define MIXERCURVE_H
 
 #include <QFrame>
+#include <QtGui/QWidget>
+#include <QList>
+#include <QTableWidget>
+
+#include "ui_mixercurve.h"
+#include "mixercurvewidget.h"
+#include "uavobjectwidgetutils_global.h"
 
 namespace Ui {
 class MixerCurve;
 }
 
-class MixerCurve : public QFrame
+class UAVOBJECTWIDGETUTILS_EXPORT MixerCurve : public QFrame
 {
     Q_OBJECT
     
 public:
     explicit MixerCurve(QWidget *parent = 0);
     ~MixerCurve();
-    
+
+
+    /* Enumeration options for ThrottleCurves */
+    typedef enum { MIXERCURVE_THROTTLE=0, MIXERCURVEPITCH=1 } MixerCurveType;
+
+    void initCurve (const QList<double>* points);
+    QList<double> getCurve();
+    void initLinearCurve(int numPoints, double maxValue = 1, double minValue = 0);
+    void setCurve(const QList<double>* points);
+    void setMin(double value);
+    double getMin();
+    void setMax(double value);
+    double getMax();
+    double getStep();
+    double setRange(double min, double max);
+
+
+signals:
+
+protected:
+    void showEvent(QShowEvent *event);
+    void resizeEvent(QResizeEvent *event);
+
+public slots:
+    void ResetCurve();
+    void GenerateCurve();
+    void UpdateSettings();
+
+private slots:
+    void CurveMinChanged(double value);
+    void CurveMaxChanged(double value);
+    void UpdateCurveSettings();
+
 private:
-    Ui::MixerCurve *ui;
+    Ui::MixerCurve* m_mixerUI;
+    MixerCurveWidget* m_curve;
+    QTableWidget* m_settings;
+    MixerCurveType m_curveType;
+
 };
 
 #endif // MIXERCURVE_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui
index 48573bf24..67ad97fe2 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui
@@ -6,10 +6,28 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>322</width>
-    <height>300</height>
+    <width>437</width>
+    <height>317</height>
    </rect>
   </property>
+  <property name="minimumSize">
+   <size>
+    <width>365</width>
+    <height>306</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>500</width>
+    <height>500</height>
+   </size>
+  </property>
+  <property name="baseSize">
+   <size>
+    <width>300</width>
+    <height>300</height>
+   </size>
+  </property>
   <property name="windowTitle">
    <string>MixerCurve</string>
   </property>
@@ -19,64 +37,282 @@
   <property name="frameShadow">
    <enum>QFrame::Raised</enum>
   </property>
-  <widget class="MixerCurveWidget" name="mixerCurveWidget" native="true">
+  <widget class="MixerCurveWidget" name="CurveWidget" native="true">
    <property name="geometry">
     <rect>
-     <x>80</x>
-     <y>40</y>
-     <width>221</width>
+     <x>140</x>
+     <y>10</y>
+     <width>291</width>
+     <height>300</height>
+    </rect>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>261</width>
      <height>241</height>
-    </rect>
+    </size>
+   </property>
+   <property name="maximumSize">
+    <size>
+     <width>300</width>
+     <height>300</height>
+    </size>
    </property>
   </widget>
-  <widget class="QDoubleSpinBox" name="spinCurveMin">
+  <widget class="QDoubleSpinBox" name="CurveMin">
    <property name="geometry">
     <rect>
-     <x>20</x>
-     <y>260</y>
+     <x>70</x>
+     <y>240</y>
      <width>51</width>
      <height>22</height>
     </rect>
    </property>
+   <property name="correctionMode">
+    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+   </property>
+   <property name="minimum">
+    <double>-1.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.010000000000000</double>
+   </property>
+   <property name="value">
+    <double>0.000000000000000</double>
+   </property>
   </widget>
-  <widget class="QDoubleSpinBox" name="spinCurveMax">
+  <widget class="QDoubleSpinBox" name="CurveMax">
    <property name="geometry">
     <rect>
-     <x>20</x>
+     <x>70</x>
      <y>40</y>
      <width>51</width>
      <height>22</height>
     </rect>
    </property>
+   <property name="correctionMode">
+    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+   </property>
+   <property name="minimum">
+    <double>0.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.010000000000000</double>
+   </property>
+   <property name="value">
+    <double>1.000000000000000</double>
+   </property>
   </widget>
-  <widget class="QTableWidget" name="curveSettings">
+  <widget class="QTableWidget" name="CurveSettings">
    <property name="geometry">
     <rect>
-     <x>10</x>
-     <y>70</y>
-     <width>61</width>
-     <height>181</height>
+     <x>20</x>
+     <y>60</y>
+     <width>101</width>
+     <height>171</height>
     </rect>
    </property>
+   <property name="font">
+    <font>
+     <pointsize>8</pointsize>
+    </font>
+   </property>
+   <property name="verticalScrollBarPolicy">
+    <enum>Qt::ScrollBarAlwaysOff</enum>
+   </property>
+   <property name="horizontalScrollBarPolicy">
+    <enum>Qt::ScrollBarAlwaysOff</enum>
+   </property>
+   <property name="autoScroll">
+    <bool>false</bool>
+   </property>
    <property name="rowCount">
     <number>5</number>
    </property>
    <property name="columnCount">
     <number>1</number>
    </property>
-   <row/>
-   <row/>
-   <row/>
-   <row/>
-   <row/>
-   <column/>
+   <row>
+    <property name="text">
+     <string>5</string>
+    </property>
+   </row>
+   <row>
+    <property name="text">
+     <string>4</string>
+    </property>
+   </row>
+   <row>
+    <property name="text">
+     <string>3</string>
+    </property>
+   </row>
+   <row>
+    <property name="text">
+     <string>2</string>
+    </property>
+   </row>
+   <row>
+    <property name="text">
+     <string>1</string>
+    </property>
+   </row>
+   <column>
+    <property name="text">
+     <string>Value</string>
+    </property>
+   </column>
+   <item row="0" column="0">
+    <property name="text">
+     <string>1.0</string>
+    </property>
+   </item>
+   <item row="1" column="0">
+    <property name="text">
+     <string>.75</string>
+    </property>
+   </item>
+   <item row="2" column="0">
+    <property name="text">
+     <string>.50</string>
+    </property>
+   </item>
+   <item row="3" column="0">
+    <property name="text">
+     <string>.25</string>
+    </property>
+   </item>
+   <item row="4" column="0">
+    <property name="text">
+     <string>.00</string>
+    </property>
+   </item>
+  </widget>
+  <widget class="QComboBox" name="CurveType">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>10</y>
+     <width>61</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <item>
+    <property name="text">
+     <string>Linear</string>
+    </property>
+   </item>
+   <item>
+    <property name="text">
+     <string>Log</string>
+    </property>
+   </item>
+   <item>
+    <property name="text">
+     <string>Exp</string>
+    </property>
+   </item>
+   <item>
+    <property name="text">
+     <string>Flat</string>
+    </property>
+   </item>
+   <item>
+    <property name="text">
+     <string>Step</string>
+    </property>
+   </item>
+  </widget>
+  <widget class="QPushButton" name="GenerateCurve">
+   <property name="geometry">
+    <rect>
+     <x>70</x>
+     <y>10</y>
+     <width>61</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Generate</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="minLabel">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>240</y>
+     <width>41</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Min</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="maxLabel">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>40</y>
+     <width>41</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Max</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="ResetCurve">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>290</y>
+     <width>75</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Reset</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="stepLabel">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>260</y>
+     <width>41</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Step</string>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="CurveStep">
+   <property name="geometry">
+    <rect>
+     <x>70</x>
+     <y>260</y>
+     <width>51</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="correctionMode">
+    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+   </property>
   </widget>
  </widget>
  <customwidgets>
   <customwidget>
    <class>MixerCurveWidget</class>
    <extends>QWidget</extends>
-   <header>mixercurvewidget.h</header>
+   <header location="global">uavobjectwidgetutils/mixercurvewidget.h</header>
    <container>1</container>
   </customwidget>
  </customwidgets>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index a19692ff9..eea8fef7b 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -220,12 +220,13 @@ void MixerCurveWidget::setCurve(const QList<double>* points)
         Node* node = nodeList.at(i);
         node->setPos(w*i, h - (val*h));
         node->verticalMove(true);
+        node->update();
     }
     curveUpdating = false;
 
     update();
 
-    emit curveUpdated(points, (double)0);
+    emit curveUpdated();
 }
 
 
@@ -248,19 +249,26 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
 void MixerCurveWidget::itemMoved(double itemValue)
 {
     if (!curveUpdating) {
-        QList<double> curve = getCurve();
-        emit curveUpdated(&curve, itemValue);
+        emit curveUpdated();
     }
 }
 
 void MixerCurveWidget::setMin(double value)
 {
+    if (curveMin != value)
+        emit curveMinChanged(value);
+
     curveMin = value;
 }
+
 void MixerCurveWidget::setMax(double value)
 {
+    if (curveMax != value)
+        emit curveMaxChanged(value);
+
     curveMax = value;
 }
+
 double MixerCurveWidget::getMin()
 {
     return curveMin;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
index 031a70733..e1275a3a5 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
@@ -57,7 +57,9 @@ public:
    static const int NODE_NUMELEM = 5;
 
 signals:
-   void curveUpdated(const QList<double>* points, const double value);
+   void curveUpdated();
+   void curveMinChanged(double value);
+   void curveMaxChanged(double value);
 
 private slots:
 

From 09a2a007a899c4d024dd640aad8f4d0c9790a3c6 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Sat, 30 Jun 2012 15:27:42 -0700
Subject: [PATCH 003/543] MixerCurve, Bugfix: use widget values for min/max for
 curve generation.

---
 .../uavobjectwidgetutils/mixercurve.cpp       | 30 ++++++++++++++-----
 .../plugins/uavobjectwidgetutils/mixercurve.h |  4 ++-
 2 files changed, 26 insertions(+), 8 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
index c319138dd..63b65d29c 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
@@ -35,6 +35,7 @@ void MixerCurve::ResetCurve()
 
     m_mixerUI->CurveMin->setValue(m_curve->getMin());
     m_mixerUI->CurveMax->setValue(m_curve->getMax());
+    m_mixerUI->CurveType->setCurrentIndex(m_mixerUI->CurveType->findText("Linear"));
 
     initLinearCurve(MixerCurveWidget::NODE_NUMELEM, m_curve->getMax(), m_curve->getMin());
 
@@ -108,6 +109,8 @@ void MixerCurve::UpdateCurveSettings()
         m_mixerUI->stepLabel->setVisible(true);
         m_mixerUI->CurveStep->setVisible(true);
     }
+
+    GenerateCurve();
 }
 
 void MixerCurve::GenerateCurve()
@@ -116,9 +119,9 @@ void MixerCurve::GenerateCurve()
    double newValue;
 
    //get the user settings
-   double value1 = getMin();
-   double value2 = getMax();
-   double value3 = getStep();
+   double value1 = getCurveMin();
+   double value2 = getCurveMax();
+   double value3 = getCurveStep();
 
    QString CurveType = m_mixerUI->CurveType->currentText();
 
@@ -165,7 +168,7 @@ void MixerCurve::GenerateCurve()
 
 void MixerCurve::initCurve (const QList<double>* points)
 {
-    m_curve->initCurve(points);
+    m_curve->setCurve(points);
     UpdateSettings();
 }
 
@@ -205,7 +208,16 @@ double MixerCurve::getMax()
     return m_curve->getMax();
 }
 
-double MixerCurve::getStep()
+double MixerCurve::getCurveMin()
+{
+    return m_mixerUI->CurveMin->value();
+}
+double MixerCurve::getCurveMax()
+{
+    return m_mixerUI->CurveMax->value();
+}
+
+double MixerCurve::getCurveStep()
 {
     return m_mixerUI->CurveStep->value();
 }
@@ -225,21 +237,25 @@ void MixerCurve::UpdateSettings()
 
 void MixerCurve::CurveMinChanged(double value)
 {
-    setMin(value);
+    //setMin(value);
 
     // the min changed so redraw the curve
     //  mixercurvewidget::setCurve will trim any points below min
     QList<double> points = getCurve();
+    points.removeFirst();
+    points.push_front(value);
     setCurve(&points);
 }
 
 void MixerCurve::CurveMaxChanged(double value)
 {
-    setMax(value);
+    //setMax(value);
 
     // the max changed so redraw the curve
     //  mixercurvewidget::setCurve will trim any points above max
     QList<double> points = getCurve();
+    points.removeLast();
+    points.append(value);
     setCurve(&points);
 }
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
index eeebe0d22..fe4719544 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
@@ -34,7 +34,9 @@ public:
     double getMin();
     void setMax(double value);
     double getMax();
-    double getStep();
+    double getCurveMin();
+    double getCurveMax();
+    double getCurveStep();
     double setRange(double min, double max);
 
 

From 8088f7aee9e4648ea2e47eff766b0db90605055d Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Mon, 2 Jul 2012 10:46:21 -0700
Subject: [PATCH 004/543] MixerCurve: wire new curve into all airframes except
 heli; ConfigMultiRotor: Bugfix boundary condition on channel descriptions;
 prune unused mixercurvewidget resets,values etc from vehicle specific configs

---
 .../src/plugins/config/airframe.ui            | 240 +++------
 .../openpilotgcs/src/plugins/config/ccpm.ui   |   4 +-
 .../configfixedwingwidget.cpp                 |   6 +-
 .../configgroundvehiclewidget.cpp             |   6 +-
 .../configmultirotorwidget.cpp                |  21 +-
 .../src/plugins/config/configoutputwidget.cpp |   2 -
 .../config/configvehicletypewidget.cpp        | 129 +----
 .../plugins/config/configvehicletypewidget.h  |  12 +-
 .../uavobjectwidgetutils/mixercurve.cpp       |  15 +-
 .../plugins/uavobjectwidgetutils/mixercurve.h |   1 +
 .../uavobjectwidgetutils/mixercurve.ui        | 508 +++++++++---------
 .../uavobjectwidgetutils/mixercurvewidget.h   |   3 +
 12 files changed, 339 insertions(+), 608 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 8fd8ce73e..5a6f81895 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>796</width>
-    <height>618</height>
+    <width>939</width>
+    <height>635</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -74,7 +74,7 @@
        <item>
         <widget class="QStackedWidget" name="airframesWidget">
          <property name="currentIndex">
-          <number>0</number>
+          <number>4</number>
          </property>
          <widget class="QWidget" name="fixedWing">
           <property name="enabled">
@@ -480,8 +480,8 @@ margin:1px;</string>
                     </property>
                     <property name="minimumSize">
                      <size>
-                      <width>350</width>
-                      <height>350</height>
+                      <width>0</width>
+                      <height>0</height>
                      </size>
                     </property>
                     <property name="maximumSize">
@@ -555,7 +555,7 @@ margin:1px;</string>
            <item>
             <layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0">
              <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0,0">
+              <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0">
                <item>
                 <layout class="QVBoxLayout" name="verticalLayout_24">
                  <item>
@@ -850,19 +850,6 @@ margin:1px;</string>
                  </item>
                 </layout>
                </item>
-               <item>
-                <spacer name="horizontalSpacer_6">
-                 <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="QGroupBox" name="groupBox_6">
                  <property name="title">
@@ -870,23 +857,7 @@ margin:1px;</string>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_9">
                   <item>
-                   <spacer name="verticalSpacer_7">
-                    <property name="orientation">
-                     <enum>Qt::Vertical</enum>
-                    </property>
-                    <property name="sizeType">
-                     <enum>QSizePolicy::Fixed</enum>
-                    </property>
-                    <property name="sizeHint" stdset="0">
-                     <size>
-                      <width>20</width>
-                      <height>10</height>
-                     </size>
-                    </property>
-                   </spacer>
-                  </item>
-                  <item>
-                   <widget class="MixerCurveWidget" name="multiThrottleCurve" native="true">
+                   <widget class="MixerCurve" name="multiThrottleCurve" native="true">
                     <property name="sizePolicy">
                      <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                       <horstretch>0</horstretch>
@@ -895,8 +866,8 @@ margin:1px;</string>
                     </property>
                     <property name="minimumSize">
                      <size>
-                      <width>120</width>
-                      <height>120</height>
+                      <width>0</width>
+                      <height>0</height>
                      </size>
                     </property>
                     <property name="styleSheet">
@@ -904,32 +875,6 @@ margin:1px;</string>
                     </property>
                    </widget>
                   </item>
-                  <item>
-                   <widget class="QPushButton" name="mrThrottleCurveReset">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="maximumSize">
-                     <size>
-                      <width>200</width>
-                      <height>16777215</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Reset</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="mrThrottleCurveItemValue">
-                    <property name="text">
-                     <string>Val: 0.00</string>
-                    </property>
-                   </widget>
-                  </item>
                  </layout>
                 </widget>
                </item>
@@ -1699,7 +1644,7 @@ margin:1px;</string>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_36">
                   <item>
-                   <widget class="MixerCurveWidget" name="groundVehicleThrottle1" native="true">
+                   <widget class="MixerCurve" name="groundVehicleThrottle1" native="true">
                     <property name="sizePolicy">
                      <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                       <horstretch>0</horstretch>
@@ -1708,14 +1653,14 @@ margin:1px;</string>
                     </property>
                     <property name="minimumSize">
                      <size>
-                      <width>100</width>
-                      <height>100</height>
+                      <width>0</width>
+                      <height>0</height>
                      </size>
                     </property>
                     <property name="maximumSize">
                      <size>
-                      <width>200</width>
-                      <height>200</height>
+                      <width>500</width>
+                      <height>500</height>
                      </size>
                     </property>
                     <property name="sizeIncrement">
@@ -1726,26 +1671,6 @@ margin:1px;</string>
                     </property>
                    </widget>
                   </item>
-                  <item>
-                   <widget class="QPushButton" name="gvThrottleCurve1Reset">
-                    <property name="maximumSize">
-                     <size>
-                      <width>200</width>
-                      <height>16777215</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Reset</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="gvThrottleCurve1ItemValue">
-                    <property name="text">
-                     <string>Val: 0.00</string>
-                    </property>
-                   </widget>
-                  </item>
                  </layout>
                 </widget>
                </item>
@@ -1756,7 +1681,7 @@ margin:1px;</string>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_37">
                   <item>
-                   <widget class="MixerCurveWidget" name="groundVehicleThrottle2" native="true">
+                   <widget class="MixerCurve" name="groundVehicleThrottle2" native="true">
                     <property name="sizePolicy">
                      <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                       <horstretch>0</horstretch>
@@ -1765,32 +1690,18 @@ margin:1px;</string>
                     </property>
                     <property name="minimumSize">
                      <size>
-                      <width>100</width>
-                      <height>100</height>
+                      <width>0</width>
+                      <height>0</height>
                      </size>
                     </property>
                     <property name="maximumSize">
                      <size>
-                      <width>200</width>
-                      <height>200</height>
+                      <width>500</width>
+                      <height>500</height>
                      </size>
                     </property>
                    </widget>
                   </item>
-                  <item>
-                   <widget class="QPushButton" name="gvThrottleCurve2Reset">
-                    <property name="text">
-                     <string>Reset</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="gvThrottleCurve2ItemValue">
-                    <property name="text">
-                     <string>Val: 0.00</string>
-                    </property>
-                   </widget>
-                  </item>
                  </layout>
                 </widget>
                </item>
@@ -1851,25 +1762,43 @@ margin:1px;</string>
               <layout class="QHBoxLayout" name="horizontalLayout_14">
                <item>
                 <widget class="QGroupBox" name="groupBox_4">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
                  <property name="title">
                   <string>Curve 1</string>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_7">
                   <item>
-                   <widget class="MixerCurveWidget" name="customThrottle1Curve" native="true">
+                   <widget class="MixerCurve" name="customThrottle1Curve" native="true">
                     <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
+                     <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+                      <horstretch>1</horstretch>
+                      <verstretch>1</verstretch>
                      </sizepolicy>
                     </property>
                     <property name="minimumSize">
                      <size>
-                      <width>100</width>
-                      <height>100</height>
+                      <width>50</width>
+                      <height>50</height>
                      </size>
                     </property>
                     <property name="maximumSize">
+                     <size>
+                      <width>1000</width>
+                      <height>1000</height>
+                     </size>
+                    </property>
+                    <property name="sizeIncrement">
+                     <size>
+                      <width>10</width>
+                      <height>10</height>
+                     </size>
+                    </property>
+                    <property name="baseSize">
                      <size>
                       <width>200</width>
                       <height>200</height>
@@ -1877,48 +1806,9 @@ margin:1px;</string>
                     </property>
                    </widget>
                   </item>
-                  <item>
-                   <widget class="QPushButton" name="customReset1">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>0</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Reset</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="customThrottleCurve1Value">
-                    <property name="text">
-                     <string>Val: 0.00</string>
-                    </property>
-                   </widget>
-                  </item>
                  </layout>
                 </widget>
                </item>
-               <item>
-                <spacer name="horizontalSpacer_9">
-                 <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="QGroupBox" name="groupBox_5">
                  <property name="title">
@@ -1926,20 +1816,32 @@ margin:1px;</string>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_17">
                   <item>
-                   <widget class="MixerCurveWidget" name="customThrottle2Curve" native="true">
+                   <widget class="MixerCurve" name="customThrottle2Curve" native="true">
                     <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
+                     <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+                      <horstretch>1</horstretch>
+                      <verstretch>1</verstretch>
                      </sizepolicy>
                     </property>
                     <property name="minimumSize">
                      <size>
-                      <width>100</width>
-                      <height>100</height>
+                      <width>50</width>
+                      <height>50</height>
                      </size>
                     </property>
                     <property name="maximumSize">
+                     <size>
+                      <width>1000</width>
+                      <height>1000</height>
+                     </size>
+                    </property>
+                    <property name="sizeIncrement">
+                     <size>
+                      <width>10</width>
+                      <height>10</height>
+                     </size>
+                    </property>
+                    <property name="baseSize">
                      <size>
                       <width>200</width>
                       <height>200</height>
@@ -1947,20 +1849,6 @@ margin:1px;</string>
                     </property>
                    </widget>
                   </item>
-                  <item>
-                   <widget class="QPushButton" name="customReset2">
-                    <property name="text">
-                     <string>Reset</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="customThrottleCurve2Value">
-                    <property name="text">
-                     <string>Val: 0.00</string>
-                    </property>
-                   </widget>
-                  </item>
                  </layout>
                 </widget>
                </item>
@@ -2850,12 +2738,6 @@ p, li { white-space: pre-wrap; }
   </layout>
  </widget>
  <customwidgets>
-  <customwidget>
-   <class>MixerCurveWidget</class>
-   <extends>QWidget</extends>
-   <header location="global">uavobjectwidgetutils/mixercurvewidget.h</header>
-   <container>1</container>
-  </customwidget>
   <customwidget>
    <class>ConfigCcpmWidget</class>
    <extends>QWidget</extends>
diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui
index c31e5fb97..1ebb2a71b 100644
--- a/ground/openpilotgcs/src/plugins/config/ccpm.ui
+++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui
@@ -87,7 +87,7 @@ QGroupBox::title {
  }</string>
        </property>
        <property name="currentIndex">
-        <number>0</number>
+        <number>2</number>
        </property>
        <widget class="QWidget" name="BasicTab">
         <attribute name="title">
@@ -3912,7 +3912,7 @@ margin:1px;</string>
   <customwidget>
    <class>MixerCurveWidget</class>
    <extends>QWidget</extends>
-   <header>mixercurvewidget.h</header>
+   <header location="global">uavobjectwidgetutils/mixercurvewidget.h</header>
    <container>1</container>
   </customwidget>
  </customwidgets>
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
index 7ed667828..727a2f52d 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
@@ -291,7 +291,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
 
     int channel;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
@@ -371,7 +371,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
     int channel;
     double value;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
@@ -449,7 +449,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
     int channel;
     double value;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
index 2309ed872..8f2946d78 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
@@ -307,7 +307,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
 
     int channel;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
+    for (channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
     }
@@ -364,7 +364,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT
 
     int channel;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
+    for (channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
     }
@@ -419,7 +419,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
 
     int channel;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
+    for (channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
     }
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
index 3f1b9a074..620fc54dc 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@@ -245,11 +245,10 @@ void ConfigMultiRotorWidget::ResetActuators(GUIConfigDataUnion* configData)
 
 QStringList ConfigMultiRotorWidget::getChannelDescriptions()
 {
-    int i;
     QStringList channelDesc;
 
     // init a channel_numelem list of channel desc defaults
-    for (i=0; i < (int)(ConfigMultiRotorWidget::CHANNEL_NUMELEM); i++)
+    for (int i=0; i < (int)(ConfigMultiRotorWidget::CHANNEL_NUMELEM); i++)
     {
         channelDesc.append(QString("-"));
     }
@@ -258,21 +257,21 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
     GUIConfigDataUnion configData = GetConfigData();
     multiGUISettingsStruct multi = configData.multi;
 
-    if (multi.VTOLMotorN > 0 && multi.VTOLMotorN < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
+    if (multi.VTOLMotorN > 0 && multi.VTOLMotorN <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
         channelDesc[multi.VTOLMotorN-1] = QString("VTOLMotorN");
-    if (multi.VTOLMotorNE > 0 && multi.VTOLMotorNE < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
+    if (multi.VTOLMotorNE > 0 && multi.VTOLMotorNE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
         channelDesc[multi.VTOLMotorNE-1] = QString("VTOLMotorNE");
-    if (multi.VTOLMotorNW > 0 && multi.VTOLMotorNW < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
+    if (multi.VTOLMotorNW > 0 && multi.VTOLMotorNW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
         channelDesc[multi.VTOLMotorNW-1] = QString("VTOLMotorNW");
-    if (multi.VTOLMotorS > 0 && multi.VTOLMotorS < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
+    if (multi.VTOLMotorS > 0 && multi.VTOLMotorS <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
         channelDesc[multi.VTOLMotorS-1] = QString("VTOLMotorS");
-    if (multi.VTOLMotorSE > 0 && multi.VTOLMotorSE < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
+    if (multi.VTOLMotorSE > 0 && multi.VTOLMotorSE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
         channelDesc[multi.VTOLMotorSE-1] = QString("VTOLMotorSE");
-    if (multi.VTOLMotorSW > 0 && multi.VTOLMotorSW < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
+    if (multi.VTOLMotorSW > 0 && multi.VTOLMotorSW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
         channelDesc[multi.VTOLMotorSW-1] = QString("VTOLMotorSW");
-    if (multi.VTOLMotorW > 0 && multi.VTOLMotorW < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
+    if (multi.VTOLMotorW > 0 && multi.VTOLMotorW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
         channelDesc[multi.VTOLMotorW-1] = QString("VTOLMotorW");
-    if (multi.VTOLMotorE > 0 && multi.VTOLMotorE < ConfigMultiRotorWidget::CHANNEL_NUMELEM)
+    if (multi.VTOLMotorE > 0 && multi.VTOLMotorE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
         channelDesc[multi.VTOLMotorE-1] = QString("VTOLMotorE");
 
     return channelDesc;
@@ -969,7 +968,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
     Q_ASSERT(mixer);
 
     //disable all
-    for (int channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (int channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
diff --git a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
index 9b3e6e01b..cee2458d7 100644
--- a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
@@ -231,8 +231,6 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
 {
     Q_UNUSED(obj);
 
-    bool dirty=isDirty();
-
     // Get Actuator Settings
     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
     Q_ASSERT(actuatorSettings);
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 293821d55..640d3a6f9 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -109,7 +109,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
 
     //Generate lists of mixerTypeNames, mixerVectorNames, channelNames
     channelNames << "None";
-    for (int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
+    for (int i = 0; i < (int)ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
 
         mixerTypes << QString("Mixer%1Type").arg(i+1);
         mixerVectors << QString("Mixer%1Vector").arg(i+1);
@@ -206,25 +206,6 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
     connect(m_aircraft->groundVehicleType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
     //mdl connect(m_heli->m_ccpm->ccpmType, SIGNAL(currentIndexChanged(QString)), this, SLOT(setupAirframeUI(QString)));
 
-	//Connect throttle curve reset pushbuttons to reset functions
-    //connect(m_aircraft->fwThrottleReset, SIGNAL(clicked()), this, SLOT(resetFwMixer()));
-    connect(m_aircraft->mrThrottleCurveReset, SIGNAL(clicked()), this, SLOT(resetMrMixer()));
-    connect(m_aircraft->gvThrottleCurve1Reset, SIGNAL(clicked()), this, SLOT(resetGvFrontMixer()));	
-    connect(m_aircraft->gvThrottleCurve2Reset, SIGNAL(clicked()), this, SLOT(resetGvRearMixer()));	
-    connect(m_aircraft->customReset1, SIGNAL(clicked()), this, SLOT(resetCt1Mixer()));
-    connect(m_aircraft->customReset2, SIGNAL(clicked()), this, SLOT(resetCt2Mixer()));
-
-	//Connect throttle curve manipulation points to output text
-    connect(m_aircraft->fixedWingThrottle, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateFwThrottleCurveValue(QList<double>,double)));
-    connect(m_aircraft->multiThrottleCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateMrThrottleCurveValue(QList<double>,double)));
-    connect(m_aircraft->groundVehicleThrottle1, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateGvThrottle1CurveValue(QList<double>,double)));
-    connect(m_aircraft->groundVehicleThrottle2, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateGvThrottle2CurveValue(QList<double>,double)));
-    connect(m_aircraft->customThrottle1Curve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateCustomThrottle1CurveValue(QList<double>,double)));
-    connect(m_aircraft->customThrottle2Curve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateCustomThrottle2CurveValue(QList<double>,double)));
-
-//    connect(m_aircraft->fwAileron1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleAileron2(int)));
-//    connect(m_aircraft->fwElevator1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleElevator2(int)));
-
     //Connect the three feed forward test checkboxes
     connect(m_aircraft->ffTestBox1, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
     connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
@@ -479,68 +460,6 @@ void ConfigVehicleTypeWidget::enableFFTest()
     }
 }
 
-
-/**
-  Resets Fixed wing throttle mixer
-  */
-void ConfigVehicleTypeWidget::resetFwMixer()
-{
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    //resetMixer(m_aircraft->fixedWingThrottle, field->getNumElements(),1);
-}
-
-/**
-  Resets Multirotor throttle mixer
-  */
-void ConfigVehicleTypeWidget::resetMrMixer()
-{
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    //resetMixer(m_aircraft->multiThrottleCurve, field->getNumElements(),0.9);
-}
-
-/**
- Resets Ground vehicle front throttle mixer
- */
-void ConfigVehicleTypeWidget::resetGvFrontMixer()
-{
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    //resetMixer(m_aircraft->groundVehicleThrottle1, field->getNumElements(),1);
-}
-
-/**
- Resets Ground vehicle rear throttle mixer
- */
-void ConfigVehicleTypeWidget::resetGvRearMixer()
-{
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
-    //resetMixer(m_aircraft->groundVehicleThrottle2, field->getNumElements(),1);
-}
-
-/**
-  Resets Custom throttle 1 mixer
-  */
-void ConfigVehicleTypeWidget::resetCt1Mixer()
-{
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    resetMixer(m_aircraft->customThrottle1Curve, field->getNumElements(),1);
-}
-
-/**
-  Resets Custom throttle 2 mixer
-  */
-void ConfigVehicleTypeWidget::resetCt2Mixer()
-{
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    UAVObjectField* field = obj->getField(QString("ThrottleCurve2"));
-    //resetMixer(m_aircraft->customThrottle2Curve, field->getNumElements(),1);
-}
-
-
 /**
   Resets a mixer curve
   */
@@ -550,52 +469,6 @@ void ConfigVehicleTypeWidget::resetMixer(MixerCurveWidget *mixer, int numElement
     mixer->initLinearCurve((quint32)numElements,maxvalue);
 }
 
-/**
-  Updates the currently moved multi-rotor throttle curve item value
-  */
-void ConfigVehicleTypeWidget::updateMrThrottleCurveValue(QList<double> list, double value)
-{
-    Q_UNUSED(list);
-    m_aircraft->mrThrottleCurveItemValue->setText(QString().sprintf("Val: %.2f",value));
-}
-
-/**
- Updates the moved ground vehicle front throttle curve item value
- */
-void ConfigVehicleTypeWidget::updateGvThrottle1CurveValue(QList<double> list, double value)
-{
-    Q_UNUSED(list);
-    m_aircraft->gvThrottleCurve1ItemValue->setText(QString().sprintf("Val: %.2f",value));
-}
-
-/**
- Updates the moved ground vehicle rear throttle curve item value
- */
-void ConfigVehicleTypeWidget::updateGvThrottle2CurveValue(QList<double> list, double value)
-{
-    Q_UNUSED(list);
-    m_aircraft->gvThrottleCurve2ItemValue->setText(QString().sprintf("Val: %.2f",value));
-}
-
-/**
-  Updates the currently moved custom throttle curve item value (Custom throttle 1)
-  */
-void ConfigVehicleTypeWidget::updateCustomThrottle1CurveValue(QList<double> list, double value)
-{
-    Q_UNUSED(list);
-    m_aircraft->customThrottleCurve1Value->setText(QString().sprintf("Val: %.2f",value));
-}
-
-/**
-  Updates the currently moved custom throttle curve item value (Custom throttle 2)
-  */
-void ConfigVehicleTypeWidget::updateCustomThrottle2CurveValue(QList<double> list, double value)
-{
-    Q_UNUSED(list);
-    m_aircraft->customThrottleCurve2Value->setText(QString().sprintf("Val: %.2f",value));
-}
-
-
 /**************************
   * Aircraft settings
   **************************/
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
index fb7571cd2..7eb9832e6 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
@@ -93,17 +93,7 @@ private slots:
     void toggleElevator2(int index);
     void toggleRudder2(int index);
     void switchAirframeType(int index);
-    void resetFwMixer();
-    void resetMrMixer();
-    void resetGvFrontMixer();
-    void resetGvRearMixer();
-    void resetCt1Mixer();
-    void resetCt2Mixer();
-    void updateMrThrottleCurveValue(QList<double> list, double value);
-    void updateGvThrottle1CurveValue(QList<double> list, double value);
-    void updateGvThrottle2CurveValue(QList<double> list, double value);
-    void updateCustomThrottle1CurveValue(QList<double> list, double value);
-    void updateCustomThrottle2CurveValue(QList<double> list, double value);
+
     void enableFFTest();
     void openHelp();
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
index 63b65d29c..5eb62485a 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
@@ -28,6 +28,11 @@ MixerCurve::~MixerCurve()
     delete m_mixerUI;
 }
 
+void MixerCurve::setMixerType(MixerCurveType curveType)
+{
+    m_curveType = curveType;
+}
+
 void MixerCurve::ResetCurve()
 {
     m_curve->setMin((m_curveType == MixerCurve::MIXERCURVE_THROTTLE) ? 0.0 : -1.0);
@@ -266,16 +271,14 @@ double MixerCurve::setRange(double min, double max)
 
 void MixerCurve::showEvent(QShowEvent *event)
 {
-    Q_UNUSED(event)
-    // Thit fitInView method should only be called now, once the
-    // widget is shown, otherwise it cannot compute its values and
-    // the result is usually a ahrsbargraph that is way too small.
-    //fitInView(this, Qt::KeepAspectRatio);
+    Q_UNUSED(event);
 
+    m_curve->showEvent(event);
 }
 
 void MixerCurve::resizeEvent(QResizeEvent* event)
 {
     Q_UNUSED(event);
-    //fitInView(this, Qt::KeepAspectRatio);
+
+    m_curve->resizeEvent(event);
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
index fe4719544..faa326109 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
@@ -26,6 +26,7 @@ public:
     /* Enumeration options for ThrottleCurves */
     typedef enum { MIXERCURVE_THROTTLE=0, MIXERCURVEPITCH=1 } MixerCurveType;
 
+    void setMixerType(MixerCurveType curveType);
     void initCurve (const QList<double>* points);
     QList<double> getCurve();
     void initLinearCurve(int numPoints, double maxValue = 1, double minValue = 0);
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui
index 67ad97fe2..0ef6f3d80 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui
@@ -6,14 +6,20 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>437</width>
-    <height>317</height>
+    <width>490</width>
+    <height>390</height>
    </rect>
   </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>1</horstretch>
+    <verstretch>1</verstretch>
+   </sizepolicy>
+  </property>
   <property name="minimumSize">
    <size>
-    <width>365</width>
-    <height>306</height>
+    <width>442</width>
+    <height>328</height>
    </size>
   </property>
   <property name="maximumSize">
@@ -37,275 +43,251 @@
   <property name="frameShadow">
    <enum>QFrame::Raised</enum>
   </property>
-  <widget class="MixerCurveWidget" name="CurveWidget" native="true">
+  <widget class="QWidget" name="verticalLayoutWidget">
    <property name="geometry">
     <rect>
-     <x>140</x>
-     <y>10</y>
-     <width>291</width>
-     <height>300</height>
+     <x>120</x>
+     <y>0</y>
+     <width>371</width>
+     <height>391</height>
     </rect>
    </property>
-   <property name="minimumSize">
-    <size>
-     <width>261</width>
-     <height>241</height>
-    </size>
-   </property>
-   <property name="maximumSize">
-    <size>
-     <width>300</width>
-     <height>300</height>
-    </size>
-   </property>
+   <layout class="QVBoxLayout" name="verticalLayout_2">
+    <item>
+     <widget class="MixerCurveWidget" name="CurveWidget" native="true">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+        <horstretch>1</horstretch>
+        <verstretch>1</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>50</width>
+        <height>50</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>1000</width>
+        <height>1000</height>
+       </size>
+      </property>
+      <property name="sizeIncrement">
+       <size>
+        <width>10</width>
+        <height>10</height>
+       </size>
+      </property>
+      <property name="baseSize">
+       <size>
+        <width>200</width>
+        <height>200</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+   </layout>
   </widget>
-  <widget class="QDoubleSpinBox" name="CurveMin">
-   <property name="geometry">
-    <rect>
-     <x>70</x>
-     <y>240</y>
-     <width>51</width>
-     <height>22</height>
-    </rect>
-   </property>
-   <property name="correctionMode">
-    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-   </property>
-   <property name="minimum">
-    <double>-1.000000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>1.000000000000000</double>
-   </property>
-   <property name="singleStep">
-    <double>0.010000000000000</double>
-   </property>
-   <property name="value">
-    <double>0.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="CurveMax">
-   <property name="geometry">
-    <rect>
-     <x>70</x>
-     <y>40</y>
-     <width>51</width>
-     <height>22</height>
-    </rect>
-   </property>
-   <property name="correctionMode">
-    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-   </property>
-   <property name="minimum">
-    <double>0.000000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>1.000000000000000</double>
-   </property>
-   <property name="singleStep">
-    <double>0.010000000000000</double>
-   </property>
-   <property name="value">
-    <double>1.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QTableWidget" name="CurveSettings">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>60</y>
-     <width>101</width>
-     <height>171</height>
-    </rect>
-   </property>
-   <property name="font">
-    <font>
-     <pointsize>8</pointsize>
-    </font>
-   </property>
-   <property name="verticalScrollBarPolicy">
-    <enum>Qt::ScrollBarAlwaysOff</enum>
-   </property>
-   <property name="horizontalScrollBarPolicy">
-    <enum>Qt::ScrollBarAlwaysOff</enum>
-   </property>
-   <property name="autoScroll">
-    <bool>false</bool>
-   </property>
-   <property name="rowCount">
-    <number>5</number>
-   </property>
-   <property name="columnCount">
-    <number>1</number>
-   </property>
-   <row>
-    <property name="text">
-     <string>5</string>
-    </property>
-   </row>
-   <row>
-    <property name="text">
-     <string>4</string>
-    </property>
-   </row>
-   <row>
-    <property name="text">
-     <string>3</string>
-    </property>
-   </row>
-   <row>
-    <property name="text">
-     <string>2</string>
-    </property>
-   </row>
-   <row>
-    <property name="text">
-     <string>1</string>
-    </property>
-   </row>
-   <column>
-    <property name="text">
-     <string>Value</string>
-    </property>
-   </column>
-   <item row="0" column="0">
-    <property name="text">
-     <string>1.0</string>
-    </property>
-   </item>
-   <item row="1" column="0">
-    <property name="text">
-     <string>.75</string>
-    </property>
-   </item>
-   <item row="2" column="0">
-    <property name="text">
-     <string>.50</string>
-    </property>
-   </item>
-   <item row="3" column="0">
-    <property name="text">
-     <string>.25</string>
-    </property>
-   </item>
-   <item row="4" column="0">
-    <property name="text">
-     <string>.00</string>
-    </property>
-   </item>
-  </widget>
-  <widget class="QComboBox" name="CurveType">
+  <widget class="QWidget" name="">
    <property name="geometry">
     <rect>
      <x>0</x>
-     <y>10</y>
-     <width>61</width>
-     <height>22</height>
+     <y>0</y>
+     <width>121</width>
+     <height>391</height>
     </rect>
    </property>
-   <item>
-    <property name="text">
-     <string>Linear</string>
-    </property>
-   </item>
-   <item>
-    <property name="text">
-     <string>Log</string>
-    </property>
-   </item>
-   <item>
-    <property name="text">
-     <string>Exp</string>
-    </property>
-   </item>
-   <item>
-    <property name="text">
-     <string>Flat</string>
-    </property>
-   </item>
-   <item>
-    <property name="text">
-     <string>Step</string>
-    </property>
-   </item>
-  </widget>
-  <widget class="QPushButton" name="GenerateCurve">
-   <property name="geometry">
-    <rect>
-     <x>70</x>
-     <y>10</y>
-     <width>61</width>
-     <height>23</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Generate</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="minLabel">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>240</y>
-     <width>41</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Min</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="maxLabel">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>40</y>
-     <width>41</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Max</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="ResetCurve">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>290</y>
-     <width>75</width>
-     <height>23</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Reset</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="stepLabel">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>260</y>
-     <width>41</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Step</string>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="CurveStep">
-   <property name="geometry">
-    <rect>
-     <x>70</x>
-     <y>260</y>
-     <width>51</width>
-     <height>22</height>
-    </rect>
-   </property>
-   <property name="correctionMode">
-    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-   </property>
+   <layout class="QVBoxLayout" name="verticalLayout">
+    <item>
+     <widget class="QComboBox" name="CurveType">
+      <item>
+       <property name="text">
+        <string>Linear</string>
+       </property>
+      </item>
+      <item>
+       <property name="text">
+        <string>Log</string>
+       </property>
+      </item>
+      <item>
+       <property name="text">
+        <string>Exp</string>
+       </property>
+      </item>
+      <item>
+       <property name="text">
+        <string>Flat</string>
+       </property>
+      </item>
+      <item>
+       <property name="text">
+        <string>Step</string>
+       </property>
+      </item>
+     </widget>
+    </item>
+    <item>
+     <widget class="QPushButton" name="GenerateCurve">
+      <property name="text">
+       <string>Generate</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QLabel" name="maxLabel">
+      <property name="text">
+       <string>Max</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QDoubleSpinBox" name="CurveMax">
+      <property name="correctionMode">
+       <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+      </property>
+      <property name="minimum">
+       <double>0.000000000000000</double>
+      </property>
+      <property name="maximum">
+       <double>1.000000000000000</double>
+      </property>
+      <property name="singleStep">
+       <double>0.010000000000000</double>
+      </property>
+      <property name="value">
+       <double>1.000000000000000</double>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QTableWidget" name="CurveSettings">
+      <property name="font">
+       <font>
+        <pointsize>8</pointsize>
+       </font>
+      </property>
+      <property name="verticalScrollBarPolicy">
+       <enum>Qt::ScrollBarAlwaysOff</enum>
+      </property>
+      <property name="horizontalScrollBarPolicy">
+       <enum>Qt::ScrollBarAlwaysOff</enum>
+      </property>
+      <property name="autoScroll">
+       <bool>false</bool>
+      </property>
+      <property name="rowCount">
+       <number>5</number>
+      </property>
+      <property name="columnCount">
+       <number>1</number>
+      </property>
+      <row>
+       <property name="text">
+        <string>5</string>
+       </property>
+      </row>
+      <row>
+       <property name="text">
+        <string>4</string>
+       </property>
+      </row>
+      <row>
+       <property name="text">
+        <string>3</string>
+       </property>
+      </row>
+      <row>
+       <property name="text">
+        <string>2</string>
+       </property>
+      </row>
+      <row>
+       <property name="text">
+        <string>1</string>
+       </property>
+      </row>
+      <column>
+       <property name="text">
+        <string>Value</string>
+       </property>
+      </column>
+      <item row="0" column="0">
+       <property name="text">
+        <string>1.0</string>
+       </property>
+      </item>
+      <item row="1" column="0">
+       <property name="text">
+        <string>.75</string>
+       </property>
+      </item>
+      <item row="2" column="0">
+       <property name="text">
+        <string>.50</string>
+       </property>
+      </item>
+      <item row="3" column="0">
+       <property name="text">
+        <string>.25</string>
+       </property>
+      </item>
+      <item row="4" column="0">
+       <property name="text">
+        <string>.00</string>
+       </property>
+      </item>
+     </widget>
+    </item>
+    <item>
+     <widget class="QLabel" name="minLabel">
+      <property name="text">
+       <string>Min</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QDoubleSpinBox" name="CurveMin">
+      <property name="correctionMode">
+       <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+      </property>
+      <property name="minimum">
+       <double>-1.000000000000000</double>
+      </property>
+      <property name="maximum">
+       <double>1.000000000000000</double>
+      </property>
+      <property name="singleStep">
+       <double>0.010000000000000</double>
+      </property>
+      <property name="value">
+       <double>0.000000000000000</double>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QLabel" name="stepLabel">
+      <property name="text">
+       <string>Step</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QDoubleSpinBox" name="CurveStep">
+      <property name="correctionMode">
+       <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QPushButton" name="ResetCurve">
+      <property name="text">
+       <string>Reset</string>
+      </property>
+     </widget>
+    </item>
+   </layout>
   </widget>
  </widget>
  <customwidgets>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
index e1275a3a5..338974f28 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
@@ -43,6 +43,9 @@ class UAVOBJECTWIDGETUTILS_EXPORT MixerCurveWidget : public QGraphicsView
 public:
     MixerCurveWidget(QWidget *parent = 0);
    ~MixerCurveWidget();
+
+    friend class MixerCurve;
+
    void itemMoved(double itemValue); // Callback when a point is moved, to be updated
    void initCurve (const QList<double>* points);
    QList<double> getCurve();

From 0c9e5c5e66bd389a12c2affe667aac2835466ac7 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Wed, 4 Jul 2012 10:21:48 -0700
Subject: [PATCH 005/543] MixerCurve: Move code into \config folder; slice out
 doublespindelegate; enhanced mixercurve in all airframes except heli; layout
 is better, not there yet. VehicleConfig, Bugfix: update custom mixer table to
 10 channels.

---
 .../src/plugins/config/DoubleSpinDelegate.cpp |  79 ++++
 .../src/plugins/config/DoubleSpinDelegate.h   |  57 +++
 .../src/plugins/config/airframe.ui            | 161 ++++++--
 .../openpilotgcs/src/plugins/config/ccpm.ui   |   2 +-
 .../src/plugins/config/config.pro             |  11 +-
 .../config/configvehicletypewidget.cpp        |  12 +-
 .../mixercurve.cpp                            | 125 ++++--
 .../src/plugins/config/mixercurve.h           |  97 +++++
 .../src/plugins/config/mixercurve.ui          | 378 ++++++++++++++++++
 .../plugins/uavobjectwidgetutils/mixercurve.h |  68 ----
 .../uavobjectwidgetutils/mixercurve.ui        | 303 --------------
 .../uavobjectwidgetutils.pro                  |   9 +-
 12 files changed, 850 insertions(+), 452 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.h
 rename ground/openpilotgcs/src/plugins/{uavobjectwidgetutils => config}/mixercurve.cpp (70%)
 create mode 100644 ground/openpilotgcs/src/plugins/config/mixercurve.h
 create mode 100644 ground/openpilotgcs/src/plugins/config/mixercurve.ui
 delete mode 100644 ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
 delete mode 100644 ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui

diff --git a/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.cpp b/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.cpp
new file mode 100644
index 000000000..dd5921431
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.cpp
@@ -0,0 +1,79 @@
+/**
+ ******************************************************************************
+ *
+ * @file       doublespindelegate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief A double spinbox delegate
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "doublespindelegate.h"
+
+/**
+  Helper delegate for the custom mixer editor table.
+  */
+DoubleSpinDelegate::DoubleSpinDelegate(QObject *parent)
+     : QItemDelegate(parent),
+       m_min(0.0),
+       m_max(1.0),
+       m_decimals(2),
+       m_step(0.01)
+ {
+ }
+
+
+QWidget *DoubleSpinDelegate::createEditor(QWidget *parent,
+    const QStyleOptionViewItem &/* option */,
+    const QModelIndex &/* index */) const
+{
+    QDoubleSpinBox *editor = new QDoubleSpinBox(parent);
+    editor->setMinimum(m_min);
+    editor->setMaximum(m_max);
+    editor->setDecimals(m_decimals);
+    editor->setSingleStep(m_step);
+    return editor;
+}
+
+void DoubleSpinDelegate::setEditorData(QWidget *editor,
+                                    const QModelIndex &index) const
+{
+    double value = index.model()->data(index, Qt::EditRole).toDouble();
+
+    QDoubleSpinBox *spinBox = static_cast<QDoubleSpinBox*>(editor);
+    spinBox->setValue(value);
+}
+
+void DoubleSpinDelegate::setModelData(QWidget *editor, QAbstractItemModel *model,
+                                   const QModelIndex &index) const
+{
+    QDoubleSpinBox *spinBox = static_cast<QDoubleSpinBox*>(editor);
+    spinBox->interpretText();
+    double value = spinBox->value();
+
+    model->setData(index, value, Qt::EditRole);
+}
+
+void DoubleSpinDelegate::updateEditorGeometry(QWidget *editor,
+    const QStyleOptionViewItem &option, const QModelIndex &/* index */) const
+{
+    editor->setGeometry(option.rect);
+}
+
diff --git a/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.h b/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.h
new file mode 100644
index 000000000..8329abb75
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.h
@@ -0,0 +1,57 @@
+/**
+ ******************************************************************************
+ *
+ * @file       doublespindelegate.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief A double spinbox delegate
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef DOUBLESPINDELEGATE_H
+#define DOUBLESPINDELEGATE_H
+
+#include <QDoubleSpinBox>
+#include <QItemDelegate>
+
+class DoubleSpinDelegate : public QItemDelegate
+{
+    Q_OBJECT
+
+public:
+    DoubleSpinDelegate(QObject *parent = 0);
+
+    QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option,
+                          const QModelIndex &index) const;
+
+    void setEditorData(QWidget *editor, const QModelIndex &index) const;
+    void setModelData(QWidget *editor, QAbstractItemModel *model,
+                      const QModelIndex &index) const;
+
+    void updateEditorGeometry(QWidget *editor,
+        const QStyleOptionViewItem &option, const QModelIndex &index) const;
+
+private:
+    double  m_min;
+    double  m_max;
+    double  m_step;
+    int     m_decimals;
+};
+
+#endif // DOUBLESPINDELEGATE_H
diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 5a6f81895..7ca5b937b 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>939</width>
-    <height>635</height>
+    <height>657</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -74,7 +74,7 @@
        <item>
         <widget class="QStackedWidget" name="airframesWidget">
          <property name="currentIndex">
-          <number>4</number>
+          <number>0</number>
          </property>
          <widget class="QWidget" name="fixedWing">
           <property name="enabled">
@@ -473,15 +473,15 @@ margin:1px;</string>
                   <item>
                    <widget class="MixerCurve" name="fixedWingThrottle" native="true">
                     <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
+                     <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+                      <horstretch>1</horstretch>
+                      <verstretch>1</verstretch>
                      </sizepolicy>
                     </property>
                     <property name="minimumSize">
                      <size>
-                      <width>0</width>
-                      <height>0</height>
+                      <width>450</width>
+                      <height>400</height>
                      </size>
                     </property>
                     <property name="maximumSize">
@@ -496,6 +496,12 @@ margin:1px;</string>
                       <height>10</height>
                      </size>
                     </property>
+                    <property name="baseSize">
+                     <size>
+                      <width>300</width>
+                      <height>300</height>
+                     </size>
+                    </property>
                    </widget>
                   </item>
                  </layout>
@@ -1618,23 +1624,10 @@ margin:1px;</string>
                  </layout>
                 </widget>
                </item>
-               <item>
-                <spacer name="horizontalSpacer_24">
-                 <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="QGroupBox" name="gvThrottleCurve1GroupBox">
                  <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                  <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                    <horstretch>0</horstretch>
                    <verstretch>100</verstretch>
                   </sizepolicy>
@@ -1676,6 +1669,12 @@ margin:1px;</string>
                </item>
                <item>
                 <widget class="QGroupBox" name="gvThrottleCurve2GroupBox">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
                  <property name="title">
                   <string>Rear throttle curve</string>
                  </property>
@@ -1775,7 +1774,7 @@ margin:1px;</string>
                   <item>
                    <widget class="MixerCurve" name="customThrottle1Curve" native="true">
                     <property name="sizePolicy">
-                     <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                       <horstretch>1</horstretch>
                       <verstretch>1</verstretch>
                      </sizepolicy>
@@ -1800,8 +1799,8 @@ margin:1px;</string>
                     </property>
                     <property name="baseSize">
                      <size>
-                      <width>200</width>
-                      <height>200</height>
+                      <width>300</width>
+                      <height>350</height>
                      </size>
                     </property>
                    </widget>
@@ -1818,7 +1817,7 @@ margin:1px;</string>
                   <item>
                    <widget class="MixerCurve" name="customThrottle2Curve" native="true">
                     <property name="sizePolicy">
-                     <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
                       <horstretch>1</horstretch>
                       <verstretch>1</verstretch>
                      </sizepolicy>
@@ -1843,8 +1842,8 @@ margin:1px;</string>
                     </property>
                     <property name="baseSize">
                      <size>
-                      <width>200</width>
-                      <height>200</height>
+                      <width>300</width>
+                      <height>350</height>
                      </size>
                     </property>
                    </widget>
@@ -1941,6 +1940,16 @@ margin:1px;</string>
                  <string>Ch 8</string>
                 </property>
                </column>
+               <column>
+                <property name="text">
+                 <string>Ch 9</string>
+                </property>
+               </column>
+               <column>
+                <property name="text">
+                 <string>Ch 10</string>
+                </property>
+               </column>
                <item row="0" column="0">
                 <property name="text">
                  <string>-</string>
@@ -2005,6 +2014,22 @@ margin:1px;</string>
                  <set>AlignHCenter|AlignVCenter|AlignCenter</set>
                 </property>
                </item>
+               <item row="0" column="8">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="textAlignment">
+                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                </property>
+               </item>
+               <item row="0" column="9">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="textAlignment">
+                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                </property>
+               </item>
                <item row="1" column="0">
                 <property name="text">
                  <string>-</string>
@@ -2069,6 +2094,22 @@ margin:1px;</string>
                  <set>AlignHCenter|AlignVCenter|AlignCenter</set>
                 </property>
                </item>
+               <item row="1" column="8">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="textAlignment">
+                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                </property>
+               </item>
+               <item row="1" column="9">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="textAlignment">
+                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                </property>
+               </item>
                <item row="2" column="0">
                 <property name="text">
                  <string>-</string>
@@ -2133,6 +2174,22 @@ margin:1px;</string>
                  <set>AlignHCenter|AlignVCenter|AlignCenter</set>
                 </property>
                </item>
+               <item row="2" column="8">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="textAlignment">
+                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                </property>
+               </item>
+               <item row="2" column="9">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="textAlignment">
+                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                </property>
+               </item>
                <item row="3" column="0">
                 <property name="text">
                  <string>-</string>
@@ -2197,6 +2254,22 @@ margin:1px;</string>
                  <set>AlignHCenter|AlignVCenter|AlignCenter</set>
                 </property>
                </item>
+               <item row="3" column="8">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="textAlignment">
+                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                </property>
+               </item>
+               <item row="3" column="9">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="textAlignment">
+                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                </property>
+               </item>
                <item row="4" column="0">
                 <property name="text">
                  <string>-</string>
@@ -2261,6 +2334,22 @@ margin:1px;</string>
                  <set>AlignHCenter|AlignVCenter|AlignCenter</set>
                 </property>
                </item>
+               <item row="4" column="8">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="textAlignment">
+                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                </property>
+               </item>
+               <item row="4" column="9">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="textAlignment">
+                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                </property>
+               </item>
                <item row="5" column="0">
                 <property name="text">
                  <string>-</string>
@@ -2325,6 +2414,22 @@ margin:1px;</string>
                  <set>AlignHCenter|AlignVCenter|AlignCenter</set>
                 </property>
                </item>
+               <item row="5" column="8">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="textAlignment">
+                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                </property>
+               </item>
+               <item row="5" column="9">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="textAlignment">
+                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                </property>
+               </item>
               </widget>
              </item>
             </layout>
@@ -2747,7 +2852,7 @@ p, li { white-space: pre-wrap; }
   <customwidget>
    <class>MixerCurve</class>
    <extends>QWidget</extends>
-   <header location="global">uavobjectwidgetutils/mixercurve.h</header>
+   <header location="global">mixercurve.h</header>
    <container>1</container>
   </customwidget>
  </customwidgets>
diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui
index 1ebb2a71b..6b0cc1d83 100644
--- a/ground/openpilotgcs/src/plugins/config/ccpm.ui
+++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui
@@ -87,7 +87,7 @@ QGroupBox::title {
  }</string>
        </property>
        <property name="currentIndex">
-        <number>2</number>
+        <number>0</number>
        </property>
        <widget class="QWidget" name="BasicTab">
         <attribute name="title">
diff --git a/ground/openpilotgcs/src/plugins/config/config.pro b/ground/openpilotgcs/src/plugins/config/config.pro
index 8e49cb54d..af38ef4ce 100644
--- a/ground/openpilotgcs/src/plugins/config/config.pro
+++ b/ground/openpilotgcs/src/plugins/config/config.pro
@@ -36,7 +36,9 @@ HEADERS += configplugin.h \
     cfg_vehicletypes/configfixedwingwidget.h \
     cfg_vehicletypes/vehicleconfig.h \
     configrevowidget.h \
-    config_global.h
+    config_global.h \
+    mixercurve.h \
+    doublespindelegate.h
 SOURCES += configplugin.cpp \
     configgadgetconfiguration.cpp \
     configgadgetwidget.cpp \
@@ -67,7 +69,9 @@ SOURCES += configplugin.cpp \
     cfg_vehicletypes/configfixedwingwidget.cpp \
     cfg_vehicletypes/configccpmwidget.cpp \
     outputchannelform.cpp \
-    cfg_vehicletypes/vehicleconfig.cpp
+    cfg_vehicletypes/vehicleconfig.cpp \
+    mixercurve.cpp \
+    doublespindelegate.cpp
 FORMS += airframe.ui \
     cc_hw_settings.ui \
     pro_hw_settings.ui \
@@ -83,5 +87,6 @@ FORMS += airframe.ui \
     outputchannelform.ui \
     revosensors.ui \
     txpid.ui \
-    pipxtreme.ui
+    pipxtreme.ui \
+    mixercurve.ui
 RESOURCES += configgadget.qrc
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 640d3a6f9..764f8800b 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -165,14 +165,14 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
     UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     UAVObjectField* field = obj->getField(QString("Mixer1Type"));
     QStringList list = field->getOptions();
-    for (int i=0;i<8;i++) {
+    for (int i=0; i<(int)(VehicleConfig::CHANNEL_NUMELEM); i++) {
         QComboBox* qb = new QComboBox(m_aircraft->customMixerTable);
         qb->addItems(list);
         m_aircraft->customMixerTable->setCellWidget(0,i,qb);
     }
 
     SpinBoxDelegate *sbd = new SpinBoxDelegate();
-    for (int i=1;i<8; i++) {
+    for (int i=1; i<(int)(VehicleConfig::CHANNEL_NUMELEM); i++) {
         m_aircraft->customMixerTable->setItemDelegateForRow(i, sbd);
     }
 
@@ -323,7 +323,7 @@ void ConfigVehicleTypeWidget::switchAirframeType(int index)
     m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
     if (m_aircraft->aircraftType->findText("Custom")) {
         m_aircraft->customMixerTable->resizeColumnsToContents();
-        for (int i=0;i<8;i++) {
+        for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) {
             m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()-
                                                             m_aircraft->customMixerTable->verticalHeader()->width())/8);
         }
@@ -342,7 +342,7 @@ void ConfigVehicleTypeWidget::showEvent(QShowEvent *event)
     // the result is usually a ahrsbargraph that is way too small.
     m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
     m_aircraft->customMixerTable->resizeColumnsToContents();
-    for (int i=0;i<8;i++) {
+    for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) {
         m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()-
                                                         m_aircraft->customMixerTable->verticalHeader()->width())/8);
     }
@@ -651,7 +651,7 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
     }
 
     // Update the mixer table:
-    for (int channel=0; channel<8; channel++) {
+    for (int channel=0; channel<(int)(VehicleConfig::CHANNEL_NUMELEM); channel++) {
         UAVObjectField* field = mixer->getField(mixerTypes.at(channel));
         if (field)
         {
@@ -721,7 +721,7 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
         vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
 
         // Update the table:
-        for (int channel=0; channel<8; channel++) {
+        for (int channel=0; channel<(int)(VehicleConfig::CHANNEL_NUMELEM); channel++) {
             QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,channel);
 
             vconfig->setMixerType(mixer,channel,
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
similarity index 70%
rename from ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
rename to ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index 5eb62485a..28d5e66cc 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -1,5 +1,33 @@
+/**
+ ******************************************************************************
+ *
+ * @file       mixercurve.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief A MixerCurve Gadget used to update settings in the firmware
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 #include <math.h>
 #include "mixercurve.h"
+#include "doublespindelegate.h"
 
 MixerCurve::MixerCurve(QWidget *parent) :
     QFrame(parent),
@@ -11,13 +39,18 @@ MixerCurve::MixerCurve(QWidget *parent) :
     m_curve = m_mixerUI->CurveWidget;
     m_settings = m_mixerUI->CurveSettings;
 
-    UpdateCurveSettings();
+    DoubleSpinDelegate *sbd = new DoubleSpinDelegate();
+    for (int i=0; i<MixerCurveWidget::NODE_NUMELEM; i++) {
+        m_settings->setItemDelegateForRow(i, sbd);
+    }
 
-    connect(m_mixerUI->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings()));
+    UpdateCurveUI();
+
+    connect(m_mixerUI->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(CurveTypeChanged()));
     connect(m_mixerUI->ResetCurve, SIGNAL(clicked()), this, SLOT(ResetCurve()));
     connect(m_mixerUI->GenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve()));
-    connect(m_curve, SIGNAL(curveUpdated()), this, SLOT(UpdateSettings()));
-
+    connect(m_curve, SIGNAL(curveUpdated()), this, SLOT(UpdateSettingsTable()));
+    connect(m_settings, SIGNAL(itemChanged(QTableWidgetItem*)), this, SLOT(SettingsTableChanged()));
     connect(m_mixerUI->CurveMin, SIGNAL(valueChanged(double)), this, SLOT(CurveMinChanged(double)));
     connect(m_mixerUI->CurveMax, SIGNAL(valueChanged(double)), this, SLOT(CurveMaxChanged(double)));
     connect(m_mixerUI->CurveStep, SIGNAL(valueChanged(double)), this, SLOT(GenerateCurve()));
@@ -35,19 +68,16 @@ void MixerCurve::setMixerType(MixerCurveType curveType)
 
 void MixerCurve::ResetCurve()
 {
-    m_curve->setMin((m_curveType == MixerCurve::MIXERCURVE_THROTTLE) ? 0.0 : -1.0);
-    m_curve->setMax(1.0);
-
     m_mixerUI->CurveMin->setValue(m_curve->getMin());
     m_mixerUI->CurveMax->setValue(m_curve->getMax());
     m_mixerUI->CurveType->setCurrentIndex(m_mixerUI->CurveType->findText("Linear"));
 
     initLinearCurve(MixerCurveWidget::NODE_NUMELEM, m_curve->getMax(), m_curve->getMin());
 
-    UpdateSettings();
+    UpdateSettingsTable();
 }
 
-void MixerCurve::UpdateCurveSettings()
+void MixerCurve::UpdateCurveUI()
 {
     //get the user settings
     QString curveType = m_mixerUI->CurveType->currentText();
@@ -60,7 +90,7 @@ void MixerCurve::UpdateCurveSettings()
             m_mixerUI->CurveStep->setMinimum(0.0);
             break;
         }
-        case MixerCurve::MIXERCURVEPITCH:
+        case MixerCurve::MIXERCURVE_PITCH:
         {
             m_mixerUI->CurveMin->setMinimum(-1.0);
             m_mixerUI->CurveMax->setMinimum(-1.0);
@@ -68,8 +98,8 @@ void MixerCurve::UpdateCurveSettings()
             break;
         }
     }
-    m_mixerUI->CurveMin->setMaximum(1.0);
-    m_mixerUI->CurveMax->setMaximum(1.0);
+    m_mixerUI->CurveMin->setMaximum(m_curve->getMax());
+    m_mixerUI->CurveMax->setMaximum(m_curve->getMax());
     m_mixerUI->CurveStep->setMaximum(100.0);
 
     //set default visible
@@ -168,50 +198,56 @@ void MixerCurve::GenerateCurve()
        }
    }
 
-   initCurve(&points);
+   setCurve(&points);
 }
 
+/**
+  Wrappers for mixercurvewidget.
+  */
 void MixerCurve::initCurve (const QList<double>* points)
 {
     m_curve->setCurve(points);
-    UpdateSettings();
+    UpdateSettingsTable();
 }
-
 QList<double> MixerCurve::getCurve()
 {
     return m_curve->getCurve();
 }
-
 void MixerCurve::initLinearCurve(int numPoints, double maxValue, double minValue)
 {
+    setMin(minValue);
+    setMax(maxValue);
+
     m_curve->initLinearCurve(numPoints, maxValue, minValue);
 }
-
 void MixerCurve::setCurve(const QList<double>* points)
 {
     m_curve->setCurve(points);
-    UpdateSettings();
+    UpdateSettingsTable();
 }
-
 void MixerCurve::setMin(double value)
 {
     m_curve->setMin(value);
+    m_mixerUI->CurveMin->setMinimum(value);
 }
-
 double MixerCurve::getMin()
 {
     return m_curve->getMin();
 }
-
 void MixerCurve::setMax(double value)
 {
     m_curve->setMax(value);
+    m_mixerUI->CurveMax->setMaximum(value);
 }
-
 double MixerCurve::getMax()
 {
     return m_curve->getMax();
 }
+double MixerCurve::setRange(double min, double max)
+{
+    return m_curve->setRange(min, max);
+}
+
 
 double MixerCurve::getCurveMin()
 {
@@ -227,26 +263,48 @@ double MixerCurve::getCurveStep()
     return m_mixerUI->CurveStep->value();
 }
 
-void MixerCurve::UpdateSettings()
+void MixerCurve::UpdateSettingsTable()
 {
     QList<double> points = m_curve->getCurve();
-
     int ptCnt = points.count();
+
     for (int i=0; i<ptCnt; i++)
     {
-        QTableWidgetItem* item = m_settings->item((ptCnt - 1) - i, 0);
+        QTableWidgetItem* item = m_settings->item(i, 0);
         if (item)
-            item->setText(QString().sprintf("%.2f",points.at(i)));
+            item->setText(QString().sprintf("%.2f",points.at( (ptCnt - 1) - i )));
     }
 }
 
+void MixerCurve::SettingsTableChanged()
+{
+    QList<double> points;
+
+    for (int i=0; i < m_settings->rowCount(); i++)
+    {
+        QTableWidgetItem* item = m_settings->item(i, 0);
+
+        if (item)
+            points.push_front(item->text().toDouble());
+    }
+
+    m_curve->setCurve(&points);
+}
+
+void MixerCurve::CurveTypeChanged()
+{
+    // setup the ui for this curvetype
+    UpdateCurveUI();
+
+    // and generate a curve based on the selection
+    GenerateCurve();
+}
+
 void MixerCurve::CurveMinChanged(double value)
 {
-    //setMin(value);
-
     // the min changed so redraw the curve
     //  mixercurvewidget::setCurve will trim any points below min
-    QList<double> points = getCurve();
+    QList<double> points = m_curve->getCurve();
     points.removeFirst();
     points.push_front(value);
     setCurve(&points);
@@ -254,21 +312,14 @@ void MixerCurve::CurveMinChanged(double value)
 
 void MixerCurve::CurveMaxChanged(double value)
 {
-    //setMax(value);
-
     // the max changed so redraw the curve
     //  mixercurvewidget::setCurve will trim any points above max
-    QList<double> points = getCurve();
+    QList<double> points = m_curve->getCurve();
     points.removeLast();
     points.append(value);
     setCurve(&points);
 }
 
-double MixerCurve::setRange(double min, double max)
-{
-    return m_curve->setRange(min, max);
-}
-
 void MixerCurve::showEvent(QShowEvent *event)
 {
     Q_UNUSED(event);
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.h b/ground/openpilotgcs/src/plugins/config/mixercurve.h
new file mode 100644
index 000000000..3133da660
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.h
@@ -0,0 +1,97 @@
+/**
+ ******************************************************************************
+ *
+ * @file       mixercurve.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief A MixerCurve Gadget used to update settings in the firmware
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef MIXERCURVE_H
+#define MIXERCURVE_H
+
+#include <QFrame>
+#include <QtGui/QWidget>
+#include <QList>
+#include <QTableWidget>
+
+#include "ui_mixercurve.h"
+#include "mixercurvewidget.h"
+#include "uavobjectwidgetutils_global.h"
+
+
+namespace Ui {
+class MixerCurve;
+}
+
+class  MixerCurve : public QFrame
+{
+    Q_OBJECT
+    
+public:
+    explicit MixerCurve(QWidget *parent = 0);
+    ~MixerCurve();
+
+
+    /* Enumeration options for ThrottleCurves */
+    typedef enum { MIXERCURVE_THROTTLE=0, MIXERCURVE_PITCH=1 } MixerCurveType;
+
+    void setMixerType(MixerCurveType curveType);
+    void initCurve (const QList<double>* points);
+    QList<double> getCurve();
+    void initLinearCurve(int numPoints, double maxValue = 1, double minValue = 0);
+    void setCurve(const QList<double>* points);
+    void setMin(double value);
+    double getMin();
+    void setMax(double value);
+    double getMax();
+    double getCurveMin();
+    double getCurveMax();
+    double getCurveStep();
+    double setRange(double min, double max);
+
+
+signals:
+
+protected:
+    void showEvent(QShowEvent *event);
+    void resizeEvent(QResizeEvent *event);
+
+public slots:
+    void ResetCurve();
+    void GenerateCurve();
+    void UpdateSettingsTable();
+
+private slots:
+    void SettingsTableChanged();
+    void CurveTypeChanged();
+    void CurveMinChanged(double value);
+    void CurveMaxChanged(double value);
+    void UpdateCurveUI();
+
+private:
+    Ui::MixerCurve* m_mixerUI;
+    MixerCurveWidget* m_curve;
+    QTableWidget* m_settings;
+    MixerCurveType m_curveType;
+
+};
+
+#endif // MIXERCURVE_H
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.ui b/ground/openpilotgcs/src/plugins/config/mixercurve.ui
new file mode 100644
index 000000000..65dbdc5f9
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.ui
@@ -0,0 +1,378 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MixerCurve</class>
+ <widget class="QFrame" name="MixerCurve">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>355</width>
+    <height>272</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+    <horstretch>1</horstretch>
+    <verstretch>1</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>200</width>
+    <height>200</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>500</width>
+    <height>500</height>
+   </size>
+  </property>
+  <property name="baseSize">
+   <size>
+    <width>300</width>
+    <height>300</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>MixerCurve</string>
+  </property>
+  <property name="frameShape">
+   <enum>QFrame::StyledPanel</enum>
+  </property>
+  <property name="frameShadow">
+   <enum>QFrame::Raised</enum>
+  </property>
+  <widget class="QGroupBox" name="verticalGroupBox">
+   <property name="geometry">
+    <rect>
+     <x>90</x>
+     <y>0</y>
+     <width>261</width>
+     <height>231</height>
+    </rect>
+   </property>
+   <layout class="QGridLayout" name="gridLayout">
+    <property name="sizeConstraint">
+     <enum>QLayout::SetMinAndMaxSize</enum>
+    </property>
+    <item row="1" column="0">
+     <widget class="MixerCurveWidget" name="CurveWidget" native="true">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+        <horstretch>1</horstretch>
+        <verstretch>1</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>50</width>
+        <height>50</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>1000</width>
+        <height>1000</height>
+       </size>
+      </property>
+      <property name="sizeIncrement">
+       <size>
+        <width>10</width>
+        <height>10</height>
+       </size>
+      </property>
+      <property name="baseSize">
+       <size>
+        <width>200</width>
+        <height>200</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QGroupBox" name="groupBox">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>91</width>
+     <height>271</height>
+    </rect>
+   </property>
+   <widget class="QTableWidget" name="CurveSettings">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
+      <y>0</y>
+      <width>87</width>
+      <height>171</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>8</pointsize>
+     </font>
+    </property>
+    <property name="verticalScrollBarPolicy">
+     <enum>Qt::ScrollBarAlwaysOff</enum>
+    </property>
+    <property name="horizontalScrollBarPolicy">
+     <enum>Qt::ScrollBarAlwaysOff</enum>
+    </property>
+    <property name="autoScroll">
+     <bool>false</bool>
+    </property>
+    <property name="alternatingRowColors">
+     <bool>true</bool>
+    </property>
+    <property name="rowCount">
+     <number>5</number>
+    </property>
+    <property name="columnCount">
+     <number>1</number>
+    </property>
+    <row>
+     <property name="text">
+      <string>5</string>
+     </property>
+    </row>
+    <row>
+     <property name="text">
+      <string>4</string>
+     </property>
+    </row>
+    <row>
+     <property name="text">
+      <string>3</string>
+     </property>
+    </row>
+    <row>
+     <property name="text">
+      <string>2</string>
+     </property>
+    </row>
+    <row>
+     <property name="text">
+      <string>1</string>
+     </property>
+    </row>
+    <column>
+     <property name="text">
+      <string>Value</string>
+     </property>
+    </column>
+    <item row="0" column="0">
+     <property name="text">
+      <string>1.0</string>
+     </property>
+    </item>
+    <item row="1" column="0">
+     <property name="text">
+      <string>.75</string>
+     </property>
+    </item>
+    <item row="2" column="0">
+     <property name="text">
+      <string>.50</string>
+     </property>
+    </item>
+    <item row="3" column="0">
+     <property name="text">
+      <string>.25</string>
+     </property>
+    </item>
+    <item row="4" column="0">
+     <property name="text">
+      <string>.00</string>
+     </property>
+    </item>
+   </widget>
+   <widget class="QComboBox" name="CurveType">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
+      <y>180</y>
+      <width>87</width>
+      <height>20</height>
+     </rect>
+    </property>
+    <item>
+     <property name="text">
+      <string>Linear</string>
+     </property>
+    </item>
+    <item>
+     <property name="text">
+      <string>Log</string>
+     </property>
+    </item>
+    <item>
+     <property name="text">
+      <string>Exp</string>
+     </property>
+    </item>
+    <item>
+     <property name="text">
+      <string>Flat</string>
+     </property>
+    </item>
+    <item>
+     <property name="text">
+      <string>Step</string>
+     </property>
+    </item>
+   </widget>
+   <widget class="QPushButton" name="GenerateCurve">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
+      <y>200</y>
+      <width>87</width>
+      <height>23</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Generate</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="ResetCurve">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
+      <y>240</y>
+      <width>87</width>
+      <height>23</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Reset</string>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QLabel" name="minLabel">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>230</y>
+     <width>61</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Min</string>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="CurveMin">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>250</y>
+     <width>61</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="correctionMode">
+    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+   </property>
+   <property name="minimum">
+    <double>-1.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.010000000000000</double>
+   </property>
+   <property name="value">
+    <double>0.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QLabel" name="stepLabel">
+   <property name="geometry">
+    <rect>
+     <x>240</x>
+     <y>230</y>
+     <width>87</width>
+     <height>13</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Step</string>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="CurveStep">
+   <property name="geometry">
+    <rect>
+     <x>240</x>
+     <y>250</y>
+     <width>61</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="correctionMode">
+    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+   </property>
+   <property name="value">
+    <double>50.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QLabel" name="maxLabel">
+   <property name="geometry">
+    <rect>
+     <x>170</x>
+     <y>230</y>
+     <width>51</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Max</string>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="CurveMax">
+   <property name="geometry">
+    <rect>
+     <x>170</x>
+     <y>250</y>
+     <width>61</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="correctionMode">
+    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+   </property>
+   <property name="minimum">
+    <double>0.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.010000000000000</double>
+   </property>
+   <property name="value">
+    <double>1.000000000000000</double>
+   </property>
+  </widget>
+  <zorder>groupBox</zorder>
+  <zorder>verticalGroupBox</zorder>
+  <zorder>minLabel</zorder>
+  <zorder>CurveMin</zorder>
+  <zorder>stepLabel</zorder>
+  <zorder>CurveStep</zorder>
+  <zorder>maxLabel</zorder>
+  <zorder>CurveMax</zorder>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>MixerCurveWidget</class>
+   <extends>QWidget</extends>
+   <header location="global">uavobjectwidgetutils/mixercurvewidget.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
deleted file mode 100644
index faa326109..000000000
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.h
+++ /dev/null
@@ -1,68 +0,0 @@
-#ifndef MIXERCURVE_H
-#define MIXERCURVE_H
-
-#include <QFrame>
-#include <QtGui/QWidget>
-#include <QList>
-#include <QTableWidget>
-
-#include "ui_mixercurve.h"
-#include "mixercurvewidget.h"
-#include "uavobjectwidgetutils_global.h"
-
-namespace Ui {
-class MixerCurve;
-}
-
-class UAVOBJECTWIDGETUTILS_EXPORT MixerCurve : public QFrame
-{
-    Q_OBJECT
-    
-public:
-    explicit MixerCurve(QWidget *parent = 0);
-    ~MixerCurve();
-
-
-    /* Enumeration options for ThrottleCurves */
-    typedef enum { MIXERCURVE_THROTTLE=0, MIXERCURVEPITCH=1 } MixerCurveType;
-
-    void setMixerType(MixerCurveType curveType);
-    void initCurve (const QList<double>* points);
-    QList<double> getCurve();
-    void initLinearCurve(int numPoints, double maxValue = 1, double minValue = 0);
-    void setCurve(const QList<double>* points);
-    void setMin(double value);
-    double getMin();
-    void setMax(double value);
-    double getMax();
-    double getCurveMin();
-    double getCurveMax();
-    double getCurveStep();
-    double setRange(double min, double max);
-
-
-signals:
-
-protected:
-    void showEvent(QShowEvent *event);
-    void resizeEvent(QResizeEvent *event);
-
-public slots:
-    void ResetCurve();
-    void GenerateCurve();
-    void UpdateSettings();
-
-private slots:
-    void CurveMinChanged(double value);
-    void CurveMaxChanged(double value);
-    void UpdateCurveSettings();
-
-private:
-    Ui::MixerCurve* m_mixerUI;
-    MixerCurveWidget* m_curve;
-    QTableWidget* m_settings;
-    MixerCurveType m_curveType;
-
-};
-
-#endif // MIXERCURVE_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui
deleted file mode 100644
index 0ef6f3d80..000000000
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurve.ui
+++ /dev/null
@@ -1,303 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>MixerCurve</class>
- <widget class="QFrame" name="MixerCurve">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>490</width>
-    <height>390</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-    <horstretch>1</horstretch>
-    <verstretch>1</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>442</width>
-    <height>328</height>
-   </size>
-  </property>
-  <property name="maximumSize">
-   <size>
-    <width>500</width>
-    <height>500</height>
-   </size>
-  </property>
-  <property name="baseSize">
-   <size>
-    <width>300</width>
-    <height>300</height>
-   </size>
-  </property>
-  <property name="windowTitle">
-   <string>MixerCurve</string>
-  </property>
-  <property name="frameShape">
-   <enum>QFrame::StyledPanel</enum>
-  </property>
-  <property name="frameShadow">
-   <enum>QFrame::Raised</enum>
-  </property>
-  <widget class="QWidget" name="verticalLayoutWidget">
-   <property name="geometry">
-    <rect>
-     <x>120</x>
-     <y>0</y>
-     <width>371</width>
-     <height>391</height>
-    </rect>
-   </property>
-   <layout class="QVBoxLayout" name="verticalLayout_2">
-    <item>
-     <widget class="MixerCurveWidget" name="CurveWidget" native="true">
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-        <horstretch>1</horstretch>
-        <verstretch>1</verstretch>
-       </sizepolicy>
-      </property>
-      <property name="minimumSize">
-       <size>
-        <width>50</width>
-        <height>50</height>
-       </size>
-      </property>
-      <property name="maximumSize">
-       <size>
-        <width>1000</width>
-        <height>1000</height>
-       </size>
-      </property>
-      <property name="sizeIncrement">
-       <size>
-        <width>10</width>
-        <height>10</height>
-       </size>
-      </property>
-      <property name="baseSize">
-       <size>
-        <width>200</width>
-        <height>200</height>
-       </size>
-      </property>
-     </widget>
-    </item>
-   </layout>
-  </widget>
-  <widget class="QWidget" name="">
-   <property name="geometry">
-    <rect>
-     <x>0</x>
-     <y>0</y>
-     <width>121</width>
-     <height>391</height>
-    </rect>
-   </property>
-   <layout class="QVBoxLayout" name="verticalLayout">
-    <item>
-     <widget class="QComboBox" name="CurveType">
-      <item>
-       <property name="text">
-        <string>Linear</string>
-       </property>
-      </item>
-      <item>
-       <property name="text">
-        <string>Log</string>
-       </property>
-      </item>
-      <item>
-       <property name="text">
-        <string>Exp</string>
-       </property>
-      </item>
-      <item>
-       <property name="text">
-        <string>Flat</string>
-       </property>
-      </item>
-      <item>
-       <property name="text">
-        <string>Step</string>
-       </property>
-      </item>
-     </widget>
-    </item>
-    <item>
-     <widget class="QPushButton" name="GenerateCurve">
-      <property name="text">
-       <string>Generate</string>
-      </property>
-     </widget>
-    </item>
-    <item>
-     <widget class="QLabel" name="maxLabel">
-      <property name="text">
-       <string>Max</string>
-      </property>
-     </widget>
-    </item>
-    <item>
-     <widget class="QDoubleSpinBox" name="CurveMax">
-      <property name="correctionMode">
-       <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-      </property>
-      <property name="minimum">
-       <double>0.000000000000000</double>
-      </property>
-      <property name="maximum">
-       <double>1.000000000000000</double>
-      </property>
-      <property name="singleStep">
-       <double>0.010000000000000</double>
-      </property>
-      <property name="value">
-       <double>1.000000000000000</double>
-      </property>
-     </widget>
-    </item>
-    <item>
-     <widget class="QTableWidget" name="CurveSettings">
-      <property name="font">
-       <font>
-        <pointsize>8</pointsize>
-       </font>
-      </property>
-      <property name="verticalScrollBarPolicy">
-       <enum>Qt::ScrollBarAlwaysOff</enum>
-      </property>
-      <property name="horizontalScrollBarPolicy">
-       <enum>Qt::ScrollBarAlwaysOff</enum>
-      </property>
-      <property name="autoScroll">
-       <bool>false</bool>
-      </property>
-      <property name="rowCount">
-       <number>5</number>
-      </property>
-      <property name="columnCount">
-       <number>1</number>
-      </property>
-      <row>
-       <property name="text">
-        <string>5</string>
-       </property>
-      </row>
-      <row>
-       <property name="text">
-        <string>4</string>
-       </property>
-      </row>
-      <row>
-       <property name="text">
-        <string>3</string>
-       </property>
-      </row>
-      <row>
-       <property name="text">
-        <string>2</string>
-       </property>
-      </row>
-      <row>
-       <property name="text">
-        <string>1</string>
-       </property>
-      </row>
-      <column>
-       <property name="text">
-        <string>Value</string>
-       </property>
-      </column>
-      <item row="0" column="0">
-       <property name="text">
-        <string>1.0</string>
-       </property>
-      </item>
-      <item row="1" column="0">
-       <property name="text">
-        <string>.75</string>
-       </property>
-      </item>
-      <item row="2" column="0">
-       <property name="text">
-        <string>.50</string>
-       </property>
-      </item>
-      <item row="3" column="0">
-       <property name="text">
-        <string>.25</string>
-       </property>
-      </item>
-      <item row="4" column="0">
-       <property name="text">
-        <string>.00</string>
-       </property>
-      </item>
-     </widget>
-    </item>
-    <item>
-     <widget class="QLabel" name="minLabel">
-      <property name="text">
-       <string>Min</string>
-      </property>
-     </widget>
-    </item>
-    <item>
-     <widget class="QDoubleSpinBox" name="CurveMin">
-      <property name="correctionMode">
-       <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-      </property>
-      <property name="minimum">
-       <double>-1.000000000000000</double>
-      </property>
-      <property name="maximum">
-       <double>1.000000000000000</double>
-      </property>
-      <property name="singleStep">
-       <double>0.010000000000000</double>
-      </property>
-      <property name="value">
-       <double>0.000000000000000</double>
-      </property>
-     </widget>
-    </item>
-    <item>
-     <widget class="QLabel" name="stepLabel">
-      <property name="text">
-       <string>Step</string>
-      </property>
-     </widget>
-    </item>
-    <item>
-     <widget class="QDoubleSpinBox" name="CurveStep">
-      <property name="correctionMode">
-       <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-      </property>
-     </widget>
-    </item>
-    <item>
-     <widget class="QPushButton" name="ResetCurve">
-      <property name="text">
-       <string>Reset</string>
-      </property>
-     </widget>
-    </item>
-   </layout>
-  </widget>
- </widget>
- <customwidgets>
-  <customwidget>
-   <class>MixerCurveWidget</class>
-   <extends>QWidget</extends>
-   <header location="global">uavobjectwidgetutils/mixercurvewidget.h</header>
-   <container>1</container>
-  </customwidget>
- </customwidgets>
- <resources/>
- <connections/>
-</ui>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/uavobjectwidgetutils.pro b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/uavobjectwidgetutils.pro
index e4a0fee99..475526325 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/uavobjectwidgetutils.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/uavobjectwidgetutils.pro
@@ -10,18 +10,15 @@ HEADERS += uavobjectwidgetutils_global.h \
     mixercurvewidget.h \
     mixercurvepoint.h \
     mixercurveline.h \
- smartsavebutton.h \
-    mixercurve.h
+ smartsavebutton.h
 SOURCES += uavobjectwidgetutilsplugin.cpp \
     configtaskwidget.cpp \
     mixercurvewidget.cpp \
     mixercurvepoint.cpp \
     mixercurveline.cpp \
-    smartsavebutton.cpp \
-    mixercurve.cpp
+    smartsavebutton.cpp
 
 
 OTHER_FILES += UAVObjectWidgetUtils.pluginspec
 
-FORMS += \
-    mixercurve.ui
+FORMS +=

From 23aea6eac482b3892e0f472f5b4b275ce61c6aee Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Thu, 5 Jul 2012 12:58:00 -0700
Subject: [PATCH 006/543] MixerCurve: integrated into all airframes.

---
 .../openpilotgcs/src/plugins/config/ccpm.ui   | 548 +--------------
 .../cfg_vehicletypes/configccpmwidget.cpp     | 319 +--------
 .../cfg_vehicletypes/configccpmwidget.h       |   5 -
 .../config/configvehicletypewidget.cpp        |   7 -
 .../src/plugins/config/mixercurve.cpp         |  10 +-
 .../src/plugins/config/mixercurve.ui          | 654 +++++++++---------
 .../uavobjectwidgetutils/mixercurvepoint.cpp  |   4 +-
 7 files changed, 373 insertions(+), 1174 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/ccpm.ui b/ground/openpilotgcs/src/plugins/config/ccpm.ui
index 6b0cc1d83..ee28ad4f0 100644
--- a/ground/openpilotgcs/src/plugins/config/ccpm.ui
+++ b/ground/openpilotgcs/src/plugins/config/ccpm.ui
@@ -2770,537 +2770,13 @@ margin:1px;</string>
           <number>3</number>
          </property>
          <item row="0" column="0">
-          <layout class="QHBoxLayout" name="horizontalLayout_5">
-           <item>
-            <widget class="QComboBox" name="CurveType">
-             <property name="minimumSize">
-              <size>
-               <width>150</width>
-               <height>0</height>
-              </size>
-             </property>
-             <property name="font">
-              <font>
-               <pointsize>10</pointsize>
-              </font>
-             </property>
-             <property name="toolTip">
-              <string>Select aircraft type here</string>
-             </property>
-             <item>
-              <property name="text">
-               <string>Linear</string>
-              </property>
-             </item>
-             <item>
-              <property name="text">
-               <string>Flat</string>
-              </property>
-             </item>
-             <item>
-              <property name="text">
-               <string>Step</string>
-              </property>
-             </item>
-             <item>
-              <property name="text">
-               <string>Exp</string>
-              </property>
-             </item>
-             <item>
-              <property name="text">
-               <string>Log</string>
-              </property>
-             </item>
-             <item>
-              <property name="text">
-               <string>Custom</string>
-              </property>
-             </item>
-            </widget>
-           </item>
-           <item>
-            <spacer name="horizontalSpacer">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item>
-            <widget class="QLabel" name="label_2">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="text">
-              <string>Number of points</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QSpinBox" name="NumCurvePoints">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimum">
-              <number>2</number>
-             </property>
-             <property name="maximum">
-              <number>10</number>
-             </property>
-             <property name="value">
-              <number>5</number>
-             </property>
-            </widget>
-           </item>
-          </layout>
+          <layout class="QHBoxLayout" name="horizontalLayout_6"/>
          </item>
          <item row="1" column="0">
-          <layout class="QGridLayout" name="gridLayout_2">
-           <item row="0" column="0">
-            <widget class="QLabel" name="CurveLabel1">
-             <property name="styleSheet">
-              <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-             </property>
-             <property name="text">
-              <string>Min</string>
-             </property>
-            </widget>
-           </item>
-           <item row="0" column="1">
-            <widget class="QLabel" name="CurveLabel2">
-             <property name="styleSheet">
-              <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-             </property>
-             <property name="text">
-              <string>Max</string>
-             </property>
-            </widget>
-           </item>
-           <item row="0" column="2">
-            <widget class="QLabel" name="CurveLabel3">
-             <property name="styleSheet">
-              <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-             </property>
-             <property name="text">
-              <string>Step point</string>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="0">
-            <widget class="QDoubleSpinBox" name="CurveValue1">
-             <property name="decimals">
-              <number>1</number>
-             </property>
-             <property name="maximum">
-              <double>10.000000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="1">
-            <widget class="QDoubleSpinBox" name="CurveValue2">
-             <property name="decimals">
-              <number>1</number>
-             </property>
-             <property name="maximum">
-              <double>10.000000000000000</double>
-             </property>
-             <property name="value">
-              <double>1.000000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="2">
-            <widget class="QDoubleSpinBox" name="CurveValue3">
-             <property name="decimals">
-              <number>1</number>
-             </property>
-             <property name="maximum">
-              <double>100.000000000000000</double>
-             </property>
-             <property name="value">
-              <double>50.000000000000000</double>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
-         <item row="2" column="0">
-          <layout class="QHBoxLayout" name="horizontalLayout_6">
-           <item>
-            <widget class="QComboBox" name="CurveToGenerate">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>150</width>
-               <height>0</height>
-              </size>
-             </property>
-             <property name="font">
-              <font>
-               <pointsize>10</pointsize>
-              </font>
-             </property>
-             <property name="toolTip">
-              <string>Select aircraft type here</string>
-             </property>
-             <item>
-              <property name="text">
-               <string>Throttle</string>
-              </property>
-             </item>
-             <item>
-              <property name="text">
-               <string>Pitch</string>
-              </property>
-             </item>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="ccpmGenerateCurve">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>150</width>
-               <height>0</height>
-              </size>
-             </property>
-             <property name="toolTip">
-              <string>Generate curves based on settings</string>
-             </property>
-             <property name="text">
-              <string>&lt;-- Generate Curve</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <spacer name="horizontalSpacer_6">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </item>
-         <item row="3" column="0">
           <layout class="QHBoxLayout" name="horizontalLayout_3">
            <property name="spacing">
             <number>3</number>
            </property>
-           <item>
-            <widget class="QTableWidget" name="CurveSettings">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Maximum" vsizetype="MinimumExpanding">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>250</width>
-               <height>200</height>
-              </size>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>250</width>
-               <height>273</height>
-              </size>
-             </property>
-             <property name="verticalScrollBarPolicy">
-              <enum>Qt::ScrollBarAsNeeded</enum>
-             </property>
-             <property name="horizontalScrollBarPolicy">
-              <enum>Qt::ScrollBarAsNeeded</enum>
-             </property>
-             <property name="autoScroll">
-              <bool>true</bool>
-             </property>
-             <property name="alternatingRowColors">
-              <bool>true</bool>
-             </property>
-             <property name="cornerButtonEnabled">
-              <bool>true</bool>
-             </property>
-             <attribute name="horizontalHeaderCascadingSectionResizes">
-              <bool>true</bool>
-             </attribute>
-             <attribute name="horizontalHeaderStretchLastSection">
-              <bool>true</bool>
-             </attribute>
-             <attribute name="verticalHeaderDefaultSectionSize">
-              <number>25</number>
-             </attribute>
-             <attribute name="verticalHeaderMinimumSectionSize">
-              <number>25</number>
-             </attribute>
-             <row>
-              <property name="text">
-               <string>0%</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>25%</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>50%</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>75%</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>100%</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>none</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>none</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>none</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>none</string>
-              </property>
-             </row>
-             <row>
-              <property name="text">
-               <string>none</string>
-              </property>
-             </row>
-             <column>
-              <property name="text">
-               <string>Throttle Curve</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </column>
-             <column>
-              <property name="text">
-               <string>Blade Pitch Curve</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </column>
-             <item row="0" column="0">
-              <property name="text">
-               <string>0.000</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="0" column="1">
-              <property name="text">
-               <string>0.000</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="1" column="0">
-              <property name="text">
-               <string>0.250</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="1" column="1">
-              <property name="text">
-               <string>0.250</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="2" column="0">
-              <property name="text">
-               <string>0.500</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="2" column="1">
-              <property name="text">
-               <string>0.500</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="3" column="0">
-              <property name="text">
-               <string>0.750</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="3" column="1">
-              <property name="text">
-               <string>0.750</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="4" column="0">
-              <property name="text">
-               <string>1.000</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="4" column="1">
-              <property name="text">
-               <string>1.000</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="5" column="0">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="5" column="1">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="6" column="0">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="6" column="1">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="7" column="0">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="7" column="1">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="8" column="0">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="8" column="1">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="9" column="0">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-             <item row="9" column="1">
-              <property name="text">
-               <string>-</string>
-              </property>
-              <property name="textAlignment">
-               <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-              </property>
-             </item>
-            </widget>
-           </item>
            <item>
             <widget class="QGroupBox" name="ThrottleCurveBox">
              <property name="sizePolicy">
@@ -3331,7 +2807,7 @@ margin:1px;</string>
               <enum>Qt::LeftToRight</enum>
              </property>
              <property name="title">
-              <string>Throttle Curve</string>
+              <string/>
              </property>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -3347,7 +2823,7 @@ margin:1px;</string>
                <number>0</number>
               </property>
               <item row="0" column="0">
-               <widget class="MixerCurveWidget" name="ThrottleCurve" native="true">
+               <widget class="MixerCurve" name="ThrottleCurve" native="true">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
                   <horstretch>1</horstretch>
@@ -3410,7 +2886,7 @@ margin:1px;</string>
               </size>
              </property>
              <property name="title">
-              <string>Pitch Curve</string>
+              <string/>
              </property>
              <layout class="QGridLayout" name="gridLayout_5">
               <property name="margin">
@@ -3420,7 +2896,7 @@ margin:1px;</string>
                <number>0</number>
               </property>
               <item row="0" column="0">
-               <widget class="MixerCurveWidget" name="PitchCurve" native="true">
+               <widget class="MixerCurve" name="PitchCurve" native="true">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
                   <horstretch>1</horstretch>
@@ -3458,7 +2934,7 @@ margin:1px;</string>
            </item>
           </layout>
          </item>
-         <item row="4" column="0">
+         <item row="2" column="0">
           <spacer name="verticalSpacer_2">
            <property name="orientation">
             <enum>Qt::Vertical</enum>
@@ -3910,9 +3386,9 @@ margin:1px;</string>
  </widget>
  <customwidgets>
   <customwidget>
-   <class>MixerCurveWidget</class>
+   <class>MixerCurve</class>
    <extends>QWidget</extends>
-   <header location="global">uavobjectwidgetutils/mixercurvewidget.h</header>
+   <header location="global">mixercurve.h</header>
    <container>1</container>
   </customwidget>
  </customwidgets>
@@ -3945,14 +3421,6 @@ margin:1px;</string>
   <tabstop>SwashLvlPositionSlider</tabstop>
   <tabstop>SwashLvlPositionSpinBox</tabstop>
   <tabstop>SwashLvlSwashplateImage</tabstop>
-  <tabstop>CurveType</tabstop>
-  <tabstop>NumCurvePoints</tabstop>
-  <tabstop>CurveValue1</tabstop>
-  <tabstop>CurveValue2</tabstop>
-  <tabstop>CurveValue3</tabstop>
-  <tabstop>CurveToGenerate</tabstop>
-  <tabstop>ccpmGenerateCurve</tabstop>
-  <tabstop>CurveSettings</tabstop>
   <tabstop>ccpmAdvancedSettingsTable</tabstop>
  </tabstops>
  <resources/>
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
index e7ca51fd1..86879ec38 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
@@ -133,9 +133,13 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
     }
 
     //initialize our two mixer curves
-    m_ccpm->PitchCurve->initLinearCurve(5, 1.0, -1.0);
+
+    m_ccpm->ThrottleCurve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
     m_ccpm->ThrottleCurve->initLinearCurve(5, 1.0);
 
+    m_ccpm->PitchCurve->setMixerType(MixerCurve::MIXERCURVE_PITCH);
+    m_ccpm->PitchCurve->initLinearCurve(5, 1.0, -1.0);
+
     //initialize channel names
     m_ccpm->ccpmEngineChannel->addItems(channelNames);
     m_ccpm->ccpmEngineChannel->setCurrentIndex(0);
@@ -158,22 +162,10 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
     m_ccpm->ccpmType->addItems(Types);
     m_ccpm->ccpmType->setCurrentIndex(m_ccpm->ccpmType->count() - 1);
 
-    UpdateCurveSettings();
-
-    //disable changing number of points in curves until UAVObjects have more than 5
-    m_ccpm->NumCurvePoints->setEnabled(0);
-
     refreshWidgetsValues(QString("HeliCP"));
 
     UpdateType();
 
-    //connect(m_ccpm->saveccpmToSD, SIGNAL(clicked()), this, SLOT(saveccpmUpdate()));
-    //connect(m_ccpm->saveccpmToRAM, SIGNAL(clicked()), this, SLOT(sendccpmUpdate()));
-    //connect(m_ccpm->getccpmCurrent, SIGNAL(clicked()), this, SLOT(requestccpmUpdate()));
-    connect(m_ccpm->ccpmGenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve()));
-    connect(m_ccpm->NumCurvePoints, SIGNAL(valueChanged(int)), this, SLOT(UpdateCurveSettings()));
-    connect(m_ccpm->CurveToGenerate, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings()));
-    connect(m_ccpm->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateCurveSettings()));
     connect(m_ccpm->ccpmAngleW, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
     connect(m_ccpm->ccpmAngleX, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
     connect(m_ccpm->ccpmAngleY, SIGNAL(valueChanged(double)), this, SLOT(ccpmSwashplateUpdate()));
@@ -191,12 +183,8 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
     connect(m_ccpm->ccpmCollectivespinBox, SIGNAL(valueChanged(int)), this, SLOT(UpdateMixer()));
     connect(m_ccpm->ccpmType, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
     connect(m_ccpm->ccpmSingleServo, SIGNAL(currentIndexChanged(int)), this, SLOT(UpdateType()));
-    connect(m_ccpm->CurveSettings, SIGNAL(cellChanged (int, int)), this, SLOT(UpdateCurveWidgets()));
     connect(m_ccpm->TabObject, SIGNAL(currentChanged ( QWidget * )), this, SLOT(UpdateType()));
 
-    connect(m_ccpm->PitchCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updatePitchCurveValue(QList<double>,double)));
-    connect(m_ccpm->ThrottleCurve, SIGNAL(curveUpdated(QList<double>,double)), this, SLOT(updateThrottleCurveValue(QList<double>,double)));
-
     connect(m_ccpm->SwashLvlStartButton, SIGNAL(clicked()), this, SLOT(SwashLvlStartButtonPressed()));
     connect(m_ccpm->SwashLvlNextButton, SIGNAL(clicked()), this, SLOT(SwashLvlNextButtonPressed()));
     connect(m_ccpm->SwashLvlCancelButton, SIGNAL(clicked()), this, SLOT(SwashLvlCancelButtonPressed()));
@@ -332,8 +320,6 @@ void ConfigCcpmWidget::UpdateType()
 
     AdjustmentAngle=SingleServoIndex*90;
 
-    m_ccpm->CurveToGenerate->setEnabled(1);
-    m_ccpm->CurveSettings->setColumnHidden(1,0);
     m_ccpm->PitchCurve->setVisible(1);
     //m_ccpm->customThrottleCurve2Value->setVisible(1);
     //m_ccpm->label_41->setVisible(1);
@@ -425,9 +411,6 @@ void ConfigCcpmWidget::UpdateType()
             m_ccpm->ccpmCollectiveSlider->setEnabled(0);
             m_ccpm->ccpmCollectivespinBox->setValue(0);
             m_ccpm->ccpmCollectiveSlider->setValue(0);
-            m_ccpm->CurveToGenerate->setCurrentIndex(0);
-            m_ccpm->CurveToGenerate->setEnabled(0);
-            m_ccpm->CurveSettings->setColumnHidden(1,1);
             m_ccpm->PitchCurve->setVisible(0);
             //m_ccpm->customThrottleCurve2Value->setVisible(0);
             //m_ccpm->label_41->setVisible(0);
@@ -469,271 +452,7 @@ void ConfigCcpmWidget::UpdateType()
     
 }
 
-void ConfigCcpmWidget::UpdateCurveWidgets()
-{
-    int NumCurvePoints,i,Changed;
-    QList<double> curveValues;
-    QList<double> OldCurveValues;
-    double ThisValue;
-    //get the user settings
-    NumCurvePoints=m_ccpm->NumCurvePoints->value();
 
-    curveValues.clear();
-    Changed=0;
-    OldCurveValues=m_ccpm->ThrottleCurve->getCurve();
-    for (i=0; i<NumCurvePoints; i++)
-    {
-        ThisValue=m_ccpm->CurveSettings->item(i, 0 )->text().toDouble();
-        curveValues.append(ThisValue);
-        if (ThisValue!=OldCurveValues.at(i))Changed=1;
-    }
-    // Setup all Throttle1 curves for all types of airframes
-    if (Changed==1)
-        m_ccpm->ThrottleCurve->setCurve(&curveValues);
-
-    curveValues.clear();
-    Changed=0;
-    OldCurveValues=m_ccpm->PitchCurve->getCurve();
-    for (i=0; i<NumCurvePoints; i++)
-    {
-        ThisValue=m_ccpm->CurveSettings->item(i, 1 )->text().toDouble();
-        curveValues.append(ThisValue);
-        if (ThisValue!=OldCurveValues.at(i))Changed=1;
-    }
-    // Setup all Throttle1 curves for all types of airframes
-    if (Changed==1)
-        m_ccpm->PitchCurve->setCurve(&curveValues);
-}
-
-void ConfigCcpmWidget::updatePitchCurveValue(QList<double> curveValues0,double Value0)
-{
-    Q_UNUSED(curveValues0);
-    Q_UNUSED(Value0);
-
-    int NumCurvePoints,i;
-    double CurrentValue;
-    QList<double> internalCurveValues;
-    //get the user settings
-    NumCurvePoints=m_ccpm->NumCurvePoints->value();
-    internalCurveValues=m_ccpm->PitchCurve->getCurve();
-
-    for (i=0; i<internalCurveValues.length(); i++)
-    {
-        CurrentValue=m_ccpm->CurveSettings->item(i, 1 )->text().toDouble();
-        if (CurrentValue!=internalCurveValues[i])
-        {
-            m_ccpm->CurveSettings->item(i, 1)->setText(QString().sprintf("%.3f",internalCurveValues.at(i)));
-        }
-
-    }
-
-}
-
-void ConfigCcpmWidget::updateThrottleCurveValue(QList<double> curveValues0,double Value0)
-{
-    Q_UNUSED(curveValues0);
-    Q_UNUSED(Value0);
-
-    int NumCurvePoints,i;
-    double CurrentValue;
-    QList<double> internalCurveValues;
-    //get the user settings
-    NumCurvePoints=m_ccpm->NumCurvePoints->value();
-    internalCurveValues=m_ccpm->ThrottleCurve->getCurve();
-
-    for (i=0; i<internalCurveValues.length(); i++)
-    {
-        CurrentValue=m_ccpm->CurveSettings->item(i, 0 )->text().toDouble();
-        if (CurrentValue!=internalCurveValues[i])
-        {
-            m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",internalCurveValues.at(i)));
-        }
-
-    }
-
-}
-
-
-void ConfigCcpmWidget::UpdateCurveSettings()
-{
-    int NumCurvePoints,i;
-    double scale;
-    QString CurveType;
-    QStringList vertHeaders;
-
-    //get the user settings
-    NumCurvePoints=m_ccpm->NumCurvePoints->value();
-    CurveType=m_ccpm->CurveType->currentText();
-
-    vertHeaders << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" << "-" ;
-    for (i=0;i<NumCurvePoints;i++)
-    {
-        scale =((double)i/(double)(NumCurvePoints-1));
-        vertHeaders[i] = tr( "%1%" ).arg(100.00*scale, 0, 'f', 1);
-    }
-    m_ccpm->CurveSettings->setVerticalHeaderLabels( vertHeaders );
-
-    if (m_ccpm->CurveToGenerate->currentIndex()==0)
-    {
-        m_ccpm->CurveValue1->setMinimum(0.0);
-        m_ccpm->CurveValue2->setMinimum(0.0);
-        m_ccpm->CurveValue3->setMinimum(0.0);
-    }
-    else
-    {
-        m_ccpm->CurveValue1->setMinimum(-1.0);
-        m_ccpm->CurveValue2->setMinimum(-1.0);
-        m_ccpm->CurveValue3->setMinimum(0.0);
-    }
-    m_ccpm->CurveValue1->setMaximum(1.0);
-    m_ccpm->CurveValue2->setMaximum(1.0);
-    m_ccpm->CurveValue3->setMaximum(100.0);
-    m_ccpm->CurveValue1->setSingleStep(0.1);
-    m_ccpm->CurveValue2->setSingleStep(0.1);
-    m_ccpm->CurveValue3->setSingleStep(1.0);
-    m_ccpm->CurveValue1->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
-    m_ccpm->CurveValue2->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
-    m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
-
-    //set default visible
-    m_ccpm->CurveLabel1->setVisible(true);
-    m_ccpm->CurveValue1->setVisible(true);
-    m_ccpm->CurveLabel2->setVisible(false);
-    m_ccpm->CurveValue2->setVisible(false);
-    m_ccpm->CurveLabel3->setVisible(false);
-    m_ccpm->CurveValue3->setVisible(false);
-    m_ccpm->ccpmGenerateCurve->setVisible(true);
-    m_ccpm->CurveToGenerate->setVisible(true);
-
-    if ( CurveType.compare("Flat")==0)
-    {
-        m_ccpm->CurveLabel1->setText("Value");
-    }
-    if ( CurveType.compare("Linear")==0)
-    {
-        m_ccpm->CurveLabel1->setText("Min");
-        m_ccpm->CurveLabel2->setText("Max");
-        m_ccpm->CurveLabel2->setVisible(true);
-        m_ccpm->CurveValue2->setVisible(true);
-    }
-    if ( CurveType.compare("Step")==0)
-    {
-        m_ccpm->CurveLabel1->setText("Min");
-        m_ccpm->CurveLabel2->setText("Max");
-        m_ccpm->CurveLabel2->setVisible(true);
-        m_ccpm->CurveValue2->setVisible(true);
-        m_ccpm->CurveLabel3->setText("Step at");
-        m_ccpm->CurveLabel3->setVisible(true);
-        m_ccpm->CurveValue3->setVisible(true);
-    }
-    if ( CurveType.compare("Exp")==0)
-    {
-        m_ccpm->CurveLabel1->setText("Min");
-        m_ccpm->CurveLabel2->setText("Max");
-        m_ccpm->CurveLabel2->setVisible(true);
-        m_ccpm->CurveValue2->setVisible(true);
-        m_ccpm->CurveLabel3->setText("Strength");
-        m_ccpm->CurveLabel3->setVisible(true);
-        m_ccpm->CurveValue3->setVisible(true);
-        m_ccpm->CurveValue3->setMinimum(1.0);
-        m_ccpm->CurveValue3->setMaximum(100.0);
-        m_ccpm->CurveValue3->setSingleStep(1.0);
-        m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
-    }
-    if ( CurveType.compare("Log")==0)
-    {
-        m_ccpm->CurveLabel1->setText("Min");
-        m_ccpm->CurveLabel2->setText("Max");
-        m_ccpm->CurveLabel2->setVisible(true);
-        m_ccpm->CurveValue2->setVisible(true);
-        m_ccpm->CurveLabel3->setText("Strength");
-        m_ccpm->CurveLabel3->setVisible(true);
-        m_ccpm->CurveValue3->setVisible(true);
-        m_ccpm->CurveValue3->setMinimum(1.0);
-        m_ccpm->CurveValue3->setMaximum(100.0);
-        m_ccpm->CurveValue3->setSingleStep(1.0);
-        m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
-    }
-    if ( CurveType.compare("Custom")==0)
-    {
-        m_ccpm->CurveLabel1->setVisible(false);
-        m_ccpm->CurveValue1->setVisible(false);
-        m_ccpm->ccpmGenerateCurve->setVisible(false);
-        m_ccpm->CurveToGenerate->setVisible(false);
-    }
-
-    UpdateCurveWidgets();
-
-}
-void ConfigCcpmWidget::GenerateCurve()
-{
-   int NumCurvePoints,CurveToGenerate,i;
-   double value1, value2, value3, scale;
-   QString CurveType;
-   QTableWidgetItem *item;
-   double newValue;
-
-
-   //get the user settings
-   NumCurvePoints=m_ccpm->NumCurvePoints->value();
-   value1=m_ccpm->CurveValue1->value();
-   value2=m_ccpm->CurveValue2->value();
-   value3=m_ccpm->CurveValue3->value();
-   CurveToGenerate=m_ccpm->CurveToGenerate->currentIndex();
-   CurveType=m_ccpm->CurveType->currentText();
-
-
-
-   for (i=0;i<NumCurvePoints;i++)
-   {
-       scale =((double)i/(double)(NumCurvePoints-1));
-       item =m_ccpm->CurveSettings->item(i, CurveToGenerate );
-
-       if ( CurveType.compare("Flat")==0)
-       {
-           //item->setText( tr( "%1" ).arg( value1 ) );
-           item->setText(QString().sprintf("%.3f",value1));
-       }
-       if ( CurveType.compare("Linear")==0)
-       {
-           newValue =value1 +(scale*(value2-value1));
-           //item->setText( tr( "%1" ).arg(value1 +(scale*(value2-value1))) );
-           item->setText(QString().sprintf("%.3f",newValue));
-       }
-       if ( CurveType.compare("Step")==0)
-       {
-           if (scale*100<value3)
-           {
-               //item->setText( tr( "%1" ).arg(value1) );
-               item->setText(QString().sprintf("%.3f",value1));
-           }
-           else
-           {
-               //item->setText( tr( "%1" ).arg(value2) );
-               item->setText(QString().sprintf("%.3f",value2));
-           }
-       }
-       if ( CurveType.compare("Exp")==0)
-       {
-           newValue =value1 +(((exp(scale*(value3/10))-1))/(exp((value3/10))-1)*(value2-value1));
-           //item->setText( tr( "%1" ).arg(value1 +(((exp(scale*(value3/10))-1))/(exp((value3/10))-1)*(value2-value1))) );
-           item->setText(QString().sprintf("%.3f",newValue));
-       }
-       if ( CurveType.compare("Log")==0)
-       {
-           newValue = value1 +(((log(scale*(value3*2)+1))/(log(1+(value3*2))))*(value2-value1));
-           //item->setText( tr( "%1" ).arg(value1 +(((log(scale*(value3*2)+1))/(log(1+(value3*2))))*(value2-value1))) );
-           item->setText(QString().sprintf("%.3f",newValue));
-       }
-   }
-   for (i=NumCurvePoints;i<10;i++)
-   {
-       item =m_ccpm->CurveSettings->item(i, CurveToGenerate );
-       item->setText( tr( "" ) );
-   }
-    UpdateCurveWidgets();
-
-}
 
 void ConfigCcpmWidget::ccpmSwashplateRedraw()
 {
@@ -1111,22 +830,20 @@ void ConfigCcpmWidget::getMixer()
 {
     if (SwashLvlConfigurationInProgress)return;
     if (updatingToHardware)return;
+
     updatingFromHardware=TRUE;
     
-    int i;
+    UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
+    Q_ASSERT(mixer);
 
-    // Get existing mixer settings
-    MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
-    MixerSettings::DataFields mixerSettingsData = mixerSettings->getData();
+    QPointer<VehicleConfig> vconfig = new VehicleConfig();
 
-    //get the settings for the curve from the mixer settings
-    for (i=0;i<5;i++)
-    {
-        m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",
-                                                                     mixerSettingsData.ThrottleCurve1[i]));
-        m_ccpm->CurveSettings->item(i, 1)->setText(QString().sprintf("%.3f",
-                                                                     mixerSettingsData.ThrottleCurve2[i]));
-    }
+    QList<double> curveValues;
+    vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
+    m_ccpm->ThrottleCurve->setCurve(&curveValues);
+
+    vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
+    m_ccpm->PitchCurve->setCurve(&curveValues);
 
     updatingFromHardware=FALSE;
 
@@ -1195,9 +912,11 @@ void ConfigCcpmWidget::setMixer()
     }
 
     //get the user data for the curve into the mixer settings
+    QList<double> curve1 = m_ccpm->ThrottleCurve->getCurve();
+    QList<double> curve2 = m_ccpm->PitchCurve->getCurve();
     for (i=0;i<5;i++) {
-        mixerSettingsData.ThrottleCurve1[i] = m_ccpm->CurveSettings->item(i, 0)->text().toDouble();
-        mixerSettingsData.ThrottleCurve2[i] = m_ccpm->CurveSettings->item(i, 1)->text().toDouble();
+        mixerSettingsData.ThrottleCurve1[i] = curve1.at(i);
+        mixerSettingsData.ThrottleCurve2[i] = curve2.at(i);
     }
     
     //mapping of collective input to curve 2...
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
index 56161c36f..5e59a946f 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
@@ -99,13 +99,8 @@ private:
 
         void ccpmSwashplateUpdate();
         void ccpmSwashplateRedraw();
-        void UpdateCurveSettings();
-        void GenerateCurve();
         void UpdateMixer();
         void UpdateType();
-        void UpdateCurveWidgets();
-        void updatePitchCurveValue(QList<double>,double);
-        void updateThrottleCurveValue(QList<double>,double);
 
         void SwashLvlStartButtonPressed();
         void SwashLvlNextButtonPressed();
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 764f8800b..c356bd0b3 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -841,13 +841,6 @@ void ConfigVehicleTypeWidget::addToDirtyMonitor()
     addWidget(m_heli->m_ccpm->ccpmRollScaleBox);
     addWidget(m_heli->m_ccpm->SwashLvlPositionSlider);
     addWidget(m_heli->m_ccpm->SwashLvlPositionSpinBox);
-    addWidget(m_heli->m_ccpm->CurveType);
-    addWidget(m_heli->m_ccpm->NumCurvePoints);
-    addWidget(m_heli->m_ccpm->CurveValue1);
-    addWidget(m_heli->m_ccpm->CurveValue2);
-    addWidget(m_heli->m_ccpm->CurveValue3);
-    addWidget(m_heli->m_ccpm->CurveToGenerate);
-    addWidget(m_heli->m_ccpm->CurveSettings);
     addWidget(m_heli->m_ccpm->ThrottleCurve);
     addWidget(m_heli->m_ccpm->PitchCurve);
     addWidget(m_heli->m_ccpm->ccpmAdvancedSettingsTable);
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index 28d5e66cc..76dd6da23 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -64,6 +64,7 @@ MixerCurve::~MixerCurve()
 void MixerCurve::setMixerType(MixerCurveType curveType)
 {
     m_curveType = curveType;
+    m_mixerUI->CurveGroup->setTitle( (m_curveType == MixerCurve::MIXERCURVE_THROTTLE) ? "Throttle Curve" : "Pitch Curve");
 }
 
 void MixerCurve::ResetCurve()
@@ -87,19 +88,19 @@ void MixerCurve::UpdateCurveUI()
         {
             m_mixerUI->CurveMin->setMinimum(0.0);
             m_mixerUI->CurveMax->setMinimum(0.0);
-            m_mixerUI->CurveStep->setMinimum(0.0);
             break;
         }
         case MixerCurve::MIXERCURVE_PITCH:
         {
             m_mixerUI->CurveMin->setMinimum(-1.0);
             m_mixerUI->CurveMax->setMinimum(-1.0);
-            m_mixerUI->CurveStep->setMinimum(0.0);
             break;
         }
     }
     m_mixerUI->CurveMin->setMaximum(m_curve->getMax());
     m_mixerUI->CurveMax->setMaximum(m_curve->getMax());
+
+    m_mixerUI->CurveStep->setMinimum(0.0);
     m_mixerUI->CurveStep->setMaximum(100.0);
 
     //set default visible
@@ -135,6 +136,8 @@ void MixerCurve::UpdateCurveUI()
         m_mixerUI->stepLabel->setText("Strength");
         m_mixerUI->stepLabel->setVisible(true);
         m_mixerUI->CurveStep->setVisible(true);
+
+        m_mixerUI->CurveStep->setMinimum(1.0);
     }
     if ( curveType.compare("Log")==0)
     {
@@ -142,7 +145,8 @@ void MixerCurve::UpdateCurveUI()
         m_mixerUI->CurveMax->setVisible(true);
         m_mixerUI->stepLabel->setText("Strength");
         m_mixerUI->stepLabel->setVisible(true);
-        m_mixerUI->CurveStep->setVisible(true);
+        m_mixerUI->CurveStep->setVisible(true);        
+        m_mixerUI->CurveStep->setMinimum(1.0);
     }
 
     GenerateCurve();
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.ui b/ground/openpilotgcs/src/plugins/config/mixercurve.ui
index 65dbdc5f9..e174a333f 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.ui
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>355</width>
-    <height>272</height>
+    <width>447</width>
+    <height>321</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -24,8 +24,8 @@
   </property>
   <property name="maximumSize">
    <size>
-    <width>500</width>
-    <height>500</height>
+    <width>1000</width>
+    <height>1000</height>
    </size>
   </property>
   <property name="baseSize">
@@ -43,327 +43,349 @@
   <property name="frameShadow">
    <enum>QFrame::Raised</enum>
   </property>
-  <widget class="QGroupBox" name="verticalGroupBox">
+  <widget class="QWidget" name="horizontalLayoutWidget">
    <property name="geometry">
     <rect>
-     <x>90</x>
-     <y>0</y>
-     <width>261</width>
-     <height>231</height>
+     <x>10</x>
+     <y>10</y>
+     <width>422</width>
+     <height>301</height>
     </rect>
    </property>
-   <layout class="QGridLayout" name="gridLayout">
-    <property name="sizeConstraint">
-     <enum>QLayout::SetMinAndMaxSize</enum>
-    </property>
-    <item row="1" column="0">
-     <widget class="MixerCurveWidget" name="CurveWidget" native="true">
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-        <horstretch>1</horstretch>
-        <verstretch>1</verstretch>
-       </sizepolicy>
+   <layout class="QHBoxLayout" name="MainLayout">
+    <item>
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <property name="sizeConstraint">
+       <enum>QLayout::SetDefaultConstraint</enum>
       </property>
-      <property name="minimumSize">
-       <size>
-        <width>50</width>
-        <height>50</height>
-       </size>
+      <item>
+       <widget class="QGroupBox" name="CurveGroup">
+        <property name="maximumSize">
+         <size>
+          <width>100</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="title">
+         <string>Throttle Curve</string>
+        </property>
+        <layout class="QVBoxLayout" name="verticalLayout">
+         <item>
+          <widget class="QTableWidget" name="CurveSettings">
+           <property name="maximumSize">
+            <size>
+             <width>71</width>
+             <height>200</height>
+            </size>
+           </property>
+           <property name="font">
+            <font>
+             <pointsize>8</pointsize>
+            </font>
+           </property>
+           <property name="verticalScrollBarPolicy">
+            <enum>Qt::ScrollBarAlwaysOff</enum>
+           </property>
+           <property name="horizontalScrollBarPolicy">
+            <enum>Qt::ScrollBarAlwaysOff</enum>
+           </property>
+           <property name="autoScroll">
+            <bool>false</bool>
+           </property>
+           <property name="alternatingRowColors">
+            <bool>true</bool>
+           </property>
+           <property name="rowCount">
+            <number>5</number>
+           </property>
+           <property name="columnCount">
+            <number>1</number>
+           </property>
+           <row>
+            <property name="text">
+             <string>5</string>
+            </property>
+           </row>
+           <row>
+            <property name="text">
+             <string>4</string>
+            </property>
+           </row>
+           <row>
+            <property name="text">
+             <string>3</string>
+            </property>
+           </row>
+           <row>
+            <property name="text">
+             <string>2</string>
+            </property>
+           </row>
+           <row>
+            <property name="text">
+             <string>1</string>
+            </property>
+           </row>
+           <column>
+            <property name="text">
+             <string>Value</string>
+            </property>
+            <property name="textAlignment">
+             <set>AlignJustify|AlignVCenter</set>
+            </property>
+           </column>
+           <item row="0" column="0">
+            <property name="text">
+             <string>1.0</string>
+            </property>
+           </item>
+           <item row="1" column="0">
+            <property name="text">
+             <string>.75</string>
+            </property>
+           </item>
+           <item row="2" column="0">
+            <property name="text">
+             <string>.50</string>
+            </property>
+           </item>
+           <item row="3" column="0">
+            <property name="text">
+             <string>.25</string>
+            </property>
+           </item>
+           <item row="4" column="0">
+            <property name="text">
+             <string>.00</string>
+            </property>
+           </item>
+          </widget>
+         </item>
+         <item>
+          <widget class="QComboBox" name="CurveType">
+           <item>
+            <property name="text">
+             <string>Linear</string>
+            </property>
+           </item>
+           <item>
+            <property name="text">
+             <string>Log</string>
+            </property>
+           </item>
+           <item>
+            <property name="text">
+             <string>Exp</string>
+            </property>
+           </item>
+           <item>
+            <property name="text">
+             <string>Flat</string>
+            </property>
+           </item>
+           <item>
+            <property name="text">
+             <string>Step</string>
+            </property>
+           </item>
+          </widget>
+         </item>
+         <item>
+          <widget class="QPushButton" name="GenerateCurve">
+           <property name="text">
+            <string>Generate</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <spacer name="verticalSpacer">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>40</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item>
+          <widget class="QPushButton" name="ResetCurve">
+           <property name="text">
+            <string>Reset</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
+        <zorder>GenerateCurve</zorder>
+        <zorder>CurveSettings</zorder>
+        <zorder>ResetCurve</zorder>
+        <zorder>CurveType</zorder>
+        <zorder>verticalSpacer</zorder>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout_2">
+      <property name="sizeConstraint">
+       <enum>QLayout::SetDefaultConstraint</enum>
       </property>
-      <property name="maximumSize">
-       <size>
-        <width>1000</width>
-        <height>1000</height>
-       </size>
-      </property>
-      <property name="sizeIncrement">
-       <size>
-        <width>10</width>
-        <height>10</height>
-       </size>
-      </property>
-      <property name="baseSize">
-       <size>
-        <width>200</width>
-        <height>200</height>
-       </size>
-      </property>
-     </widget>
+      <item>
+       <widget class="QGroupBox" name="verticalGroupBox">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+          <horstretch>1</horstretch>
+          <verstretch>1</verstretch>
+         </sizepolicy>
+        </property>
+        <layout class="QGridLayout" name="gridLayout">
+         <property name="sizeConstraint">
+          <enum>QLayout::SetMinAndMaxSize</enum>
+         </property>
+         <item row="1" column="0">
+          <widget class="MixerCurveWidget" name="CurveWidget" native="true">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+             <horstretch>5</horstretch>
+             <verstretch>5</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>1000</width>
+             <height>1000</height>
+            </size>
+           </property>
+           <property name="sizeIncrement">
+            <size>
+             <width>10</width>
+             <height>10</height>
+            </size>
+           </property>
+           <property name="baseSize">
+            <size>
+             <width>200</width>
+             <height>200</height>
+            </size>
+           </property>
+           <property name="font">
+            <font>
+             <pointsize>7</pointsize>
+            </font>
+           </property>
+           <zorder>CurveGroup</zorder>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <layout class="QHBoxLayout" name="horizontalLayout_3">
+           <item>
+            <widget class="QGroupBox" name="groupBox_2">
+             <property name="title">
+              <string/>
+             </property>
+             <layout class="QHBoxLayout" name="horizontalLayout">
+              <item>
+               <widget class="QLabel" name="minLabel">
+                <property name="text">
+                 <string>Min</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QDoubleSpinBox" name="CurveMin">
+                <property name="correctionMode">
+                 <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+                </property>
+                <property name="minimum">
+                 <double>-1.000000000000000</double>
+                </property>
+                <property name="maximum">
+                 <double>1.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>0.010000000000000</double>
+                </property>
+                <property name="value">
+                 <double>0.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="maxLabel">
+                <property name="text">
+                 <string>Max</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QDoubleSpinBox" name="CurveMax">
+                <property name="correctionMode">
+                 <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+                </property>
+                <property name="minimum">
+                 <double>0.000000000000000</double>
+                </property>
+                <property name="maximum">
+                 <double>1.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>0.010000000000000</double>
+                </property>
+                <property name="value">
+                 <double>1.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="stepLabel">
+                <property name="text">
+                 <string>Step</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QDoubleSpinBox" name="CurveStep">
+                <property name="correctionMode">
+                 <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+                </property>
+                <property name="value">
+                 <double>50.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <spacer name="horizontalSpacer">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+             </layout>
+            </widget>
+           </item>
+          </layout>
+         </item>
+        </layout>
+       </widget>
+      </item>
+     </layout>
     </item>
    </layout>
   </widget>
-  <widget class="QGroupBox" name="groupBox">
-   <property name="geometry">
-    <rect>
-     <x>0</x>
-     <y>0</y>
-     <width>91</width>
-     <height>271</height>
-    </rect>
-   </property>
-   <widget class="QTableWidget" name="CurveSettings">
-    <property name="geometry">
-     <rect>
-      <x>0</x>
-      <y>0</y>
-      <width>87</width>
-      <height>171</height>
-     </rect>
-    </property>
-    <property name="font">
-     <font>
-      <pointsize>8</pointsize>
-     </font>
-    </property>
-    <property name="verticalScrollBarPolicy">
-     <enum>Qt::ScrollBarAlwaysOff</enum>
-    </property>
-    <property name="horizontalScrollBarPolicy">
-     <enum>Qt::ScrollBarAlwaysOff</enum>
-    </property>
-    <property name="autoScroll">
-     <bool>false</bool>
-    </property>
-    <property name="alternatingRowColors">
-     <bool>true</bool>
-    </property>
-    <property name="rowCount">
-     <number>5</number>
-    </property>
-    <property name="columnCount">
-     <number>1</number>
-    </property>
-    <row>
-     <property name="text">
-      <string>5</string>
-     </property>
-    </row>
-    <row>
-     <property name="text">
-      <string>4</string>
-     </property>
-    </row>
-    <row>
-     <property name="text">
-      <string>3</string>
-     </property>
-    </row>
-    <row>
-     <property name="text">
-      <string>2</string>
-     </property>
-    </row>
-    <row>
-     <property name="text">
-      <string>1</string>
-     </property>
-    </row>
-    <column>
-     <property name="text">
-      <string>Value</string>
-     </property>
-    </column>
-    <item row="0" column="0">
-     <property name="text">
-      <string>1.0</string>
-     </property>
-    </item>
-    <item row="1" column="0">
-     <property name="text">
-      <string>.75</string>
-     </property>
-    </item>
-    <item row="2" column="0">
-     <property name="text">
-      <string>.50</string>
-     </property>
-    </item>
-    <item row="3" column="0">
-     <property name="text">
-      <string>.25</string>
-     </property>
-    </item>
-    <item row="4" column="0">
-     <property name="text">
-      <string>.00</string>
-     </property>
-    </item>
-   </widget>
-   <widget class="QComboBox" name="CurveType">
-    <property name="geometry">
-     <rect>
-      <x>0</x>
-      <y>180</y>
-      <width>87</width>
-      <height>20</height>
-     </rect>
-    </property>
-    <item>
-     <property name="text">
-      <string>Linear</string>
-     </property>
-    </item>
-    <item>
-     <property name="text">
-      <string>Log</string>
-     </property>
-    </item>
-    <item>
-     <property name="text">
-      <string>Exp</string>
-     </property>
-    </item>
-    <item>
-     <property name="text">
-      <string>Flat</string>
-     </property>
-    </item>
-    <item>
-     <property name="text">
-      <string>Step</string>
-     </property>
-    </item>
-   </widget>
-   <widget class="QPushButton" name="GenerateCurve">
-    <property name="geometry">
-     <rect>
-      <x>0</x>
-      <y>200</y>
-      <width>87</width>
-      <height>23</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>Generate</string>
-    </property>
-   </widget>
-   <widget class="QPushButton" name="ResetCurve">
-    <property name="geometry">
-     <rect>
-      <x>0</x>
-      <y>240</y>
-      <width>87</width>
-      <height>23</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>Reset</string>
-    </property>
-   </widget>
-  </widget>
-  <widget class="QLabel" name="minLabel">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>230</y>
-     <width>61</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Min</string>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="CurveMin">
-   <property name="geometry">
-    <rect>
-     <x>100</x>
-     <y>250</y>
-     <width>61</width>
-     <height>20</height>
-    </rect>
-   </property>
-   <property name="correctionMode">
-    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-   </property>
-   <property name="minimum">
-    <double>-1.000000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>1.000000000000000</double>
-   </property>
-   <property name="singleStep">
-    <double>0.010000000000000</double>
-   </property>
-   <property name="value">
-    <double>0.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QLabel" name="stepLabel">
-   <property name="geometry">
-    <rect>
-     <x>240</x>
-     <y>230</y>
-     <width>87</width>
-     <height>13</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Step</string>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="CurveStep">
-   <property name="geometry">
-    <rect>
-     <x>240</x>
-     <y>250</y>
-     <width>61</width>
-     <height>20</height>
-    </rect>
-   </property>
-   <property name="correctionMode">
-    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-   </property>
-   <property name="value">
-    <double>50.000000000000000</double>
-   </property>
-  </widget>
-  <widget class="QLabel" name="maxLabel">
-   <property name="geometry">
-    <rect>
-     <x>170</x>
-     <y>230</y>
-     <width>51</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Max</string>
-   </property>
-  </widget>
-  <widget class="QDoubleSpinBox" name="CurveMax">
-   <property name="geometry">
-    <rect>
-     <x>170</x>
-     <y>250</y>
-     <width>61</width>
-     <height>20</height>
-    </rect>
-   </property>
-   <property name="correctionMode">
-    <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-   </property>
-   <property name="minimum">
-    <double>0.000000000000000</double>
-   </property>
-   <property name="maximum">
-    <double>1.000000000000000</double>
-   </property>
-   <property name="singleStep">
-    <double>0.010000000000000</double>
-   </property>
-   <property name="value">
-    <double>1.000000000000000</double>
-   </property>
-  </widget>
-  <zorder>groupBox</zorder>
-  <zorder>verticalGroupBox</zorder>
-  <zorder>minLabel</zorder>
-  <zorder>CurveMin</zorder>
-  <zorder>stepLabel</zorder>
-  <zorder>CurveStep</zorder>
-  <zorder>maxLabel</zorder>
-  <zorder>CurveMax</zorder>
  </widget>
  <customwidgets>
   <customwidget>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
index 5996eb7d3..199a0dba5 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
@@ -59,9 +59,7 @@ QList<Edge *> Node::edges() const
 
 QRectF Node::boundingRect() const
 {
-    qreal adjust = 2;
-    return QRectF(-12 - adjust, -12 - adjust,
-                  28 + adjust, 28 + adjust);
+    return QRectF(-12, -12, 25, 25);
 }
 
 QPainterPath Node::shape() const

From 8692855208c581cc15f3dd9af703c35db604251d Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Thu, 5 Jul 2012 15:31:36 -0700
Subject: [PATCH 007/543] Bugfixes: spindelegate is online and fairly smart,
 knows min/max for curve; heli config is fully on board with integrated curve;
 custom vehicle now displays 10 channels in custom grid; mixercurve ui getting
 better;

---
 .../src/plugins/config/DoubleSpinDelegate.cpp | 21 ++++++---
 .../src/plugins/config/DoubleSpinDelegate.h   | 17 +++++++
 .../cfg_vehicletypes/configccpmwidget.cpp     | 22 ++++++++--
 .../config/configvehicletypewidget.cpp        |  8 ++--
 .../src/plugins/config/mixercurve.cpp         | 44 +++++++++++++++----
 .../src/plugins/config/mixercurve.ui          |  5 +--
 6 files changed, 91 insertions(+), 26 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.cpp b/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.cpp
index dd5921431..d87cdfd70 100644
--- a/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.cpp
+++ b/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.cpp
@@ -31,15 +31,14 @@
   Helper delegate for the custom mixer editor table.
   */
 DoubleSpinDelegate::DoubleSpinDelegate(QObject *parent)
-     : QItemDelegate(parent),
-       m_min(0.0),
-       m_max(1.0),
-       m_decimals(2),
-       m_step(0.01)
- {
+     : QItemDelegate(parent)
+ {    
+    m_min = 0.0;
+    m_max = 1.0;
+    m_decimals = 2;
+    m_step = 0.01;
  }
 
-
 QWidget *DoubleSpinDelegate::createEditor(QWidget *parent,
     const QStyleOptionViewItem &/* option */,
     const QModelIndex &/* index */) const
@@ -49,6 +48,9 @@ QWidget *DoubleSpinDelegate::createEditor(QWidget *parent,
     editor->setMaximum(m_max);
     editor->setDecimals(m_decimals);
     editor->setSingleStep(m_step);
+
+    connect(editor,SIGNAL(valueChanged(double)), this, SLOT(valueChanged()));
+
     return editor;
 }
 
@@ -77,3 +79,8 @@ void DoubleSpinDelegate::updateEditorGeometry(QWidget *editor,
     editor->setGeometry(option.rect);
 }
 
+void DoubleSpinDelegate::valueChanged()
+{
+    emit ValueChanged();
+}
+
diff --git a/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.h b/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.h
index 8329abb75..0711cf81d 100644
--- a/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.h
+++ b/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.h
@@ -30,6 +30,11 @@
 #include <QDoubleSpinBox>
 #include <QItemDelegate>
 
+
+namespace Ui {
+class DoubleSpinDelegate;
+}
+
 class DoubleSpinDelegate : public QItemDelegate
 {
     Q_OBJECT
@@ -47,11 +52,23 @@ public:
     void updateEditorGeometry(QWidget *editor,
         const QStyleOptionViewItem &option, const QModelIndex &index) const;
 
+    void setMin(double min) { m_min = min; }
+    void setMax(double max) { m_max = max; }
+    void setRange(double min, double max) { m_min = min; m_max = max; }
+    void setStep(double step) { m_step = step; }
+    void setDecimals(int decimals) { m_decimals = decimals; }
+
 private:
     double  m_min;
     double  m_max;
     double  m_step;
     int     m_decimals;
+
+signals:
+    void ValueChanged();
+
+private slots:
+    void valueChanged()    ;
 };
 
 #endif // DOUBLESPINDELEGATE_H
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
index 86879ec38..0cfbcb207 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
@@ -135,10 +135,10 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
     //initialize our two mixer curves
 
     m_ccpm->ThrottleCurve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
-    m_ccpm->ThrottleCurve->initLinearCurve(5, 1.0);
+    m_ccpm->ThrottleCurve->ResetCurve();
 
     m_ccpm->PitchCurve->setMixerType(MixerCurve::MIXERCURVE_PITCH);
-    m_ccpm->PitchCurve->initLinearCurve(5, 1.0, -1.0);
+    m_ccpm->PitchCurve->ResetCurve();
 
     //initialize channel names
     m_ccpm->ccpmEngineChannel->addItems(channelNames);
@@ -840,10 +840,24 @@ void ConfigCcpmWidget::getMixer()
 
     QList<double> curveValues;
     vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
-    m_ccpm->ThrottleCurve->setCurve(&curveValues);
+
+    // is at least one of the curve values != 0?
+    if (vconfig->isValidThrottleCurve(&curveValues)) {
+        m_ccpm->ThrottleCurve->setCurve(&curveValues);
+    }
+    else {
+        m_ccpm->ThrottleCurve->ResetCurve();
+    }
+
 
     vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
-    m_ccpm->PitchCurve->setCurve(&curveValues);
+    // is at least one of the curve values != 0?
+    if (vconfig->isValidThrottleCurve(&curveValues)) {
+        m_ccpm->PitchCurve->setCurve(&curveValues);
+    }
+    else {
+        m_ccpm->PitchCurve->ResetCurve();
+    }
 
     updatingFromHardware=FALSE;
 
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index c356bd0b3..5082daf22 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -325,7 +325,7 @@ void ConfigVehicleTypeWidget::switchAirframeType(int index)
         m_aircraft->customMixerTable->resizeColumnsToContents();
         for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) {
             m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()-
-                                                            m_aircraft->customMixerTable->verticalHeader()->width())/8);
+                                                            m_aircraft->customMixerTable->verticalHeader()->width())/10);
         }
     }
 }
@@ -344,7 +344,7 @@ void ConfigVehicleTypeWidget::showEvent(QShowEvent *event)
     m_aircraft->customMixerTable->resizeColumnsToContents();
     for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) {
         m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()-
-                                                        m_aircraft->customMixerTable->verticalHeader()->width())/8);
+                                                        m_aircraft->customMixerTable->verticalHeader()->width())/ 10);
     }
 }
 
@@ -357,9 +357,9 @@ void ConfigVehicleTypeWidget::resizeEvent(QResizeEvent* event)
     m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
     // Make the custom table columns autostretch:
     m_aircraft->customMixerTable->resizeColumnsToContents();
-    for (int i=0;i<8;i++) {
+    for (int i=0;i<(int)(VehicleConfig::CHANNEL_NUMELEM);i++) {
         m_aircraft->customMixerTable->setColumnWidth(i,(m_aircraft->customMixerTable->width()-
-                                                        m_aircraft->customMixerTable->verticalHeader()->width())/8);
+                                                        m_aircraft->customMixerTable->verticalHeader()->width())/ 10);
     }
 
 }
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index 76dd6da23..9171c8080 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -31,18 +31,14 @@
 
 MixerCurve::MixerCurve(QWidget *parent) :
     QFrame(parent),
-    m_mixerUI(new Ui::MixerCurve),
-    m_curveType(MixerCurve::MIXERCURVE_THROTTLE)
+    m_mixerUI(new Ui::MixerCurve)
 {
     m_mixerUI->setupUi(this);
 
     m_curve = m_mixerUI->CurveWidget;
     m_settings = m_mixerUI->CurveSettings;
 
-    DoubleSpinDelegate *sbd = new DoubleSpinDelegate();
-    for (int i=0; i<MixerCurveWidget::NODE_NUMELEM; i++) {
-        m_settings->setItemDelegateForRow(i, sbd);
-    }
+    setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
 
     UpdateCurveUI();
 
@@ -50,7 +46,7 @@ MixerCurve::MixerCurve(QWidget *parent) :
     connect(m_mixerUI->ResetCurve, SIGNAL(clicked()), this, SLOT(ResetCurve()));
     connect(m_mixerUI->GenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve()));
     connect(m_curve, SIGNAL(curveUpdated()), this, SLOT(UpdateSettingsTable()));
-    connect(m_settings, SIGNAL(itemChanged(QTableWidgetItem*)), this, SLOT(SettingsTableChanged()));
+    connect(m_settings, SIGNAL(cellChanged(int,int)), this, SLOT(SettingsTableChanged()));
     connect(m_mixerUI->CurveMin, SIGNAL(valueChanged(double)), this, SLOT(CurveMinChanged(double)));
     connect(m_mixerUI->CurveMax, SIGNAL(valueChanged(double)), this, SLOT(CurveMaxChanged(double)));
     connect(m_mixerUI->CurveStep, SIGNAL(valueChanged(double)), this, SLOT(GenerateCurve()));
@@ -64,7 +60,33 @@ MixerCurve::~MixerCurve()
 void MixerCurve::setMixerType(MixerCurveType curveType)
 {
     m_curveType = curveType;
-    m_mixerUI->CurveGroup->setTitle( (m_curveType == MixerCurve::MIXERCURVE_THROTTLE) ? "Throttle Curve" : "Pitch Curve");
+
+    switch (m_curveType) {
+        case MixerCurve::MIXERCURVE_THROTTLE:
+        {
+            m_mixerUI->CurveGroup->setTitle("Throttle Curve");
+            m_curve->setRange(0.0, 1.0);
+            m_mixerUI->CurveMin->setMinimum(0.0);
+            m_mixerUI->CurveMax->setMinimum(0.0);
+            break;
+        }
+        case MixerCurve::MIXERCURVE_PITCH:
+        {
+            m_mixerUI->CurveGroup->setTitle("Pitch Curve");
+            m_curve->setRange(-1.0, 1.0);
+            m_mixerUI->CurveMin->setMinimum(-1.0);
+            m_mixerUI->CurveMax->setMinimum(-1.0);
+            break;
+        }
+    }
+
+    DoubleSpinDelegate *sbd = new DoubleSpinDelegate();
+    sbd->setRange(m_curve->getMin(), m_curve->getMax());
+    for (int i=0; i<MixerCurveWidget::NODE_NUMELEM; i++) {
+        m_settings->setItemDelegateForRow(i, sbd);
+    }
+
+    ResetCurve();
 }
 
 void MixerCurve::ResetCurve()
@@ -328,6 +350,9 @@ void MixerCurve::showEvent(QShowEvent *event)
 {
     Q_UNUSED(event);
 
+    m_settings->resizeColumnsToContents();
+    m_settings->setColumnWidth(0,(m_settings->width()-  m_settings->verticalHeader()->width()));
+
     m_curve->showEvent(event);
 }
 
@@ -335,5 +360,8 @@ void MixerCurve::resizeEvent(QResizeEvent* event)
 {
     Q_UNUSED(event);
 
+    m_settings->resizeColumnsToContents();
+    m_settings->setColumnWidth(0,(m_settings->width()-  m_settings->verticalHeader()->width()));
+
     m_curve->resizeEvent(event);
 }
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.ui b/ground/openpilotgcs/src/plugins/config/mixercurve.ui
index e174a333f..7844ead2c 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.ui
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.ui
@@ -62,7 +62,7 @@
        <widget class="QGroupBox" name="CurveGroup">
         <property name="maximumSize">
          <size>
-          <width>100</width>
+          <width>150</width>
           <height>16777215</height>
          </size>
         </property>
@@ -74,7 +74,7 @@
           <widget class="QTableWidget" name="CurveSettings">
            <property name="maximumSize">
             <size>
-             <width>71</width>
+             <width>100</width>
              <height>200</height>
             </size>
            </property>
@@ -281,7 +281,6 @@
              <pointsize>7</pointsize>
             </font>
            </property>
-           <zorder>CurveGroup</zorder>
           </widget>
          </item>
          <item row="2" column="0">

From eeb9ce9909974a17f83593b503223bcb13a44d23 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 6 Jul 2012 10:43:24 -0700
Subject: [PATCH 008/543] Bugfix: resolve curveUpdated() signal signature
 issue.

---
 .../src/plugins/uavobjectwidgetutils/configtaskwidget.cpp     | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
index 7fb8d70c7..41ddf9f05 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
@@ -843,7 +843,7 @@ void ConfigTaskWidget::connectWidgetUpdatesToSlot(QWidget * widget,const char* f
     }
     else if(MixerCurveWidget * cb=qobject_cast<MixerCurveWidget *>(widget))
     {
-        connect(cb,SIGNAL(curveUpdated(QList<double>,double)),this,function);
+        connect(cb,SIGNAL(curveUpdated()),this,function);
     }
     else if(QTableWidget * cb=qobject_cast<QTableWidget *>(widget))
     {
@@ -886,7 +886,7 @@ void ConfigTaskWidget::disconnectWidgetUpdatesToSlot(QWidget * widget,const char
     }
     else if(MixerCurveWidget * cb=qobject_cast<MixerCurveWidget *>(widget))
     {
-        disconnect(cb,SIGNAL(curveUpdated(QList<double>,double)),this,function);
+        disconnect(cb,SIGNAL(curveUpdated()),this,function);
     }
     else if(QTableWidget * cb=qobject_cast<QTableWidget *>(widget))
     {

From de590dfdd7981166a7641d0463833928bdf966cb Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 6 Jul 2012 11:28:46 -0700
Subject: [PATCH 009/543] MixerCurve:  Bwahaha, it resizes.

---
 .../src/plugins/config/airframe.ui            |  42 +-
 .../src/plugins/config/mixercurve.cpp         |  16 +-
 .../src/plugins/config/mixercurve.ui          | 680 +++++++++---------
 .../uavobjectwidgetutils/mixercurvewidget.cpp |   1 +
 .../uavobjectwidgetutils/mixercurvewidget.h   |   1 -
 5 files changed, 385 insertions(+), 355 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 7ca5b937b..82097b90b 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -480,8 +480,8 @@ margin:1px;</string>
                     </property>
                     <property name="minimumSize">
                      <size>
-                      <width>450</width>
-                      <height>400</height>
+                      <width>0</width>
+                      <height>0</height>
                      </size>
                     </property>
                     <property name="maximumSize">
@@ -499,7 +499,7 @@ margin:1px;</string>
                     <property name="baseSize">
                      <size>
                       <width>300</width>
-                      <height>300</height>
+                      <height>350</height>
                      </size>
                     </property>
                    </widget>
@@ -876,6 +876,18 @@ margin:1px;</string>
                       <height>0</height>
                      </size>
                     </property>
+                    <property name="sizeIncrement">
+                     <size>
+                      <width>10</width>
+                      <height>10</height>
+                     </size>
+                    </property>
+                    <property name="baseSize">
+                     <size>
+                      <width>300</width>
+                      <height>350</height>
+                     </size>
+                    </property>
                     <property name="styleSheet">
                      <string notr="true">background:transparent</string>
                     </property>
@@ -1627,7 +1639,7 @@ margin:1px;</string>
                <item>
                 <widget class="QGroupBox" name="gvThrottleCurve1GroupBox">
                  <property name="sizePolicy">
-                  <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                    <horstretch>0</horstretch>
                    <verstretch>100</verstretch>
                   </sizepolicy>
@@ -1662,6 +1674,12 @@ margin:1px;</string>
                       <height>10</height>
                      </size>
                     </property>
+                    <property name="baseSize">
+                     <size>
+                      <width>300</width>
+                      <height>350</height>
+                     </size>
+                    </property>
                    </widget>
                   </item>
                  </layout>
@@ -1670,7 +1688,7 @@ margin:1px;</string>
                <item>
                 <widget class="QGroupBox" name="gvThrottleCurve2GroupBox">
                  <property name="sizePolicy">
-                  <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                    <horstretch>0</horstretch>
                    <verstretch>0</verstretch>
                   </sizepolicy>
@@ -1699,6 +1717,18 @@ margin:1px;</string>
                       <height>500</height>
                      </size>
                     </property>
+                    <property name="sizeIncrement">
+                     <size>
+                      <width>10</width>
+                      <height>10</height>
+                     </size>
+                    </property>
+                    <property name="baseSize">
+                     <size>
+                      <width>300</width>
+                      <height>350</height>
+                     </size>
+                    </property>
                    </widget>
                   </item>
                  </layout>
@@ -1762,7 +1792,7 @@ margin:1px;</string>
                <item>
                 <widget class="QGroupBox" name="groupBox_4">
                  <property name="sizePolicy">
-                  <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                    <horstretch>0</horstretch>
                    <verstretch>0</verstretch>
                   </sizepolicy>
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index 9171c8080..9fe0ede74 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -25,6 +25,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include <QtGui/QWidget>
+#include <QResizeEvent>
 #include <math.h>
 #include "mixercurve.h"
 #include "doublespindelegate.h"
@@ -64,7 +66,7 @@ void MixerCurve::setMixerType(MixerCurveType curveType)
     switch (m_curveType) {
         case MixerCurve::MIXERCURVE_THROTTLE:
         {
-            m_mixerUI->CurveGroup->setTitle("Throttle Curve");
+            m_mixerUI->SettingsGroup->setTitle("Throttle Curve");
             m_curve->setRange(0.0, 1.0);
             m_mixerUI->CurveMin->setMinimum(0.0);
             m_mixerUI->CurveMax->setMinimum(0.0);
@@ -72,7 +74,7 @@ void MixerCurve::setMixerType(MixerCurveType curveType)
         }
         case MixerCurve::MIXERCURVE_PITCH:
         {
-            m_mixerUI->CurveGroup->setTitle("Pitch Curve");
+            m_mixerUI->SettingsGroup->setTitle("Pitch Curve");
             m_curve->setRange(-1.0, 1.0);
             m_mixerUI->CurveMin->setMinimum(-1.0);
             m_mixerUI->CurveMax->setMinimum(-1.0);
@@ -353,15 +355,19 @@ void MixerCurve::showEvent(QShowEvent *event)
     m_settings->resizeColumnsToContents();
     m_settings->setColumnWidth(0,(m_settings->width()-  m_settings->verticalHeader()->width()));
 
+//    const QRectF& rectRef = QRectF(0,0,parentWidget()->width() - 50 , parentWidget()->width() - 50);
+//    m_curve->fitInView(rectRef, Qt::KeepAspectRatio);
+
     m_curve->showEvent(event);
 }
 
 void MixerCurve::resizeEvent(QResizeEvent* event)
 {
-    Q_UNUSED(event);
-
     m_settings->resizeColumnsToContents();
-    m_settings->setColumnWidth(0,(m_settings->width()-  m_settings->verticalHeader()->width()));
+    m_settings->setColumnWidth(0,(m_settings->width() -  m_settings->verticalHeader()->width()));
+
+//    const QRectF& rectRef = QRectF(0,0,parentWidget()->width() - 50 , parentWidget()->width() - 50);
+//    m_curve->fitInView(rectRef, Qt::KeepAspectRatio);
 
     m_curve->resizeEvent(event);
 }
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.ui b/ground/openpilotgcs/src/plugins/config/mixercurve.ui
index 7844ead2c..ad6e8b696 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.ui
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>447</width>
+    <width>441</width>
     <height>321</height>
    </rect>
   </property>
@@ -18,8 +18,8 @@
   </property>
   <property name="minimumSize">
    <size>
-    <width>200</width>
-    <height>200</height>
+    <width>441</width>
+    <height>321</height>
    </size>
   </property>
   <property name="maximumSize">
@@ -43,348 +43,342 @@
   <property name="frameShadow">
    <enum>QFrame::Raised</enum>
   </property>
-  <widget class="QWidget" name="horizontalLayoutWidget">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>10</y>
-     <width>422</width>
-     <height>301</height>
-    </rect>
-   </property>
-   <layout class="QHBoxLayout" name="MainLayout">
-    <item>
-     <layout class="QVBoxLayout" name="verticalLayout_2">
-      <property name="sizeConstraint">
-       <enum>QLayout::SetDefaultConstraint</enum>
-      </property>
-      <item>
-       <widget class="QGroupBox" name="CurveGroup">
-        <property name="maximumSize">
-         <size>
-          <width>150</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="title">
-         <string>Throttle Curve</string>
-        </property>
-        <layout class="QVBoxLayout" name="verticalLayout">
-         <item>
-          <widget class="QTableWidget" name="CurveSettings">
-           <property name="maximumSize">
-            <size>
-             <width>100</width>
-             <height>200</height>
-            </size>
-           </property>
-           <property name="font">
-            <font>
-             <pointsize>8</pointsize>
-            </font>
-           </property>
-           <property name="verticalScrollBarPolicy">
-            <enum>Qt::ScrollBarAlwaysOff</enum>
-           </property>
-           <property name="horizontalScrollBarPolicy">
-            <enum>Qt::ScrollBarAlwaysOff</enum>
-           </property>
-           <property name="autoScroll">
-            <bool>false</bool>
-           </property>
-           <property name="alternatingRowColors">
-            <bool>true</bool>
-           </property>
-           <property name="rowCount">
-            <number>5</number>
-           </property>
-           <property name="columnCount">
-            <number>1</number>
-           </property>
-           <row>
-            <property name="text">
-             <string>5</string>
-            </property>
-           </row>
-           <row>
-            <property name="text">
-             <string>4</string>
-            </property>
-           </row>
-           <row>
-            <property name="text">
-             <string>3</string>
-            </property>
-           </row>
-           <row>
-            <property name="text">
-             <string>2</string>
-            </property>
-           </row>
-           <row>
-            <property name="text">
-             <string>1</string>
-            </property>
-           </row>
-           <column>
-            <property name="text">
-             <string>Value</string>
-            </property>
-            <property name="textAlignment">
-             <set>AlignJustify|AlignVCenter</set>
-            </property>
-           </column>
-           <item row="0" column="0">
-            <property name="text">
-             <string>1.0</string>
-            </property>
-           </item>
-           <item row="1" column="0">
-            <property name="text">
-             <string>.75</string>
-            </property>
-           </item>
-           <item row="2" column="0">
-            <property name="text">
-             <string>.50</string>
-            </property>
-           </item>
-           <item row="3" column="0">
-            <property name="text">
-             <string>.25</string>
-            </property>
-           </item>
-           <item row="4" column="0">
-            <property name="text">
-             <string>.00</string>
-            </property>
-           </item>
-          </widget>
-         </item>
-         <item>
-          <widget class="QComboBox" name="CurveType">
-           <item>
-            <property name="text">
-             <string>Linear</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
-             <string>Log</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
-             <string>Exp</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
-             <string>Flat</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
-             <string>Step</string>
-            </property>
-           </item>
-          </widget>
-         </item>
-         <item>
-          <widget class="QPushButton" name="GenerateCurve">
-           <property name="text">
-            <string>Generate</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <spacer name="verticalSpacer">
-           <property name="orientation">
-            <enum>Qt::Vertical</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>20</width>
-             <height>40</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
-         <item>
-          <widget class="QPushButton" name="ResetCurve">
-           <property name="text">
-            <string>Reset</string>
-           </property>
-          </widget>
-         </item>
-        </layout>
-        <zorder>GenerateCurve</zorder>
-        <zorder>CurveSettings</zorder>
-        <zorder>ResetCurve</zorder>
-        <zorder>CurveType</zorder>
-        <zorder>verticalSpacer</zorder>
-       </widget>
-      </item>
-     </layout>
-    </item>
-    <item>
-     <layout class="QHBoxLayout" name="horizontalLayout_2">
-      <property name="sizeConstraint">
-       <enum>QLayout::SetDefaultConstraint</enum>
-      </property>
-      <item>
-       <widget class="QGroupBox" name="verticalGroupBox">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-          <horstretch>1</horstretch>
-          <verstretch>1</verstretch>
-         </sizepolicy>
-        </property>
-        <layout class="QGridLayout" name="gridLayout">
-         <property name="sizeConstraint">
-          <enum>QLayout::SetMinAndMaxSize</enum>
+  <layout class="QHBoxLayout" name="horizontalLayout_3">
+   <item>
+    <layout class="QHBoxLayout" name="MainLayout">
+     <item>
+      <layout class="QVBoxLayout" name="SettingsLayout">
+       <property name="sizeConstraint">
+        <enum>QLayout::SetDefaultConstraint</enum>
+       </property>
+       <item>
+        <widget class="QGroupBox" name="SettingsGroup">
+         <property name="maximumSize">
+          <size>
+           <width>150</width>
+           <height>16777215</height>
+          </size>
          </property>
-         <item row="1" column="0">
-          <widget class="MixerCurveWidget" name="CurveWidget" native="true">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-             <horstretch>5</horstretch>
-             <verstretch>5</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="minimumSize">
-            <size>
-             <width>50</width>
-             <height>50</height>
-            </size>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>1000</width>
-             <height>1000</height>
-            </size>
-           </property>
-           <property name="sizeIncrement">
-            <size>
-             <width>10</width>
-             <height>10</height>
-            </size>
-           </property>
-           <property name="baseSize">
-            <size>
-             <width>200</width>
-             <height>200</height>
-            </size>
-           </property>
-           <property name="font">
-            <font>
-             <pointsize>7</pointsize>
-            </font>
-           </property>
-          </widget>
-         </item>
-         <item row="2" column="0">
-          <layout class="QHBoxLayout" name="horizontalLayout_3">
-           <item>
-            <widget class="QGroupBox" name="groupBox_2">
-             <property name="title">
-              <string/>
+         <property name="title">
+          <string>Throttle Curve</string>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout">
+          <item>
+           <widget class="QTableWidget" name="CurveSettings">
+            <property name="maximumSize">
+             <size>
+              <width>100</width>
+              <height>200</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>8</pointsize>
+             </font>
+            </property>
+            <property name="verticalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="horizontalScrollBarPolicy">
+             <enum>Qt::ScrollBarAlwaysOff</enum>
+            </property>
+            <property name="autoScroll">
+             <bool>false</bool>
+            </property>
+            <property name="alternatingRowColors">
+             <bool>true</bool>
+            </property>
+            <property name="rowCount">
+             <number>5</number>
+            </property>
+            <property name="columnCount">
+             <number>1</number>
+            </property>
+            <row>
+             <property name="text">
+              <string>5</string>
              </property>
-             <layout class="QHBoxLayout" name="horizontalLayout">
-              <item>
-               <widget class="QLabel" name="minLabel">
-                <property name="text">
-                 <string>Min</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QDoubleSpinBox" name="CurveMin">
-                <property name="correctionMode">
-                 <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-                </property>
-                <property name="minimum">
-                 <double>-1.000000000000000</double>
-                </property>
-                <property name="maximum">
-                 <double>1.000000000000000</double>
-                </property>
-                <property name="singleStep">
-                 <double>0.010000000000000</double>
-                </property>
-                <property name="value">
-                 <double>0.000000000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QLabel" name="maxLabel">
-                <property name="text">
-                 <string>Max</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QDoubleSpinBox" name="CurveMax">
-                <property name="correctionMode">
-                 <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-                </property>
-                <property name="minimum">
-                 <double>0.000000000000000</double>
-                </property>
-                <property name="maximum">
-                 <double>1.000000000000000</double>
-                </property>
-                <property name="singleStep">
-                 <double>0.010000000000000</double>
-                </property>
-                <property name="value">
-                 <double>1.000000000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QLabel" name="stepLabel">
-                <property name="text">
-                 <string>Step</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QDoubleSpinBox" name="CurveStep">
-                <property name="correctionMode">
-                 <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-                </property>
-                <property name="value">
-                 <double>50.000000000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <spacer name="horizontalSpacer">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>40</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-             </layout>
-            </widget>
-           </item>
-          </layout>
-         </item>
-        </layout>
-       </widget>
-      </item>
-     </layout>
-    </item>
-   </layout>
-  </widget>
+            </row>
+            <row>
+             <property name="text">
+              <string>4</string>
+             </property>
+            </row>
+            <row>
+             <property name="text">
+              <string>3</string>
+             </property>
+            </row>
+            <row>
+             <property name="text">
+              <string>2</string>
+             </property>
+            </row>
+            <row>
+             <property name="text">
+              <string>1</string>
+             </property>
+            </row>
+            <column>
+             <property name="text">
+              <string>Value</string>
+             </property>
+             <property name="textAlignment">
+              <set>AlignJustify|AlignVCenter</set>
+             </property>
+            </column>
+            <item row="0" column="0">
+             <property name="text">
+              <string>1.0</string>
+             </property>
+            </item>
+            <item row="1" column="0">
+             <property name="text">
+              <string>.75</string>
+             </property>
+            </item>
+            <item row="2" column="0">
+             <property name="text">
+              <string>.50</string>
+             </property>
+            </item>
+            <item row="3" column="0">
+             <property name="text">
+              <string>.25</string>
+             </property>
+            </item>
+            <item row="4" column="0">
+             <property name="text">
+              <string>.00</string>
+             </property>
+            </item>
+           </widget>
+          </item>
+          <item>
+           <widget class="QComboBox" name="CurveType">
+            <item>
+             <property name="text">
+              <string>Linear</string>
+             </property>
+            </item>
+            <item>
+             <property name="text">
+              <string>Log</string>
+             </property>
+            </item>
+            <item>
+             <property name="text">
+              <string>Exp</string>
+             </property>
+            </item>
+            <item>
+             <property name="text">
+              <string>Flat</string>
+             </property>
+            </item>
+            <item>
+             <property name="text">
+              <string>Step</string>
+             </property>
+            </item>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="GenerateCurve">
+            <property name="text">
+             <string>Generate</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <spacer name="verticalSpacer">
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>20</width>
+              <height>40</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+          <item>
+           <widget class="QPushButton" name="ResetCurve">
+            <property name="text">
+             <string>Reset</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+         <zorder>GenerateCurve</zorder>
+         <zorder>CurveSettings</zorder>
+         <zorder>ResetCurve</zorder>
+         <zorder>CurveType</zorder>
+         <zorder>verticalSpacer</zorder>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_2">
+       <property name="sizeConstraint">
+        <enum>QLayout::SetDefaultConstraint</enum>
+       </property>
+       <item>
+        <widget class="QGroupBox" name="CurveGroup">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+           <horstretch>1</horstretch>
+           <verstretch>1</verstretch>
+          </sizepolicy>
+         </property>
+         <layout class="QGridLayout" name="gridLayout">
+          <property name="sizeConstraint">
+           <enum>QLayout::SetMinAndMaxSize</enum>
+          </property>
+          <item row="1" column="0">
+           <widget class="MixerCurveWidget" name="CurveWidget" native="true">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+              <horstretch>5</horstretch>
+              <verstretch>5</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>50</width>
+              <height>50</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>1000</width>
+              <height>1000</height>
+             </size>
+            </property>
+            <property name="sizeIncrement">
+             <size>
+              <width>10</width>
+              <height>10</height>
+             </size>
+            </property>
+            <property name="baseSize">
+             <size>
+              <width>200</width>
+              <height>200</height>
+             </size>
+            </property>
+            <property name="font">
+             <font>
+              <pointsize>7</pointsize>
+             </font>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <layout class="QHBoxLayout" name="CurveLayout">
+            <item>
+             <widget class="QGroupBox" name="groupBox_2">
+              <property name="title">
+               <string/>
+              </property>
+              <layout class="QHBoxLayout" name="horizontalLayout">
+               <item>
+                <widget class="QLabel" name="minLabel">
+                 <property name="text">
+                  <string>Min</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QDoubleSpinBox" name="CurveMin">
+                 <property name="correctionMode">
+                  <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+                 </property>
+                 <property name="minimum">
+                  <double>-1.000000000000000</double>
+                 </property>
+                 <property name="maximum">
+                  <double>1.000000000000000</double>
+                 </property>
+                 <property name="singleStep">
+                  <double>0.010000000000000</double>
+                 </property>
+                 <property name="value">
+                  <double>0.000000000000000</double>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QLabel" name="maxLabel">
+                 <property name="text">
+                  <string>Max</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QDoubleSpinBox" name="CurveMax">
+                 <property name="correctionMode">
+                  <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+                 </property>
+                 <property name="minimum">
+                  <double>0.000000000000000</double>
+                 </property>
+                 <property name="maximum">
+                  <double>1.000000000000000</double>
+                 </property>
+                 <property name="singleStep">
+                  <double>0.010000000000000</double>
+                 </property>
+                 <property name="value">
+                  <double>1.000000000000000</double>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QLabel" name="stepLabel">
+                 <property name="text">
+                  <string>Step</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QDoubleSpinBox" name="CurveStep">
+                 <property name="correctionMode">
+                  <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+                 </property>
+                 <property name="value">
+                  <double>50.000000000000000</double>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <spacer name="horizontalSpacer">
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>40</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+              </layout>
+             </widget>
+            </item>
+           </layout>
+          </item>
+         </layout>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+  </layout>
  </widget>
  <customwidgets>
   <customwidget>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index eea8fef7b..65bc8bd4b 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -243,6 +243,7 @@ void MixerCurveWidget::showEvent(QShowEvent *event)
 void MixerCurveWidget::resizeEvent(QResizeEvent* event)
 {
     Q_UNUSED(event);
+
     fitInView(plot, Qt::KeepAspectRatio);
 }
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
index 338974f28..dcf9dc93a 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
@@ -72,7 +72,6 @@ private:
    QList<Node*> nodePool;
    QList<Edge*> edgePool;
    QList<Node*> nodeList;
-   QList<double> points;
 
    double curveMin;
    double curveMax;

From 06eb23abe61fd28a9dd99cdf6520b29520700ecb Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 6 Jul 2012 11:44:16 -0700
Subject: [PATCH 010/543] MixerCurve, bugfix: min and max nodes no longer
 clipped.

---
 .../src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index 65bc8bd4b..ca5c5cf84 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -236,15 +236,19 @@ void MixerCurveWidget::showEvent(QShowEvent *event)
     // Thit fitInView method should only be called now, once the
     // widget is shown, otherwise it cannot compute its values and
     // the result is usually a ahrsbargraph that is way too small.
-    fitInView(plot, Qt::KeepAspectRatio);
 
+    QRectF rect = plot->boundingRect();
+
+    fitInView(rect.adjusted(-12,-12,12,12), Qt::KeepAspectRatio);
 }
 
 void MixerCurveWidget::resizeEvent(QResizeEvent* event)
 {
     Q_UNUSED(event);
 
-    fitInView(plot, Qt::KeepAspectRatio);
+    QRectF rect = plot->boundingRect();
+
+    fitInView(rect.adjusted(-12,-12,12,12), Qt::KeepAspectRatio);
 }
 
 void MixerCurveWidget::itemMoved(double itemValue)

From 382fecabbe8286645b518c7d677655214cc2883c Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 6 Jul 2012 13:38:46 -0700
Subject: [PATCH 011/543] Bugfixes: distingish between curve base min/max and
 client requested (multi's & 90% max); keep spindelegate synched with
 requested min/max's; clean up a few old field based references; make all
 nodes move when curve is flat;

---
 .../configfixedwingwidget.cpp                 |  3 +-
 .../configgroundvehiclewidget.cpp             | 21 ++----
 .../src/plugins/config/mixercurve.cpp         | 71 +++++++++----------
 .../src/plugins/config/mixercurve.h           |  2 +
 .../uavobjectwidgetutils/mixercurvewidget.cpp |  2 +-
 5 files changed, 45 insertions(+), 54 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
index 727a2f52d..ecc933eec 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
@@ -186,8 +186,7 @@ QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
     Q_ASSERT(mixer);
 
 	// Remove Feed Forward, it is pointless on a plane:
-    UAVObjectField* field = mixer->getField(QString("FeedForward"));
-	field->setDouble(0);
+    setMixerValue(mixer, "FeedForward", 0.0);
 	
     // Set the throttle curve
     setThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->fixedWingThrottle->getCurve());
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
index 8f2946d78..a5df943c8 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
@@ -198,24 +198,15 @@ QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
 	QString airframeType = "GroundVehicleCar";
 	
 	// Save the curve (common to all ground vehicle frames)
-	UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
+    UAVDataObject *mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
 	
 	// Remove Feed Forward, it is pointless on a ground vehicle:
-	UAVObjectField* field = obj->getField(QString("FeedForward"));
-	field->setDouble(0);
-	
-	field = obj->getField("ThrottleCurve1");
-	QList<double> curve = m_aircraft->groundVehicleThrottle1->getCurve();
-	for (int i=0;i<curve.length();i++) {
-		field->setValue(curve.at(i),i);
-	}
+    setMixerValue(mixer, "FeedForward", 0.0);
+
+    // set the throttle curves
+    setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->groundVehicleThrottle1->getCurve() );
+    setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->groundVehicleThrottle2->getCurve() );
 
-	field = obj->getField("ThrottleCurve2");
-	curve = m_aircraft->groundVehicleThrottle2->getCurve();
-	for (int i=0;i<curve.length();i++) {
-		field->setValue(curve.at(i),i);
-	}
-	
 	//All airframe types must start with "GroundVehicle"
 	if (m_aircraft->groundVehicleType->currentText() == "Turnable (car)" ) {
 		airframeType = "GroundVehicleCar";
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index 9fe0ede74..6d6f6943e 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -57,12 +57,16 @@ MixerCurve::MixerCurve(QWidget *parent) :
 MixerCurve::~MixerCurve()
 {
     delete m_mixerUI;
+    delete m_spinDelegate;
 }
 
 void MixerCurve::setMixerType(MixerCurveType curveType)
 {
     m_curveType = curveType;
 
+    m_mixerUI->CurveMin->setMaximum(1.0);
+    m_mixerUI->CurveMax->setMaximum(1.0);
+
     switch (m_curveType) {
         case MixerCurve::MIXERCURVE_THROTTLE:
         {
@@ -82,10 +86,10 @@ void MixerCurve::setMixerType(MixerCurveType curveType)
         }
     }
 
-    DoubleSpinDelegate *sbd = new DoubleSpinDelegate();
-    sbd->setRange(m_curve->getMin(), m_curve->getMax());
+    m_spinDelegate = new DoubleSpinDelegate();
+    m_spinDelegate->setRange(m_mixerUI->CurveMin->minimum(), m_mixerUI->CurveMax->maximum());
     for (int i=0; i<MixerCurveWidget::NODE_NUMELEM; i++) {
-        m_settings->setItemDelegateForRow(i, sbd);
+        m_settings->setItemDelegateForRow(i, m_spinDelegate);
     }
 
     ResetCurve();
@@ -93,11 +97,11 @@ void MixerCurve::setMixerType(MixerCurveType curveType)
 
 void MixerCurve::ResetCurve()
 {
-    m_mixerUI->CurveMin->setValue(m_curve->getMin());
-    m_mixerUI->CurveMax->setValue(m_curve->getMax());
+    m_mixerUI->CurveMin->setValue(m_mixerUI->CurveMin->minimum());
+    m_mixerUI->CurveMax->setValue(m_mixerUI->CurveMax->maximum());
     m_mixerUI->CurveType->setCurrentIndex(m_mixerUI->CurveType->findText("Linear"));
 
-    initLinearCurve(MixerCurveWidget::NODE_NUMELEM, m_curve->getMax(), m_curve->getMin());
+    initLinearCurve(MixerCurveWidget::NODE_NUMELEM, getCurveMax(), getCurveMin());
 
     UpdateSettingsTable();
 }
@@ -107,23 +111,6 @@ void MixerCurve::UpdateCurveUI()
     //get the user settings
     QString curveType = m_mixerUI->CurveType->currentText();
 
-    switch (m_curveType) {
-        case MixerCurve::MIXERCURVE_THROTTLE:
-        {
-            m_mixerUI->CurveMin->setMinimum(0.0);
-            m_mixerUI->CurveMax->setMinimum(0.0);
-            break;
-        }
-        case MixerCurve::MIXERCURVE_PITCH:
-        {
-            m_mixerUI->CurveMin->setMinimum(-1.0);
-            m_mixerUI->CurveMax->setMinimum(-1.0);
-            break;
-        }
-    }
-    m_mixerUI->CurveMin->setMaximum(m_curve->getMax());
-    m_mixerUI->CurveMax->setMaximum(m_curve->getMax());
-
     m_mixerUI->CurveStep->setMinimum(0.0);
     m_mixerUI->CurveStep->setMaximum(100.0);
 
@@ -151,7 +138,8 @@ void MixerCurve::UpdateCurveUI()
         m_mixerUI->CurveMax->setVisible(true);
         m_mixerUI->stepLabel->setText("Step at");
         m_mixerUI->stepLabel->setVisible(true);
-        m_mixerUI->CurveStep->setVisible(true);
+        m_mixerUI->CurveStep->setVisible(true);        
+        m_mixerUI->CurveStep->setMaximum(4.0);
     }
     if ( curveType.compare("Exp")==0)
     {
@@ -247,6 +235,9 @@ void MixerCurve::initLinearCurve(int numPoints, double maxValue, double minValue
     setMax(maxValue);
 
     m_curve->initLinearCurve(numPoints, maxValue, minValue);
+
+    if (m_spinDelegate)
+        m_spinDelegate->setRange(minValue, maxValue);
 }
 void MixerCurve::setCurve(const QList<double>* points)
 {
@@ -255,7 +246,7 @@ void MixerCurve::setCurve(const QList<double>* points)
 }
 void MixerCurve::setMin(double value)
 {
-    m_curve->setMin(value);
+    //m_curve->setMin(value);
     m_mixerUI->CurveMin->setMinimum(value);
 }
 double MixerCurve::getMin()
@@ -264,7 +255,7 @@ double MixerCurve::getMin()
 }
 void MixerCurve::setMax(double value)
 {
-    m_curve->setMax(value);
+    //m_curve->setMax(value);
     m_mixerUI->CurveMax->setMaximum(value);
 }
 double MixerCurve::getMax()
@@ -330,11 +321,25 @@ void MixerCurve::CurveTypeChanged()
 
 void MixerCurve::CurveMinChanged(double value)
 {
-    // the min changed so redraw the curve
-    //  mixercurvewidget::setCurve will trim any points below min
     QList<double> points = m_curve->getCurve();
-    points.removeFirst();
-    points.push_front(value);
+    QString CurveType = m_mixerUI->CurveType->currentText();
+
+    if ( CurveType.compare("Flat")==0) {
+        // the min changed so redraw the curve
+        //  but since the curve is flat make all points = value
+        //  because we use curveMin for the flat value in ui
+        for (int i = 0; i < points.count(); i++) {
+            points.pop_back();
+            points.push_front(value);
+        }
+    }
+    else {
+        // the min changed so redraw the curve
+        //  mixercurvewidget::setCurve will trim any points below min
+
+        points.removeFirst();
+        points.push_front(value);
+    }
     setCurve(&points);
 }
 
@@ -355,9 +360,6 @@ void MixerCurve::showEvent(QShowEvent *event)
     m_settings->resizeColumnsToContents();
     m_settings->setColumnWidth(0,(m_settings->width()-  m_settings->verticalHeader()->width()));
 
-//    const QRectF& rectRef = QRectF(0,0,parentWidget()->width() - 50 , parentWidget()->width() - 50);
-//    m_curve->fitInView(rectRef, Qt::KeepAspectRatio);
-
     m_curve->showEvent(event);
 }
 
@@ -366,8 +368,5 @@ void MixerCurve::resizeEvent(QResizeEvent* event)
     m_settings->resizeColumnsToContents();
     m_settings->setColumnWidth(0,(m_settings->width() -  m_settings->verticalHeader()->width()));
 
-//    const QRectF& rectRef = QRectF(0,0,parentWidget()->width() - 50 , parentWidget()->width() - 50);
-//    m_curve->fitInView(rectRef, Qt::KeepAspectRatio);
-
     m_curve->resizeEvent(event);
 }
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.h b/ground/openpilotgcs/src/plugins/config/mixercurve.h
index 3133da660..5324aebad 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.h
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.h
@@ -34,6 +34,7 @@
 
 #include "ui_mixercurve.h"
 #include "mixercurvewidget.h"
+#include "doublespindelegate.h"
 #include "uavobjectwidgetutils_global.h"
 
 
@@ -91,6 +92,7 @@ private:
     MixerCurveWidget* m_curve;
     QTableWidget* m_settings;
     MixerCurveType m_curveType;
+    DoubleSpinDelegate* m_spinDelegate;
 
 };
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index ca5c5cf84..543d85151 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -185,7 +185,7 @@ QList<double> MixerCurveWidget::getCurve() {
   */
 void MixerCurveWidget::initLinearCurve(int numPoints, double maxValue, double minValue)
 {
-    double range = setRange(minValue, maxValue);
+    double range = maxValue - minValue; // setRange(minValue, maxValue);
 
     QList<double> points;
     for (double i=0; i < (double)numPoints; i++) {

From 51891881dbd60e0ff4e30b24f0098929076a03c2 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 6 Jul 2012 14:01:53 -0700
Subject: [PATCH 012/543] Tweeks: verify heli init's curves correctly;  mixer
 pre-allocates a spindelegate so we can reset min/max later

---
 .../plugins/config/cfg_vehicletypes/configccpmwidget.cpp  | 8 ++++----
 ground/openpilotgcs/src/plugins/config/mixercurve.cpp     | 8 +++++++-
 2 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
index 0cfbcb207..7234ffbf4 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
@@ -133,12 +133,12 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
     }
 
     //initialize our two mixer curves
+    // mixercurve defaults to mixercurve_throttle
+    m_ccpm->ThrottleCurve->initLinearCurve(5, 1.0, 0.0);
 
-    m_ccpm->ThrottleCurve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
-    m_ccpm->ThrottleCurve->ResetCurve();
-
+    // tell mixercurve this is a pitch curve
     m_ccpm->PitchCurve->setMixerType(MixerCurve::MIXERCURVE_PITCH);
-    m_ccpm->PitchCurve->ResetCurve();
+    m_ccpm->PitchCurve->initLinearCurve(5, 1.0, -1.0);
 
     //initialize channel names
     m_ccpm->ccpmEngineChannel->addItems(channelNames);
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index 6d6f6943e..e9579cb67 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -37,13 +37,20 @@ MixerCurve::MixerCurve(QWidget *parent) :
 {
     m_mixerUI->setupUi(this);
 
+    // setup some convienence pointers
     m_curve = m_mixerUI->CurveWidget;
     m_settings = m_mixerUI->CurveSettings;
 
+    // create our spin delegate
+    m_spinDelegate = new DoubleSpinDelegate();
+
+    // set the default mixer type
     setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
 
+    // paint the ui
     UpdateCurveUI();
 
+    // wire up our signals
     connect(m_mixerUI->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(CurveTypeChanged()));
     connect(m_mixerUI->ResetCurve, SIGNAL(clicked()), this, SLOT(ResetCurve()));
     connect(m_mixerUI->GenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve()));
@@ -86,7 +93,6 @@ void MixerCurve::setMixerType(MixerCurveType curveType)
         }
     }
 
-    m_spinDelegate = new DoubleSpinDelegate();
     m_spinDelegate->setRange(m_mixerUI->CurveMin->minimum(), m_mixerUI->CurveMax->maximum());
     for (int i=0; i<MixerCurveWidget::NODE_NUMELEM; i++) {
         m_settings->setItemDelegateForRow(i, m_spinDelegate);

From 44140931ae7e2682cd6eb6b463303d4ca897d2b1 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 6 Jul 2012 15:02:34 -0700
Subject: [PATCH 013/543] Tweek: resize the settings table row heights.

---
 ground/openpilotgcs/src/plugins/config/mixercurve.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index e9579cb67..0c1686d6b 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -366,6 +366,10 @@ void MixerCurve::showEvent(QShowEvent *event)
     m_settings->resizeColumnsToContents();
     m_settings->setColumnWidth(0,(m_settings->width()-  m_settings->verticalHeader()->width()));
 
+    int h = (m_settings->height() -  m_settings->horizontalHeader()->height()) / m_settings->rowCount();
+    for (int i=0; i<m_settings->rowCount(); i++)
+        m_settings->setRowHeight(i, h);
+
     m_curve->showEvent(event);
 }
 
@@ -374,5 +378,9 @@ void MixerCurve::resizeEvent(QResizeEvent* event)
     m_settings->resizeColumnsToContents();
     m_settings->setColumnWidth(0,(m_settings->width() -  m_settings->verticalHeader()->width()));
 
+    int h = (m_settings->height() -  m_settings->horizontalHeader()->height()) / m_settings->rowCount();
+    for (int i=0; i<m_settings->rowCount(); i++)
+        m_settings->setRowHeight(i, h);
+
     m_curve->resizeEvent(event);
 }

From dc4c6c74e415e09f6a552efb665c9f708555f3f6 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 6 Jul 2012 15:16:54 -0700
Subject: [PATCH 014/543] Tweek: set min/max spinboxes to match the settings
 table when edited.

---
 ground/openpilotgcs/src/plugins/config/mixercurve.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index 0c1686d6b..382a20908 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -313,6 +313,9 @@ void MixerCurve::SettingsTableChanged()
             points.push_front(item->text().toDouble());
     }
 
+    m_mixerUI->CurveMin->setValue(points.first());
+    m_mixerUI->CurveMax->setValue(points.last());
+
     m_curve->setCurve(&points);
 }
 

From 6a12701e639714d11baa0d8231723e6a19df225b Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 6 Jul 2012 16:12:53 -0700
Subject: [PATCH 015/543] Bugfix: wire up the mixercurvewidget to the dirty
 manager rather than the parent MixerCurve

---
 .../plugins/config/configvehicletypewidget.cpp   | 16 ++++++++--------
 .../openpilotgcs/src/plugins/config/mixercurve.h |  1 +
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 5082daf22..014efe411 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -777,13 +777,13 @@ void ConfigVehicleTypeWidget::setComboCurrentIndex(QComboBox* box, int index)
 void ConfigVehicleTypeWidget::addToDirtyMonitor()
 {
     addWidget(m_aircraft->customMixerTable);
-    addWidget(m_aircraft->customThrottle1Curve);
-    addWidget(m_aircraft->customThrottle2Curve);
-    addWidget(m_aircraft->multiThrottleCurve);
-    addWidget(m_aircraft->fixedWingThrottle);
+    addWidget(m_aircraft->customThrottle1Curve->getCurveWidget());
+    addWidget(m_aircraft->customThrottle2Curve->getCurveWidget());
+    addWidget(m_aircraft->multiThrottleCurve->getCurveWidget());
+    addWidget(m_aircraft->fixedWingThrottle->getCurveWidget());
     addWidget(m_aircraft->fixedWingType);
-    addWidget(m_aircraft->groundVehicleThrottle1);
-    addWidget(m_aircraft->groundVehicleThrottle2);
+    addWidget(m_aircraft->groundVehicleThrottle1->getCurveWidget());
+    addWidget(m_aircraft->groundVehicleThrottle2->getCurveWidget());
     addWidget(m_aircraft->groundVehicleType);
     addWidget(m_aircraft->feedForwardSlider);
     addWidget(m_aircraft->accelTime);
@@ -841,8 +841,8 @@ void ConfigVehicleTypeWidget::addToDirtyMonitor()
     addWidget(m_heli->m_ccpm->ccpmRollScaleBox);
     addWidget(m_heli->m_ccpm->SwashLvlPositionSlider);
     addWidget(m_heli->m_ccpm->SwashLvlPositionSpinBox);
-    addWidget(m_heli->m_ccpm->ThrottleCurve);
-    addWidget(m_heli->m_ccpm->PitchCurve);
+    addWidget(m_heli->m_ccpm->ThrottleCurve->getCurveWidget());
+    addWidget(m_heli->m_ccpm->PitchCurve->getCurveWidget());
     addWidget(m_heli->m_ccpm->ccpmAdvancedSettingsTable);
 }
 
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.h b/ground/openpilotgcs/src/plugins/config/mixercurve.h
index 5324aebad..1cda78284 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.h
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.h
@@ -68,6 +68,7 @@ public:
     double getCurveStep();
     double setRange(double min, double max);
 
+    MixerCurveWidget* getCurveWidget() { return m_curve; }
 
 signals:
 

From b95290a32f8d0ebbcfc4e11b9c8fa4bb7e30cfe4 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 6 Jul 2012 21:47:08 -0700
Subject: [PATCH 016/543] Bugfix:  reset min/max ui spinboxes on curvetype
 change.

---
 ground/openpilotgcs/src/plugins/config/mixercurve.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index 382a20908..bacc01e98 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -117,6 +117,9 @@ void MixerCurve::UpdateCurveUI()
     //get the user settings
     QString curveType = m_mixerUI->CurveType->currentText();
 
+    m_mixerUI->CurveMin->setValue(m_mixerUI->CurveMin->minimum());
+    m_mixerUI->CurveMax->setValue(m_mixerUI->CurveMax->maximum());
+
     m_mixerUI->CurveStep->setMinimum(0.0);
     m_mixerUI->CurveStep->setMaximum(100.0);
 
@@ -323,9 +326,6 @@ void MixerCurve::CurveTypeChanged()
 {
     // setup the ui for this curvetype
     UpdateCurveUI();
-
-    // and generate a curve based on the selection
-    GenerateCurve();
 }
 
 void MixerCurve::CurveMinChanged(double value)

From 115f9ba47392fcfac6110406688cc92ab8b89e3b Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Sat, 7 Jul 2012 12:57:11 +0200
Subject: [PATCH 017/543] OP-359 Added setting in UAVO browser widget to
 enable/disable editors using scientific notation.

---
 .../plugins/uavobjectbrowser/fieldtreeitem.h  | 62 +++++++++++--------
 .../src/plugins/uavobjectbrowser/treeitem.h   |  3 +-
 .../uavobjectbrowser/uavobjectbrowser.ui      | 10 +++
 .../uavobjectbrowserwidget.cpp                | 15 +++++
 .../uavobjectbrowser/uavobjectbrowserwidget.h |  1 +
 .../uavobjectbrowser/uavobjecttreemodel.cpp   |  5 +-
 .../uavobjectbrowser/uavobjecttreemodel.h     |  3 +-
 7 files changed, 67 insertions(+), 32 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/fieldtreeitem.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/fieldtreeitem.h
index 366121d00..bd980749f 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/fieldtreeitem.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/fieldtreeitem.h
@@ -48,8 +48,6 @@
 #define QINT32MAX std::numeric_limits<qint32>::max()
 #define QUINT32MAX std::numeric_limits<qint32>::max()
 
-//#define USE_SCIENTIFIC_NOTATION
-
 class FieldTreeItem : public TreeItem
 {
 Q_OBJECT
@@ -214,10 +212,10 @@ class FloatFieldTreeItem : public FieldTreeItem
 {
 Q_OBJECT
 public:
-    FloatFieldTreeItem(UAVObjectField *field, int index, const QList<QVariant> &data, TreeItem *parent = 0) :
-            FieldTreeItem(index, data, parent), m_field(field) { }
-    FloatFieldTreeItem(UAVObjectField *field, int index, const QVariant &data, TreeItem *parent = 0) :
-            FieldTreeItem(index, data, parent), m_field(field) { }
+    FloatFieldTreeItem(UAVObjectField *field, int index, const QList<QVariant> &data, bool scientific = false, TreeItem *parent = 0) :
+        FieldTreeItem(index, data, parent), m_field(field), m_useScientificNotation(scientific){}
+    FloatFieldTreeItem(UAVObjectField *field, int index, const QVariant &data, bool scientific = false, TreeItem *parent = 0) :
+            FieldTreeItem(index, data, parent), m_field(field), m_useScientificNotation(scientific) { }
     void setData(QVariant value, int column) {
         setChanged(m_field->getValue(m_index) != value);
         TreeItem::setData(value, column);
@@ -233,39 +231,49 @@ public:
             setHighlight(true);
         }
     }
+
     QWidget *createEditor(QWidget *parent) {
-		#ifdef USE_SCIENTIFIC_NOTATION
-			QScienceSpinBox *editor = new QScienceSpinBox(parent);
-			editor->setDecimals(6);
-		#else
+        if(m_useScientificNotation) {
+            QScienceSpinBox *editor = new QScienceSpinBox(parent);
+            editor->setDecimals(6);
+            editor->setMinimum(-std::numeric_limits<float>::max());
+            editor->setMaximum(std::numeric_limits<float>::max());
+            return editor;
+        } else {
 			QDoubleSpinBox *editor = new QDoubleSpinBox(parent);
 			editor->setDecimals(8);
-		#endif
-        editor->setMinimum(-std::numeric_limits<float>::max());
-        editor->setMaximum(std::numeric_limits<float>::max());
-        return editor;
+            editor->setMinimum(-std::numeric_limits<float>::max());
+            editor->setMaximum(std::numeric_limits<float>::max());
+            return editor;
+        }
     }
 
     QVariant getEditorValue(QWidget *editor) {
-		#ifdef USE_SCIENTIFIC_NOTATION
-			QScienceSpinBox *spinBox = static_cast<QScienceSpinBox*>(editor);
-		#else
-			QDoubleSpinBox *spinBox = static_cast<QDoubleSpinBox*>(editor);
-		#endif
-		spinBox->interpretText();
-        return spinBox->value();
+        if(m_useScientificNotation) {
+            QScienceSpinBox *spinBox = static_cast<QScienceSpinBox*>(editor);
+            spinBox->interpretText();
+            return spinBox->value();
+        } else {
+            QDoubleSpinBox *spinBox = static_cast<QDoubleSpinBox*>(editor);
+            spinBox->interpretText();
+            return spinBox->value();
+        }
     }
 
     void setEditorValue(QWidget *editor, QVariant value) {
-		#ifdef USE_SCIENTIFIC_NOTATION
-			QScienceSpinBox *spinBox = static_cast<QScienceSpinBox*>(editor);
-		#else
-			QDoubleSpinBox *spinBox = static_cast<QDoubleSpinBox*>(editor);
-		#endif
-		spinBox->setValue(value.toDouble());
+
+        if(m_useScientificNotation) {
+            QScienceSpinBox *spinBox = static_cast<QScienceSpinBox*>(editor);
+            spinBox->setValue(value.toDouble());
+        } else {
+            QDoubleSpinBox *spinBox = static_cast<QDoubleSpinBox*>(editor);
+            spinBox->setValue(value.toDouble());
+        }
     }
 private:
     UAVObjectField *m_field;
+    bool m_useScientificNotation;
+
 };
 
 #endif // FIELDTREEITEM_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h
index 708513d91..90e6bfdf8 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h
@@ -146,10 +146,9 @@ private:
     bool m_changed;
     QTime m_highlightExpires;
     HighLightManager* m_highlightManager;
+    static int m_highlightTimeMs;
 public:
     static const int dataColumn = 1;
-private:
-    static int m_highlightTimeMs;
 };
 
 class TopTreeItem : public TreeItem
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
index 091c0c5eb..ba4807c34 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
@@ -202,6 +202,16 @@
        </property>
       </widget>
      </item>
+     <item>
+      <widget class="QCheckBox" name="scientificNotationCheckbox">
+       <property name="toolTip">
+        <string>Use scientific editors</string>
+       </property>
+       <property name="text">
+        <string>Scientific</string>
+       </property>
+      </widget>
+     </item>
      <item>
       <spacer name="horizontalSpacer_3">
        <property name="orientation">
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
index 31c395ccc..b7d0644dc 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
@@ -59,6 +59,7 @@ UAVObjectBrowserWidget::UAVObjectBrowserWidget(QWidget *parent) : QWidget(parent
     connect(m_browser->eraseSDButton, SIGNAL(clicked()), this, SLOT(eraseObject()));
     connect(m_browser->sendButton, SIGNAL(clicked()), this, SLOT(sendUpdate()));
     connect(m_browser->requestButton, SIGNAL(clicked()), this, SLOT(requestUpdate()));
+    connect(m_browser->scientificNotationCheckbox, SIGNAL(toggled(bool)), this, SLOT(useScientificNotation(bool)));
     enableSendRequest(false);
 }
 
@@ -79,6 +80,20 @@ void UAVObjectBrowserWidget::showMetaData(bool show)
     }
 }
 
+void UAVObjectBrowserWidget::useScientificNotation(bool scientific)
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Q_ASSERT(pm);
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(objManager);
+
+    UAVObjectTreeModel* tmpModel = m_model;
+    m_model = new UAVObjectTreeModel(0, scientific);
+    m_browser->treeView->setModel(m_model);
+
+    delete tmpModel;
+}
+
 void UAVObjectBrowserWidget::sendUpdate()
 {
     ObjectTreeItem *objItem = findCurrentObjectTreeItem();
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
index b047d37f0..cd058dadc 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
@@ -51,6 +51,7 @@ public:
 
 public slots:
     void showMetaData(bool show);
+    void useScientificNotation(bool scientific);
 
 private slots:
     void sendUpdate();
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
index 120d9d0d8..6bc5a7925 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
@@ -38,8 +38,9 @@
 #include <QtCore/QSignalMapper>
 #include <QtCore/QDebug>
 
-UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent) :
+UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent, bool useScientificNotation) :
         QAbstractItemModel(parent),
+        m_useScientificFloatNotation(useScientificNotation),
         m_recentlyUpdatedTimeout(500), // ms
         m_recentlyUpdatedColor(QColor(255, 230, 230)),
         m_manuallyChangedColor(QColor(230, 230, 255))
@@ -198,7 +199,7 @@ void UAVObjectTreeModel::addSingleField(int index, UAVObjectField *field, TreeIt
     case UAVObjectField::FLOAT32:
         data.append(field->getValue(index));
         data.append(field->getUnits());
-        item = new FloatFieldTreeItem(field, index, data);
+        item = new FloatFieldTreeItem(field, index, data, m_useScientificFloatNotation);
         break;
     default:
         Q_ASSERT(false);
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.h
index d9787e3a7..fbb08dc28 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.h
@@ -48,7 +48,7 @@ class UAVObjectTreeModel : public QAbstractItemModel
 {
 Q_OBJECT
 public:
-    explicit UAVObjectTreeModel(QObject *parent = 0);
+    explicit UAVObjectTreeModel(QObject *parent = 0, bool useScientificNotation = false);
     ~UAVObjectTreeModel();
 
     QVariant data(const QModelIndex &index, int role) const;
@@ -97,6 +97,7 @@ private:
     int m_recentlyUpdatedTimeout;
     QColor m_recentlyUpdatedColor;
     QColor m_manuallyChangedColor;
+    bool m_useScientificFloatNotation;
 
     // Highlight manager to handle highlighting of tree items.
     HighLightManager *m_highlightManager;

From c3057dc72e0818da7bc24e8358056099118c72d6 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Sat, 7 Jul 2012 08:02:10 -0700
Subject: [PATCH 018/543] VehicleConfig Bugfix/tweek: change getChannelDescs to
 static in all airframes; avoids entire widget creation just to get channel
 descs.

---
 .../cfg_vehicletypes/configccpmwidget.h       |  2 +-
 .../cfg_vehicletypes/configfixedwingwidget.h  |  2 +-
 .../configgroundvehiclewidget.h               |  2 +-
 .../cfg_vehicletypes/configmultirotorwidget.h |  2 +-
 .../config/cfg_vehicletypes/vehicleconfig.cpp | 11 --------
 .../config/cfg_vehicletypes/vehicleconfig.h   |  1 -
 .../config/configvehicletypewidget.cpp        | 28 ++++---------------
 .../plugins/config/configvehicletypewidget.h  |  1 -
 8 files changed, 10 insertions(+), 39 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
index 5e59a946f..a903afa5b 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
@@ -88,7 +88,7 @@ private:
         bool updatingToHardware;
 
         virtual void ResetActuators(GUIConfigDataUnion* configData);
-        virtual QStringList getChannelDescriptions();
+        static QStringList getChannelDescriptions();
 
         QString updateConfigObjects();
     private slots:
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
index 99eab5c06..7897829b3 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
@@ -57,7 +57,7 @@ private:
     bool setupFrameVtail(QString airframeType);
 
     virtual void ResetActuators(GUIConfigDataUnion* configData);
-    virtual QStringList getChannelDescriptions();
+    static QStringList getChannelDescriptions();
 
 private slots:
     virtual void setupUI(QString airframeType);
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h
index b2b447e6e..fb6cc48b2 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h
@@ -57,7 +57,7 @@ private:
     bool setupGroundVehicleMotorcycle(QString airframeType);
 
     virtual void ResetActuators(GUIConfigDataUnion* configData);
-    virtual QStringList getChannelDescriptions();
+    static QStringList getChannelDescriptions();
 
 private slots:
     virtual void setupUI(QString airframeType);
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
index 69b1e1712..cb8dfa8c9 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
@@ -65,7 +65,7 @@ private:
     void setupQuadMotor(int channel, double roll, double pitch, double yaw);
 
     virtual void ResetActuators(GUIConfigDataUnion* configData);
-    virtual QStringList getChannelDescriptions();
+    static QStringList getChannelDescriptions();
 
 private slots:
     virtual void setupUI(QString airframeType);
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
index 94c3111b3..fc6fe4322 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
@@ -113,17 +113,6 @@ void VehicleConfig::SetConfigData(GUIConfigDataUnion configData) {
 void VehicleConfig::ResetActuators(GUIConfigDataUnion* configData)
 {
 }
-QStringList VehicleConfig::getChannelDescriptions()
-{
-    QStringList channelDesc;
-
-    // init a channel_numelem list of channel desc defaults
-    for (int i=0; i < (int)(VehicleConfig::CHANNEL_NUMELEM); i++)
-    {
-        channelDesc.append(QString("-"));
-    }    
-    return channelDesc;
-}
 
 /**
   Helper function:
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
index 31447f3f8..7ed9d986c 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
@@ -138,7 +138,6 @@ class VehicleConfig: public ConfigTaskWidget
         double  getCurveMin(QList<double>* curve);
         double  getCurveMax(QList<double>* curve);
         virtual void ResetActuators(GUIConfigDataUnion* configData);
-        virtual QStringList getChannelDescriptions();
 
         QStringList channelNames;
         QStringList mixerTypes;
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 014efe411..a3bf8ee08 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -120,7 +120,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
     airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom";
     m_aircraft->aircraftType->addItems(airframeTypes);
 
-    m_aircraft->aircraftType->setCurrentIndex(0);    //Set default vehicle to Fixed Wing
+    m_aircraft->aircraftType->setCurrentIndex(0);    //Set default vehicle to Fixedwing
     m_aircraft->airframesWidget->setCurrentIndex(0); // Force the tab index to match
 
     QStringList fixedWingTypes;
@@ -138,7 +138,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
 					"Hexacopter" << "Hexacopter X" << "Hexacopter Y6" <<
 					"Octocopter" << "Octocopter V" << "Octo Coax +" << "Octo Coax X" ;
     m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
-    m_aircraft->multirotorFrameType->setCurrentIndex(1); //Set default model to "Quad +"
+    m_aircraft->multirotorFrameType->setCurrentIndex(2); //Set default model to "Quad X"
 
 
 	//NEW STYLE: Loop through the widgets looking for all widgets that have "ChannelBox" in their name
@@ -194,9 +194,6 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
     m_heli = m_aircraft->widget_3;
     m_heli->setupUI(QString("HeliCP"));
 
-    // initialize the ui to show the mixersettings tab
-    //mdl m_aircraft->tabWidget->setCurrentIndex(0);
-
 	//Connect aircraft type selection dropbox to callback function
     connect(m_aircraft->aircraftType, SIGNAL(currentIndexChanged(int)), this, SLOT(switchAirframeType(int)));
 	
@@ -255,16 +252,14 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
         case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
         case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
         {
-            QPointer<ConfigFixedWingWidget> fixedwing = new ConfigFixedWingWidget();
-            channelDesc = fixedwing->getChannelDescriptions();
+            channelDesc = ConfigFixedWingWidget::getChannelDescriptions();
         }
         break;
 
         // helicp
         case SystemSettings::AIRFRAMETYPE_HELICP:
         {
-            QPointer<ConfigCcpmWidget> heli = new ConfigCcpmWidget();
-            channelDesc = heli->getChannelDescriptions();
+            channelDesc = ConfigCcpmWidget::getChannelDescriptions();
         }
         break;
 
@@ -281,8 +276,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
         case SystemSettings::AIRFRAMETYPE_HEXACOAX:
         case SystemSettings::AIRFRAMETYPE_HEXA:
         {
-            QPointer<ConfigMultiRotorWidget> multi = new ConfigMultiRotorWidget();
-            channelDesc = multi->getChannelDescriptions();
+            channelDesc = ConfigMultiRotorWidget::getChannelDescriptions();
         }
         break;
 
@@ -291,8 +285,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
         case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
         case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
         {
-            QPointer<ConfigGroundVehicleWidget> ground = new ConfigGroundVehicleWidget();
-            channelDesc = ground->getChannelDescriptions();
+            channelDesc = ConfigGroundVehicleWidget::getChannelDescriptions();
         }
         break;
 
@@ -460,15 +453,6 @@ void ConfigVehicleTypeWidget::enableFFTest()
     }
 }
 
-/**
-  Resets a mixer curve
-  */
-void ConfigVehicleTypeWidget::resetMixer(MixerCurveWidget *mixer, int numElements, double maxvalue)
-{
-    // Setup all Throttle1 curves for all types of airframes
-    mixer->initLinearCurve((quint32)numElements,maxvalue);
-}
-
 /**************************
   * Aircraft settings
   **************************/
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
index 7eb9832e6..60ef74fbe 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
@@ -67,7 +67,6 @@ private:
     void updateCustomAirframeUI();
     void addToDirtyMonitor();
     void resetField(UAVObjectField * field);
-    void resetMixer (MixerCurveWidget *mixer, int numElements, double maxvalue);
 
     //void setMixerChannel(int channelNumber, bool channelIsMotor, QList<double> vector);
 

From 9c1f9d6b74be00fd4925e210ec5c8e6e32ddbb55 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Sat, 7 Jul 2012 08:45:28 -0700
Subject: [PATCH 019/543] MixerCurve, Bugfix: make custom curve2 aware of
 throttle vs pitch curvetypes

---
 .../plugins/config/configvehicletypewidget.cpp    | 15 +++++++++------
 1 file changed, 9 insertions(+), 6 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index a3bf8ee08..fbad34e22 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -612,9 +612,6 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
 
     // is at least one of the curve values != 0?
     if (vconfig->isValidThrottleCurve(&curveValues)) {
-        // yes, use the curve we just read from mixersettings
-        m_aircraft->customThrottle1Curve->setMin(vconfig->getCurveMin(&curveValues));
-        m_aircraft->customThrottle1Curve->setMax(vconfig->getCurveMax(&curveValues));
         m_aircraft->customThrottle1Curve->initCurve(&curveValues);
     }
     else {
@@ -622,12 +619,18 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
         m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.count(),(double)1);
     }
 
-    // Setup all Throttle2 curves for all types of airframes //AT THIS MOMENT, THAT MEANS ONLY GROUND VEHICLES
+    if (MixerSettings* mxr = qobject_cast<MixerSettings *>(mixer)) {
+        MixerSettings::DataFields mixerSettingsData = mxr->getData();
+        if (mixerSettingsData.Curve2Source == MixerSettings::CURVE2SOURCE_THROTTLE)
+            m_aircraft->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
+        else
+            m_aircraft->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_PITCH);
+    }
+
+    // Setup all Throttle2 curves for all types of airframes
     vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
 
     if (vconfig->isValidThrottleCurve(&curveValues)) {
-        m_aircraft->customThrottle2Curve->setMin(vconfig->getCurveMin(&curveValues));
-        m_aircraft->customThrottle2Curve->setMax(vconfig->getCurveMax(&curveValues));
         m_aircraft->customThrottle2Curve->initCurve(&curveValues);
     }
     else {

From 594453d191746d94d562683e14e1ee2c053d5d38 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Sat, 7 Jul 2012 09:00:59 -0700
Subject: [PATCH 020/543] MixerCurve, Tweek: use base curve min to init custom
 curve2

---
 .../src/plugins/config/configvehicletypewidget.cpp         | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index fbad34e22..7c8716f24 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -616,15 +616,16 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
     }
     else {
         // no, init a straight curve
-        m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.count(),(double)1);
+        m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.count(), 1.0);
     }
 
     if (MixerSettings* mxr = qobject_cast<MixerSettings *>(mixer)) {
         MixerSettings::DataFields mixerSettingsData = mxr->getData();
         if (mixerSettingsData.Curve2Source == MixerSettings::CURVE2SOURCE_THROTTLE)
             m_aircraft->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
-        else
+        else {
             m_aircraft->customThrottle2Curve->setMixerType(MixerCurve::MIXERCURVE_PITCH);
+        }
     }
 
     // Setup all Throttle2 curves for all types of airframes
@@ -634,7 +635,7 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
         m_aircraft->customThrottle2Curve->initCurve(&curveValues);
     }
     else {
-        m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.count(),(double)1);
+        m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.count(), 1.0, m_aircraft->customThrottle2Curve->getMin());
     }
 
     // Update the mixer table:

From 0a4101c915d7e7ad357d9d2af46ac2b6537f1249 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Sat, 7 Jul 2012 10:07:04 -0700
Subject: [PATCH 021/543] VehicleConfig, multirotor, slight refactor;

---
 .../configmultirotorwidget.cpp                | 94 +++++++++----------
 .../cfg_vehicletypes/configmultirotorwidget.h |  1 +
 .../config/cfg_vehicletypes/vehicleconfig.cpp | 13 +--
 .../config/cfg_vehicletypes/vehicleconfig.h   |  3 +-
 4 files changed, 53 insertions(+), 58 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
index 620fc54dc..dcc5dce59 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@@ -42,7 +42,8 @@
 #include "actuatorsettings.h"
 #include "actuatorcommand.h"
 
-//#define  Pi 3.14159265358979323846
+
+const QString ConfigMultiRotorWidget::CHANNELBOXNAME = QString("multiMotorChannelBox");
 
 
 /**
@@ -89,10 +90,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
 		quad->setElementId("tri");
 
 		//Enable all necessary motor channel boxes...
-        for (i=1; i <=3; i++) {
-            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}
-		
+        enableComboBoxes(uiowner, CHANNELBOXNAME, 3, true);
+
         m_aircraft->mrRollMixLevel->setValue(100);
         m_aircraft->mrPitchMixLevel->setValue(100);
         m_aircraft->mrYawMixLevel->setValue(50);
@@ -103,10 +102,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X"));
 		quad->setElementId("quad-X");
 		
-		//Enable all necessary motor channel boxes...
-        for (i=1; i <=4; i++) {
-            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}
+        //Enable all necessary motor channel boxes...
+        enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
 
         // init mixer levels
 		m_aircraft->mrRollMixLevel->setValue(50);
@@ -117,10 +114,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +"));
 		quad->setElementId("quad-plus");
 		
-		//Enable all necessary motor channel boxes...
-        for (i=1; i <=4; i++) {
-            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}
+        //Enable all necessary motor channel boxes...
+        enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
 
 		m_aircraft->mrRollMixLevel->setValue(100);
 		m_aircraft->mrPitchMixLevel->setValue(100);
@@ -131,10 +126,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
 		quad->setElementId("quad-hexa");
 		
-		//Enable all necessary motor channel boxes...
-        for (i=1; i <=6; i++) {
-            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}
+        //Enable all necessary motor channel boxes...
+        enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
 
 		m_aircraft->mrRollMixLevel->setValue(50);
 		m_aircraft->mrPitchMixLevel->setValue(33);
@@ -144,10 +137,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter X"));
 		quad->setElementId("quad-hexa-H");
 		
-		//Enable all necessary motor channel boxes...
-        for (i=1; i <=6; i++) {
-            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}
+        //Enable all necessary motor channel boxes...
+        enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
 
 		m_aircraft->mrRollMixLevel->setValue(33);
 		m_aircraft->mrPitchMixLevel->setValue(50);
@@ -159,10 +150,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
 		quad->setElementId("hexa-coax");
 		
-		//Enable all necessary motor channel boxes...
-        for (i=1; i <=6; i++) {
-            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}
+        //Enable all necessary motor channel boxes...
+        enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
 
 		m_aircraft->mrRollMixLevel->setValue(100);
 		m_aircraft->mrPitchMixLevel->setValue(50);
@@ -174,10 +163,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
 		quad->setElementId("quad-octo");
 		
-		//Enable all necessary motor channel boxes
-        for (i=1; i <=8; i++) {
-            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}		
+        //Enable all necessary motor channel boxes
+        enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
 
 		m_aircraft->mrRollMixLevel->setValue(33);
 		m_aircraft->mrPitchMixLevel->setValue(33);
@@ -188,10 +175,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter V"));
 		quad->setElementId("quad-octo-v");
 
-		//Enable all necessary motor channel boxes
-        for (i=1; i <=8; i++) {
-            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}		
+        //Enable all necessary motor channel boxes
+        enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
 
 		m_aircraft->mrRollMixLevel->setValue(25);
 		m_aircraft->mrPitchMixLevel->setValue(25);
@@ -203,10 +188,8 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +"));
 		quad->setElementId("octo-coax-P");
 
-		//Enable all necessary motor channel boxes
-		for (int i=1; i <=8; i++) {            
-            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}		
+        //Enable all necessary motor channel boxes
+        enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
 
 		m_aircraft->mrRollMixLevel->setValue(100);
 		m_aircraft->mrPitchMixLevel->setValue(100);
@@ -218,10 +201,7 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X"));
 		quad->setElementId("octo-coax-X");
 
-		//Enable all necessary motor channel boxes
-		for (int i=1; i <=8; i++) {            
-            enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}		
+        enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
 
 		m_aircraft->mrRollMixLevel->setValue(50);
 		m_aircraft->mrPitchMixLevel->setValue(50);
@@ -499,7 +479,8 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
     UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixer);
 
-	if (frameType == "QuadP") {
+    if (frameType == "QuadP")
+    {
         // Motors 1/2/3/4 are: N / E / S / W
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
@@ -524,7 +505,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrRollMixLevel->setValue( -value/1.27);
 
         }
-	} else if (frameType == "QuadX") {
+    }
+    else if (frameType == "QuadX")
+    {
         // Motors 1/2/3/4 are: NW / NE / SE / SW
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
@@ -548,7 +531,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
 
         }
 
-	} else if (frameType == "Hexa") {
+    }
+    else if (frameType == "Hexa")
+    {
 		// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
 
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
@@ -579,7 +564,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
         }
 
 
-	} else if (frameType == "HexaX") {
+    }
+    else if (frameType == "HexaX")
+    {
         // Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
 
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNE);
@@ -606,7 +593,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
             m_aircraft->mrRollMixLevel->setValue( floor(1-value/1.27) );
         }
-	} else if (frameType == "HexaCoax") {
+    }
+    else if (frameType == "HexaCoax")
+    {
         // Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
 
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
@@ -632,8 +621,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
             m_aircraft->mrRollMixLevel->setValue( value/1.27);
         }
-	}  else if (frameType == "Octo" || frameType == "OctoV" ||
-				frameType == "OctoCoaxP") {
+    }
+    else if (frameType == "Octo" || frameType == "OctoV" ||	frameType == "OctoCoaxP")
+    {
         // Motors 1 to 8 are N / NE / E / etc
 
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
@@ -689,7 +679,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             }
 
         }
-	} else if (frameType == "OctoCoaxX") {
+    }
+    else if (frameType == "OctoCoaxX")
+    {
         // Motors 1 to 8 are N / NE / E / etc
 
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
@@ -716,7 +708,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
             m_aircraft->mrRollMixLevel->setValue( floor(value/1.27) );
         }
-	} else if (frameType == "Tri") {
+    }
+    else if (frameType == "Tri")
+    {
         // Motors 1 to 8 are N / NE / E / etc
 
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
index cb8dfa8c9..085aab106 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
@@ -66,6 +66,7 @@ private:
 
     virtual void ResetActuators(GUIConfigDataUnion* configData);
     static QStringList getChannelDescriptions();
+    static const QString CHANNELBOXNAME;
 
 private slots:
     virtual void setupUI(QString airframeType);
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
index fc6fe4322..1a00946ee 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
@@ -129,15 +129,16 @@ void VehicleConfig::setComboCurrentIndex(QComboBox* box, int index)
 
 /**
   Helper function:
-  enables/disables the named combobox within supplied uiowner
+  enables/disables the named comboboxes within supplied uiowner
  */
-void VehicleConfig::enableComboBox(QWidget* owner, QString boxName, bool enable)
+void VehicleConfig::enableComboBoxes(QWidget* owner, QString boxName, int boxCount, bool enable)
 {
-    QComboBox* box = qFindChild<QComboBox*>(owner, boxName);
-    if (box)
-        box->setEnabled(enable);
+    for (int i = 1; i <= boxCount; i++) {
+        QComboBox* box = qFindChild<QComboBox*>(owner, QString("%0%1").arg(boxName).arg(i));
+        if (box)
+            box->setEnabled(enable);
+    }
 }
-
 QString VehicleConfig::getMixerType(UAVDataObject* mixer, int channel)
 {
     Q_ASSERT(mixer);
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
index 7ed9d986c..2c94a045e 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
@@ -123,8 +123,7 @@ class VehicleConfig: public ConfigTaskWidget
         static void SetConfigData(GUIConfigDataUnion configData);
         static void resetField(UAVObjectField * field);
         static void setComboCurrentIndex(QComboBox* box, int index);
-        static void enableComboBox(QWidget* owner, QString boxName, bool enable);
-
+        static void enableComboBoxes(QWidget* owner, QString boxName, int boxCount, bool enable);
         double  getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName);
         void    setMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName, double value);
         void    resetMixerVector(UAVDataObject* mixer, int channel);

From 0e3236553b80307d9978b789b10ac5e1a1d2fd8e Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Sat, 7 Jul 2012 12:41:43 -0700
Subject: [PATCH 022/543] Merge next conflict resolution

---
 .../src/plugins/config/configvehicletypewidget.cpp            | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 7c8716f24..613115378 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -120,8 +120,8 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
     airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom";
     m_aircraft->aircraftType->addItems(airframeTypes);
 
-    m_aircraft->aircraftType->setCurrentIndex(0);    //Set default vehicle to Fixedwing
-    m_aircraft->airframesWidget->setCurrentIndex(0); // Force the tab index to match
+    m_aircraft->aircraftType->setCurrentIndex(1);    //Set default vehicle to MultiRotor
+    m_aircraft->airframesWidget->setCurrentIndex(1); // Force the tab index to match
 
     QStringList fixedWingTypes;
     fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail";

From a6568dc4685f56d190d48fb10e7afd2f84cbb9fc Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Sat, 7 Jul 2012 12:47:07 -0700
Subject: [PATCH 023/543] merge next conflict resolution

---
 .../openpilotgcs/src/plugins/config/configvehicletypewidget.cpp  | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 613115378..01de2d1b0 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -119,7 +119,6 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
     QStringList airframeTypes;
     airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom";
     m_aircraft->aircraftType->addItems(airframeTypes);
-
     m_aircraft->aircraftType->setCurrentIndex(1);    //Set default vehicle to MultiRotor
     m_aircraft->airframesWidget->setCurrentIndex(1); // Force the tab index to match
 

From 13cd6c56f7360ea23ebfd77facf98deb3c4e631e Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Sat, 7 Jul 2012 17:49:51 -0700
Subject: [PATCH 024/543] bugfix: correct spelling, multirotor widget

---
 ground/openpilotgcs/src/plugins/config/airframe.ui | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 82097b90b..1e2e15b03 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -859,7 +859,7 @@ margin:1px;</string>
                <item>
                 <widget class="QGroupBox" name="groupBox_6">
                  <property name="title">
-                  <string>Throtte Curve</string>
+                  <string>Throttle Curve</string>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_9">
                   <item>

From a328ab997351ef4bb0fd11b36ba1726f8b6e5ca9 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Sat, 7 Jul 2012 21:56:07 -0700
Subject: [PATCH 025/543] Bugfix: step curvetype; Tweek: adjust node value
 position and color.

---
 .../src/plugins/config/mixercurve.cpp            |  6 ++++--
 .../uavobjectwidgetutils/mixercurveline.cpp      |  2 +-
 .../uavobjectwidgetutils/mixercurvepoint.cpp     | 16 +++++++++++-----
 .../uavobjectwidgetutils/mixercurvewidget.cpp    |  2 +-
 4 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index bacc01e98..3a9306759 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -147,7 +147,9 @@ void MixerCurve::UpdateCurveUI()
         m_mixerUI->CurveMax->setVisible(true);
         m_mixerUI->stepLabel->setText("Step at");
         m_mixerUI->stepLabel->setVisible(true);
-        m_mixerUI->CurveStep->setVisible(true);        
+        m_mixerUI->CurveStep->setVisible(true);
+
+        m_mixerUI->CurveStep->setMinimum(1.0);
         m_mixerUI->CurveStep->setMaximum(4.0);
     }
     if ( curveType.compare("Exp")==0)
@@ -202,7 +204,7 @@ void MixerCurve::GenerateCurve()
        }
        if ( CurveType.compare("Step")==0)
        {
-           if (scale*100<value3)
+           if (i < value3) //(scale*100<value3)
            {
                points.append(value1);
            }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.cpp
index 4846f62e3..e0498366c 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.cpp
@@ -83,7 +83,7 @@ void Edge::adjust()
     prepareGeometryChange();
 
     if (length > qreal(20.)) {
-        QPointF edgeOffset((line.dx() * 10) / length, (line.dy() * 10) / length);
+        QPointF edgeOffset((line.dx() * 13) / length, (line.dy() * 13) / length);
         sourcePoint = line.p1() + edgeOffset;
         destPoint = line.p2() - edgeOffset;
     } else {
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
index 199a0dba5..1187b898f 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
@@ -59,13 +59,13 @@ QList<Edge *> Node::edges() const
 
 QRectF Node::boundingRect() const
 {
-    return QRectF(-12, -12, 25, 25);
+    return QRectF(-13, -13, 26, 26);
 }
 
 QPainterPath Node::shape() const
 {
     QPainterPath path;
-    path.addEllipse(-12, -12, 25, 25);
+    path.addEllipse(-13, -13, 26, 26);
     return path;
 }
 
@@ -89,10 +89,16 @@ void Node::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWid
     }
     painter->setBrush(gradient);
     painter->setPen(QPen(Qt::black, 0));
-    painter->drawEllipse(-12, -12, 25, 25);
+    painter->drawEllipse(-13, -13, 26, 26);
 
-    painter->setPen(QPen(Qt::white, 0));
-    painter->drawText(-10, 3, QString().sprintf("%.2f", value()));
+    if (value() < 0) {
+        painter->setPen(QPen(Qt::red, 0));
+        painter->drawText(-12, 4, QString().sprintf("%.2f", value()));
+    }
+    else {
+        painter->setPen(QPen(Qt::white, 0));
+        painter->drawText(-11, 4, QString().sprintf("%.2f", value()));
+    }
 }
 
 void Node::verticalMove(bool flag){
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index 543d85151..110131ae4 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -239,7 +239,7 @@ void MixerCurveWidget::showEvent(QShowEvent *event)
 
     QRectF rect = plot->boundingRect();
 
-    fitInView(rect.adjusted(-12,-12,12,12), Qt::KeepAspectRatio);
+    fitInView(rect.adjusted(-15,-15,15,15), Qt::KeepAspectRatio);
 }
 
 void MixerCurveWidget::resizeEvent(QResizeEvent* event)

From 9f9d294f6c673618b782192fa4c12410fd5e3822 Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Sun, 8 Jul 2012 16:43:47 +0200
Subject: [PATCH 026/543] OP-359 Fixed colors, hilight time and meta data state
 bug when switching using scientific editors and not.

---
 .../uavobjectbrowser/uavobjectbrowserwidget.cpp        |  4 ++++
 .../plugins/uavobjectbrowser/uavobjectbrowserwidget.h  | 10 +++++++---
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
index b7d0644dc..91111fd76 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
@@ -89,7 +89,11 @@ void UAVObjectBrowserWidget::useScientificNotation(bool scientific)
 
     UAVObjectTreeModel* tmpModel = m_model;
     m_model = new UAVObjectTreeModel(0, scientific);
+    m_model->setRecentlyUpdatedColor(m_recentlyUpdatedColor);
+    m_model->setManuallyChangedColor(m_manuallyChangedColor);
+    m_model->setRecentlyUpdatedTimeout(m_recentlyUpdatedTimeout);
     m_browser->treeView->setModel(m_model);
+    showMetaData(m_browser->metaCheckBox->isChecked());
 
     delete tmpModel;
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
index cd058dadc..5b0d3a7f6 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
@@ -45,9 +45,9 @@ class UAVObjectBrowserWidget : public QWidget
 public:
     UAVObjectBrowserWidget(QWidget *parent = 0);
     ~UAVObjectBrowserWidget();
-    void setRecentlyUpdatedColor(QColor color) { m_model->setRecentlyUpdatedColor(color); }
-    void setManuallyChangedColor(QColor color) { m_model->setManuallyChangedColor(color); }
-    void setRecentlyUpdatedTimeout(int timeout) { m_model->setRecentlyUpdatedTimeout(timeout); }
+    void setRecentlyUpdatedColor(QColor color) { m_recentlyUpdatedColor = color; m_model->setRecentlyUpdatedColor(color); }
+       void setManuallyChangedColor(QColor color) { m_manuallyChangedColor = color; m_model->setManuallyChangedColor(color); }
+       void setRecentlyUpdatedTimeout(int timeout) { m_recentlyUpdatedTimeout = timeout; m_model->setRecentlyUpdatedTimeout(timeout); }
 
 public slots:
     void showMetaData(bool show);
@@ -67,6 +67,10 @@ private:
     Ui_UAVObjectBrowser *m_browser;
     UAVObjectTreeModel *m_model;
 
+    int m_recentlyUpdatedTimeout;
+    QColor m_recentlyUpdatedColor;
+    QColor m_manuallyChangedColor;
+
     void updateObjectPersistance(ObjectPersistence::OperationOptions op, UAVObject *obj);
     void enableSendRequest(bool enable);
     ObjectTreeItem *findCurrentObjectTreeItem();

From ea6076968017ca0115ec1fcf07ff10b32627789b Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Sun, 8 Jul 2012 10:38:15 -0700
Subject: [PATCH 027/543] Tweeks: restore 'step' curve logic to original;
 adjust node text position, clipping;

---
 .../src/plugins/config/mixercurve.cpp         |  3 +--
 .../uavobjectwidgetutils/mixercurvepoint.cpp  | 22 +++++++++++++------
 .../uavobjectwidgetutils/mixercurvewidget.cpp |  2 +-
 3 files changed, 17 insertions(+), 10 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index 3a9306759..d8d3c8f95 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -150,7 +150,6 @@ void MixerCurve::UpdateCurveUI()
         m_mixerUI->CurveStep->setVisible(true);
 
         m_mixerUI->CurveStep->setMinimum(1.0);
-        m_mixerUI->CurveStep->setMaximum(4.0);
     }
     if ( curveType.compare("Exp")==0)
     {
@@ -204,7 +203,7 @@ void MixerCurve::GenerateCurve()
        }
        if ( CurveType.compare("Step")==0)
        {
-           if (i < value3) //(scale*100<value3)
+           if (scale*100<value3)
            {
                points.append(value1);
            }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
index 1187b898f..5fdd2fbbf 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
@@ -81,22 +81,30 @@ void Node::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWid
     if (option->state & QStyle::State_Sunken) {
         gradient.setCenter(3, 3);
         gradient.setFocalPoint(3, 3);
-        gradient.setColorAt(1, QColor("#1c870b").light(120));
-        gradient.setColorAt(0, QColor("#116703").light(120));
+        //gradient.setColorAt(1, QColor("#1c870b").light(120));
+        //gradient.setColorAt(0, QColor("#116703").light(120));
+
+        gradient.setColorAt(1, Qt::darkBlue);
+        gradient.setColorAt(0, Qt::darkBlue);
     } else {
-        gradient.setColorAt(0, "#1c870b");
-        gradient.setColorAt(1, "#116703");
+        if (value() < 0) {
+            gradient.setColorAt(0, Qt::red);
+            gradient.setColorAt(1, Qt::red);
+        }
+        else {
+            gradient.setColorAt(0, "#1c870b");
+            gradient.setColorAt(1, "#116703");
+        }
     }
     painter->setBrush(gradient);
     painter->setPen(QPen(Qt::black, 0));
     painter->drawEllipse(-13, -13, 26, 26);
 
+    painter->setPen(QPen(Qt::white, 0));
     if (value() < 0) {
-        painter->setPen(QPen(Qt::red, 0));
-        painter->drawText(-12, 4, QString().sprintf("%.2f", value()));
+        painter->drawText(-13, 4, QString().sprintf("% .2f", value()));
     }
     else {
-        painter->setPen(QPen(Qt::white, 0));
         painter->drawText(-11, 4, QString().sprintf("%.2f", value()));
     }
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index 110131ae4..3833b18ed 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -248,7 +248,7 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
 
     QRectF rect = plot->boundingRect();
 
-    fitInView(rect.adjusted(-12,-12,12,12), Qt::KeepAspectRatio);
+    fitInView(rect.adjusted(-15,-15,15,15), Qt::KeepAspectRatio);
 }
 
 void MixerCurveWidget::itemMoved(double itemValue)

From 9c716abb11cda60976fbb1c3d57b173e7b3b03e9 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Sun, 8 Jul 2012 18:34:23 -0700
Subject: [PATCH 028/543] Bugfixes:  get both confighardware and firmware
 widgets to show CC3D image if detected.

---
 .../plugins/config/config_cc_hw_widget.cpp    | 24 ++++++++++++++++++-
 .../plugins/uploader/runningdevicewidget.cpp  |  3 +++
 2 files changed, 26 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
index 97cfccd47..4af991a6e 100644
--- a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
@@ -41,8 +41,30 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
     m_telemetry = new Ui_CC_HW_Widget();
     m_telemetry->setupUi(this);
 
-    m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
+    int id = utilMngr->getBoardModel();
 
+    switch (id) {
+    case 0x0101:
+        m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0101.svg"));
+        break;
+    case 0x0301:
+        m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0301.svg"));
+        break;
+    case 0x0401:
+        m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0401.svg"));
+        break;
+    case 0x0402:
+        m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0402.svg"));
+        break;
+    case 0x0201:
+        m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0201.svg"));
+        break;
+    default:
+        m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
+        break;
+    }
     addApplySaveButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
     addUAVObjectToWidgetRelation("HwSettings","CC_FlexiPort",m_telemetry->cbFlexi);
     addUAVObjectToWidgetRelation("HwSettings","CC_MainPort",m_telemetry->cbTele);
diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
index 4bf17e615..145e0f322 100644
--- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
@@ -94,6 +94,9 @@ void runningDeviceWidget::populate()
     case 0x0401:
         devicePic->renderer()->load(QString(":/uploader/images/deviceID-0401.svg"));
         break;
+    case 0x0402:
+        devicePic->renderer()->load(QString(":/uploader/images/deviceID-0402.svg"));
+        break;
     case 0x0201:
         devicePic->renderer()->load(QString(":/uploader/images/deviceID-0201.svg"));
         break;

From 898bd7dbf168591f15246c72b68878817a9b378b Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Mon, 9 Jul 2012 08:59:52 -0700
Subject: [PATCH 029/543] rename doublespindelegate files

---
 .../src/plugins/config/DoubleSpinDelegate.cpp | 86 -------------------
 .../src/plugins/config/DoubleSpinDelegate.h   | 74 ----------------
 .../src/plugins/config/config.pro             |  4 +-
 .../src/plugins/config/mixercurve.cpp         |  2 +-
 .../src/plugins/config/mixercurve.h           |  2 +-
 5 files changed, 4 insertions(+), 164 deletions(-)
 delete mode 100644 ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.cpp
 delete mode 100644 ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.h

diff --git a/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.cpp b/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.cpp
deleted file mode 100644
index d87cdfd70..000000000
--- a/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       doublespindelegate.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup ConfigPlugin Config Plugin
- * @{
- * @brief A double spinbox delegate
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "doublespindelegate.h"
-
-/**
-  Helper delegate for the custom mixer editor table.
-  */
-DoubleSpinDelegate::DoubleSpinDelegate(QObject *parent)
-     : QItemDelegate(parent)
- {    
-    m_min = 0.0;
-    m_max = 1.0;
-    m_decimals = 2;
-    m_step = 0.01;
- }
-
-QWidget *DoubleSpinDelegate::createEditor(QWidget *parent,
-    const QStyleOptionViewItem &/* option */,
-    const QModelIndex &/* index */) const
-{
-    QDoubleSpinBox *editor = new QDoubleSpinBox(parent);
-    editor->setMinimum(m_min);
-    editor->setMaximum(m_max);
-    editor->setDecimals(m_decimals);
-    editor->setSingleStep(m_step);
-
-    connect(editor,SIGNAL(valueChanged(double)), this, SLOT(valueChanged()));
-
-    return editor;
-}
-
-void DoubleSpinDelegate::setEditorData(QWidget *editor,
-                                    const QModelIndex &index) const
-{
-    double value = index.model()->data(index, Qt::EditRole).toDouble();
-
-    QDoubleSpinBox *spinBox = static_cast<QDoubleSpinBox*>(editor);
-    spinBox->setValue(value);
-}
-
-void DoubleSpinDelegate::setModelData(QWidget *editor, QAbstractItemModel *model,
-                                   const QModelIndex &index) const
-{
-    QDoubleSpinBox *spinBox = static_cast<QDoubleSpinBox*>(editor);
-    spinBox->interpretText();
-    double value = spinBox->value();
-
-    model->setData(index, value, Qt::EditRole);
-}
-
-void DoubleSpinDelegate::updateEditorGeometry(QWidget *editor,
-    const QStyleOptionViewItem &option, const QModelIndex &/* index */) const
-{
-    editor->setGeometry(option.rect);
-}
-
-void DoubleSpinDelegate::valueChanged()
-{
-    emit ValueChanged();
-}
-
diff --git a/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.h b/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.h
deleted file mode 100644
index 0711cf81d..000000000
--- a/ground/openpilotgcs/src/plugins/config/DoubleSpinDelegate.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       doublespindelegate.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup ConfigPlugin Config Plugin
- * @{
- * @brief A double spinbox delegate
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#ifndef DOUBLESPINDELEGATE_H
-#define DOUBLESPINDELEGATE_H
-
-#include <QDoubleSpinBox>
-#include <QItemDelegate>
-
-
-namespace Ui {
-class DoubleSpinDelegate;
-}
-
-class DoubleSpinDelegate : public QItemDelegate
-{
-    Q_OBJECT
-
-public:
-    DoubleSpinDelegate(QObject *parent = 0);
-
-    QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option,
-                          const QModelIndex &index) const;
-
-    void setEditorData(QWidget *editor, const QModelIndex &index) const;
-    void setModelData(QWidget *editor, QAbstractItemModel *model,
-                      const QModelIndex &index) const;
-
-    void updateEditorGeometry(QWidget *editor,
-        const QStyleOptionViewItem &option, const QModelIndex &index) const;
-
-    void setMin(double min) { m_min = min; }
-    void setMax(double max) { m_max = max; }
-    void setRange(double min, double max) { m_min = min; m_max = max; }
-    void setStep(double step) { m_step = step; }
-    void setDecimals(int decimals) { m_decimals = decimals; }
-
-private:
-    double  m_min;
-    double  m_max;
-    double  m_step;
-    int     m_decimals;
-
-signals:
-    void ValueChanged();
-
-private slots:
-    void valueChanged()    ;
-};
-
-#endif // DOUBLESPINDELEGATE_H
diff --git a/ground/openpilotgcs/src/plugins/config/config.pro b/ground/openpilotgcs/src/plugins/config/config.pro
index af38ef4ce..af6f3e1ed 100644
--- a/ground/openpilotgcs/src/plugins/config/config.pro
+++ b/ground/openpilotgcs/src/plugins/config/config.pro
@@ -38,7 +38,7 @@ HEADERS += configplugin.h \
     configrevowidget.h \
     config_global.h \
     mixercurve.h \
-    doublespindelegate.h
+    dblspindelegate.h
 SOURCES += configplugin.cpp \
     configgadgetconfiguration.cpp \
     configgadgetwidget.cpp \
@@ -71,7 +71,7 @@ SOURCES += configplugin.cpp \
     outputchannelform.cpp \
     cfg_vehicletypes/vehicleconfig.cpp \
     mixercurve.cpp \
-    doublespindelegate.cpp
+    dblspindelegate.cpp
 FORMS += airframe.ui \
     cc_hw_settings.ui \
     pro_hw_settings.ui \
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index d8d3c8f95..e8da7dbaa 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -29,7 +29,7 @@
 #include <QResizeEvent>
 #include <math.h>
 #include "mixercurve.h"
-#include "doublespindelegate.h"
+#include "dblspindelegate.h"
 
 MixerCurve::MixerCurve(QWidget *parent) :
     QFrame(parent),
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.h b/ground/openpilotgcs/src/plugins/config/mixercurve.h
index 1cda78284..f746dfec7 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.h
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.h
@@ -34,7 +34,7 @@
 
 #include "ui_mixercurve.h"
 #include "mixercurvewidget.h"
-#include "doublespindelegate.h"
+#include "dblspindelegate.h"
 #include "uavobjectwidgetutils_global.h"
 
 

From 923345762b0eff2cd970a3ea9c39e9b7692c00a5 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Mon, 9 Jul 2012 09:07:22 -0700
Subject: [PATCH 030/543] mixercurve, dblspindelegate names

---
 .../src/plugins/config/dblspindelegate.cpp    | 86 +++++++++++++++++++
 .../src/plugins/config/dblspindelegate.h      | 73 ++++++++++++++++
 2 files changed, 159 insertions(+)
 create mode 100644 ground/openpilotgcs/src/plugins/config/dblspindelegate.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/config/dblspindelegate.h

diff --git a/ground/openpilotgcs/src/plugins/config/dblspindelegate.cpp b/ground/openpilotgcs/src/plugins/config/dblspindelegate.cpp
new file mode 100644
index 000000000..21af3f1d2
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/dblspindelegate.cpp
@@ -0,0 +1,86 @@
+/**
+ ******************************************************************************
+ *
+ * @file       doublespindelegate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief A double spinbox delegate
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "dblspindelegate.h"
+
+/**
+  Helper delegate for the custom mixer editor table.
+  */
+DoubleSpinDelegate::DoubleSpinDelegate(QObject *parent)
+     : QItemDelegate(parent)
+ {    
+    m_min = 0.0;
+    m_max = 1.0;
+    m_decimals = 2;
+    m_step = 0.01;
+ }
+
+QWidget *DoubleSpinDelegate::createEditor(QWidget *parent,
+    const QStyleOptionViewItem &/* option */,
+    const QModelIndex &/* index */) const
+{
+    QDoubleSpinBox *editor = new QDoubleSpinBox(parent);
+    editor->setMinimum(m_min);
+    editor->setMaximum(m_max);
+    editor->setDecimals(m_decimals);
+    editor->setSingleStep(m_step);
+
+    connect(editor,SIGNAL(valueChanged(double)), this, SLOT(valueChanged()));
+
+    return editor;
+}
+
+void DoubleSpinDelegate::setEditorData(QWidget *editor,
+                                    const QModelIndex &index) const
+{
+    double value = index.model()->data(index, Qt::EditRole).toDouble();
+
+    QDoubleSpinBox *spinBox = static_cast<QDoubleSpinBox*>(editor);
+    spinBox->setValue(value);
+}
+
+void DoubleSpinDelegate::setModelData(QWidget *editor, QAbstractItemModel *model,
+                                   const QModelIndex &index) const
+{
+    QDoubleSpinBox *spinBox = static_cast<QDoubleSpinBox*>(editor);
+    spinBox->interpretText();
+    double value = spinBox->value();
+
+    model->setData(index, value, Qt::EditRole);
+}
+
+void DoubleSpinDelegate::updateEditorGeometry(QWidget *editor,
+    const QStyleOptionViewItem &option, const QModelIndex &/* index */) const
+{
+    editor->setGeometry(option.rect);
+}
+
+void DoubleSpinDelegate::valueChanged()
+{
+    emit ValueChanged();
+}
+
diff --git a/ground/openpilotgcs/src/plugins/config/dblspindelegate.h b/ground/openpilotgcs/src/plugins/config/dblspindelegate.h
new file mode 100644
index 000000000..482a07649
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/dblspindelegate.h
@@ -0,0 +1,73 @@
+/**
+ ******************************************************************************
+ *
+ * @file       doublespindelegate.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief A double spinbox delegate
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef DOUBLESPINDELEGATE_H
+#define DOUBLESPINDELEGATE_H
+
+#include <QDoubleSpinBox>
+#include <QItemDelegate>
+
+namespace Ui {
+class DoubleSpinDelegate;
+}
+
+class DoubleSpinDelegate : public QItemDelegate
+{
+    Q_OBJECT
+
+public:
+    DoubleSpinDelegate(QObject *parent = 0);
+
+    QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option,
+                          const QModelIndex &index) const;
+
+    void setEditorData(QWidget *editor, const QModelIndex &index) const;
+    void setModelData(QWidget *editor, QAbstractItemModel *model,
+                      const QModelIndex &index) const;
+
+    void updateEditorGeometry(QWidget *editor,
+        const QStyleOptionViewItem &option, const QModelIndex &index) const;
+
+    void setMin(double min) { m_min = min; }
+    void setMax(double max) { m_max = max; }
+    void setRange(double min, double max) { m_min = min; m_max = max; }
+    void setStep(double step) { m_step = step; }
+    void setDecimals(int decimals) { m_decimals = decimals; }
+
+private:
+    double  m_min;
+    double  m_max;
+    double  m_step;
+    int     m_decimals;
+
+signals:
+    void ValueChanged();
+
+private slots:
+    void valueChanged();
+};
+
+#endif // DOUBLESPINDELEGATE_H

From 532fc3071a9fb850bdb97f0b030937f835f38d34 Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Tue, 10 Jul 2012 00:26:59 +0200
Subject: [PATCH 031/543] OP-39 Initial commit. Created new sub project to
 plugins project. Added plug-in and registering menu item to start the wizard.
 Created SetupWizard sub class of QWizard to host logic for wizard traversal
 and data collection.

---
 ground/openpilotgcs/src/plugins/plugins.pro   |  7 ++
 .../setupwizard/SetupWizard.pluginspec        | 10 +++
 .../src/plugins/setupwizard/setupwizard.cpp   | 37 ++++++++
 .../src/plugins/setupwizard/setupwizard.h     | 41 +++++++++
 .../src/plugins/setupwizard/setupwizard.pro   | 13 +++
 .../plugins/setupwizard/setupwizardplugin.cpp | 85 +++++++++++++++++++
 .../plugins/setupwizard/setupwizardplugin.h   | 50 +++++++++++
 7 files changed, 243 insertions(+)
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/SetupWizard.pluginspec
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h

diff --git a/ground/openpilotgcs/src/plugins/plugins.pro b/ground/openpilotgcs/src/plugins/plugins.pro
index 154335e3a..c2c7c922b 100644
--- a/ground/openpilotgcs/src/plugins/plugins.pro
+++ b/ground/openpilotgcs/src/plugins/plugins.pro
@@ -210,6 +210,13 @@ plugin_uavobjectwidgetutils.depends += plugin_uavobjects
 plugin_uavobjectwidgetutils.depends += plugin_uavsettingsimportexport
 SUBDIRS += plugin_uavobjectwidgetutils
 
+# Setup Wizard plugin
+plugin_setupwizard.subdir = setupwizard
+plugin_setupwizard.depends = plugin_coreplugin
+plugin_setupwizard.depends += plugin_uavobjects
+plugin_setupwizard.depends += plugin_uavsettingsimportexport
+SUBDIRS += plugin_setupwizard
+
 # Junsi Powerlog plugin
 #plugin_powerlog.subdir = powerlog
 #plugin_powerlog.depends = plugin_coreplugin
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/SetupWizard.pluginspec b/ground/openpilotgcs/src/plugins/setupwizard/SetupWizard.pluginspec
new file mode 100644
index 000000000..4425b290e
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/SetupWizard.pluginspec
@@ -0,0 +1,10 @@
+<plugin name="SetupWizard" version="1.0.0" compatVersion="1.0.0">
+    <vendor>The OpenPilot Project</vendor>
+    <copyright>(C) 2012 OpenPilot Project</copyright>
+    <license>The GNU Public License (GPL) Version 3</license>
+    <description>A plugin that provides a setup wizard for easy initial setup of airframes.</description>
+    <url>http://www.openpilot.org</url>
+    <dependencyList>
+        <dependency name="Core" version="1.0.0"/>
+    </dependencyList>
+</plugin>    
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
new file mode 100644
index 000000000..1513b40b2
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
@@ -0,0 +1,37 @@
+/**
+ ******************************************************************************
+ *
+ * @file       setupwizard.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup Setup Wizard  Plugin
+ * @{
+ * @brief A Wizards to make the initial setup easy for everyone.
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "setupwizard.h"
+
+SetupWizard::SetupWizard(QWidget *parent) : QWizard(parent)
+{
+    setWindowTitle("GCS Setup Wizard");
+    QWizardPage* page = new QWizardPage();
+    page->setFixedSize(300, 300);
+    addPage(page);
+}
+
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
new file mode 100644
index 000000000..7bd907cad
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
@@ -0,0 +1,41 @@
+/**
+ ******************************************************************************
+ *
+ * @file       setupwizard.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup Setup Wizard  Plugin
+ * @{
+ * @brief A Wizards to make the initial setup easy for everyone.
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef SETUPWIZARD_H
+#define SETUPWIZARD_H
+
+#include <QWizard>
+
+class SetupWizard : public QWizard
+{
+   Q_OBJECT
+
+public:
+   SetupWizard(QWidget *parent = 0);
+};
+
+#endif // SETUPWIZARD_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
new file mode 100644
index 000000000..cc5122a25
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
@@ -0,0 +1,13 @@
+
+TEMPLATE = lib 
+TARGET = SetupWizard 
+ 
+include(../../openpilotgcsplugin.pri) 
+include(../../plugins/coreplugin/coreplugin.pri) 
+ 
+HEADERS += setupwizardplugin.h \ 
+    setupwizard.h
+SOURCES += setupwizardplugin.cpp \ 
+    setupwizard.cpp
+ 
+OTHER_FILES += SetupWizard.pluginspec
\ No newline at end of file
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
new file mode 100644
index 000000000..5ac0b4c6c
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
@@ -0,0 +1,85 @@
+/**
+ ******************************************************************************
+ *
+ * @file       donothingplugin.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup SetupWizardPlugin Do Nothing Plugin
+ * @{
+ * @brief A Setup Wizard Plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "setupwizardplugin.h"
+
+#include <QDebug>
+#include <QtPlugin>
+#include <QStringList>
+#include <extensionsystem/pluginmanager.h>
+
+#include <coreplugin/coreconstants.h>
+#include <coreplugin/actionmanager/actionmanager.h>
+#include <coreplugin/icore.h>
+#include <QKeySequence>
+
+SetupWizardPlugin::SetupWizardPlugin()
+{
+   // Do nothing
+}
+
+SetupWizardPlugin::~SetupWizardPlugin()
+{
+}
+
+bool SetupWizardPlugin::initialize(const QStringList& args, QString *errMsg)
+{
+    Q_UNUSED(args);
+    Q_UNUSED(errMsg);
+
+    // Add Menu entry
+    Core::ActionManager* am = Core::ICore::instance()->actionManager();
+    Core::ActionContainer* ac = am->actionContainer(Core::Constants::M_TOOLS);
+
+    Core::Command* cmd = am->registerAction(new QAction(this),
+                                            "SetupWizardPlugin.ShowSetupWizard",
+                                            QList<int>() <<
+                                            Core::Constants::C_GLOBAL_ID);
+    cmd->setDefaultKeySequence(QKeySequence("Ctrl+W"));
+    cmd->action()->setText(tr("GCS Setup Wizard"));
+
+    ac->menu()->addSeparator();
+    ac->appendGroup("Wizard");
+    ac->addAction(cmd, "Wizard");
+
+    connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(showSetupWizard()));
+    return true;
+}
+
+void SetupWizardPlugin::extensionsInitialized()
+{
+}
+
+void SetupWizardPlugin::shutdown()
+{
+}
+
+void SetupWizardPlugin::showSetupWizard()
+{
+    SetupWizard().exec();
+}
+
+Q_EXPORT_PLUGIN(SetupWizardPlugin)
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
new file mode 100644
index 000000000..dcff10a60
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
@@ -0,0 +1,50 @@
+/**
+ ******************************************************************************
+ *
+ * @file       donothingplugin.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup DoNothingPlugin Do Nothing Plugin
+ * @{
+ * @brief A minimal example plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef SETUPWIZARDPLUGIN_H
+#define SETUPWIZARDPLUGIN_H
+
+#include <extensionsystem/iplugin.h>
+#include <QWizard>
+#include "setupwizard.h"
+
+class SetupWizardPlugin : public ExtensionSystem::IPlugin
+{
+    Q_OBJECT
+public:
+   SetupWizardPlugin();
+   ~SetupWizardPlugin();
+
+   void extensionsInitialized();
+   bool initialize(const QStringList & arguments, QString * errorString);
+   void shutdown();
+
+private slots:
+   void showSetupWizard();
+
+};
+
+#endif // SETUPWIZARDPLUGIN_H

From 0c6bd52a5769e6e26febead5d739af084fd0178b Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Mon, 9 Jul 2012 21:34:31 -0700
Subject: [PATCH 032/543] Tweek: ConfigInputWidget, change default flightmode
 for fm1 from Manual to Stabilized1; result of changing aircraft default to
 multirotor.

---
 .../src/plugins/config/configinputwidget.cpp         | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index 7952b3d70..a74bf037d 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -82,12 +82,12 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
 
     m_config->stackedWidget->setCurrentIndex(0);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,1);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,2);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,3);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,1);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,2);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,3);
     addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
 
     addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");

From 559be15142c5d6ef425b855aeee673a181ad023f Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Wed, 11 Jul 2012 01:00:41 +0200
Subject: [PATCH 033/543] OP-39 Start and End pages added. Placeholder text
 added.

---
 .../src/plugins/setupwizard/pages/endpage.cpp | 15 ++++
 .../src/plugins/setupwizard/pages/endpage.h   | 22 +++++
 .../src/plugins/setupwizard/pages/endpage.ui  | 80 +++++++++++++++++++
 .../plugins/setupwizard/pages/startpage.cpp   | 14 ++++
 .../src/plugins/setupwizard/pages/startpage.h | 22 +++++
 .../plugins/setupwizard/pages/startpage.ui    | 56 +++++++++++++
 .../src/plugins/setupwizard/setupwizard.cpp   | 27 +++++--
 .../src/plugins/setupwizard/setupwizard.h     |  8 +-
 .../src/plugins/setupwizard/setupwizard.pro   | 14 +++-
 .../plugins/setupwizard/setupwizardplugin.cpp |  4 +-
 .../plugins/setupwizard/setupwizardplugin.h   |  4 +-
 11 files changed, 252 insertions(+), 14 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.ui

diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
new file mode 100644
index 000000000..3270e23ff
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
@@ -0,0 +1,15 @@
+#include "endpage.h"
+#include "ui_endpage.h"
+
+EndPage::EndPage(QWidget *parent) :
+    QWizardPage(parent),
+    ui(new Ui::EndPage)
+{
+    setFinalPage(true);
+    ui->setupUi(this);
+}
+
+EndPage::~EndPage()
+{
+    delete ui;
+}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h
new file mode 100644
index 000000000..e4179e677
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h
@@ -0,0 +1,22 @@
+#ifndef ENDPAGE_H
+#define ENDPAGE_H
+
+#include <QWizardPage>
+
+namespace Ui {
+class EndPage;
+}
+
+class EndPage : public QWizardPage
+{
+    Q_OBJECT
+    
+public:
+    explicit EndPage(QWidget *parent = 0);
+    ~EndPage();
+    
+private:
+    Ui::EndPage *ui;
+};
+
+#endif // ENDPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui
new file mode 100644
index 000000000..cc0a5c162
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui
@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>EndPage</class>
+ <widget class="QWizardPage" name="EndPage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>600</width>
+    <height>400</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>600</width>
+    <height>400</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>WizardPage</string>
+  </property>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>20</y>
+     <width>550</width>
+     <height>141</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;Setup complete&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-size:8pt;&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-size:10pt;&quot;&gt;The wizard have now gathered enough information to create a baseline configuration for your OpenPilot controller board to use with your vehicle.&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-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-size:10pt;&quot;&gt;You now have two choices:&lt;/span&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-size:10pt;&quot;&gt;- Upload configuration directly to the currently connected OpenPilot controller board.&lt;/span&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-size:10pt;&quot;&gt;- Save the configuration to a file for later uploading using the configuration import plugin in GCS.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+   </property>
+   <property name="wordWrap">
+    <bool>true</bool>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="saveButton">
+   <property name="geometry">
+    <rect>
+     <x>420</x>
+     <y>290</y>
+     <width>125</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Save configuration...</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="uploadButton">
+   <property name="geometry">
+    <rect>
+     <x>420</x>
+     <y>340</y>
+     <width>125</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Uppload configuration</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp
new file mode 100644
index 000000000..f36631bb0
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp
@@ -0,0 +1,14 @@
+#include "startpage.h"
+#include "ui_startpage.h"
+
+StartPage::StartPage(QWidget *parent) :
+    QWizardPage(parent),
+    ui(new Ui::StartPage)
+{
+    ui->setupUi(this);
+}
+
+StartPage::~StartPage()
+{
+    delete ui;
+}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h
new file mode 100644
index 000000000..f6cf9b6cd
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h
@@ -0,0 +1,22 @@
+#ifndef STARTPAGE_H
+#define STARTPAGE_H
+
+#include <QWizardPage>
+
+namespace Ui {
+class StartPage;
+}
+
+class StartPage : public QWizardPage
+{
+    Q_OBJECT
+    
+public:
+    explicit StartPage(QWidget *parent = 0);
+    ~StartPage();
+    
+private:
+    Ui::StartPage *ui;
+};
+
+#endif // STARTPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.ui
new file mode 100644
index 000000000..0f656f35c
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.ui
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>StartPage</class>
+ <widget class="QWizardPage" name="StartPage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>640</width>
+    <height>400</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>640</width>
+    <height>400</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>WizardPage</string>
+  </property>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>20</y>
+     <width>550</width>
+     <height>350</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;Welcome to the OpenPilot Setup Wizard&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-size:8pt;&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-size:10pt;&quot;&gt;This wizard will guide you through the basic steps of setting up your OpenPilot controller board. The following pages contains simple questions about your vehicle and its characteristics. &lt;/span&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-size:10pt;&quot;&gt;From the information &lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;gathered&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt; the wizard will create a baseline configuration that should be good enough for you to get a quick start using your OpenPilot product.&lt;/span&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-size:10pt;&quot;&gt;The baseline configuration can, if desired, be uploaded to the OpenPilot Controller board at the end of this wizard.&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-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-size:10pt;&quot;&gt;This wizard does not contain the full range of settings available in the GCS Config plugin. All configuration parameters can be changed at later by using the GCS Config plugin.&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-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-size:10pt;&quot;&gt;Ok, lets start the configuration by clicking on the 'Next' button below.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+   </property>
+   <property name="wordWrap">
+    <bool>true</bool>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
index 1513b40b2..26a5e386a 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
@@ -7,7 +7,7 @@
  * @{
  * @addtogroup Setup Wizard  Plugin
  * @{
- * @brief A Wizards to make the initial setup easy for everyone.
+ * @brief A Wizard to make the initial setup easy for everyone.
  *****************************************************************************/
 /*
  * This program is free software; you can redistribute it and/or modify
@@ -26,12 +26,29 @@
  */
 
 #include "setupwizard.h"
+#include "pages/startpage.h"
+#include "pages/endpage.h"
 
 SetupWizard::SetupWizard(QWidget *parent) : QWizard(parent)
 {
-    setWindowTitle("GCS Setup Wizard");
-    QWizardPage* page = new QWizardPage();
-    page->setFixedSize(300, 300);
-    addPage(page);
+    setWindowTitle("OpenPilot Setup Wizard");
+    createPages();
 }
 
+int SetupWizard::nextId() const
+{
+    switch (currentId()) {
+    case PAGE_START:
+        return PAGE_END;
+    default:
+        return -1;
+    }
+}
+
+void SetupWizard::createPages()
+{
+    setPage(PAGE_START, new StartPage());
+    setPage(PAGE_END, new EndPage());
+
+    setStartId(PAGE_START);
+}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
index 7bd907cad..42f75556a 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
@@ -32,10 +32,14 @@
 
 class SetupWizard : public QWizard
 {
-   Q_OBJECT
+    Q_OBJECT
 
 public:
-   SetupWizard(QWidget *parent = 0);
+    SetupWizard(QWidget *parent = 0);
+    int nextId() const;
+private:
+    enum {PAGE_START, PAGE_END};
+    void createPages();
 };
 
 #endif // SETUPWIZARD_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
index cc5122a25..20d13155d 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
@@ -6,8 +6,16 @@ include(../../openpilotgcsplugin.pri)
 include(../../plugins/coreplugin/coreplugin.pri) 
  
 HEADERS += setupwizardplugin.h \ 
-    setupwizard.h
+    setupwizard.h \
+    pages/startpage.h \
+    pages/endpage.h
 SOURCES += setupwizardplugin.cpp \ 
-    setupwizard.cpp
+    setupwizard.cpp \
+    pages/startpage.cpp \
+    pages/endpage.cpp
  
-OTHER_FILES += SetupWizard.pluginspec
\ No newline at end of file
+OTHER_FILES += SetupWizard.pluginspec
+
+FORMS += \
+    pages/startpage.ui \
+    pages/endpage.ui
\ No newline at end of file
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
index 5ac0b4c6c..a6dddbd4c 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
@@ -5,7 +5,7 @@
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
- * @addtogroup SetupWizardPlugin Do Nothing Plugin
+ * @addtogroup SetupWizardPlugin
  * @{
  * @brief A Setup Wizard Plugin
  *****************************************************************************/
@@ -59,7 +59,7 @@ bool SetupWizardPlugin::initialize(const QStringList& args, QString *errMsg)
                                             QList<int>() <<
                                             Core::Constants::C_GLOBAL_ID);
     cmd->setDefaultKeySequence(QKeySequence("Ctrl+W"));
-    cmd->action()->setText(tr("GCS Setup Wizard"));
+    cmd->action()->setText(tr("OpenPilot Setup Wizard"));
 
     ac->menu()->addSeparator();
     ac->appendGroup("Wizard");
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
index dcff10a60..4caecbcd0 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
@@ -5,9 +5,9 @@
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
- * @addtogroup DoNothingPlugin Do Nothing Plugin
+ * @addtogroup SetupWizardPlugin
  * @{
- * @brief A minimal example plugin
+ * @brief A Setup Wizard Plugin
  *****************************************************************************/
 /*
  * This program is free software; you can redistribute it and/or modify

From 9d32e1789b379e385c914576b293ad6e23d66425 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Tue, 10 Jul 2012 20:53:31 -0700
Subject: [PATCH 034/543] UI changes to the GCS interface pages

---
 .../src/plugins/config/airframe.ui            |  5319 +-
 .../src/plugins/config/camerastabilization.ui |  1599 +-
 .../config/configstabilizationwidget.cpp      |     8 +-
 .../openpilotgcs/src/plugins/config/input.ui  |  1760 +-
 .../src/plugins/config/inputchannelform.ui    |     4 +-
 .../openpilotgcs/src/plugins/config/output.ui |  1077 +-
 .../src/plugins/config/stabilization.ui       | 46438 ++++++++--------
 .../openpilotgcs/src/plugins/config/txpid.ui  |  1071 +-
 8 files changed, 28715 insertions(+), 28561 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 47006a789..0018812be 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,14 +6,17 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>796</width>
-    <height>618</height>
+    <width>828</width>
+    <height>1007</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
+  <layout class="QVBoxLayout" name="verticalLayout_18">
+   <property name="spacing">
+    <number>12</number>
+   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -23,581 +26,97 @@
       <attribute name="title">
        <string>Mixer Settings</string>
       </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,0,0">
+      <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0">
        <property name="margin">
-        <number>5</number>
+        <number>12</number>
        </property>
        <item>
-        <layout class="QHBoxLayout" name="horizontalLayout">
-         <item>
-          <widget class="QLabel" name="label">
-           <property name="font">
-            <font>
-             <weight>75</weight>
-             <bold>true</bold>
-            </font>
-           </property>
-           <property name="text">
-            <string>Vehicle type:</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QComboBox" name="aircraftType">
-           <property name="toolTip">
-            <string>Select aircraft type here</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <spacer name="horizontalSpacer_2">
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>40</width>
-             <height>20</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
-        </layout>
-       </item>
-       <item>
-        <widget class="Line" name="line">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
          </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QStackedWidget" name="airframesWidget">
-         <property name="currentIndex">
-          <number>0</number>
+         <property name="widgetResizable">
+          <bool>true</bool>
          </property>
-         <widget class="QWidget" name="fixedWing">
-          <property name="enabled">
-           <bool>true</bool>
+         <widget class="QWidget" name="scrollAreaWidgetContents">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>782</width>
+            <height>835</height>
+           </rect>
           </property>
-          <property name="autoFillBackground">
-           <bool>false</bool>
-          </property>
-          <layout class="QVBoxLayout" name="verticalLayout_3" stretch="0">
+          <layout class="QVBoxLayout" name="verticalLayout_12">
            <item>
-            <layout class="QVBoxLayout" name="verticalLayout_6">
+            <layout class="QHBoxLayout" name="horizontalLayout">
              <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_3">
-               <item>
-                <widget class="QLabel" name="label_5">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="font">
-                  <font>
-                   <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-                 <property name="text">
-                  <string>Airplane type:</string>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QComboBox" name="fixedWingType"/>
-               </item>
-               <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>
-              </layout>
+              <widget class="QLabel" name="label">
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="text">
+                <string>Vehicle type:</string>
+               </property>
+              </widget>
              </item>
              <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_23"/>
+              <widget class="QComboBox" name="aircraftType">
+               <property name="toolTip">
+                <string>Select aircraft type here</string>
+               </property>
+              </widget>
              </item>
              <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_4">
-               <item>
-                <widget class="QGroupBox" name="groupBox_2">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="minimumSize">
-                  <size>
-                   <width>230</width>
-                   <height>100</height>
-                  </size>
-                 </property>
-                 <property name="title">
-                  <string>Output Channel Assignments</string>
-                 </property>
-                 <layout class="QFormLayout" name="formLayout_3">
-                  <item row="1" column="0">
-                   <widget class="QLabel" name="fwEngineLabel">
-                    <property name="text">
-                     <string>Engine</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="1" column="1">
-                   <widget class="QComboBox" name="fwEngineChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the engine</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="2" column="0">
-                   <widget class="QLabel" name="fwAileron1Label">
-                    <property name="minimumSize">
-                     <size>
-                      <width>60</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Aileron 1</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="2" column="1">
-                   <widget class="QComboBox" name="fwAileron1ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the first aileron (or elevon)</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="3" column="0">
-                   <widget class="QLabel" name="fwAileron2Label">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>60</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Aileron 2</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="3" column="1">
-                   <widget class="QComboBox" name="fwAileron2ChannelBox">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="toolTip">
-                     <string>Select output channel for the second aileron (or elevon)</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="4" column="0">
-                   <widget class="QLabel" name="fwElevator1Label">
-                    <property name="minimumSize">
-                     <size>
-                      <width>67</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Elevator 1</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="4" column="1">
-                   <widget class="QComboBox" name="fwElevator1ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the first elevator</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="5" column="0">
-                   <widget class="QLabel" name="fwElevator2Label">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>67</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Elevator 2</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="5" column="1">
-                   <widget class="QComboBox" name="fwElevator2ChannelBox">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="toolTip">
-                     <string>Select output channel for a secondary elevator</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="6" column="0">
-                   <widget class="QLabel" name="fwRudder1Label">
-                    <property name="text">
-                     <string>Rudder 1</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="6" column="1">
-                   <widget class="QComboBox" name="fwRudder1ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the first rudder</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="7" column="0">
-                   <widget class="QLabel" name="fwRudder2Label">
-                    <property name="text">
-                     <string>Rudder 2</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="7" column="1">
-                   <widget class="QComboBox" name="fwRudder2ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for a secondary rudder</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="0" column="1">
-                   <spacer name="verticalSpacer_2">
-                    <property name="orientation">
-                     <enum>Qt::Vertical</enum>
-                    </property>
-                    <property name="sizeHint" stdset="0">
-                     <size>
-                      <width>20</width>
-                      <height>20</height>
-                     </size>
-                    </property>
-                   </spacer>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-               <item>
-                <widget class="QGroupBox" name="elevonMixBox">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="title">
-                  <string>Elevon Mix</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_13">
-                  <item>
-                   <spacer name="verticalSpacer_3">
-                    <property name="orientation">
-                     <enum>Qt::Vertical</enum>
-                    </property>
-                    <property name="sizeType">
-                     <enum>QSizePolicy::Fixed</enum>
-                    </property>
-                    <property name="sizeHint" stdset="0">
-                     <size>
-                      <width>0</width>
-                      <height>20</height>
-                     </size>
-                    </property>
-                   </spacer>
-                  </item>
-                  <item>
-                   <layout class="QHBoxLayout" name="horizontalLayout_8">
-                    <item>
-                     <layout class="QVBoxLayout" name="verticalLayout_14">
-                      <item>
-                       <widget class="QLabel" name="elevonLabel1">
-                        <property name="minimumSize">
-                         <size>
-                          <width>65</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="styleSheet">
-                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                        </property>
-                        <property name="text">
-                         <string>Rudder %</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QSlider" name="elevonSlider1">
-                        <property name="sizePolicy">
-                         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-                          <horstretch>0</horstretch>
-                          <verstretch>0</verstretch>
-                         </sizepolicy>
-                        </property>
-                        <property name="maximum">
-                         <number>100</number>
-                        </property>
-                        <property name="value">
-                         <number>50</number>
-                        </property>
-                        <property name="orientation">
-                         <enum>Qt::Vertical</enum>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QLabel" name="elevonSliderLabel1">
-                        <property name="text">
-                         <string>50</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                     </layout>
-                    </item>
-                    <item>
-                     <layout class="QVBoxLayout" name="verticalLayout_15">
-                      <item>
-                       <widget class="QLabel" name="elevonLabel2">
-                        <property name="minimumSize">
-                         <size>
-                          <width>50</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="styleSheet">
-                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                        </property>
-                        <property name="text">
-                         <string>Pitch %</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QSlider" name="elevonSlider2">
-                        <property name="sizePolicy">
-                         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-                          <horstretch>0</horstretch>
-                          <verstretch>0</verstretch>
-                         </sizepolicy>
-                        </property>
-                        <property name="maximum">
-                         <number>100</number>
-                        </property>
-                        <property name="value">
-                         <number>50</number>
-                        </property>
-                        <property name="orientation">
-                         <enum>Qt::Vertical</enum>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QLabel" name="elevonSliderLabel2">
-                        <property name="text">
-                         <string>50</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                     </layout>
-                    </item>
-                   </layout>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-               <item>
-                <spacer name="horizontalSpacer_4">
-                 <property name="orientation">
-                  <enum>Qt::Horizontal</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>40</width>
-                   <height>20</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-               <item>
-                <widget class="QGroupBox" name="groupBox_3">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                   <horstretch>0</horstretch>
-                   <verstretch>100</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="title">
-                  <string>Throttle Curve</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_16">
-                  <item>
-                   <spacer name="verticalSpacer_6">
-                    <property name="orientation">
-                     <enum>Qt::Vertical</enum>
-                    </property>
-                    <property name="sizeType">
-                     <enum>QSizePolicy::Fixed</enum>
-                    </property>
-                    <property name="sizeHint" stdset="0">
-                     <size>
-                      <width>20</width>
-                      <height>20</height>
-                     </size>
-                    </property>
-                   </spacer>
-                  </item>
-                  <item>
-                   <widget class="MixerCurveWidget" name="fixedWingThrottle" native="true">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>100</width>
-                      <height>100</height>
-                     </size>
-                    </property>
-                    <property name="maximumSize">
-                     <size>
-                      <width>200</width>
-                      <height>200</height>
-                     </size>
-                    </property>
-                    <property name="sizeIncrement">
-                     <size>
-                      <width>10</width>
-                      <height>10</height>
-                     </size>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QPushButton" name="fwThrottleReset">
-                    <property name="maximumSize">
-                     <size>
-                      <width>200</width>
-                      <height>16777215</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Reset</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="fwThrottleCurveItemValue">
-                    <property name="text">
-                     <string>Val: 0.00</string>
-                    </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-              </layout>
-             </item>
-             <item>
-              <spacer name="verticalSpacer">
+              <spacer name="horizontalSpacer_2">
                <property name="orientation">
-                <enum>Qt::Vertical</enum>
+                <enum>Qt::Horizontal</enum>
                </property>
                <property name="sizeHint" stdset="0">
                 <size>
-                 <width>20</width>
-                 <height>40</height>
+                 <width>40</width>
+                 <height>20</height>
                 </size>
                </property>
               </spacer>
              </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_13">
-               <item>
-                <spacer name="horizontalSpacer_11">
-                 <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="QLabel" name="fwStatusLabel">
-                 <property name="font">
-                  <font>
-                   <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-                 <property name="text">
-                  <string>Mixer OK</string>
-                 </property>
-                </widget>
-               </item>
-              </layout>
-             </item>
             </layout>
            </item>
-          </layout>
-         </widget>
-         <widget class="QWidget" name="multiRotor">
-          <layout class="QVBoxLayout" name="verticalLayout_4" stretch="1">
            <item>
-            <layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0">
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0,0">
+            <widget class="Line" name="line">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QStackedWidget" name="airframesWidget">
+             <property name="currentIndex">
+              <number>0</number>
+             </property>
+             <widget class="QWidget" name="fixedWing">
+              <property name="enabled">
+               <bool>true</bool>
+              </property>
+              <property name="autoFillBackground">
+               <bool>false</bool>
+              </property>
+              <layout class="QVBoxLayout" name="verticalLayout_3" stretch="0">
                <item>
-                <layout class="QVBoxLayout" name="verticalLayout_24">
+                <layout class="QVBoxLayout" name="verticalLayout_6">
                  <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_5">
+                  <layout class="QHBoxLayout" name="horizontalLayout_3">
                    <item>
-                    <widget class="QLabel" name="label_15">
+                    <widget class="QLabel" name="label_5">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
                      <property name="font">
                       <font>
                        <weight>75</weight>
@@ -605,19 +124,15 @@ margin:1px;</string>
                       </font>
                      </property>
                      <property name="text">
-                      <string>Frame type:</string>
+                      <string>Airplane type:</string>
                      </property>
                     </widget>
                    </item>
                    <item>
-                    <widget class="QComboBox" name="multirotorFrameType">
-                     <property name="toolTip">
-                      <string>Select the Multirotor frame type here.</string>
-                     </property>
-                    </widget>
+                    <widget class="QComboBox" name="fixedWingType"/>
                    </item>
                    <item>
-                    <spacer name="horizontalSpacer_5">
+                    <spacer name="horizontalSpacer_3">
                      <property name="orientation">
                       <enum>Qt::Horizontal</enum>
                      </property>
@@ -632,13 +147,478 @@ margin:1px;</string>
                   </layout>
                  </item>
                  <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_22">
+                  <layout class="QHBoxLayout" name="horizontalLayout_23"/>
+                 </item>
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_4">
                    <item>
-                    <layout class="QVBoxLayout" name="verticalLayout_20">
+                    <widget class="QGroupBox" name="groupBox_2">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="minimumSize">
+                      <size>
+                       <width>230</width>
+                       <height>100</height>
+                      </size>
+                     </property>
+                     <property name="title">
+                      <string>Output Channel Assignments</string>
+                     </property>
+                     <layout class="QFormLayout" name="formLayout_3">
+                      <item row="1" column="0">
+                       <widget class="QLabel" name="fwEngineLabel">
+                        <property name="text">
+                         <string>Engine</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="1">
+                       <widget class="QComboBox" name="fwEngineChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the engine</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="0">
+                       <widget class="QLabel" name="fwAileron1Label">
+                        <property name="minimumSize">
+                         <size>
+                          <width>60</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Aileron 1</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="1">
+                       <widget class="QComboBox" name="fwAileron1ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the first aileron (or elevon)</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="0">
+                       <widget class="QLabel" name="fwAileron2Label">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>60</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Aileron 2</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="1">
+                       <widget class="QComboBox" name="fwAileron2ChannelBox">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="toolTip">
+                         <string>Select output channel for the second aileron (or elevon)</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="4" column="0">
+                       <widget class="QLabel" name="fwElevator1Label">
+                        <property name="minimumSize">
+                         <size>
+                          <width>67</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Elevator 1</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="4" column="1">
+                       <widget class="QComboBox" name="fwElevator1ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the first elevator</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="5" column="0">
+                       <widget class="QLabel" name="fwElevator2Label">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>67</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Elevator 2</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="5" column="1">
+                       <widget class="QComboBox" name="fwElevator2ChannelBox">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="toolTip">
+                         <string>Select output channel for a secondary elevator</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="6" column="0">
+                       <widget class="QLabel" name="fwRudder1Label">
+                        <property name="text">
+                         <string>Rudder 1</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="6" column="1">
+                       <widget class="QComboBox" name="fwRudder1ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the first rudder</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="7" column="0">
+                       <widget class="QLabel" name="fwRudder2Label">
+                        <property name="text">
+                         <string>Rudder 2</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="7" column="1">
+                       <widget class="QComboBox" name="fwRudder2ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for a secondary rudder</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="0" column="1">
+                       <spacer name="verticalSpacer_2">
+                        <property name="orientation">
+                         <enum>Qt::Vertical</enum>
+                        </property>
+                        <property name="sizeHint" stdset="0">
+                         <size>
+                          <width>20</width>
+                          <height>20</height>
+                         </size>
+                        </property>
+                       </spacer>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                   <item>
+                    <widget class="QGroupBox" name="elevonMixBox">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="title">
+                      <string>Elevon Mix</string>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_13">
+                      <item>
+                       <spacer name="verticalSpacer_3">
+                        <property name="orientation">
+                         <enum>Qt::Vertical</enum>
+                        </property>
+                        <property name="sizeType">
+                         <enum>QSizePolicy::Fixed</enum>
+                        </property>
+                        <property name="sizeHint" stdset="0">
+                         <size>
+                          <width>0</width>
+                          <height>20</height>
+                         </size>
+                        </property>
+                       </spacer>
+                      </item>
+                      <item>
+                       <layout class="QHBoxLayout" name="horizontalLayout_8">
+                        <item>
+                         <layout class="QVBoxLayout" name="verticalLayout_14">
+                          <item>
+                           <widget class="QLabel" name="elevonLabel1">
+                            <property name="minimumSize">
+                             <size>
+                              <width>65</width>
+                              <height>0</height>
+                             </size>
+                            </property>
+                            <property name="styleSheet">
+                             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                            </property>
+                            <property name="text">
+                             <string>Rudder %</string>
+                            </property>
+                            <property name="alignment">
+                             <set>Qt::AlignCenter</set>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QSlider" name="elevonSlider1">
+                            <property name="sizePolicy">
+                             <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+                              <horstretch>0</horstretch>
+                              <verstretch>0</verstretch>
+                             </sizepolicy>
+                            </property>
+                            <property name="maximum">
+                             <number>100</number>
+                            </property>
+                            <property name="value">
+                             <number>50</number>
+                            </property>
+                            <property name="orientation">
+                             <enum>Qt::Vertical</enum>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QLabel" name="elevonSliderLabel1">
+                            <property name="text">
+                             <string>50</string>
+                            </property>
+                            <property name="alignment">
+                             <set>Qt::AlignCenter</set>
+                            </property>
+                           </widget>
+                          </item>
+                         </layout>
+                        </item>
+                        <item>
+                         <layout class="QVBoxLayout" name="verticalLayout_15">
+                          <item>
+                           <widget class="QLabel" name="elevonLabel2">
+                            <property name="minimumSize">
+                             <size>
+                              <width>50</width>
+                              <height>0</height>
+                             </size>
+                            </property>
+                            <property name="styleSheet">
+                             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                            </property>
+                            <property name="text">
+                             <string>Pitch %</string>
+                            </property>
+                            <property name="alignment">
+                             <set>Qt::AlignCenter</set>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QSlider" name="elevonSlider2">
+                            <property name="sizePolicy">
+                             <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+                              <horstretch>0</horstretch>
+                              <verstretch>0</verstretch>
+                             </sizepolicy>
+                            </property>
+                            <property name="maximum">
+                             <number>100</number>
+                            </property>
+                            <property name="value">
+                             <number>50</number>
+                            </property>
+                            <property name="orientation">
+                             <enum>Qt::Vertical</enum>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QLabel" name="elevonSliderLabel2">
+                            <property name="text">
+                             <string>50</string>
+                            </property>
+                            <property name="alignment">
+                             <set>Qt::AlignCenter</set>
+                            </property>
+                           </widget>
+                          </item>
+                         </layout>
+                        </item>
+                       </layout>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                   <item>
+                    <spacer name="horizontalSpacer_4">
+                     <property name="orientation">
+                      <enum>Qt::Horizontal</enum>
+                     </property>
+                     <property name="sizeHint" stdset="0">
+                      <size>
+                       <width>20</width>
+                       <height>20</height>
+                      </size>
+                     </property>
+                    </spacer>
+                   </item>
+                   <item>
+                    <widget class="QGroupBox" name="groupBox_3">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                       <horstretch>0</horstretch>
+                       <verstretch>100</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="title">
+                      <string>Throttle Curve</string>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_16">
+                      <item>
+                       <spacer name="verticalSpacer_6">
+                        <property name="orientation">
+                         <enum>Qt::Vertical</enum>
+                        </property>
+                        <property name="sizeType">
+                         <enum>QSizePolicy::Fixed</enum>
+                        </property>
+                        <property name="sizeHint" stdset="0">
+                         <size>
+                          <width>20</width>
+                          <height>20</height>
+                         </size>
+                        </property>
+                       </spacer>
+                      </item>
+                      <item>
+                       <widget class="MixerCurveWidget" name="fixedWingThrottle" native="true">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>100</width>
+                          <height>100</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>200</width>
+                          <height>200</height>
+                         </size>
+                        </property>
+                        <property name="sizeIncrement">
+                         <size>
+                          <width>10</width>
+                          <height>10</height>
+                         </size>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QPushButton" name="fwThrottleReset">
+                        <property name="maximumSize">
+                         <size>
+                          <width>200</width>
+                          <height>16777215</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Reset</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QLabel" name="fwThrottleCurveItemValue">
+                        <property name="text">
+                         <string>Val: 0.00</string>
+                        </property>
+                       </widget>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                  </layout>
+                 </item>
+                 <item>
+                  <spacer name="verticalSpacer">
+                   <property name="orientation">
+                    <enum>Qt::Vertical</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>40</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_13">
+                   <item>
+                    <spacer name="horizontalSpacer_11">
+                     <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="QLabel" name="fwStatusLabel">
+                     <property name="font">
+                      <font>
+                       <weight>75</weight>
+                       <bold>true</bold>
+                      </font>
+                     </property>
+                     <property name="text">
+                      <string>Mixer OK</string>
+                     </property>
+                    </widget>
+                   </item>
+                  </layout>
+                 </item>
+                </layout>
+               </item>
+              </layout>
+             </widget>
+             <widget class="QWidget" name="multiRotor">
+              <layout class="QVBoxLayout" name="verticalLayout_4" stretch="1">
+               <item>
+                <layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0">
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0,0">
+                   <item>
+                    <layout class="QVBoxLayout" name="verticalLayout_24">
                      <item>
-                      <layout class="QHBoxLayout" name="horizontalLayout_25">
+                      <layout class="QHBoxLayout" name="horizontalLayout_5">
                        <item>
-                        <widget class="QLabel" name="label_4">
+                        <widget class="QLabel" name="label_15">
                          <property name="font">
                           <font>
                            <weight>75</weight>
@@ -646,12 +626,19 @@ margin:1px;</string>
                           </font>
                          </property>
                          <property name="text">
-                          <string>Mix Level</string>
+                          <string>Frame type:</string>
                          </property>
                         </widget>
                        </item>
                        <item>
-                        <spacer name="horizontalSpacer_17">
+                        <widget class="QComboBox" name="multirotorFrameType">
+                         <property name="toolTip">
+                          <string>Select the Multirotor frame type here.</string>
+                         </property>
+                        </widget>
+                       </item>
+                       <item>
+                        <spacer name="horizontalSpacer_5">
                          <property name="orientation">
                           <enum>Qt::Horizontal</enum>
                          </property>
@@ -666,322 +653,702 @@ margin:1px;</string>
                       </layout>
                      </item>
                      <item>
-                      <layout class="QHBoxLayout" name="horizontalLayout_19">
+                      <layout class="QHBoxLayout" name="horizontalLayout_22">
                        <item>
-                        <layout class="QVBoxLayout" name="verticalLayout_22">
+                        <layout class="QVBoxLayout" name="verticalLayout_20">
                          <item>
-                          <widget class="QLabel" name="mrRollMixValue">
-                           <property name="minimumSize">
-                            <size>
-                             <width>30</width>
-                             <height>0</height>
-                            </size>
-                           </property>
-                           <property name="text">
-                            <string>100</string>
-                           </property>
-                           <property name="alignment">
-                            <set>Qt::AlignCenter</set>
-                           </property>
-                          </widget>
+                          <layout class="QHBoxLayout" name="horizontalLayout_25">
+                           <item>
+                            <widget class="QLabel" name="label_4">
+                             <property name="font">
+                              <font>
+                               <weight>75</weight>
+                               <bold>true</bold>
+                              </font>
+                             </property>
+                             <property name="text">
+                              <string>Mix Level</string>
+                             </property>
+                            </widget>
+                           </item>
+                           <item>
+                            <spacer name="horizontalSpacer_17">
+                             <property name="orientation">
+                              <enum>Qt::Horizontal</enum>
+                             </property>
+                             <property name="sizeHint" stdset="0">
+                              <size>
+                               <width>40</width>
+                               <height>20</height>
+                              </size>
+                             </property>
+                            </spacer>
+                           </item>
+                          </layout>
                          </item>
                          <item>
-                          <widget class="QSlider" name="mrRollMixLevel">
-                           <property name="minimumSize">
-                            <size>
-                             <width>35</width>
-                             <height>0</height>
-                            </size>
-                           </property>
-                           <property name="toolTip">
-                            <string>Weight of Roll mixing in percent.
+                          <layout class="QHBoxLayout" name="horizontalLayout_19">
+                           <item>
+                            <layout class="QVBoxLayout" name="verticalLayout_22">
+                             <item>
+                              <widget class="QLabel" name="mrRollMixValue">
+                               <property name="minimumSize">
+                                <size>
+                                 <width>30</width>
+                                 <height>0</height>
+                                </size>
+                               </property>
+                               <property name="text">
+                                <string>100</string>
+                               </property>
+                               <property name="alignment">
+                                <set>Qt::AlignCenter</set>
+                               </property>
+                              </widget>
+                             </item>
+                             <item>
+                              <widget class="QSlider" name="mrRollMixLevel">
+                               <property name="minimumSize">
+                                <size>
+                                 <width>35</width>
+                                 <height>0</height>
+                                </size>
+                               </property>
+                               <property name="toolTip">
+                                <string>Weight of Roll mixing in percent.
 Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
-                           </property>
-                           <property name="maximum">
-                            <number>100</number>
-                           </property>
-                           <property name="value">
-                            <number>100</number>
-                           </property>
-                           <property name="orientation">
-                            <enum>Qt::Vertical</enum>
-                           </property>
-                          </widget>
-                         </item>
-                         <item>
-                          <widget class="QLabel" name="label_42">
-                           <property name="styleSheet">
-                            <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                               </property>
+                               <property name="maximum">
+                                <number>100</number>
+                               </property>
+                               <property name="value">
+                                <number>100</number>
+                               </property>
+                               <property name="orientation">
+                                <enum>Qt::Vertical</enum>
+                               </property>
+                              </widget>
+                             </item>
+                             <item>
+                              <widget class="QLabel" name="label_42">
+                               <property name="styleSheet">
+                                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-                           </property>
-                           <property name="text">
-                            <string>R</string>
-                           </property>
-                           <property name="alignment">
-                            <set>Qt::AlignCenter</set>
-                           </property>
-                          </widget>
-                         </item>
-                        </layout>
-                       </item>
-                       <item>
-                        <layout class="QVBoxLayout" name="verticalLayout_23">
-                         <item>
-                          <widget class="QLabel" name="mrPitchMixValue">
-                           <property name="minimumSize">
-                            <size>
-                             <width>0</width>
-                             <height>0</height>
-                            </size>
-                           </property>
-                           <property name="text">
-                            <string>100</string>
-                           </property>
-                           <property name="alignment">
-                            <set>Qt::AlignCenter</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item>
-                          <widget class="QSlider" name="mrPitchMixLevel">
-                           <property name="minimumSize">
-                            <size>
-                             <width>35</width>
-                             <height>0</height>
-                            </size>
-                           </property>
-                           <property name="toolTip">
-                            <string>Weight of Pitch mixing in percent.
+                               </property>
+                               <property name="text">
+                                <string>R</string>
+                               </property>
+                               <property name="alignment">
+                                <set>Qt::AlignCenter</set>
+                               </property>
+                              </widget>
+                             </item>
+                            </layout>
+                           </item>
+                           <item>
+                            <layout class="QVBoxLayout" name="verticalLayout_23">
+                             <item>
+                              <widget class="QLabel" name="mrPitchMixValue">
+                               <property name="minimumSize">
+                                <size>
+                                 <width>0</width>
+                                 <height>0</height>
+                                </size>
+                               </property>
+                               <property name="text">
+                                <string>100</string>
+                               </property>
+                               <property name="alignment">
+                                <set>Qt::AlignCenter</set>
+                               </property>
+                              </widget>
+                             </item>
+                             <item>
+                              <widget class="QSlider" name="mrPitchMixLevel">
+                               <property name="minimumSize">
+                                <size>
+                                 <width>35</width>
+                                 <height>0</height>
+                                </size>
+                               </property>
+                               <property name="toolTip">
+                                <string>Weight of Pitch mixing in percent.
 Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
-                           </property>
-                           <property name="maximum">
-                            <number>100</number>
-                           </property>
-                           <property name="value">
-                            <number>100</number>
-                           </property>
-                           <property name="orientation">
-                            <enum>Qt::Vertical</enum>
-                           </property>
-                          </widget>
-                         </item>
-                         <item>
-                          <widget class="QLabel" name="label_40">
-                           <property name="styleSheet">
-                            <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                               </property>
+                               <property name="maximum">
+                                <number>100</number>
+                               </property>
+                               <property name="value">
+                                <number>100</number>
+                               </property>
+                               <property name="orientation">
+                                <enum>Qt::Vertical</enum>
+                               </property>
+                              </widget>
+                             </item>
+                             <item>
+                              <widget class="QLabel" name="label_40">
+                               <property name="styleSheet">
+                                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-                           </property>
-                           <property name="text">
-                            <string>P</string>
-                           </property>
-                           <property name="alignment">
-                            <set>Qt::AlignCenter</set>
-                           </property>
-                          </widget>
-                         </item>
-                        </layout>
-                       </item>
-                       <item>
-                        <layout class="QVBoxLayout" name="verticalLayout_21">
-                         <item>
-                          <widget class="QLabel" name="mrYawMixValue">
-                           <property name="minimumSize">
-                            <size>
-                             <width>0</width>
-                             <height>0</height>
-                            </size>
-                           </property>
-                           <property name="text">
-                            <string>50</string>
-                           </property>
-                           <property name="alignment">
-                            <set>Qt::AlignCenter</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item>
-                          <widget class="QSlider" name="mrYawMixLevel">
-                           <property name="minimumSize">
-                            <size>
-                             <width>40</width>
-                             <height>0</height>
-                            </size>
-                           </property>
-                           <property name="toolTip">
-                            <string>Weight of Yaw mixing in percent.
+                               </property>
+                               <property name="text">
+                                <string>P</string>
+                               </property>
+                               <property name="alignment">
+                                <set>Qt::AlignCenter</set>
+                               </property>
+                              </widget>
+                             </item>
+                            </layout>
+                           </item>
+                           <item>
+                            <layout class="QVBoxLayout" name="verticalLayout_21">
+                             <item>
+                              <widget class="QLabel" name="mrYawMixValue">
+                               <property name="minimumSize">
+                                <size>
+                                 <width>0</width>
+                                 <height>0</height>
+                                </size>
+                               </property>
+                               <property name="text">
+                                <string>50</string>
+                               </property>
+                               <property name="alignment">
+                                <set>Qt::AlignCenter</set>
+                               </property>
+                              </widget>
+                             </item>
+                             <item>
+                              <widget class="QSlider" name="mrYawMixLevel">
+                               <property name="minimumSize">
+                                <size>
+                                 <width>40</width>
+                                 <height>0</height>
+                                </size>
+                               </property>
+                               <property name="toolTip">
+                                <string>Weight of Yaw mixing in percent.
 Typical value is 50% for + or X configuration on quads.</string>
-                           </property>
-                           <property name="minimum">
-                            <number>-100</number>
-                           </property>
-                           <property name="maximum">
-                            <number>100</number>
-                           </property>
-                           <property name="value">
-                            <number>50</number>
-                           </property>
-                           <property name="orientation">
-                            <enum>Qt::Vertical</enum>
-                           </property>
-                          </widget>
-                         </item>
-                         <item>
-                          <widget class="QLabel" name="label_6">
-                           <property name="autoFillBackground">
-                            <bool>false</bool>
-                           </property>
-                           <property name="styleSheet">
-                            <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                               </property>
+                               <property name="minimum">
+                                <number>-100</number>
+                               </property>
+                               <property name="maximum">
+                                <number>100</number>
+                               </property>
+                               <property name="value">
+                                <number>50</number>
+                               </property>
+                               <property name="orientation">
+                                <enum>Qt::Vertical</enum>
+                               </property>
+                              </widget>
+                             </item>
+                             <item>
+                              <widget class="QLabel" name="label_6">
+                               <property name="autoFillBackground">
+                                <bool>false</bool>
+                               </property>
+                               <property name="styleSheet">
+                                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-                           </property>
-                           <property name="text">
-                            <string>Y</string>
-                           </property>
-                           <property name="alignment">
-                            <set>Qt::AlignCenter</set>
-                           </property>
-                          </widget>
+                               </property>
+                               <property name="text">
+                                <string>Y</string>
+                               </property>
+                               <property name="alignment">
+                                <set>Qt::AlignCenter</set>
+                               </property>
+                              </widget>
+                             </item>
+                            </layout>
+                           </item>
+                          </layout>
                          </item>
                         </layout>
                        </item>
+                       <item>
+                        <widget class="QGraphicsView" name="quadShape">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="minimumSize">
+                          <size>
+                           <width>110</width>
+                           <height>110</height>
+                          </size>
+                         </property>
+                         <property name="styleSheet">
+                          <string notr="true">background:transparent</string>
+                         </property>
+                         <property name="frameShape">
+                          <enum>QFrame::NoFrame</enum>
+                         </property>
+                         <property name="frameShadow">
+                          <enum>QFrame::Plain</enum>
+                         </property>
+                        </widget>
+                       </item>
                       </layout>
                      </item>
                     </layout>
                    </item>
                    <item>
-                    <widget class="QGraphicsView" name="quadShape">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
+                    <spacer name="horizontalSpacer_6">
+                     <property name="orientation">
+                      <enum>Qt::Horizontal</enum>
                      </property>
-                     <property name="minimumSize">
+                     <property name="sizeHint" stdset="0">
                       <size>
-                       <width>110</width>
-                       <height>110</height>
+                       <width>40</width>
+                       <height>20</height>
                       </size>
                      </property>
-                     <property name="styleSheet">
-                      <string notr="true">background:transparent</string>
-                     </property>
-                     <property name="frameShape">
-                      <enum>QFrame::NoFrame</enum>
-                     </property>
-                     <property name="frameShadow">
-                      <enum>QFrame::Plain</enum>
+                    </spacer>
+                   </item>
+                   <item>
+                    <widget class="QGroupBox" name="groupBox_6">
+                     <property name="title">
+                      <string>Throtte Curve</string>
                      </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_9">
+                      <item>
+                       <spacer name="verticalSpacer_7">
+                        <property name="orientation">
+                         <enum>Qt::Vertical</enum>
+                        </property>
+                        <property name="sizeType">
+                         <enum>QSizePolicy::Fixed</enum>
+                        </property>
+                        <property name="sizeHint" stdset="0">
+                         <size>
+                          <width>20</width>
+                          <height>10</height>
+                         </size>
+                        </property>
+                       </spacer>
+                      </item>
+                      <item>
+                       <widget class="MixerCurveWidget" name="multiThrottleCurve" native="true">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>120</width>
+                          <height>120</height>
+                         </size>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background:transparent</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QPushButton" name="mrThrottleCurveReset">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>200</width>
+                          <height>16777215</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Reset</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QLabel" name="mrThrottleCurveItemValue">
+                        <property name="text">
+                         <string>Val: 0.00</string>
+                        </property>
+                       </widget>
+                      </item>
+                     </layout>
                     </widget>
                    </item>
                   </layout>
                  </item>
-                </layout>
-               </item>
-               <item>
-                <spacer name="horizontalSpacer_6">
-                 <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="QGroupBox" name="groupBox_6">
-                 <property name="title">
-                  <string>Throtte Curve</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_9">
-                  <item>
-                   <spacer name="verticalSpacer_7">
-                    <property name="orientation">
-                     <enum>Qt::Vertical</enum>
-                    </property>
-                    <property name="sizeType">
-                     <enum>QSizePolicy::Fixed</enum>
-                    </property>
-                    <property name="sizeHint" stdset="0">
-                     <size>
-                      <width>20</width>
-                      <height>10</height>
-                     </size>
-                    </property>
-                   </spacer>
-                  </item>
-                  <item>
-                   <widget class="MixerCurveWidget" name="multiThrottleCurve" native="true">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>120</width>
-                      <height>120</height>
-                     </size>
-                    </property>
-                    <property name="styleSheet">
-                     <string notr="true">background:transparent</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QPushButton" name="mrThrottleCurveReset">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="maximumSize">
-                     <size>
-                      <width>200</width>
-                      <height>16777215</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Reset</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="mrThrottleCurveItemValue">
-                    <property name="text">
-                     <string>Val: 0.00</string>
-                    </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-              </layout>
-             </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_6" stretch="1,3">
-               <property name="spacing">
-                <number>10</number>
-               </property>
-               <item>
-                <layout class="QVBoxLayout" name="verticalLayout_10">
                  <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_26">
+                  <layout class="QHBoxLayout" name="horizontalLayout_6" stretch="1,3">
+                   <property name="spacing">
+                    <number>10</number>
+                   </property>
                    <item>
-                    <widget class="QLabel" name="label_23">
+                    <layout class="QVBoxLayout" name="verticalLayout_10">
+                     <item>
+                      <layout class="QHBoxLayout" name="horizontalLayout_26">
+                       <item>
+                        <widget class="QLabel" name="label_23">
+                         <property name="font">
+                          <font>
+                           <weight>75</weight>
+                           <bold>true</bold>
+                          </font>
+                         </property>
+                         <property name="text">
+                          <string>Tricopter Yaw</string>
+                         </property>
+                        </widget>
+                       </item>
+                       <item>
+                        <spacer name="horizontalSpacer_18">
+                         <property name="orientation">
+                          <enum>Qt::Horizontal</enum>
+                         </property>
+                         <property name="sizeHint" stdset="0">
+                          <size>
+                           <width>40</width>
+                           <height>20</height>
+                          </size>
+                         </property>
+                        </spacer>
+                       </item>
+                      </layout>
+                     </item>
+                     <item>
+                      <widget class="QLabel" name="label_2">
+                       <property name="styleSheet">
+                        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                       </property>
+                       <property name="text">
+                        <string>channel:</string>
+                       </property>
+                      </widget>
+                     </item>
+                     <item>
+                      <widget class="QComboBox" name="triYawChannelBox">
+                       <property name="enabled">
+                        <bool>false</bool>
+                       </property>
+                       <property name="sizePolicy">
+                        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                         <horstretch>0</horstretch>
+                         <verstretch>0</verstretch>
+                        </sizepolicy>
+                       </property>
+                       <property name="minimumSize">
+                        <size>
+                         <width>40</width>
+                         <height>0</height>
+                        </size>
+                       </property>
+                      </widget>
+                     </item>
+                     <item>
+                      <spacer name="verticalSpacer_4">
+                       <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">
+                      <string>Motor output channels</string>
+                     </property>
+                     <layout class="QHBoxLayout" name="horizontalLayout_10">
+                      <property name="spacing">
+                       <number>1</number>
+                      </property>
+                      <property name="margin">
+                       <number>1</number>
+                      </property>
+                      <item>
+                       <layout class="QFormLayout" name="formLayout_2">
+                        <property name="fieldGrowthPolicy">
+                         <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+                        </property>
+                        <property name="verticalSpacing">
+                         <number>3</number>
+                        </property>
+                        <item row="1" column="0">
+                         <widget class="QLabel" name="MotorOutputLabel1">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>1</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="1" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox1">
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="2" column="0">
+                         <widget class="QLabel" name="label_8">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>2</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="2" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox2">
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="3" column="0">
+                         <widget class="QLabel" name="label_9">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>3</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="3" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox3">
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="4" column="0">
+                         <widget class="QLabel" name="label_10">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>4</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="4" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox4">
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="0" column="1">
+                         <spacer name="verticalSpacer_8">
+                          <property name="orientation">
+                           <enum>Qt::Vertical</enum>
+                          </property>
+                          <property name="sizeType">
+                           <enum>QSizePolicy::Fixed</enum>
+                          </property>
+                          <property name="sizeHint" stdset="0">
+                           <size>
+                            <width>0</width>
+                            <height>20</height>
+                           </size>
+                          </property>
+                         </spacer>
+                        </item>
+                       </layout>
+                      </item>
+                      <item>
+                       <layout class="QFormLayout" name="formLayout_4">
+                        <property name="fieldGrowthPolicy">
+                         <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+                        </property>
+                        <property name="verticalSpacing">
+                         <number>3</number>
+                        </property>
+                        <item row="1" column="0">
+                         <widget class="QLabel" name="label_11">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>5</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="1" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox5">
+                          <property name="enabled">
+                           <bool>false</bool>
+                          </property>
+                          <property name="sizePolicy">
+                           <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                            <horstretch>0</horstretch>
+                            <verstretch>0</verstretch>
+                           </sizepolicy>
+                          </property>
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="2" column="0">
+                         <widget class="QLabel" name="label_12">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>6</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="2" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox6">
+                          <property name="enabled">
+                           <bool>false</bool>
+                          </property>
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="3" column="0">
+                         <widget class="QLabel" name="label_16">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>7</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="3" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox7">
+                          <property name="enabled">
+                           <bool>false</bool>
+                          </property>
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="4" column="0">
+                         <widget class="QLabel" name="label_17">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>8</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="4" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox8">
+                          <property name="enabled">
+                           <bool>false</bool>
+                          </property>
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="0" column="1">
+                         <spacer name="verticalSpacer_9">
+                          <property name="orientation">
+                           <enum>Qt::Vertical</enum>
+                          </property>
+                          <property name="sizeType">
+                           <enum>QSizePolicy::Fixed</enum>
+                          </property>
+                          <property name="sizeHint" stdset="0">
+                           <size>
+                            <width>20</width>
+                            <height>20</height>
+                           </size>
+                          </property>
+                         </spacer>
+                        </item>
+                       </layout>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                  </layout>
+                 </item>
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_20">
+                   <item>
+                    <spacer name="horizontalSpacer_12">
+                     <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="QLabel" name="mrStatusLabel">
                      <property name="font">
                       <font>
                        <weight>75</weight>
@@ -989,12 +1356,72 @@ margin:1px;</string>
                       </font>
                      </property>
                      <property name="text">
-                      <string>Tricopter Yaw</string>
+                      <string>Mixer OK</string>
+                     </property>
+                    </widget>
+                   </item>
+                  </layout>
+                 </item>
+                </layout>
+               </item>
+              </layout>
+             </widget>
+             <widget class="QWidget" name="ccpmHeli">
+              <layout class="QVBoxLayout" name="verticalLayout_5" stretch="1">
+               <property name="spacing">
+                <number>0</number>
+               </property>
+               <property name="margin">
+                <number>0</number>
+               </property>
+               <item>
+                <layout class="QVBoxLayout" name="verticalLayout_19">
+                 <property name="spacing">
+                  <number>0</number>
+                 </property>
+                 <item>
+                  <widget class="ConfigCcpmWidget" name="widget_3" native="true"/>
+                 </item>
+                </layout>
+               </item>
+              </layout>
+             </widget>
+             <widget class="QWidget" name="groundVehicle">
+              <property name="enabled">
+               <bool>true</bool>
+              </property>
+              <property name="autoFillBackground">
+               <bool>false</bool>
+              </property>
+              <layout class="QVBoxLayout" name="verticalLayout_31" stretch="0">
+               <item>
+                <layout class="QVBoxLayout" name="verticalLayout_61">
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_31">
+                   <item>
+                    <widget class="QLabel" name="label_51">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="font">
+                      <font>
+                       <weight>75</weight>
+                       <bold>true</bold>
+                      </font>
+                     </property>
+                     <property name="text">
+                      <string>Vehicle type:</string>
                      </property>
                     </widget>
                    </item>
                    <item>
-                    <spacer name="horizontalSpacer_18">
+                    <widget class="QComboBox" name="groundVehicleType"/>
+                   </item>
+                   <item>
+                    <spacer name="horizontalSpacer_31">
                      <property name="orientation">
                       <enum>Qt::Horizontal</enum>
                      </property>
@@ -1009,40 +1436,425 @@ margin:1px;</string>
                   </layout>
                  </item>
                  <item>
-                  <widget class="QLabel" name="label_2">
-                   <property name="styleSheet">
-                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                   </property>
-                   <property name="text">
-                    <string>channel:</string>
-                   </property>
-                  </widget>
+                  <layout class="QHBoxLayout" name="horizontalLayout_33">
+                   <item>
+                    <widget class="QLabel" name="label_7">
+                     <property name="font">
+                      <font>
+                       <weight>75</weight>
+                       <bold>true</bold>
+                      </font>
+                     </property>
+                     <property name="text">
+                      <string>Channel Assignment</string>
+                     </property>
+                    </widget>
+                   </item>
+                   <item>
+                    <spacer name="horizontalSpacer_15">
+                     <property name="orientation">
+                      <enum>Qt::Horizontal</enum>
+                     </property>
+                     <property name="sizeHint" stdset="0">
+                      <size>
+                       <width>40</width>
+                       <height>20</height>
+                      </size>
+                     </property>
+                    </spacer>
+                   </item>
+                  </layout>
                  </item>
                  <item>
-                  <widget class="QComboBox" name="triYawChannelBox">
-                   <property name="enabled">
-                    <bool>false</bool>
-                   </property>
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>40</width>
-                     <height>0</height>
-                    </size>
-                   </property>
-                  </widget>
+                  <layout class="QHBoxLayout" name="horizontalLayout_41">
+                   <item>
+                    <widget class="QGroupBox" name="groupBox_7">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="minimumSize">
+                      <size>
+                       <width>0</width>
+                       <height>100</height>
+                      </size>
+                     </property>
+                     <property name="title">
+                      <string>Output channel asignmets</string>
+                     </property>
+                     <layout class="QFormLayout" name="formLayout_5">
+                      <item row="0" column="0">
+                       <widget class="QLabel" name="gvEngineLabel">
+                        <property name="minimumSize">
+                         <size>
+                          <width>77</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Engine</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="0" column="1">
+                       <widget class="QComboBox" name="gvEngineChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the engine</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="0">
+                       <widget class="QLabel" name="gvAileron1Label">
+                        <property name="minimumSize">
+                         <size>
+                          <width>60</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Aileron 1</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="1">
+                       <widget class="QComboBox" name="gvAileron1ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the first aileron (or elevon)</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="0">
+                       <widget class="QLabel" name="gvAileron2Label">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>60</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Aileron 2</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="1">
+                       <widget class="QComboBox" name="gvAileron2ChannelBox">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="toolTip">
+                         <string>Select output channel for the second aileron (or elevon)</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="0">
+                       <widget class="QLabel" name="gvMotor1Label">
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Motor</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="1">
+                       <widget class="QComboBox" name="gvMotor1ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the first motor</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="4" column="0">
+                       <widget class="QLabel" name="gvMotor2Label">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>47</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Motor 2</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="4" column="1">
+                       <widget class="QComboBox" name="gvMotor2ChannelBox">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="toolTip">
+                         <string>Select output channel for a second motor</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="5" column="0">
+                       <widget class="QLabel" name="gvSteering1Label">
+                        <property name="text">
+                         <string>Front Steering</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="5" column="1">
+                       <widget class="QComboBox" name="gvSteering1ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the first steering actuator</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="6" column="0">
+                       <widget class="QLabel" name="gvSteering2Label">
+                        <property name="text">
+                         <string>Rear Steering</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="6" column="1">
+                       <widget class="QComboBox" name="gvSteering2ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for a second steering actuator</string>
+                        </property>
+                       </widget>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                   <item>
+                    <widget class="QGroupBox" name="differentialSteeringMixBox">
+                     <property name="enabled">
+                      <bool>true</bool>
+                     </property>
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="title">
+                      <string>Differential Steering Mix</string>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_33">
+                      <item>
+                       <layout class="QHBoxLayout" name="horizontalLayout_30">
+                        <item>
+                         <layout class="QVBoxLayout" name="verticalLayout_34">
+                          <item>
+                           <widget class="QLabel" name="differentialSteeringLabel1">
+                            <property name="minimumSize">
+                             <size>
+                              <width>65</width>
+                              <height>0</height>
+                             </size>
+                            </property>
+                            <property name="text">
+                             <string>Left %</string>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QSlider" name="differentialSteeringSlider1">
+                            <property name="maximum">
+                             <number>100</number>
+                            </property>
+                            <property name="value">
+                             <number>50</number>
+                            </property>
+                            <property name="orientation">
+                             <enum>Qt::Vertical</enum>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QLabel" name="gvDiffSteering1Label">
+                            <property name="text">
+                             <string>50</string>
+                            </property>
+                           </widget>
+                          </item>
+                         </layout>
+                        </item>
+                        <item>
+                         <layout class="QVBoxLayout" name="verticalLayout_35">
+                          <item>
+                           <widget class="QLabel" name="differentialSteeringLabel2">
+                            <property name="minimumSize">
+                             <size>
+                              <width>50</width>
+                              <height>0</height>
+                             </size>
+                            </property>
+                            <property name="text">
+                             <string>Right %</string>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QSlider" name="differentialSteeringSlider2">
+                            <property name="maximum">
+                             <number>100</number>
+                            </property>
+                            <property name="value">
+                             <number>50</number>
+                            </property>
+                            <property name="orientation">
+                             <enum>Qt::Vertical</enum>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QLabel" name="gvDiffSteering2Label">
+                            <property name="text">
+                             <string>50</string>
+                            </property>
+                           </widget>
+                          </item>
+                         </layout>
+                        </item>
+                       </layout>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                   <item>
+                    <spacer name="horizontalSpacer_24">
+                     <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="QGroupBox" name="gvThrottleCurve1GroupBox">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                       <horstretch>0</horstretch>
+                       <verstretch>100</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="title">
+                      <string>Front throttle curve</string>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_36">
+                      <item>
+                       <widget class="MixerCurveWidget" name="groundVehicleThrottle1" native="true">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>100</width>
+                          <height>100</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>200</width>
+                          <height>200</height>
+                         </size>
+                        </property>
+                        <property name="sizeIncrement">
+                         <size>
+                          <width>10</width>
+                          <height>10</height>
+                         </size>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QPushButton" name="gvThrottleCurve1Reset">
+                        <property name="maximumSize">
+                         <size>
+                          <width>200</width>
+                          <height>16777215</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Reset</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QLabel" name="gvThrottleCurve1ItemValue">
+                        <property name="text">
+                         <string>Val: 0.00</string>
+                        </property>
+                       </widget>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                   <item>
+                    <widget class="QGroupBox" name="gvThrottleCurve2GroupBox">
+                     <property name="title">
+                      <string>Rear throttle curve</string>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_37">
+                      <item>
+                       <widget class="MixerCurveWidget" name="groundVehicleThrottle2" native="true">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>100</width>
+                          <height>100</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>200</width>
+                          <height>200</height>
+                         </size>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QPushButton" name="gvThrottleCurve2Reset">
+                        <property name="text">
+                         <string>Reset</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QLabel" name="gvThrottleCurve2ItemValue">
+                        <property name="text">
+                         <string>Val: 0.00</string>
+                        </property>
+                       </widget>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                  </layout>
                  </item>
                  <item>
-                  <spacer name="verticalSpacer_4">
+                  <spacer name="verticalSpacer_1">
                    <property name="orientation">
                     <enum>Qt::Vertical</enum>
                    </property>
@@ -1054,1428 +1866,641 @@ margin:1px;</string>
                    </property>
                   </spacer>
                  </item>
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_28">
+                   <item>
+                    <spacer name="horizontalSpacer_21">
+                     <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="QLabel" name="gvStatusLabel">
+                     <property name="font">
+                      <font>
+                       <weight>75</weight>
+                       <bold>true</bold>
+                      </font>
+                     </property>
+                     <property name="text">
+                      <string>Mixer OK</string>
+                     </property>
+                    </widget>
+                   </item>
+                  </layout>
+                 </item>
                 </layout>
                </item>
-               <item>
-                <widget class="QGroupBox" name="groupBox">
-                 <property name="title">
-                  <string>Motor output channels</string>
-                 </property>
-                 <layout class="QHBoxLayout" name="horizontalLayout_10">
-                  <property name="spacing">
-                   <number>1</number>
-                  </property>
-                  <property name="margin">
-                   <number>1</number>
-                  </property>
-                  <item>
-                   <layout class="QFormLayout" name="formLayout_2">
-                    <property name="fieldGrowthPolicy">
-                     <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
-                    </property>
-                    <property name="verticalSpacing">
-                     <number>3</number>
-                    </property>
-                    <item row="1" column="0">
-                     <widget class="QLabel" name="MotorOutputLabel1">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>1</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox1">
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="0">
-                     <widget class="QLabel" name="label_8">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>2</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox2">
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="0">
-                     <widget class="QLabel" name="label_9">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>3</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox3">
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="4" column="0">
-                     <widget class="QLabel" name="label_10">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>4</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="4" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox4">
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="0" column="1">
-                     <spacer name="verticalSpacer_8">
-                      <property name="orientation">
-                       <enum>Qt::Vertical</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>0</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                   </layout>
-                  </item>
-                  <item>
-                   <layout class="QFormLayout" name="formLayout_4">
-                    <property name="fieldGrowthPolicy">
-                     <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
-                    </property>
-                    <property name="verticalSpacing">
-                     <number>3</number>
-                    </property>
-                    <item row="1" column="0">
-                     <widget class="QLabel" name="label_11">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>5</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox5">
-                      <property name="enabled">
-                       <bool>false</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="0">
-                     <widget class="QLabel" name="label_12">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>6</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox6">
-                      <property name="enabled">
-                       <bool>false</bool>
-                      </property>
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="0">
-                     <widget class="QLabel" name="label_16">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>7</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox7">
-                      <property name="enabled">
-                       <bool>false</bool>
-                      </property>
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="4" column="0">
-                     <widget class="QLabel" name="label_17">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>8</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="4" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox8">
-                      <property name="enabled">
-                       <bool>false</bool>
-                      </property>
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="0" column="1">
-                     <spacer name="verticalSpacer_9">
-                      <property name="orientation">
-                       <enum>Qt::Vertical</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>20</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                   </layout>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
               </layout>
-             </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_20">
+             </widget>
+             <widget class="QWidget" name="custom">
+              <layout class="QHBoxLayout" name="horizontalLayout_15">
                <item>
-                <spacer name="horizontalSpacer_12">
-                 <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="QLabel" name="mrStatusLabel">
-                 <property name="font">
-                  <font>
-                   <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-                 <property name="text">
-                  <string>Mixer OK</string>
-                 </property>
-                </widget>
-               </item>
-              </layout>
-             </item>
-            </layout>
-           </item>
-          </layout>
-         </widget>
-         <widget class="QWidget" name="ccpmHeli">
-          <layout class="QVBoxLayout" name="verticalLayout_5" stretch="1">
-           <property name="spacing">
-            <number>0</number>
-           </property>
-           <property name="margin">
-            <number>0</number>
-           </property>
-           <item>
-            <layout class="QVBoxLayout" name="verticalLayout_19">
-             <property name="spacing">
-              <number>0</number>
-             </property>
-             <item>
-              <widget class="ConfigCcpmWidget" name="widget_3" native="true"/>
-             </item>
-            </layout>
-           </item>
-          </layout>
-         </widget>
-         <widget class="QWidget" name="groundVehicle">
-          <property name="enabled">
-           <bool>true</bool>
-          </property>
-          <property name="autoFillBackground">
-           <bool>false</bool>
-          </property>
-          <layout class="QVBoxLayout" name="verticalLayout_31" stretch="0">
-           <item>
-            <layout class="QVBoxLayout" name="verticalLayout_61">
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_31">
-               <item>
-                <widget class="QLabel" name="label_51">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="font">
-                  <font>
-                   <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-                 <property name="text">
-                  <string>Vehicle type:</string>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QComboBox" name="groundVehicleType"/>
-               </item>
-               <item>
-                <spacer name="horizontalSpacer_31">
-                 <property name="orientation">
-                  <enum>Qt::Horizontal</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>40</width>
-                   <height>20</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-              </layout>
-             </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_33">
-               <item>
-                <widget class="QLabel" name="label_7">
-                 <property name="font">
-                  <font>
-                   <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-                 <property name="text">
-                  <string>Channel Assignment</string>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <spacer name="horizontalSpacer_15">
-                 <property name="orientation">
-                  <enum>Qt::Horizontal</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>40</width>
-                   <height>20</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-              </layout>
-             </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_41">
-               <item>
-                <widget class="QGroupBox" name="groupBox_7">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="minimumSize">
-                  <size>
-                   <width>0</width>
-                   <height>100</height>
-                  </size>
-                 </property>
-                 <property name="title">
-                  <string>Output channel asignmets</string>
-                 </property>
-                 <layout class="QFormLayout" name="formLayout_5">
-                  <item row="0" column="0">
-                   <widget class="QLabel" name="gvEngineLabel">
-                    <property name="minimumSize">
-                     <size>
-                      <width>77</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Engine</string>
-                    </property>
-                    <property name="alignment">
-                     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="0" column="1">
-                   <widget class="QComboBox" name="gvEngineChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the engine</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="1" column="0">
-                   <widget class="QLabel" name="gvAileron1Label">
-                    <property name="minimumSize">
-                     <size>
-                      <width>60</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Aileron 1</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="1" column="1">
-                   <widget class="QComboBox" name="gvAileron1ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the first aileron (or elevon)</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="2" column="0">
-                   <widget class="QLabel" name="gvAileron2Label">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>60</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Aileron 2</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="2" column="1">
-                   <widget class="QComboBox" name="gvAileron2ChannelBox">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="toolTip">
-                     <string>Select output channel for the second aileron (or elevon)</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="3" column="0">
-                   <widget class="QLabel" name="gvMotor1Label">
-                    <property name="minimumSize">
-                     <size>
-                      <width>0</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Motor</string>
-                    </property>
-                    <property name="alignment">
-                     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="3" column="1">
-                   <widget class="QComboBox" name="gvMotor1ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the first motor</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="4" column="0">
-                   <widget class="QLabel" name="gvMotor2Label">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>47</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Motor 2</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="4" column="1">
-                   <widget class="QComboBox" name="gvMotor2ChannelBox">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="toolTip">
-                     <string>Select output channel for a second motor</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="5" column="0">
-                   <widget class="QLabel" name="gvSteering1Label">
-                    <property name="text">
-                     <string>Front Steering</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="5" column="1">
-                   <widget class="QComboBox" name="gvSteering1ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the first steering actuator</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="6" column="0">
-                   <widget class="QLabel" name="gvSteering2Label">
-                    <property name="text">
-                     <string>Rear Steering</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="6" column="1">
-                   <widget class="QComboBox" name="gvSteering2ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for a second steering actuator</string>
-                    </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-               <item>
-                <widget class="QGroupBox" name="differentialSteeringMixBox">
-                 <property name="enabled">
-                  <bool>true</bool>
-                 </property>
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="title">
-                  <string>Differential Steering Mix</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_33">
-                  <item>
-                   <layout class="QHBoxLayout" name="horizontalLayout_30">
-                    <item>
-                     <layout class="QVBoxLayout" name="verticalLayout_34">
+                <layout class="QGridLayout" name="gridLayout">
+                 <item row="0" column="0">
+                  <layout class="QHBoxLayout" name="horizontalLayout_14">
+                   <item>
+                    <widget class="QGroupBox" name="groupBox_4">
+                     <property name="title">
+                      <string>Curve 1</string>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_7">
                       <item>
-                       <widget class="QLabel" name="differentialSteeringLabel1">
+                       <widget class="MixerCurveWidget" name="customThrottle1Curve" native="true">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
                         <property name="minimumSize">
                          <size>
-                          <width>65</width>
+                          <width>100</width>
+                          <height>100</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>200</width>
+                          <height>200</height>
+                         </size>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QPushButton" name="customReset1">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
                           <height>0</height>
                          </size>
                         </property>
                         <property name="text">
-                         <string>Left %</string>
+                         <string>Reset</string>
                         </property>
                        </widget>
                       </item>
                       <item>
-                       <widget class="QSlider" name="differentialSteeringSlider1">
-                        <property name="maximum">
-                         <number>100</number>
-                        </property>
-                        <property name="value">
-                         <number>50</number>
-                        </property>
-                        <property name="orientation">
-                         <enum>Qt::Vertical</enum>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QLabel" name="gvDiffSteering1Label">
+                       <widget class="QLabel" name="customThrottleCurve1Value">
                         <property name="text">
-                         <string>50</string>
+                         <string>Val: 0.00</string>
                         </property>
                        </widget>
                       </item>
                      </layout>
-                    </item>
-                    <item>
-                     <layout class="QVBoxLayout" name="verticalLayout_35">
+                    </widget>
+                   </item>
+                   <item>
+                    <spacer name="horizontalSpacer_9">
+                     <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="QGroupBox" name="groupBox_5">
+                     <property name="title">
+                      <string>Curve 2</string>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_17">
                       <item>
-                       <widget class="QLabel" name="differentialSteeringLabel2">
+                       <widget class="MixerCurveWidget" name="customThrottle2Curve" native="true">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
                         <property name="minimumSize">
                          <size>
-                          <width>50</width>
-                          <height>0</height>
+                          <width>100</width>
+                          <height>100</height>
                          </size>
                         </property>
-                        <property name="text">
-                         <string>Right %</string>
+                        <property name="maximumSize">
+                         <size>
+                          <width>200</width>
+                          <height>200</height>
+                         </size>
                         </property>
                        </widget>
                       </item>
                       <item>
-                       <widget class="QSlider" name="differentialSteeringSlider2">
-                        <property name="maximum">
-                         <number>100</number>
-                        </property>
-                        <property name="value">
-                         <number>50</number>
-                        </property>
-                        <property name="orientation">
-                         <enum>Qt::Vertical</enum>
+                       <widget class="QPushButton" name="customReset2">
+                        <property name="text">
+                         <string>Reset</string>
                         </property>
                        </widget>
                       </item>
                       <item>
-                       <widget class="QLabel" name="gvDiffSteering2Label">
+                       <widget class="QLabel" name="customThrottleCurve2Value">
                         <property name="text">
-                         <string>50</string>
+                         <string>Val: 0.00</string>
                         </property>
                        </widget>
                       </item>
                      </layout>
-                    </item>
-                   </layout>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-               <item>
-                <spacer name="horizontalSpacer_24">
-                 <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="QGroupBox" name="gvThrottleCurve1GroupBox">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                   <horstretch>0</horstretch>
-                   <verstretch>100</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="title">
-                  <string>Front throttle curve</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_36">
-                  <item>
-                   <widget class="MixerCurveWidget" name="groundVehicleThrottle1" native="true">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>100</width>
-                      <height>100</height>
-                     </size>
-                    </property>
-                    <property name="maximumSize">
-                     <size>
-                      <width>200</width>
-                      <height>200</height>
-                     </size>
-                    </property>
-                    <property name="sizeIncrement">
-                     <size>
-                      <width>10</width>
-                      <height>10</height>
-                     </size>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QPushButton" name="gvThrottleCurve1Reset">
-                    <property name="maximumSize">
-                     <size>
-                      <width>200</width>
-                      <height>16777215</height>
-                     </size>
-                    </property>
+                    </widget>
+                   </item>
+                  </layout>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QTableWidget" name="customMixerTable">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="alternatingRowColors">
+                    <bool>true</bool>
+                   </property>
+                   <attribute name="horizontalHeaderDefaultSectionSize">
+                    <number>50</number>
+                   </attribute>
+                   <attribute name="horizontalHeaderStretchLastSection">
+                    <bool>false</bool>
+                   </attribute>
+                   <row>
                     <property name="text">
-                     <string>Reset</string>
+                     <string>Type</string>
                     </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="gvThrottleCurve1ItemValue">
+                   </row>
+                   <row>
                     <property name="text">
-                     <string>Val: 0.00</string>
+                     <string>Curve 1</string>
                     </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-               <item>
-                <widget class="QGroupBox" name="gvThrottleCurve2GroupBox">
-                 <property name="title">
-                  <string>Rear throttle curve</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_37">
-                  <item>
-                   <widget class="MixerCurveWidget" name="groundVehicleThrottle2" native="true">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>100</width>
-                      <height>100</height>
-                     </size>
-                    </property>
-                    <property name="maximumSize">
-                     <size>
-                      <width>200</width>
-                      <height>200</height>
-                     </size>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QPushButton" name="gvThrottleCurve2Reset">
+                   </row>
+                   <row>
                     <property name="text">
-                     <string>Reset</string>
+                     <string>Curve 2</string>
                     </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="gvThrottleCurve2ItemValue">
+                   </row>
+                   <row>
                     <property name="text">
-                     <string>Val: 0.00</string>
+                     <string>Roll</string>
                     </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
+                   </row>
+                   <row>
+                    <property name="text">
+                     <string>Pitch</string>
+                    </property>
+                   </row>
+                   <row>
+                    <property name="text">
+                     <string>Yaw</string>
+                    </property>
+                   </row>
+                   <column>
+                    <property name="text">
+                     <string>Ch 1</string>
+                    </property>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 2</string>
+                    </property>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 3</string>
+                    </property>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 4</string>
+                    </property>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 5</string>
+                    </property>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 6</string>
+                    </property>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 7</string>
+                    </property>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 8</string>
+                    </property>
+                   </column>
+                   <item row="0" column="0">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="1">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="2">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="3">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="4">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="5">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="6">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="7">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="0">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="1">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="2">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="3">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="4">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="5">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="6">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="7">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="0">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="1">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="2">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="3">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="4">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="5">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="6">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="7">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="0">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="1">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="2">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="3">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="4">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="5">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="6">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="7">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="0">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="1">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="2">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="3">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="4">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="5">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="6">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="7">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="0">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="1">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="2">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="3">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="4">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="5">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="6">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="7">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                  </widget>
+                 </item>
+                </layout>
                </item>
               </layout>
-             </item>
-             <item>
-              <spacer name="verticalSpacer_1">
-               <property name="orientation">
-                <enum>Qt::Vertical</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>40</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_28">
-               <item>
-                <spacer name="horizontalSpacer_21">
-                 <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="QLabel" name="gvStatusLabel">
-                 <property name="font">
-                  <font>
-                   <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-                 <property name="text">
-                  <string>Mixer OK</string>
-                 </property>
-                </widget>
-               </item>
-              </layout>
-             </item>
-            </layout>
-           </item>
-          </layout>
-         </widget>
-         <widget class="QWidget" name="custom">
-          <layout class="QHBoxLayout" name="horizontalLayout_15">
-           <item>
-            <layout class="QGridLayout" name="gridLayout">
-             <item row="0" column="0">
-              <layout class="QHBoxLayout" name="horizontalLayout_14">
-               <item>
-                <widget class="QGroupBox" name="groupBox_4">
-                 <property name="title">
-                  <string>Curve 1</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_7">
-                  <item>
-                   <widget class="MixerCurveWidget" name="customThrottle1Curve" native="true">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>100</width>
-                      <height>100</height>
-                     </size>
-                    </property>
-                    <property name="maximumSize">
-                     <size>
-                      <width>200</width>
-                      <height>200</height>
-                     </size>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QPushButton" name="customReset1">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>0</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Reset</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="customThrottleCurve1Value">
-                    <property name="text">
-                     <string>Val: 0.00</string>
-                    </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-               <item>
-                <spacer name="horizontalSpacer_9">
-                 <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="QGroupBox" name="groupBox_5">
-                 <property name="title">
-                  <string>Curve 2</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_17">
-                  <item>
-                   <widget class="MixerCurveWidget" name="customThrottle2Curve" native="true">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>100</width>
-                      <height>100</height>
-                     </size>
-                    </property>
-                    <property name="maximumSize">
-                     <size>
-                      <width>200</width>
-                      <height>200</height>
-                     </size>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QPushButton" name="customReset2">
-                    <property name="text">
-                     <string>Reset</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="customThrottleCurve2Value">
-                    <property name="text">
-                     <string>Val: 0.00</string>
-                    </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-              </layout>
-             </item>
-             <item row="1" column="0">
-              <widget class="QTableWidget" name="customMixerTable">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="alternatingRowColors">
-                <bool>true</bool>
-               </property>
-               <attribute name="horizontalHeaderDefaultSectionSize">
-                <number>50</number>
-               </attribute>
-               <attribute name="horizontalHeaderStretchLastSection">
-                <bool>false</bool>
-               </attribute>
-               <row>
-                <property name="text">
-                 <string>Type</string>
-                </property>
-               </row>
-               <row>
-                <property name="text">
-                 <string>Curve 1</string>
-                </property>
-               </row>
-               <row>
-                <property name="text">
-                 <string>Curve 2</string>
-                </property>
-               </row>
-               <row>
-                <property name="text">
-                 <string>Roll</string>
-                </property>
-               </row>
-               <row>
-                <property name="text">
-                 <string>Pitch</string>
-                </property>
-               </row>
-               <row>
-                <property name="text">
-                 <string>Yaw</string>
-                </property>
-               </row>
-               <column>
-                <property name="text">
-                 <string>Ch 1</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 2</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 3</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 4</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 5</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 6</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 7</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 8</string>
-                </property>
-               </column>
-               <item row="0" column="0">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="1">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="2">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="3">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="4">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="5">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="6">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="7">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="0">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="1">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="2">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="3">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="4">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="5">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="6">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="7">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="0">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="1">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="2">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="3">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="4">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="5">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="6">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="7">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="0">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="1">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="2">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="3">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="4">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="5">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="6">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="7">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="0">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="1">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="2">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="3">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="4">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="5">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="6">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="7">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="0">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="1">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="2">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="3">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="4">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="5">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="6">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="7">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-              </widget>
-             </item>
-            </layout>
+             </widget>
+            </widget>
            </item>
           </layout>
          </widget>
@@ -2487,301 +2512,328 @@ margin:1px;</string>
       <attribute name="title">
        <string>Advanced Settings</string>
       </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_25">
+      <layout class="QVBoxLayout" name="verticalLayout_26">
+       <property name="leftMargin">
+        <number>12</number>
+       </property>
+       <property name="rightMargin">
+        <number>12</number>
+       </property>
+       <property name="bottomMargin">
+        <number>12</number>
+       </property>
        <item>
-        <layout class="QVBoxLayout" name="verticalLayout_11" stretch="0,1,0,0,0">
-         <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_24">
+        <widget class="QScrollArea" name="scrollArea_2">
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents_2">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>249</width>
+            <height>303</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_25">
            <item>
-            <widget class="QLabel" name="label_19">
-             <property name="font">
-              <font>
-               <weight>75</weight>
-               <bold>true</bold>
-              </font>
-             </property>
-             <property name="text">
-              <string>Feed Forward</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <spacer name="horizontalSpacer_16">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </item>
-         <item>
-          <layout class="QFormLayout" name="formLayout_7">
-           <property name="fieldGrowthPolicy">
-            <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
-           </property>
-           <item row="2" column="0">
-            <layout class="QHBoxLayout" name="horizontalLayout_12">
+            <layout class="QVBoxLayout" name="verticalLayout_11" stretch="0,1,0,0,0">
              <item>
-              <widget class="QLabel" name="label_20">
-               <property name="text">
-                <string>FeedForward </string>
-               </property>
-              </widget>
+              <layout class="QHBoxLayout" name="horizontalLayout_24">
+               <item>
+                <widget class="QLabel" name="label_19">
+                 <property name="font">
+                  <font>
+                   <weight>75</weight>
+                   <bold>true</bold>
+                  </font>
+                 </property>
+                 <property name="text">
+                  <string>Feed Forward</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <spacer name="horizontalSpacer_16">
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>40</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+              </layout>
              </item>
              <item>
-              <widget class="QLabel" name="feedForwardSliderValue">
-               <property name="minimumSize">
-                <size>
-                 <width>30</width>
-                 <height>0</height>
-                </size>
+              <layout class="QFormLayout" name="formLayout_7">
+               <property name="fieldGrowthPolicy">
+                <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
                </property>
-               <property name="text">
-                <string>000</string>
-               </property>
-              </widget>
-             </item>
-            </layout>
-           </item>
-           <item row="2" column="1">
-            <widget class="QSlider" name="feedForwardSlider">
-             <property name="enabled">
-              <bool>true</bool>
-             </property>
-             <property name="focusPolicy">
-              <enum>Qt::StrongFocus</enum>
-             </property>
-             <property name="toolTip">
-              <string>Overall level of feed forward (in percentage).</string>
-             </property>
-             <property name="maximum">
-              <number>100</number>
-             </property>
-             <property name="singleStep">
-              <number>1</number>
-             </property>
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="tickPosition">
-              <enum>QSlider::NoTicks</enum>
-             </property>
-            </widget>
-           </item>
-           <item row="3" column="0">
-            <widget class="QLabel" name="label_21">
-             <property name="text">
-              <string>Accel Time Constant</string>
-             </property>
-            </widget>
-           </item>
-           <item row="3" column="1">
-            <widget class="QDoubleSpinBox" name="accelTime">
-             <property name="enabled">
-              <bool>true</bool>
-             </property>
-             <property name="focusPolicy">
-              <enum>Qt::StrongFocus</enum>
-             </property>
-             <property name="toolTip">
-              <string>In miliseconds.
+               <item row="2" column="0">
+                <layout class="QHBoxLayout" name="horizontalLayout_12">
+                 <item>
+                  <widget class="QLabel" name="label_20">
+                   <property name="text">
+                    <string>FeedForward </string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="feedForwardSliderValue">
+                   <property name="minimumSize">
+                    <size>
+                     <width>30</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="text">
+                    <string>000</string>
+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </item>
+               <item row="2" column="1">
+                <widget class="QSlider" name="feedForwardSlider">
+                 <property name="enabled">
+                  <bool>true</bool>
+                 </property>
+                 <property name="focusPolicy">
+                  <enum>Qt::StrongFocus</enum>
+                 </property>
+                 <property name="toolTip">
+                  <string>Overall level of feed forward (in percentage).</string>
+                 </property>
+                 <property name="maximum">
+                  <number>100</number>
+                 </property>
+                 <property name="singleStep">
+                  <number>1</number>
+                 </property>
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                 <property name="tickPosition">
+                  <enum>QSlider::NoTicks</enum>
+                 </property>
+                </widget>
+               </item>
+               <item row="3" column="0">
+                <widget class="QLabel" name="label_21">
+                 <property name="text">
+                  <string>Accel Time Constant</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="3" column="1">
+                <widget class="QDoubleSpinBox" name="accelTime">
+                 <property name="enabled">
+                  <bool>true</bool>
+                 </property>
+                 <property name="focusPolicy">
+                  <enum>Qt::StrongFocus</enum>
+                 </property>
+                 <property name="toolTip">
+                  <string>In miliseconds.
 When tuning: Slowly raise accel time from zero to just
 under the level where the motor starts to overshoot
 its target speed.</string>
-             </property>
-             <property name="decimals">
-              <number>3</number>
-             </property>
-             <property name="maximum">
-              <double>100.000000000000000</double>
-             </property>
-             <property name="singleStep">
-              <double>0.010000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="4" column="0">
-            <widget class="QLabel" name="label_22">
-             <property name="text">
-              <string>Decel Time Constant</string>
-             </property>
-            </widget>
-           </item>
-           <item row="4" column="1">
-            <widget class="QDoubleSpinBox" name="decelTime">
-             <property name="enabled">
-              <bool>true</bool>
-             </property>
-             <property name="focusPolicy">
-              <enum>Qt::StrongFocus</enum>
-             </property>
-             <property name="toolTip">
-              <string>When tuning: Slowly raise decel time from zero to just
+                 </property>
+                 <property name="decimals">
+                  <number>3</number>
+                 </property>
+                 <property name="maximum">
+                  <double>100.000000000000000</double>
+                 </property>
+                 <property name="singleStep">
+                  <double>0.010000000000000</double>
+                 </property>
+                </widget>
+               </item>
+               <item row="4" column="0">
+                <widget class="QLabel" name="label_22">
+                 <property name="text">
+                  <string>Decel Time Constant</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="4" column="1">
+                <widget class="QDoubleSpinBox" name="decelTime">
+                 <property name="enabled">
+                  <bool>true</bool>
+                 </property>
+                 <property name="focusPolicy">
+                  <enum>Qt::StrongFocus</enum>
+                 </property>
+                 <property name="toolTip">
+                  <string>When tuning: Slowly raise decel time from zero to just
 under the level where the motor starts to undershoot
 its target speed when decelerating.
 
 Do it after accel time is setup.</string>
-             </property>
-             <property name="decimals">
-              <number>3</number>
-             </property>
-             <property name="maximum">
-              <double>100.000000000000000</double>
-             </property>
-             <property name="singleStep">
-              <double>0.010000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="5" column="0">
-            <layout class="QHBoxLayout" name="horizontalLayout_16">
-             <item>
-              <widget class="QLabel" name="label_37">
-               <property name="text">
-                <string>MaxAccel</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLabel" name="maxAccelSliderValue">
-               <property name="text">
-                <string>1000</string>
-               </property>
-              </widget>
-             </item>
-            </layout>
-           </item>
-           <item row="5" column="1">
-            <widget class="QSlider" name="maxAccelSlider">
-             <property name="focusPolicy">
-              <enum>Qt::StrongFocus</enum>
-             </property>
-             <property name="toolTip">
-              <string>Limits how much the engines can accelerate or decelerate.
+                 </property>
+                 <property name="decimals">
+                  <number>3</number>
+                 </property>
+                 <property name="maximum">
+                  <double>100.000000000000000</double>
+                 </property>
+                 <property name="singleStep">
+                  <double>0.010000000000000</double>
+                 </property>
+                </widget>
+               </item>
+               <item row="5" column="0">
+                <layout class="QHBoxLayout" name="horizontalLayout_16">
+                 <item>
+                  <widget class="QLabel" name="label_37">
+                   <property name="text">
+                    <string>MaxAccel</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="maxAccelSliderValue">
+                   <property name="text">
+                    <string>1000</string>
+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </item>
+               <item row="5" column="1">
+                <widget class="QSlider" name="maxAccelSlider">
+                 <property name="focusPolicy">
+                  <enum>Qt::StrongFocus</enum>
+                 </property>
+                 <property name="toolTip">
+                  <string>Limits how much the engines can accelerate or decelerate.
 In 'units per second', a sound default is 1000.</string>
-             </property>
-             <property name="minimum">
-              <number>500</number>
-             </property>
-             <property name="maximum">
-              <number>2000</number>
-             </property>
-             <property name="value">
-              <number>1000</number>
-             </property>
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
-         <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_9">
-           <item>
-            <spacer name="horizontalSpacer_8">
-             <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="QCheckBox" name="ffTestBox1">
-             <property name="focusPolicy">
-              <enum>Qt::StrongFocus</enum>
-             </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;
+                 </property>
+                 <property name="minimum">
+                  <number>500</number>
+                 </property>
+                 <property name="maximum">
+                  <number>2000</number>
+                 </property>
+                 <property name="value">
+                  <number>1000</number>
+                 </property>
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+             <item>
+              <layout class="QHBoxLayout" name="horizontalLayout_9">
+               <item>
+                <spacer name="horizontalSpacer_8">
+                 <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="QCheckBox" name="ffTestBox1">
+                 <property name="focusPolicy">
+                  <enum>Qt::StrongFocus</enum>
+                 </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:'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;Beware! Check &lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt; font-weight:600;&quot;&gt;all three&lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt; checkboxes to test Feed Forward.&lt;/span&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;It will run only if your airframe armed.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-             </property>
-             <property name="text">
-              <string/>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QCheckBox" name="ffTestBox2">
-             <property name="focusPolicy">
-              <enum>Qt::StrongFocus</enum>
-             </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;
+                 </property>
+                 <property name="text">
+                  <string/>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QCheckBox" name="ffTestBox2">
+                 <property name="focusPolicy">
+                  <enum>Qt::StrongFocus</enum>
+                 </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:'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;Beware! Check &lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt; font-weight:600;&quot;&gt;all three&lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt; checkboxes to test Feed Forward.&lt;/span&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;It will run only if your airframe armed.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-             </property>
-             <property name="text">
-              <string/>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QCheckBox" name="ffTestBox3">
-             <property name="focusPolicy">
-              <enum>Qt::StrongFocus</enum>
-             </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;
+                 </property>
+                 <property name="text">
+                  <string/>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QCheckBox" name="ffTestBox3">
+                 <property name="focusPolicy">
+                  <enum>Qt::StrongFocus</enum>
+                 </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:'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;Beware! Check &lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt; font-weight:600;&quot;&gt;all three&lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt; checkboxes to test Feed Forward.&lt;/span&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;It will run only if your airframe armed.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-             </property>
-             <property name="text">
-              <string>Enable FF tuning</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <spacer name="horizontalSpacer_7">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </item>
-         <item>
-          <widget class="QTextBrowser" name="textBrowser">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="minimumSize">
-            <size>
-             <width>0</width>
-             <height>40</height>
-            </size>
-           </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;
+                 </property>
+                 <property name="text">
+                  <string>Enable FF tuning</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <spacer name="horizontalSpacer_7">
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>40</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+              </layout>
+             </item>
+             <item>
+              <widget class="QTextBrowser" name="textBrowser">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>40</height>
+                </size>
+               </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:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
@@ -2789,99 +2841,166 @@ p, li { white-space: pre-wrap; }
 &lt;tr&gt;
 &lt;td style=&quot;border: none;&quot;&gt;
 &lt;p align=&quot;center&quot; 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:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD IS DANGEROUS&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:'Ubuntu'; font-size:11pt;&quot;&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:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
 &lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <spacer name="verticalSpacer_5">
-           <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>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <spacer name="verticalSpacer_5">
+               <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>
+          </layout>
+         </widget>
+        </widget>
        </item>
       </layout>
      </widget>
     </widget>
    </item>
    <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <item>
-      <spacer name="horizontalSpacer">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="airframeHelp">
-       <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="saveAircraftToRAM">
-       <property name="toolTip">
-        <string>Send to board, but don't save permanently (flash or SD).</string>
-       </property>
-       <property name="text">
-        <string>Apply</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="saveAircraftToSD">
-       <property name="toolTip">
-        <string>Applies and Saves all settings to flash or SD depending on board.</string>
-       </property>
-       <property name="text">
-        <string>Save</string>
-       </property>
-      </widget>
-     </item>
-    </layout>
+    <widget class="QGroupBox" name="groupBox_8">
+     <property name="title">
+      <string/>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <item>
+         <spacer name="horizontalSpacer">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <widget class="QPushButton" name="airframeHelp">
+          <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="saveAircraftToRAM">
+          <property name="minimumSize">
+           <size>
+            <width>60</width>
+            <height>28</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Send to board, but don't save permanently (flash or SD).</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+          </property>
+          <property name="text">
+           <string>Apply</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="saveAircraftToSD">
+          <property name="minimumSize">
+           <size>
+            <width>60</width>
+            <height>28</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Applies and Saves all settings to flash or SD depending on board.</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+          </property>
+          <property name="text">
+           <string>Save</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
    </item>
   </layout>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
index e535faa50..f935b6dcb 100644
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -6,640 +6,707 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>720</width>
-    <height>739</height>
+    <width>820</width>
+    <height>845</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_3">
+  <layout class="QVBoxLayout" name="verticalLayout_6">
+   <property name="spacing">
+    <number>12</number>
+   </property>
    <item>
-    <widget class="QScrollArea" name="scrollArea">
-     <property name="frameShape">
-      <enum>QFrame::NoFrame</enum>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
      </property>
-     <property name="widgetResizable">
-      <bool>true</bool>
+     <property name="elideMode">
+      <enum>Qt::ElideMiddle</enum>
      </property>
-     <widget class="QWidget" name="scrollAreaWidgetContents_2">
-      <property name="geometry">
-       <rect>
-        <x>0</x>
-        <y>0</y>
-        <width>696</width>
-        <height>635</height>
-       </rect>
-      </property>
-      <layout class="QVBoxLayout" name="verticalLayout_2">
+     <widget class="QWidget" name="CameraStabilization">
+      <attribute name="title">
+       <string>Camera Stabilization</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_5">
+       <property name="spacing">
+        <number>12</number>
+       </property>
+       <property name="leftMargin">
+        <number>12</number>
+       </property>
+       <property name="rightMargin">
+        <number>12</number>
+       </property>
+       <property name="bottomMargin">
+        <number>12</number>
+       </property>
        <item>
-        <widget class="QCheckBox" name="enableCameraStabilization">
-         <property name="focusPolicy">
-          <enum>Qt::StrongFocus</enum>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="autoFillBackground">
+          <bool>false</bool>
          </property>
-         <property name="text">
-          <string>Enable CameraStabilization module</string>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
          </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="label_7">
-         <property name="text">
-          <string>After enabling the module, you must power cycle before using and configuring.</string>
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
          </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="Line" name="line">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
+         <property name="widgetResizable">
+          <bool>true</bool>
          </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="verticalSpacer_3">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeType">
-          <enum>QSizePolicy::Preferred</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>10</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QGroupBox" name="groupBox_5">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="minimumSize">
-          <size>
-           <width>0</width>
-           <height>100</height>
-          </size>
-         </property>
-         <property name="title">
-          <string>Basic Settings (Stabilization)</string>
-         </property>
-         <layout class="QGridLayout" name="gridLayout_9">
-          <item row="2" column="3">
-           <widget class="QSpinBox" name="yawOutputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Camera yaw angle for 100% output value, deg.
+         <widget class="QWidget" name="scrollAreaWidgetContents_2">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>766</width>
+            <height>622</height>
+           </rect>
+          </property>
+          <property name="autoFillBackground">
+           <bool>true</bool>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_3">
+           <property name="spacing">
+            <number>12</number>
+           </property>
+           <item>
+            <widget class="QGroupBox" name="groupBox_4">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>88</height>
+              </size>
+             </property>
+             <property name="title">
+              <string/>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_2">
+              <item>
+               <widget class="QCheckBox" name="enableCameraStabilization">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="text">
+                 <string>Enable CameraStabilization module</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="label_7">
+                <property name="text">
+                 <string>After enabling the module, you must power cycle before using and configuring.</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_5">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>131</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Basic Settings (Stabilization)</string>
+             </property>
+             <property name="flat">
+              <bool>false</bool>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_9">
+              <item row="3" column="3">
+               <widget class="QSpinBox" name="yawOutputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Camera yaw angle for 100% output value, deg.
 
 This value should be tuned for particular gimbal and servo. You also
 have to define channel output range using Output configuration tab.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="2">
-           <widget class="QSpinBox" name="pitchOutputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Camera pitch angle for 100% output value, deg.
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="2">
+               <widget class="QSpinBox" name="pitchOutputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Camera pitch angle for 100% output value, deg.
 
 This value should be tuned for particular gimbal and servo. You also
 have to define channel output range using Output configuration tab.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QSpinBox" name="rollOutputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Camera roll angle for 100% output value, deg.
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="1">
+               <widget class="QSpinBox" name="rollOutputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Camera roll angle for 100% output value, deg.
 
 This value should be tuned for particular gimbal and servo. You also
 have to define channel output range using Output configuration tab.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="3">
-           <widget class="QComboBox" name="yawChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Yaw output channel for camera gimbal</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="3">
+               <widget class="QComboBox" name="yawChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Yaw output channel for camera gimbal</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="2" column="2">
+               <widget class="QComboBox" name="pitchChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Pitch output channel for camera gimbal</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QComboBox" name="rollChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Roll output channel for camera gimbal</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label_42">
+                <property name="text">
+                 <string>Output Channel</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="0">
+               <widget class="QLabel" name="label_43">
+                <property name="text">
+                 <string>Output Range</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="3">
+               <widget class="QLabel" name="label_44">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Yaw</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QLabel" name="label_45">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Pitch</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QLabel" name="label_46">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Roll</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="Line" name="line">
+             <property name="enabled">
+              <bool>true</bool>
              </property>
-            </item>
-           </widget>
-          </item>
-          <item row="1" column="2">
-           <widget class="QComboBox" name="pitchChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Pitch output channel for camera gimbal</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
              </property>
-            </item>
-           </widget>
-          </item>
-          <item row="1" column="1">
-           <widget class="QComboBox" name="rollChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Roll output channel for camera gimbal</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_3">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
              </property>
-            </item>
-           </widget>
-          </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="label_42">
-            <property name="text">
-             <string>Output Channel</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="label_43">
-            <property name="text">
-             <string>Output Range</string>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="3">
-           <widget class="QLabel" name="label_44">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+             <property name="sizeType">
+              <enum>QSizePolicy::Preferred</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>10</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>266</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Advanced Settings (Control)</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_8">
+              <item row="1" column="3">
+               <widget class="QLabel" name="label_32">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Yaw</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="2">
-           <widget class="QLabel" name="label_45">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                </property>
+                <property name="text">
+                 <string>Yaw</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QLabel" name="label_33">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Pitch</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="1">
-           <widget class="QLabel" name="label_46">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                </property>
+                <property name="text">
+                 <string>Pitch</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QLabel" name="label_34">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Roll</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item>
-        <widget class="QGroupBox" name="groupBox">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="minimumSize">
-          <size>
-           <width>0</width>
-           <height>204</height>
-          </size>
-         </property>
-         <property name="title">
-          <string>Advanced Settings (Control)</string>
-         </property>
-         <layout class="QGridLayout" name="gridLayout_8">
-          <item row="0" column="3">
-           <widget class="QLabel" name="label_32">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Yaw</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="2">
-           <widget class="QLabel" name="label_33">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Pitch</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="1">
-           <widget class="QLabel" name="label_34">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Roll</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="3">
-           <widget class="QComboBox" name="yawInputChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input channel to control camera yaw
+                </property>
+                <property name="text">
+                 <string>Roll</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="3">
+               <widget class="QComboBox" name="yawInputChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input channel to control camera yaw
 
 Don't forget to map this channel using Input configuration tab.</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="1" column="2">
-           <widget class="QComboBox" name="pitchInputChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input channel to control camera pitch
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="2" column="2">
+               <widget class="QComboBox" name="pitchInputChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input channel to control camera pitch
 
 Don't forget to map this channel using Input configuration tab.</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="1" column="1">
-           <widget class="QComboBox" name="rollInputChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input channel to control camera roll
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QComboBox" name="rollInputChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input channel to control camera roll
 
 Don't forget to map this channel using Input configuration tab.</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="label_35">
-            <property name="text">
-             <string>Input Channel</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="3">
-           <widget class="QComboBox" name="yawStabilizationMode">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Axis stabilization mode
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label_35">
+                <property name="text">
+                 <string>Input Channel</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="3">
+               <widget class="QComboBox" name="yawStabilizationMode">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Axis stabilization mode
 
 Attitude: camera tracks level for the axis. Input controls the deflection.
 AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>Attitude</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="3" column="3">
-           <widget class="QSpinBox" name="yawInputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera yaw deflection for 100% input in Attitude mode, deg.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="3">
-           <widget class="QSpinBox" name="yawInputRate">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>50</number>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="3">
-           <widget class="QSpinBox" name="yawResponseTime">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input low-pass filter response time for yaw axis, ms.
+                </property>
+                <item>
+                 <property name="text">
+                  <string>Attitude</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="4" column="3">
+               <widget class="QSpinBox" name="yawInputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera yaw deflection for 100% input in Attitude mode, deg.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="3">
+               <widget class="QSpinBox" name="yawInputRate">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="3">
+               <widget class="QSpinBox" name="yawResponseTime">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input low-pass filter response time for yaw axis, ms.
 
 This option smoothes the stick input. Zero value disables LPF.</string>
-            </property>
-            <property name="maximum">
-             <number>1000</number>
-            </property>
-            <property name="value">
-             <number>150</number>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="2">
-           <widget class="QComboBox" name="pitchStabilizationMode">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Axis stabilization mode
+                </property>
+                <property name="maximum">
+                 <number>1000</number>
+                </property>
+                <property name="value">
+                 <number>150</number>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="2">
+               <widget class="QComboBox" name="pitchStabilizationMode">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Axis stabilization mode
 
 Attitude: camera tracks level for the axis. Input controls the deflection.
 AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>Attitude</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="3" column="2">
-           <widget class="QSpinBox" name="pitchInputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera pitch deflection for 100% input in Attitude mode, deg.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="2">
-           <widget class="QSpinBox" name="pitchInputRate">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>50</number>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="2">
-           <widget class="QSpinBox" name="pitchResponseTime">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input low-pass filter response time for pitch axis, ms.
+                </property>
+                <item>
+                 <property name="text">
+                  <string>Attitude</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="4" column="2">
+               <widget class="QSpinBox" name="pitchInputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera pitch deflection for 100% input in Attitude mode, deg.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="2">
+               <widget class="QSpinBox" name="pitchInputRate">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="2">
+               <widget class="QSpinBox" name="pitchResponseTime">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input low-pass filter response time for pitch axis, ms.
 
 This option smoothes the stick input. Zero value disables LPF.</string>
-            </property>
-            <property name="maximum">
-             <number>1000</number>
-            </property>
-            <property name="value">
-             <number>150</number>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QComboBox" name="rollStabilizationMode">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Axis stabilization mode
+                </property>
+                <property name="maximum">
+                 <number>1000</number>
+                </property>
+                <property name="value">
+                 <number>150</number>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="1">
+               <widget class="QComboBox" name="rollStabilizationMode">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Axis stabilization mode
 
 Attitude: camera tracks level for the axis. Input controls the deflection.
 AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>Attitude</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="3" column="1">
-           <widget class="QSpinBox" name="rollInputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera roll deflection for 100% input in Attitude mode, deg.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="1">
-           <widget class="QSpinBox" name="rollInputRate">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera roll rate for 100% input in AxisLock mode, deg/s.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>50</number>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="1">
-           <widget class="QSpinBox" name="rollResponseTime">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input low-pass filter response time for roll axis, ms.
+                </property>
+                <item>
+                 <property name="text">
+                  <string>Attitude</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="4" column="1">
+               <widget class="QSpinBox" name="rollInputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera roll deflection for 100% input in Attitude mode, deg.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="1">
+               <widget class="QSpinBox" name="rollInputRate">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera roll rate for 100% input in AxisLock mode, deg/s.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="1">
+               <widget class="QSpinBox" name="rollResponseTime">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input low-pass filter response time for roll axis, ms.
 
 This option smoothes the stick input. Zero value disables LPF.</string>
-            </property>
-            <property name="maximum">
-             <number>1000</number>
-            </property>
-            <property name="value">
-             <number>150</number>
-            </property>
-           </widget>
-          </item>
-          <item row="6" column="0">
-           <widget class="QLabel" name="label_36">
-            <property name="text">
-             <string>MaxAxisLockRate</string>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="0">
-           <widget class="QLabel" name="label_37">
-            <property name="text">
-             <string>Response Time</string>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="0">
-           <widget class="QLabel" name="label_38">
-            <property name="text">
-             <string>Input Rate</string>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="0">
-           <widget class="QLabel" name="label_39">
-            <property name="text">
-             <string>Input Range</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="label_40">
-            <property name="text">
-             <string>Stabilization Mode</string>
-            </property>
-           </widget>
-          </item>
-          <item row="6" column="2" colspan="2">
-           <widget class="QLabel" name="label_41">
-            <property name="text">
-             <string>(the same value for Roll, Pitch, Yaw)</string>
-            </property>
-           </widget>
-          </item>
-          <item row="6" column="1">
-           <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Stick input deadband for all axes in AxisLock mode, deg/s.
+                </property>
+                <property name="maximum">
+                 <number>1000</number>
+                </property>
+                <property name="value">
+                 <number>150</number>
+                </property>
+               </widget>
+              </item>
+              <item row="7" column="0">
+               <widget class="QLabel" name="label_36">
+                <property name="text">
+                 <string>MaxAxisLockRate</string>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="0">
+               <widget class="QLabel" name="label_37">
+                <property name="text">
+                 <string>Response Time</string>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="0">
+               <widget class="QLabel" name="label_38">
+                <property name="text">
+                 <string>Input Rate</string>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="0">
+               <widget class="QLabel" name="label_39">
+                <property name="text">
+                 <string>Input Range</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="0">
+               <widget class="QLabel" name="label_40">
+                <property name="text">
+                 <string>Stabilization Mode</string>
+                </property>
+               </widget>
+              </item>
+              <item row="7" column="2" colspan="2">
+               <widget class="QLabel" name="label_41">
+                <property name="text">
+                 <string>(the same value for Roll, Pitch, Yaw)</string>
+                </property>
+               </widget>
+              </item>
+              <item row="7" column="1">
+               <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Stick input deadband for all axes in AxisLock mode, deg/s.
 
 When stick input is within the MaxAxisLockRate range, camera tracks
 current attitude. Otherwise it starts moving according to input with
@@ -647,159 +714,261 @@ rate depending on input value.
 
 If you have drift in your Tx controls, you may want to increase this
 value.</string>
-            </property>
-            <property name="decimals">
-             <number>1</number>
-            </property>
-            <property name="singleStep">
-             <double>0.100000000000000</double>
-            </property>
-            <property name="value">
-             <double>1.000000000000000</double>
-            </property>
-           </widget>
-          </item>
-         </layout>
+                </property>
+                <property name="decimals">
+                 <number>1</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.100000000000000</double>
+                </property>
+                <property name="value">
+                 <double>1.000000000000000</double>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </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>
         </widget>
        </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>
     </widget>
    </item>
    <item>
-    <layout class="QVBoxLayout" name="verticalLayout">
-     <item>
-      <widget class="QLabel" name="message">
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <layout class="QHBoxLayout" name="submitButtons">
-       <item>
-        <widget class="QFrame" name="frame">
-         <property name="frameShape">
-          <enum>QFrame::StyledPanel</enum>
-         </property>
-         <property name="frameShadow">
-          <enum>QFrame::Raised</enum>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="horizontalSpacer">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>40</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QPushButton" name="camerastabilizationHelp">
-         <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="font">
-          <font>
-           <kerning>true</kerning>
-          </font>
-         </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="shortcut">
-          <string>Ctrl+S</string>
-         </property>
-         <property name="default">
-          <bool>false</bool>
-         </property>
-         <property name="flat">
-          <bool>true</bool>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="camerastabilizationResetToDefaults">
-         <property name="toolTip">
-          <string>Load default CameraStabilization settings except output channels
+    <widget class="QGroupBox" name="groupBox_3">
+     <property name="title">
+      <string>Messages</string>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <item>
+       <widget class="QLabel" name="message">
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="title">
+      <string/>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_4">
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout">
+        <item>
+         <layout class="QHBoxLayout" name="submitButtons">
+          <item>
+           <widget class="QFrame" name="frame">
+            <property name="frameShape">
+             <enum>QFrame::StyledPanel</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Raised</enum>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <spacer name="horizontalSpacer">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>40</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+          <item>
+           <widget class="QPushButton" name="camerastabilizationHelp">
+            <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="font">
+             <font>
+              <kerning>true</kerning>
+             </font>
+            </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="shortcut">
+             <string>Ctrl+S</string>
+            </property>
+            <property name="default">
+             <bool>false</bool>
+            </property>
+            <property name="flat">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="camerastabilizationResetToDefaults">
+            <property name="minimumSize">
+             <size>
+              <width>130</width>
+              <height>28</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>Load default CameraStabilization settings except output channels
 
 Loaded settings are not applied automatically. You have to click the
 Apply or Save button afterwards.</string>
-         </property>
-         <property name="text">
-          <string>Reset To Defaults</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="camerastabilizationSaveRAM">
-         <property name="toolTip">
-          <string>Send settings to the board but do not save to the non-volatile memory</string>
-         </property>
-         <property name="text">
-          <string>Apply</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="camerastabilizationSaveSD">
-         <property name="toolTip">
-          <string>Send settings to the board and save to the non-volatile memory</string>
-         </property>
-         <property name="text">
-          <string>Save</string>
-         </property>
-         <property name="checked">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-    </layout>
+            </property>
+            <property name="styleSheet">
+             <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+            </property>
+            <property name="text">
+             <string>Reset To Defaults</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="camerastabilizationSaveRAM">
+            <property name="minimumSize">
+             <size>
+              <width>60</width>
+              <height>28</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>Send settings to the board but do not save to the non-volatile memory</string>
+            </property>
+            <property name="styleSheet">
+             <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+            </property>
+            <property name="text">
+             <string>Apply</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="camerastabilizationSaveSD">
+            <property name="minimumSize">
+             <size>
+              <width>60</width>
+              <height>28</height>
+             </size>
+            </property>
+            <property name="toolTip">
+             <string>Send settings to the board and save to the non-volatile memory</string>
+            </property>
+            <property name="styleSheet">
+             <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+            </property>
+            <property name="text">
+             <string>Save</string>
+            </property>
+            <property name="checked">
+             <bool>false</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
    </item>
   </layout>
  </widget>
  <tabstops>
-  <tabstop>enableCameraStabilization</tabstop>
   <tabstop>rollChannel</tabstop>
   <tabstop>pitchChannel</tabstop>
   <tabstop>yawChannel</tabstop>
diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
index 331c39e23..89d866274 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
@@ -48,7 +48,7 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     autoLoadWidgets();
     realtimeUpdates=new QTimer(this);
     connect(m_stabilization->realTimeUpdates_6,SIGNAL(stateChanged(int)),this,SLOT(realtimeUpdatesSlot(int)));
-    connect(m_stabilization->realTimeUpdates_7,SIGNAL(stateChanged(int)),this,SLOT(realtimeUpdatesSlot(int)));
+    //connect(m_stabilization->realTimeUpdates_7,SIGNAL(stateChanged(int)),this,SLOT(realtimeUpdatesSlot(int)));
     connect(realtimeUpdates,SIGNAL(timeout()),this,SLOT(apply()));
 
     connect(m_stabilization->checkBox_7,SIGNAL(stateChanged(int)),this,SLOT(linkCheckBoxes(int)));
@@ -66,8 +66,8 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     m_stabilization->saveStabilizationToRAM_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
     m_stabilization->saveStabilizationToSD_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
     m_stabilization->stabilizationReloadBoardData_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-    m_stabilization->saveStabilizationToRAM_7->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-    m_stabilization->saveStabilizationToSD_7->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+   // m_stabilization->saveStabilizationToRAM_7->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+   // m_stabilization->saveStabilizationToSD_7->setAttribute(Qt::WA_LayoutUsesWidgetRect);
     m_stabilization->pushButton_2->setAttribute(Qt::WA_LayoutUsesWidgetRect);
     m_stabilization->pushButton_3->setAttribute(Qt::WA_LayoutUsesWidgetRect);
     m_stabilization->pushButton_4->setAttribute(Qt::WA_LayoutUsesWidgetRect);
@@ -88,7 +88,7 @@ ConfigStabilizationWidget::~ConfigStabilizationWidget()
 void ConfigStabilizationWidget::realtimeUpdatesSlot(int value)
 {
     m_stabilization->realTimeUpdates_6->setCheckState((Qt::CheckState)value);
-    m_stabilization->realTimeUpdates_7->setCheckState((Qt::CheckState)value);
+    //m_stabilization->realTimeUpdates_7->setCheckState((Qt::CheckState)value);
     if(value==Qt::Checked && !realtimeUpdates->isActive())
         realtimeUpdates->start(300);
     else if(value==Qt::Unchecked)
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index e00f4baf3..561e0fe9f 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -6,77 +6,806 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>626</width>
-    <height>532</height>
+    <width>692</width>
+    <height>958</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
+  <layout class="QVBoxLayout" name="verticalLayout_6">
+   <property name="spacing">
+    <number>12</number>
+   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
-      <number>1</number>
+      <number>0</number>
      </property>
      <widget class="QWidget" name="RCInput">
       <attribute name="title">
        <string>RC Input</string>
       </attribute>
-      <layout class="QGridLayout" name="gridLayout">
-       <item row="0" column="0">
-        <widget class="QStackedWidget" name="stackedWidget">
-         <property name="currentIndex">
-          <number>0</number>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <property name="leftMargin">
+        <number>12</number>
+       </property>
+       <property name="rightMargin">
+        <number>12</number>
+       </property>
+       <property name="bottomMargin">
+        <number>12</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
          </property>
-         <widget class="QWidget" name="advancedPage">
-          <layout class="QVBoxLayout" name="verticalLayout_4">
-           <item>
-            <layout class="QVBoxLayout" name="channelSettings"/>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>638</width>
+            <height>801</height>
+           </rect>
+          </property>
+          <layout class="QGridLayout" name="gridLayout">
+           <item row="0" column="0">
+            <widget class="QStackedWidget" name="stackedWidget">
+             <property name="currentIndex">
+              <number>0</number>
+             </property>
+             <widget class="QWidget" name="advancedPage">
+              <layout class="QVBoxLayout" name="verticalLayout_4">
+               <item>
+                <layout class="QVBoxLayout" name="channelSettings"/>
+               </item>
+               <item>
+                <spacer name="verticalSpacer_3">
+                 <property name="orientation">
+                  <enum>Qt::Vertical</enum>
+                 </property>
+                 <property name="sizeType">
+                  <enum>QSizePolicy::Preferred</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>20</width>
+                   <height>5</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+               <item>
+                <layout class="QGridLayout" name="gridLayout_3">
+                 <item row="0" column="0">
+                  <widget class="QLabel" name="labelDeadband">
+                   <property name="text">
+                    <string>Roll/Pitch/Yaw stick deadband</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="1">
+                  <widget class="QDoubleSpinBox" name="deadband">
+                   <property name="toolTip">
+                    <string>Stick deadband in percents of full range (0-10), zero to disable</string>
+                   </property>
+                   <property name="decimals">
+                    <number>1</number>
+                   </property>
+                   <property name="maximum">
+                    <double>10.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="3">
+                  <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>
+                </layout>
+               </item>
+               <item>
+                <spacer name="verticalSpacer_4">
+                 <property name="orientation">
+                  <enum>Qt::Vertical</enum>
+                 </property>
+                 <property name="sizeType">
+                  <enum>QSizePolicy::Preferred</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>20</width>
+                   <height>5</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+               <item>
+                <widget class="QPushButton" name="configurationWizard">
+                 <property name="text">
+                  <string>Start Configuration Wizard</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QCheckBox" name="runCalibration">
+                 <property name="text">
+                  <string>Run Calibration</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <spacer name="verticalSpacer_2">
+                 <property name="orientation">
+                  <enum>Qt::Vertical</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>20</width>
+                   <height>40</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+              </layout>
+             </widget>
+             <widget class="QWidget" name="wizard">
+              <layout class="QVBoxLayout" name="verticalLayout_5">
+               <item>
+                <widget class="QLabel" name="wzText">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="minimumSize">
+                  <size>
+                   <width>0</width>
+                   <height>90</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>TextLabel</string>
+                 </property>
+                 <property name="wordWrap">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <layout class="QHBoxLayout" name="horizontalLayout_4">
+                 <item>
+                  <widget class="QGraphicsView" name="graphicsView"/>
+                 </item>
+                 <item>
+                  <layout class="QVBoxLayout" name="checkBoxesLayout"/>
+                 </item>
+                </layout>
+               </item>
+               <item>
+                <layout class="QHBoxLayout" name="horizontalLayout_3">
+                 <item>
+                  <widget class="QPushButton" name="wzBack">
+                   <property name="text">
+                    <string>Back</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QPushButton" name="wzNext">
+                   <property name="text">
+                    <string>Next</string>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QPushButton" name="wzCancel">
+                   <property name="text">
+                    <string>Cancel</string>
+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </item>
+              </layout>
+             </widget>
+            </widget>
            </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="tab_3">
+      <attribute name="title">
+       <string>Flight Mode Switch Settings</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_8">
+       <property name="leftMargin">
+        <number>12</number>
+       </property>
+       <property name="rightMargin">
+        <number>12</number>
+       </property>
+       <property name="bottomMargin">
+        <number>12</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea_3">
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents_3">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>100</width>
+            <height>30</height>
+           </rect>
+          </property>
+          <widget class="QGroupBox" name="groupBox">
+           <property name="geometry">
+            <rect>
+             <x>10</x>
+             <y>310</y>
+             <width>611</width>
+             <height>151</height>
+            </rect>
+           </property>
+           <property name="styleSheet">
+            <string notr="true"/>
+           </property>
+           <property name="title">
+            <string>Configure each stabilization mode for each axis</string>
+           </property>
+           <layout class="QGridLayout" name="gridLayout_2">
+            <item row="3" column="0">
+             <widget class="QLabel" name="label_22">
+              <property name="text">
+               <string>Stabilized3</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QLabel" name="label_8">
+              <property name="styleSheet">
+               <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+              </property>
+              <property name="text">
+               <string>Roll</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QComboBox" name="fmsSsPos1Roll">
+              <property name="minimumSize">
+               <size>
+                <width>102</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="focusPolicy">
+               <enum>Qt::StrongFocus</enum>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="2">
+             <widget class="QLabel" name="label_9">
+              <property name="styleSheet">
+               <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+              </property>
+              <property name="text">
+               <string>Pitch</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="2">
+             <widget class="QComboBox" name="fmsSsPos3Pitch">
+              <property name="focusPolicy">
+               <enum>Qt::StrongFocus</enum>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="3">
+             <widget class="QComboBox" name="fmsSsPos3Yaw">
+              <property name="focusPolicy">
+               <enum>Qt::StrongFocus</enum>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="2">
+             <widget class="QComboBox" name="fmsSsPos2Pitch">
+              <property name="focusPolicy">
+               <enum>Qt::StrongFocus</enum>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QLabel" name="label_14">
+              <property name="text">
+               <string>Stabilized1</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="3">
+             <widget class="QLabel" name="label_10">
+              <property name="styleSheet">
+               <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+              </property>
+              <property name="text">
+               <string>Yaw</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="1">
+             <widget class="QComboBox" name="fmsSsPos3Roll">
+              <property name="focusPolicy">
+               <enum>Qt::StrongFocus</enum>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="3">
+             <widget class="QComboBox" name="fmsSsPos1Yaw">
+              <property name="minimumSize">
+               <size>
+                <width>102</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="focusPolicy">
+               <enum>Qt::StrongFocus</enum>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="3">
+             <widget class="QComboBox" name="fmsSsPos2Yaw">
+              <property name="focusPolicy">
+               <enum>Qt::StrongFocus</enum>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QComboBox" name="fmsSsPos2Roll">
+              <property name="focusPolicy">
+               <enum>Qt::StrongFocus</enum>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="0">
+             <widget class="QLabel" name="label_21">
+              <property name="text">
+               <string>Stabilized2</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="2">
+             <widget class="QComboBox" name="fmsSsPos1Pitch">
+              <property name="minimumSize">
+               <size>
+                <width>102</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="focusPolicy">
+               <enum>Qt::StrongFocus</enum>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </widget>
+          <widget class="QGroupBox" name="groupBox_2">
+           <property name="geometry">
+            <rect>
+             <x>10</x>
+             <y>20</y>
+             <width>611</width>
+             <height>231</height>
+            </rect>
+           </property>
+           <property name="title">
+            <string>FlightMode Switch Positions</string>
+           </property>
+           <widget class="QComboBox" name="fmsModePos5">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="geometry">
+             <rect>
+              <x>100</x>
+              <y>140</y>
+              <width>151</width>
+              <height>26</height>
+             </rect>
+            </property>
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+           </widget>
+           <widget class="QComboBox" name="fmsModePos4">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="geometry">
+             <rect>
+              <x>100</x>
+              <y>110</y>
+              <width>151</width>
+              <height>26</height>
+             </rect>
+            </property>
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
+            </property>
+           </widget>
+           <widget class="QLabel" name="label_pos4">
+            <property name="geometry">
+             <rect>
+              <x>10</x>
+              <y>115</y>
+              <width>62</width>
+              <height>17</height>
+             </rect>
+            </property>
+            <property name="text">
+             <string>Pos. 4</string>
+            </property>
+           </widget>
+           <widget class="QComboBox" name="fmsModePos6">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="geometry">
+             <rect>
+              <x>100</x>
+              <y>170</y>
+              <width>151</width>
+              <height>26</height>
+             </rect>
+            </property>
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+           </widget>
+           <widget class="QLabel" name="label_pos5">
+            <property name="geometry">
+             <rect>
+              <x>10</x>
+              <y>145</y>
+              <width>62</width>
+              <height>17</height>
+             </rect>
+            </property>
+            <property name="text">
+             <string>Pos. 5</string>
+            </property>
+           </widget>
+           <widget class="QLabel" name="label_pos6">
+            <property name="geometry">
+             <rect>
+              <x>10</x>
+              <y>175</y>
+              <width>62</width>
+              <height>17</height>
+             </rect>
+            </property>
+            <property name="text">
+             <string>Pos. 6</string>
+            </property>
+           </widget>
+           <widget class="QSlider" name="fmsSlider">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="geometry">
+             <rect>
+              <x>70</x>
+              <y>28</y>
+              <width>20</width>
+              <height>160</height>
+             </rect>
+            </property>
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>This slider moves when you move the flight mode switch
+on your remote. It shows currently active flight mode.
+
+Setup the flight mode channel on the RC Input tab if you have not done so already.</string>
+            </property>
+            <property name="minimum">
+             <number>0</number>
+            </property>
+            <property name="maximum">
+             <number>5</number>
+            </property>
+            <property name="pageStep">
+             <number>10</number>
+            </property>
+            <property name="value">
+             <number>0</number>
+            </property>
+            <property name="sliderPosition">
+             <number>0</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="invertedAppearance">
+             <bool>true</bool>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksBelow</enum>
+            </property>
+            <property name="tickInterval">
+             <number>1</number>
+            </property>
+           </widget>
+           <widget class="QComboBox" name="fmsModePos2">
+            <property name="geometry">
+             <rect>
+              <x>100</x>
+              <y>50</y>
+              <width>151</width>
+              <height>26</height>
+             </rect>
+            </property>
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+           </widget>
+           <widget class="QComboBox" name="fmsModePos3">
+            <property name="geometry">
+             <rect>
+              <x>100</x>
+              <y>80</y>
+              <width>151</width>
+              <height>26</height>
+             </rect>
+            </property>
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+           </widget>
+           <widget class="QComboBox" name="fmsModePos1">
+            <property name="geometry">
+             <rect>
+              <x>100</x>
+              <y>20</y>
+              <width>151</width>
+              <height>26</height>
+             </rect>
+            </property>
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
+            </property>
+           </widget>
+           <widget class="QLabel" name="label_pos2">
+            <property name="geometry">
+             <rect>
+              <x>11</x>
+              <y>55</y>
+              <width>62</width>
+              <height>17</height>
+             </rect>
+            </property>
+            <property name="text">
+             <string>Pos. 2</string>
+            </property>
+           </widget>
+           <widget class="QLabel" name="label_pos1">
+            <property name="geometry">
+             <rect>
+              <x>11</x>
+              <y>25</y>
+              <width>62</width>
+              <height>17</height>
+             </rect>
+            </property>
+            <property name="text">
+             <string>Pos. 1</string>
+            </property>
+           </widget>
+           <widget class="QLabel" name="label_pos3">
+            <property name="geometry">
+             <rect>
+              <x>11</x>
+              <y>85</y>
+              <width>62</width>
+              <height>17</height>
+             </rect>
+            </property>
+            <property name="text">
+             <string>Pos. 3</string>
+            </property>
+           </widget>
+           <widget class="QSpinBox" name="fmsPosNum">
+            <property name="geometry">
+             <rect>
+              <x>458</x>
+              <y>20</y>
+              <width>61</width>
+              <height>20</height>
+             </rect>
+            </property>
+            <property name="toolTip">
+             <string>Number of positions your FlightMode switch has.
+
+Default is 3.
+
+It will be 2 or 3 for most of setups, but it also can be up to 6.
+In that case you have to configure your radio mixers so the whole range
+from min to max is split into N equal intervals, and you may set arbitrary
+channel value for each flight mode.</string>
+            </property>
+            <property name="minimum">
+             <number>1</number>
+            </property>
+            <property name="maximum">
+             <number>6</number>
+            </property>
+            <property name="value">
+             <number>3</number>
+            </property>
+           </widget>
+           <widget class="QLabel" name="label">
+            <property name="geometry">
+             <rect>
+              <x>277</x>
+              <y>22</y>
+              <width>171</width>
+              <height>16</height>
+             </rect>
+            </property>
+            <property name="text">
+             <string>Number of flight modes:</string>
+            </property>
+           </widget>
+           <widget class="QLabel" name="label_15">
+            <property name="geometry">
+             <rect>
+              <x>310</x>
+              <y>120</y>
+              <width>191</width>
+              <height>30</height>
+             </rect>
+            </property>
+            <property name="font">
+             <font>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="text">
+             <string>Avoid &quot;Manual&quot; for multirotors!</string>
+            </property>
+            <property name="wordWrap">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </widget>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="tab_4">
+      <attribute name="title">
+       <string>Arming Settings</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_7">
+       <property name="leftMargin">
+        <number>12</number>
+       </property>
+       <property name="rightMargin">
+        <number>12</number>
+       </property>
+       <property name="bottomMargin">
+        <number>12</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea_2">
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents_2">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>499</width>
+            <height>121</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_2">
            <item>
-            <spacer name="verticalSpacer_3">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::Preferred</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>5</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item>
-            <layout class="QGridLayout" name="gridLayout_3">
-             <item row="0" column="0">
-              <widget class="QLabel" name="labelDeadband">
+            <layout class="QHBoxLayout" name="horizontalLayout">
+             <item>
+              <widget class="QLabel" name="label_17">
+               <property name="font">
+                <font>
+                 <weight>50</weight>
+                 <bold>false</bold>
+                </font>
+               </property>
                <property name="text">
-                <string>Roll/Pitch/Yaw stick deadband</string>
+                <string>Arm airframe using throttle off and:</string>
                </property>
               </widget>
              </item>
-             <item row="0" column="1">
-              <widget class="QDoubleSpinBox" name="deadband">
+             <item>
+              <widget class="QComboBox" name="armControl">
+               <property name="focusPolicy">
+                <enum>Qt::StrongFocus</enum>
+               </property>
                <property name="toolTip">
-                <string>Stick deadband in percents of full range (0-10), zero to disable</string>
-               </property>
-               <property name="decimals">
-                <number>1</number>
-               </property>
-               <property name="maximum">
-                <double>10.000000000000000</double>
-               </property>
-               <property name="singleStep">
-                <double>0.100000000000000</double>
+                <string>Indicate the control used for arming the airframe, in addition to setting the throttle to its minimum position. In other terms &quot;Throttle Off&quot;.</string>
                </property>
               </widget>
              </item>
-             <item row="0" column="3">
-              <spacer name="horizontalSpacer_3">
+             <item>
+              <spacer name="horizontalSpacer">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
                </property>
@@ -91,795 +820,210 @@
             </layout>
            </item>
            <item>
-            <spacer name="verticalSpacer_4">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::Preferred</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>5</height>
-              </size>
-             </property>
-            </spacer>
+            <layout class="QHBoxLayout" name="horizontalLayout_2">
+             <item>
+              <widget class="QLabel" name="label_18">
+               <property name="text">
+                <string>Arming timeout:</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QSpinBox" name="armTimeout">
+               <property name="focusPolicy">
+                <enum>Qt::StrongFocus</enum>
+               </property>
+               <property name="toolTip">
+                <string>After the time indicated here, the frame go back to disarmed state.</string>
+               </property>
+               <property name="maximum">
+                <number>64</number>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QLabel" name="label_19">
+               <property name="text">
+                <string>seconds.</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <spacer name="horizontalSpacer_2">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>40</width>
+                 <height>20</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+            </layout>
            </item>
            <item>
-            <widget class="QPushButton" name="configurationWizard">
+            <widget class="QLabel" name="label_3">
              <property name="text">
-              <string>Start Configuration Wizard</string>
+              <string>Airframe disarm is done by throttle off and opposite of above combination.</string>
              </property>
             </widget>
            </item>
            <item>
-            <widget class="QCheckBox" name="runCalibration">
-             <property name="text">
-              <string>Run Calibration</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <spacer name="verticalSpacer_2">
+            <spacer name="verticalSpacer">
              <property name="orientation">
               <enum>Qt::Vertical</enum>
              </property>
              <property name="sizeHint" stdset="0">
               <size>
                <width>20</width>
-               <height>40</height>
+               <height>467</height>
               </size>
              </property>
             </spacer>
            </item>
           </layout>
          </widget>
-         <widget class="QWidget" name="wizard">
-          <layout class="QVBoxLayout" name="verticalLayout_5">
-           <item>
-            <widget class="QLabel" name="wzText">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>0</width>
-               <height>90</height>
-              </size>
-             </property>
-             <property name="text">
-              <string>TextLabel</string>
-             </property>
-             <property name="wordWrap">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <layout class="QHBoxLayout" name="horizontalLayout_4">
-             <item>
-              <widget class="QGraphicsView" name="graphicsView"/>
-             </item>
-             <item>
-              <layout class="QVBoxLayout" name="checkBoxesLayout"/>
-             </item>
-            </layout>
-           </item>
-           <item>
-            <layout class="QHBoxLayout" name="horizontalLayout_3">
-             <item>
-              <widget class="QPushButton" name="wzBack">
-               <property name="text">
-                <string>Back</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QPushButton" name="wzNext">
-               <property name="text">
-                <string>Next</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QPushButton" name="wzCancel">
-               <property name="text">
-                <string>Cancel</string>
-               </property>
-              </widget>
-             </item>
-            </layout>
-           </item>
-          </layout>
-         </widget>
         </widget>
        </item>
       </layout>
      </widget>
-     <widget class="QWidget" name="tab_3">
-      <attribute name="title">
-       <string>Flight Mode Switch Settings</string>
-      </attribute>
-      <widget class="QGroupBox" name="groupBox">
-       <property name="geometry">
-        <rect>
-         <x>30</x>
-         <y>260</y>
-         <width>541</width>
-         <height>161</height>
-        </rect>
-       </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
-       <property name="title">
-        <string>Configure each stabilization mode for each axis</string>
-       </property>
-       <layout class="QGridLayout" name="gridLayout_2">
-        <item row="1" column="3">
-         <widget class="QLabel" name="label_10">
-          <property name="styleSheet">
-           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-          </property>
-          <property name="text">
-           <string>Yaw</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignCenter</set>
-          </property>
-         </widget>
-        </item>
-        <item row="2" column="0">
-         <widget class="QLabel" name="label_14">
-          <property name="text">
-           <string>Stabilized1</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignCenter</set>
-          </property>
-         </widget>
-        </item>
-        <item row="2" column="1">
-         <widget class="QComboBox" name="fmsSsPos1Roll">
-          <property name="minimumSize">
-           <size>
-            <width>102</width>
-            <height>0</height>
-           </size>
-          </property>
-          <property name="focusPolicy">
-           <enum>Qt::StrongFocus</enum>
-          </property>
-         </widget>
-        </item>
-        <item row="2" column="2">
-         <widget class="QComboBox" name="fmsSsPos1Pitch">
-          <property name="minimumSize">
-           <size>
-            <width>102</width>
-            <height>0</height>
-           </size>
-          </property>
-          <property name="focusPolicy">
-           <enum>Qt::StrongFocus</enum>
-          </property>
-         </widget>
-        </item>
-        <item row="2" column="3">
-         <widget class="QComboBox" name="fmsSsPos1Yaw">
-          <property name="minimumSize">
-           <size>
-            <width>102</width>
-            <height>0</height>
-           </size>
-          </property>
-          <property name="focusPolicy">
-           <enum>Qt::StrongFocus</enum>
-          </property>
-         </widget>
-        </item>
-        <item row="3" column="0">
-         <widget class="QLabel" name="label_21">
-          <property name="text">
-           <string>Stabilized2</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignCenter</set>
-          </property>
-         </widget>
-        </item>
-        <item row="3" column="1">
-         <widget class="QComboBox" name="fmsSsPos2Roll">
-          <property name="focusPolicy">
-           <enum>Qt::StrongFocus</enum>
-          </property>
-         </widget>
-        </item>
-        <item row="3" column="2">
-         <widget class="QComboBox" name="fmsSsPos2Pitch">
-          <property name="focusPolicy">
-           <enum>Qt::StrongFocus</enum>
-          </property>
-         </widget>
-        </item>
-        <item row="3" column="3">
-         <widget class="QComboBox" name="fmsSsPos2Yaw">
-          <property name="focusPolicy">
-           <enum>Qt::StrongFocus</enum>
-          </property>
-         </widget>
-        </item>
-        <item row="4" column="0">
-         <widget class="QLabel" name="label_22">
-          <property name="text">
-           <string>Stabilized3</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignCenter</set>
-          </property>
-         </widget>
-        </item>
-        <item row="4" column="1">
-         <widget class="QComboBox" name="fmsSsPos3Roll">
-          <property name="focusPolicy">
-           <enum>Qt::StrongFocus</enum>
-          </property>
-         </widget>
-        </item>
-        <item row="4" column="2">
-         <widget class="QComboBox" name="fmsSsPos3Pitch">
-          <property name="focusPolicy">
-           <enum>Qt::StrongFocus</enum>
-          </property>
-         </widget>
-        </item>
-        <item row="4" column="3">
-         <widget class="QComboBox" name="fmsSsPos3Yaw">
-          <property name="focusPolicy">
-           <enum>Qt::StrongFocus</enum>
-          </property>
-         </widget>
-        </item>
-        <item row="1" column="1">
-         <widget class="QLabel" name="label_8">
-          <property name="styleSheet">
-           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-          </property>
-          <property name="text">
-           <string>Roll</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignCenter</set>
-          </property>
-         </widget>
-        </item>
-        <item row="1" column="2">
-         <widget class="QLabel" name="label_9">
-          <property name="styleSheet">
-           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-          </property>
-          <property name="text">
-           <string>Pitch</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignCenter</set>
-          </property>
-         </widget>
-        </item>
-        <item row="0" column="1">
-         <spacer name="verticalSpacer_3">
-          <property name="orientation">
-           <enum>Qt::Vertical</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>20</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-       </layout>
-      </widget>
-      <widget class="QGroupBox" name="groupBox_2">
-       <property name="geometry">
-        <rect>
-         <x>30</x>
-         <y>20</y>
-         <width>541</width>
-         <height>211</height>
-        </rect>
-       </property>
-       <property name="title">
-        <string>FlightMode Switch Positions</string>
-       </property>
-       <widget class="QComboBox" name="fmsModePos5">
-        <property name="enabled">
-         <bool>false</bool>
-        </property>
-        <property name="geometry">
-         <rect>
-          <x>100</x>
-          <y>140</y>
-          <width>151</width>
-          <height>26</height>
-         </rect>
-        </property>
-        <property name="focusPolicy">
-         <enum>Qt::StrongFocus</enum>
-        </property>
-       </widget>
-       <widget class="QComboBox" name="fmsModePos4">
-        <property name="enabled">
-         <bool>false</bool>
-        </property>
-        <property name="geometry">
-         <rect>
-          <x>100</x>
-          <y>110</y>
-          <width>151</width>
-          <height>26</height>
-         </rect>
-        </property>
-        <property name="focusPolicy">
-         <enum>Qt::StrongFocus</enum>
-        </property>
-        <property name="toolTip">
-         <string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
-        </property>
-       </widget>
-       <widget class="QLabel" name="label_pos4">
-        <property name="geometry">
-         <rect>
-          <x>10</x>
-          <y>115</y>
-          <width>62</width>
-          <height>17</height>
-         </rect>
-        </property>
-        <property name="text">
-         <string>Pos. 4</string>
-        </property>
-       </widget>
-       <widget class="QComboBox" name="fmsModePos6">
-        <property name="enabled">
-         <bool>false</bool>
-        </property>
-        <property name="geometry">
-         <rect>
-          <x>100</x>
-          <y>170</y>
-          <width>151</width>
-          <height>26</height>
-         </rect>
-        </property>
-        <property name="focusPolicy">
-         <enum>Qt::StrongFocus</enum>
-        </property>
-       </widget>
-       <widget class="QLabel" name="label_pos5">
-        <property name="geometry">
-         <rect>
-          <x>10</x>
-          <y>145</y>
-          <width>62</width>
-          <height>17</height>
-         </rect>
-        </property>
-        <property name="text">
-         <string>Pos. 5</string>
-        </property>
-       </widget>
-       <widget class="QLabel" name="label_pos6">
-        <property name="geometry">
-         <rect>
-          <x>10</x>
-          <y>175</y>
-          <width>62</width>
-          <height>17</height>
-         </rect>
-        </property>
-        <property name="text">
-         <string>Pos. 6</string>
-        </property>
-       </widget>
-       <widget class="QSlider" name="fmsSlider">
-        <property name="enabled">
-         <bool>false</bool>
-        </property>
-        <property name="geometry">
-         <rect>
-          <x>70</x>
-          <y>28</y>
-          <width>20</width>
-          <height>160</height>
-         </rect>
-        </property>
-        <property name="focusPolicy">
-         <enum>Qt::StrongFocus</enum>
-        </property>
-        <property name="toolTip">
-         <string>This slider moves when you move the flight mode switch
-on your remote. It shows currently active flight mode.
-
-Setup the flight mode channel on the RC Input tab if you have not done so already.</string>
-        </property>
-        <property name="minimum">
-         <number>0</number>
-        </property>
-        <property name="maximum">
-         <number>5</number>
-        </property>
-        <property name="pageStep">
-         <number>10</number>
-        </property>
-        <property name="value">
-         <number>0</number>
-        </property>
-        <property name="sliderPosition">
-         <number>0</number>
-        </property>
-        <property name="orientation">
-         <enum>Qt::Vertical</enum>
-        </property>
-        <property name="invertedAppearance">
-         <bool>true</bool>
-        </property>
-        <property name="tickPosition">
-         <enum>QSlider::TicksBelow</enum>
-        </property>
-        <property name="tickInterval">
-         <number>1</number>
-        </property>
-       </widget>
-       <widget class="QComboBox" name="fmsModePos2">
-        <property name="geometry">
-         <rect>
-          <x>100</x>
-          <y>50</y>
-          <width>151</width>
-          <height>26</height>
-         </rect>
-        </property>
-        <property name="focusPolicy">
-         <enum>Qt::StrongFocus</enum>
-        </property>
-       </widget>
-       <widget class="QComboBox" name="fmsModePos3">
-        <property name="geometry">
-         <rect>
-          <x>100</x>
-          <y>80</y>
-          <width>151</width>
-          <height>26</height>
-         </rect>
-        </property>
-        <property name="focusPolicy">
-         <enum>Qt::StrongFocus</enum>
-        </property>
-       </widget>
-       <widget class="QComboBox" name="fmsModePos1">
-        <property name="geometry">
-         <rect>
-          <x>100</x>
-          <y>20</y>
-          <width>151</width>
-          <height>26</height>
-         </rect>
-        </property>
-        <property name="focusPolicy">
-         <enum>Qt::StrongFocus</enum>
-        </property>
-        <property name="toolTip">
-         <string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
-        </property>
-       </widget>
-       <widget class="QLabel" name="label_pos2">
-        <property name="geometry">
-         <rect>
-          <x>11</x>
-          <y>55</y>
-          <width>62</width>
-          <height>17</height>
-         </rect>
-        </property>
-        <property name="text">
-         <string>Pos. 2</string>
-        </property>
-       </widget>
-       <widget class="QLabel" name="label_pos1">
-        <property name="geometry">
-         <rect>
-          <x>11</x>
-          <y>25</y>
-          <width>62</width>
-          <height>17</height>
-         </rect>
-        </property>
-        <property name="text">
-         <string>Pos. 1</string>
-        </property>
-       </widget>
-       <widget class="QLabel" name="label_pos3">
-        <property name="geometry">
-         <rect>
-          <x>11</x>
-          <y>85</y>
-          <width>62</width>
-          <height>17</height>
-         </rect>
-        </property>
-        <property name="text">
-         <string>Pos. 3</string>
-        </property>
-       </widget>
-       <widget class="QSpinBox" name="fmsPosNum">
-        <property name="geometry">
-         <rect>
-          <x>458</x>
-          <y>20</y>
-          <width>61</width>
-          <height>20</height>
-         </rect>
-        </property>
-        <property name="toolTip">
-         <string>Number of positions your FlightMode switch has.
-
-Default is 3.
-
-It will be 2 or 3 for most of setups, but it also can be up to 6.
-In that case you have to configure your radio mixers so the whole range
-from min to max is split into N equal intervals, and you may set arbitrary
-channel value for each flight mode.</string>
-        </property>
-        <property name="minimum">
-         <number>1</number>
-        </property>
-        <property name="maximum">
-         <number>6</number>
-        </property>
-        <property name="value">
-         <number>3</number>
-        </property>
-       </widget>
-       <widget class="QLabel" name="label">
-        <property name="geometry">
-         <rect>
-          <x>277</x>
-          <y>22</y>
-          <width>171</width>
-          <height>16</height>
-         </rect>
-        </property>
-        <property name="text">
-         <string>Number of flight modes:</string>
-        </property>
-       </widget>
-       <widget class="QLabel" name="label_15">
-        <property name="geometry">
-         <rect>
-          <x>310</x>
-          <y>120</y>
-          <width>191</width>
-          <height>30</height>
-         </rect>
-        </property>
-        <property name="font">
-         <font>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Avoid &quot;Manual&quot; for multirotors!</string>
-        </property>
-        <property name="wordWrap">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </widget>
-      <zorder>groupBox_2</zorder>
-      <zorder>groupBox</zorder>
-     </widget>
-     <widget class="QWidget" name="tab_4">
-      <attribute name="title">
-       <string>Arming Settings</string>
-      </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_2">
-       <item>
-        <layout class="QHBoxLayout" name="horizontalLayout">
-         <item>
-          <widget class="QLabel" name="label_17">
-           <property name="font">
-            <font>
-             <weight>50</weight>
-             <bold>false</bold>
-            </font>
-           </property>
-           <property name="text">
-            <string>Arm airframe using throttle off and:</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QComboBox" name="armControl">
-           <property name="focusPolicy">
-            <enum>Qt::StrongFocus</enum>
-           </property>
-           <property name="toolTip">
-            <string>Indicate the control used for arming the airframe, in addition to setting the throttle to its minimum position. In other terms &quot;Throttle Off&quot;.</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <spacer name="horizontalSpacer">
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>40</width>
-             <height>20</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
-        </layout>
-       </item>
-       <item>
-        <layout class="QHBoxLayout" name="horizontalLayout_2">
-         <item>
-          <widget class="QLabel" name="label_18">
-           <property name="text">
-            <string>Arming timeout:</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QSpinBox" name="armTimeout">
-           <property name="focusPolicy">
-            <enum>Qt::StrongFocus</enum>
-           </property>
-           <property name="toolTip">
-            <string>After the time indicated here, the frame go back to disarmed state.</string>
-           </property>
-           <property name="maximum">
-            <number>64</number>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QLabel" name="label_19">
-           <property name="text">
-            <string>seconds.</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <spacer name="horizontalSpacer_2">
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>40</width>
-             <height>20</height>
-            </size>
-           </property>
-          </spacer>
-         </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">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>40</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-      </layout>
-     </widget>
     </widget>
    </item>
    <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="saveRCInputToRAM">
-       <property name="toolTip">
-        <string>Send to OpenPilot but don't write in SD.
+    <widget class="QGroupBox" name="groupBox_3">
+     <property name="title">
+      <string/>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <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="saveRCInputToRAM">
+          <property name="minimumSize">
+           <size>
+            <width>60</width>
+            <height>28</height>
+           </size>
+          </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>
-     </item>
-     <item>
-      <widget class="QPushButton" name="saveRCInputToSD">
-       <property name="toolTip">
-        <string>Be sure to set the Neutral position on all sliders before sending!
+          </property>
+          <property name="styleSheet">
+           <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+          </property>
+          <property name="text">
+           <string>Apply</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="saveRCInputToSD">
+          <property name="minimumSize">
+           <size>
+            <width>60</width>
+            <height>28</height>
+           </size>
+          </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>
-     </item>
-    </layout>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+          </property>
+          <property name="text">
+           <string>Save</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
    </item>
   </layout>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/inputchannelform.ui b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui
index a32599c30..d78727f9a 100644
--- a/ground/openpilotgcs/src/plugins/config/inputchannelform.ui
+++ b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>767</width>
-    <height>58</height>
+    <height>59</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -166,7 +166,7 @@ font:bold;</string>
      </property>
      <property name="minimumSize">
       <size>
-       <width>0</width>
+       <width>45</width>
        <height>26</height>
       </size>
      </property>
diff --git a/ground/openpilotgcs/src/plugins/config/output.ui b/ground/openpilotgcs/src/plugins/config/output.ui
index de87ef7eb..b2e8c9ca2 100644
--- a/ground/openpilotgcs/src/plugins/config/output.ui
+++ b/ground/openpilotgcs/src/plugins/config/output.ui
@@ -6,475 +6,650 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>659</width>
-    <height>523</height>
+    <width>664</width>
+    <height>791</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
+  <layout class="QVBoxLayout" name="verticalLayout_4">
+   <property name="spacing">
+    <number>12</number>
+   </property>
    <item>
-    <widget class="QFrame" name="frame">
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="tabShape">
+      <enum>QTabWidget::Rounded</enum>
      </property>
-     <property name="frameShadow">
-      <enum>QFrame::Raised</enum>
+     <property name="currentIndex">
+      <number>0</number>
      </property>
-     <layout class="QGridLayout" name="gridLayout">
-      <property name="leftMargin">
-       <number>1</number>
-      </property>
-      <property name="topMargin">
-       <number>1</number>
-      </property>
-      <property name="rightMargin">
-       <number>1</number>
-      </property>
-      <property name="bottomMargin">
-       <number>3</number>
-      </property>
-      <property name="spacing">
-       <number>2</number>
-      </property>
-      <item row="0" column="0">
-       <layout class="QHBoxLayout" name="horizontalLayout_6">
-        <item>
-         <spacer name="horizontalSpacer_3">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeType">
-           <enum>QSizePolicy::Minimum</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QLabel" name="label_9">
-          <property name="font">
-           <font>
-            <weight>75</weight>
-            <bold>true</bold>
-           </font>
-          </property>
-          <property name="text">
-           <string>Channel:</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     <property name="elideMode">
+      <enum>Qt::ElideMiddle</enum>
+     </property>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>Output</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <property name="leftMargin">
+        <number>12</number>
+       </property>
+       <property name="rightMargin">
+        <number>12</number>
+       </property>
+       <property name="bottomMargin">
+        <number>12</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>610</width>
+            <height>634</height>
+           </rect>
           </property>
+          <layout class="QVBoxLayout" name="verticalLayout">
+           <item>
+            <widget class="QGroupBox" name="groupBox_2">
+             <property name="title">
+              <string/>
+             </property>
+             <layout class="QGridLayout" name="gridLayout">
+              <item row="0" column="0">
+               <spacer name="horizontalSpacer_3">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Minimum</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>25</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_9">
+                <property name="font">
+                 <font>
+                  <weight>75</weight>
+                  <bold>true</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>Channel:</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="2">
+               <widget class="QLabel" name="chBank1">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="3">
+               <widget class="QLabel" name="chBank2">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="4">
+               <widget class="QLabel" name="chBank3">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="5">
+               <widget class="QLabel" name="chBank4">
+                <property name="text">
+                 <string>-</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <spacer name="horizontalSpacer_4">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Minimum</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>25</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="1" column="1">
+               <widget class="QLabel" name="label_3">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="font">
+                 <font>
+                  <weight>75</weight>
+                  <bold>true</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>Update rate:</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QComboBox" name="cb_outputRate1">
+                <property name="enabled">
+                 <bool>false</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
+Leave at 50Hz for fixed wing.</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>50</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>60</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>125</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>165</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>270</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>330</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>400</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="3">
+               <widget class="QComboBox" name="cb_outputRate2">
+                <property name="enabled">
+                 <bool>false</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
+Leave at 50Hz for fixed wing.</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>50</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>60</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>125</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>165</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>270</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>330</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>400</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="4">
+               <widget class="QComboBox" name="cb_outputRate3">
+                <property name="enabled">
+                 <bool>false</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
+Leave at 50Hz for fixed wing.</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>50</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>60</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>125</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>165</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>270</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>330</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>400</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="5">
+               <widget class="QComboBox" name="cb_outputRate4">
+                <property name="enabled">
+                 <bool>false</bool>
+                </property>
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
+Leave at 50Hz for fixed wing.</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>50</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>60</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>125</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>165</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>270</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>330</string>
+                 </property>
+                </item>
+                <item>
+                 <property name="text">
+                  <string>400</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <layout class="QVBoxLayout" name="channelLayout">
+             <property name="spacing">
+              <number>0</number>
+             </property>
+             <property name="sizeConstraint">
+              <enum>QLayout::SetNoConstraint</enum>
+             </property>
+            </layout>
+           </item>
+           <item>
+            <layout class="QHBoxLayout" name="horizontalLayout_2">
+             <item>
+              <widget class="QCheckBox" name="spinningArmed">
+               <property name="minimumSize">
+                <size>
+                 <width>519</width>
+                 <height>0</height>
+                </size>
+               </property>
+               <property name="text">
+                <string>Motors spin at neutral output when armed and throttle below zero (be careful)</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <spacer name="horizontalSpacer_2">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>40</width>
+                 <height>20</height>
+                </size>
+               </property>
+              </spacer>
+             </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>458</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
          </widget>
-        </item>
-       </layout>
-      </item>
-      <item row="1" column="0">
-       <layout class="QHBoxLayout" name="horizontalLayout_7">
-        <item>
-         <spacer name="horizontalSpacer_4">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeType">
-           <enum>QSizePolicy::Minimum</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QLabel" name="label_3">
-          <property name="font">
-           <font>
-            <weight>75</weight>
-            <bold>true</bold>
-           </font>
-          </property>
-          <property name="text">
-           <string>Update rate:</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item row="1" column="1">
-       <widget class="QComboBox" name="cb_outputRate1">
-        <property name="enabled">
-         <bool>false</bool>
-        </property>
-        <property name="toolTip">
-         <string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
-Leave at 50Hz for fixed wing.</string>
-        </property>
-        <item>
-         <property name="text">
-          <string>50</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>60</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>125</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>165</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>270</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>330</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>400</string>
-         </property>
-        </item>
-       </widget>
-      </item>
-      <item row="1" column="2">
-       <widget class="QComboBox" name="cb_outputRate2">
-        <property name="enabled">
-         <bool>false</bool>
-        </property>
-        <property name="toolTip">
-         <string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
-Leave at 50Hz for fixed wing.</string>
-        </property>
-        <item>
-         <property name="text">
-          <string>50</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>60</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>125</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>165</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>270</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>330</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>400</string>
-         </property>
-        </item>
-       </widget>
-      </item>
-      <item row="1" column="3">
-       <widget class="QComboBox" name="cb_outputRate3">
-        <property name="enabled">
-         <bool>false</bool>
-        </property>
-        <property name="toolTip">
-         <string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
-Leave at 50Hz for fixed wing.</string>
-        </property>
-        <item>
-         <property name="text">
-          <string>50</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>60</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>125</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>165</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>270</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>330</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>400</string>
-         </property>
-        </item>
-       </widget>
-      </item>
-      <item row="1" column="4">
-       <widget class="QComboBox" name="cb_outputRate4">
-        <property name="enabled">
-         <bool>false</bool>
-        </property>
-        <property name="toolTip">
-         <string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
-Leave at 50Hz for fixed wing.</string>
-        </property>
-        <item>
-         <property name="text">
-          <string>50</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>60</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>125</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>165</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>270</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>330</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>400</string>
-         </property>
-        </item>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QLabel" name="chBank1">
-        <property name="text">
-         <string>-</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="2">
-       <widget class="QLabel" name="chBank2">
-        <property name="text">
-         <string>-</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="3">
-       <widget class="QLabel" name="chBank3">
-        <property name="text">
-         <string>-</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="4">
-       <widget class="QLabel" name="chBank4">
-        <property name="text">
-         <string>-</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
-        </property>
-       </widget>
-      </item>
-     </layout>
+        </widget>
+       </item>
+      </layout>
+     </widget>
     </widget>
    </item>
    <item>
-    <layout class="QVBoxLayout" name="channelLayout"/>
-   </item>
-   <item>
-    <spacer name="verticalSpacer_2">
-     <property name="orientation">
-      <enum>Qt::Vertical</enum>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string/>
      </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>20</width>
-       <height>40</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <item>
-      <widget class="QCheckBox" name="spinningArmed">
-       <property name="text">
-        <string>Motors spin at neutral output when armed and throttle below zero (be careful)</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_2">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </item>
-   <item>
-    <spacer name="verticalSpacer">
-     <property name="orientation">
-      <enum>Qt::Vertical</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>20</width>
-       <height>40</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <item>
-      <widget class="QCheckBox" name="channelOutTest">
-       <property name="enabled">
-        <bool>true</bool>
-       </property>
-       <property name="toolTip">
-        <string>Move the servos using the sliders. Two important things:
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <item>
+         <widget class="QCheckBox" name="channelOutTest">
+          <property name="enabled">
+           <bool>true</bool>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>105</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Move the servos using the sliders. Two important things:
 - Take extra care if the output is connected to an motor controller!
 - Will only work if the RC receiver is working (failsafe)</string>
-       </property>
-       <property name="text">
-        <string>Test outputs</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="outputHelp">
-       <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="saveRCOutputToRAM">
-       <property name="toolTip">
-        <string>Send to OpenPilot but don't write in SD.
+          </property>
+          <property name="text">
+           <string>Test outputs</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <spacer name="horizontalSpacer">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <widget class="QPushButton" name="outputHelp">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>32</width>
+            <height>32</height>
+           </size>
+          </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="saveRCOutputToRAM">
+          <property name="minimumSize">
+           <size>
+            <width>60</width>
+            <height>28</height>
+           </size>
+          </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>
-     </item>
-     <item>
-      <widget class="QPushButton" name="saveRCOutputToSD">
-       <property name="toolTip">
-        <string>Be sure to set the Neutral position on all sliders before sending!
+          </property>
+          <property name="styleSheet">
+           <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+          </property>
+          <property name="text">
+           <string>Apply</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="saveRCOutputToSD">
+          <property name="minimumSize">
+           <size>
+            <width>60</width>
+            <height>28</height>
+           </size>
+          </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>
-     </item>
-    </layout>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+          </property>
+          <property name="text">
+           <string>Save</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
    </item>
   </layout>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 3f985a66e..b09ff05ca 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>738</width>
-    <height>748</height>
+    <width>786</width>
+    <height>993</height>
    </rect>
   </property>
   <property name="palette">
@@ -440,68 +440,86 @@
   <property name="documentMode" stdset="0">
    <bool>false</bool>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
+  <layout class="QVBoxLayout" name="verticalLayout_2">
+   <property name="spacing">
+    <number>12</number>
+   </property>
+   <property name="margin">
+    <number>12</number>
+   </property>
    <item>
-    <layout class="QVBoxLayout" name="verticalLayout_2">
-     <item>
-      <widget class="QTabWidget" name="tabWidget">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::TabFocus</enum>
+     </property>
+     <property name="acceptDrops">
+      <bool>false</bool>
+     </property>
+     <property name="autoFillBackground">
+      <bool>false</bool>
+     </property>
+     <property name="tabPosition">
+      <enum>QTabWidget::North</enum>
+     </property>
+     <property name="tabShape">
+      <enum>QTabWidget::Rounded</enum>
+     </property>
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <property name="documentMode">
+      <bool>false</bool>
+     </property>
+     <property name="tabsClosable">
+      <bool>false</bool>
+     </property>
+     <widget class="QWidget" name="Basic">
+      <attribute name="title">
+       <string>Basic</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <property name="spacing">
+        <number>12</number>
        </property>
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>0</height>
-        </size>
-       </property>
-       <property name="focusPolicy">
-        <enum>Qt::TabFocus</enum>
-       </property>
-       <property name="acceptDrops">
-        <bool>true</bool>
-       </property>
-       <property name="autoFillBackground">
-        <bool>true</bool>
-       </property>
-       <property name="tabPosition">
-        <enum>QTabWidget::North</enum>
-       </property>
-       <property name="currentIndex">
-        <number>0</number>
-       </property>
-       <property name="documentMode">
-        <bool>true</bool>
-       </property>
-       <widget class="QWidget" name="Basic">
-        <attribute name="title">
-         <string>Basic</string>
-        </attribute>
-        <layout class="QGridLayout" name="gridLayout_31">
-         <item row="0" column="0">
-          <widget class="QScrollArea" name="scrollArea">
-           <property name="frameShape">
-            <enum>QFrame::NoFrame</enum>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="lineWidth">
+          <number>0</number>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents_3">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>732</width>
+            <height>832</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_8">
+           <property name="spacing">
+            <number>12</number>
            </property>
-           <property name="lineWidth">
-            <number>0</number>
-           </property>
-           <property name="widgetResizable">
-            <bool>true</bool>
-           </property>
-           <widget class="QWidget" name="scrollAreaWidgetContents_3">
-            <property name="geometry">
-             <rect>
-              <x>0</x>
-              <y>0</y>
-              <width>673</width>
-              <height>790</height>
-             </rect>
-            </property>
-            <layout class="QGridLayout" name="gridLayout_23">
-             <item row="0" column="0">
+           <item>
+            <layout class="QHBoxLayout" name="horizontalLayout_8">
+             <item>
               <spacer name="horizontalSpacer_15">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -517,7 +535,7 @@
                </property>
               </spacer>
              </item>
-             <item row="0" column="1">
+             <item>
               <widget class="QLabel" name="label_137">
                <property name="minimumSize">
                 <size>
@@ -530,50 +548,41 @@
                </property>
               </widget>
              </item>
-             <item row="1" column="0" colspan="3">
-              <widget class="QGroupBox" name="RateStabilizationGroup_15">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="minimumSize">
-                <size>
-                 <width>0</width>
-                 <height>181</height>
-                </size>
-               </property>
-               <property name="maximumSize">
-                <size>
-                 <width>16777215</width>
-                 <height>181</height>
-                </size>
-               </property>
-               <property name="title">
-                <string/>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-               </property>
-               <layout class="QGridLayout" name="gridLayout_24">
-                <item row="0" column="0">
-                 <spacer name="horizontalSpacer_17">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeType">
-                   <enum>QSizePolicy::Fixed</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>10</width>
-                    <height>10</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item row="0" column="1">
+            </layout>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="RateStabilizationGroup_15">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>181</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>181</height>
+              </size>
+             </property>
+             <property name="title">
+              <string/>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_16">
+              <item row="0" column="0">
+               <layout class="QHBoxLayout" name="horizontalLayout">
+                <property name="spacing">
+                 <number>4</number>
+                </property>
+                <item>
                  <widget class="QCheckBox" name="checkBox_7">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -592,7 +601,65 @@
                   </property>
                  </widget>
                 </item>
-                <item row="0" column="3">
+                <item>
+                 <widget class="QPushButton" name="pushButton_19">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>51</width>
+                    <height>28</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="toolTip">
+                   <string>Takes you to the online wiki page for Rate settings</string>
+                  </property>
+                  <property name="autoFillBackground">
+                   <bool>false</bool>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+                  </property>
+                  <property name="text">
+                   <string>Wiki</string>
+                  </property>
+                  <property name="objrelation" stdset="0">
+                   <stringlist>
+                    <string>button:help</string>
+                    <string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
+                   </stringlist>
+                  </property>
+                 </widget>
+                </item>
+                <item>
                  <widget class="QPushButton" name="pushButton_20">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -612,6 +679,9 @@
                     <height>28</height>
                    </size>
                   </property>
+                  <property name="toolTip">
+                   <string>Reset all values to GCS defaults</string>
+                  </property>
                   <property name="autoFillBackground">
                    <bool>false</bool>
                   </property>
@@ -647,8 +717,3356 @@ border-radius: 4;
                   </property>
                  </widget>
                 </item>
-                <item row="0" column="2">
-                 <widget class="QPushButton" name="pushButton_19">
+               </layout>
+              </item>
+              <item row="1" column="0">
+               <widget class="QGroupBox" name="RateStabilizationGroup_16">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>131</height>
+                 </size>
+                </property>
+                <property name="palette">
+                 <palette>
+                  <active>
+                   <colorrole role="WindowText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Button">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="0">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Light">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>255</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Midlight">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>251</red>
+                      <green>251</green>
+                      <blue>251</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Dark">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>124</red>
+                      <green>124</green>
+                      <blue>124</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Mid">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>165</red>
+                      <green>165</green>
+                      <blue>165</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Text">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="BrightText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>255</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="ButtonText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
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+                   </colorrole>
+                   <colorrole role="Base">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="0">
+                      <red>0</red>
+                      <green>0</green>
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+                      <red>0</red>
+                      <green>0</green>
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+                    <brush brushstyle="SolidPattern">
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+                      <green>0</green>
+                      <blue>0</blue>
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+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>251</red>
+                      <green>251</green>
+                      <blue>251</blue>
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+                   </colorrole>
+                   <colorrole role="ToolTipBase">
+                    <brush brushstyle="SolidPattern">
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+                      <red>255</red>
+                      <green>255</green>
+                      <blue>220</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
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+                    <brush brushstyle="SolidPattern">
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+                      <red>0</red>
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+                   </colorrole>
+                  </active>
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+                   <colorrole role="WindowText">
+                    <brush brushstyle="SolidPattern">
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+                      <red>255</red>
+                      <green>255</green>
+                      <blue>255</blue>
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+                   <colorrole role="Midlight">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>251</red>
+                      <green>251</green>
+                      <blue>251</blue>
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+                      <green>124</green>
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+                      <red>124</red>
+                      <green>124</green>
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+                    <brush brushstyle="SolidPattern">
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+                      <red>255</red>
+                      <green>255</green>
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+                     <color alpha="255">
+                      <red>251</red>
+                      <green>251</green>
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+                      <green>124</green>
+                      <blue>124</blue>
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+                   </colorrole>
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+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>165</red>
+                      <green>165</green>
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+                    </brush>
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+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>124</red>
+                      <green>124</green>
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+                      <green>255</green>
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+                    <brush brushstyle="SolidPattern">
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+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                  </disabled>
+                 </palette>
+                </property>
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <italic>false</italic>
+                  <bold>false</bold>
+                  <kerning>true</kerning>
+                 </font>
+                </property>
+                <property name="autoFillBackground">
+                 <bool>false</bool>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="title">
+                 <string/>
+                </property>
+                <property name="flat">
+                 <bool>true</bool>
+                </property>
+                <layout class="QGridLayout" name="gridLayout_11">
+                 <item row="0" column="0">
+                  <spacer name="horizontalSpacer_44">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="0" column="1">
+                  <widget class="QLabel" name="label_138">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
+                    </size>
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+                   <property name="palette">
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+                         <red>58</red>
+                         <green>58</green>
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+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
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+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
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+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
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+                         <gradientstop position="0.786070000000000">
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+                           <green>36</green>
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+                         <green>0</green>
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+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Pitch</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="4">
+                  <spacer name="horizontalSpacer_20">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="0" column="5">
+                  <widget class="QLabel" name="label_140">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                           <green>74</green>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
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+                           <green>36</green>
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+                          </color>
+                         </gradientstop>
+                        </gradient>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
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+                        </color>
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+                      </colorrole>
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+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
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+                        </color>
+                       </brush>
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+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
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+                         <green>26</green>
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+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
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+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
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+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
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+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
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+                          </color>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
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+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
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+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
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+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
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+                        </color>
+                       </brush>
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+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
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+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
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+                         </gradientstop>
+                        </gradient>
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+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
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+                         <green>0</green>
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+                        </color>
+                       </brush>
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+                         <green>255</green>
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+                         <green>0</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
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+                         <green>48</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
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+                         <green>255</green>
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+                         <green>255</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                          <color alpha="255">
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+                       <brush brushstyle="SolidPattern">
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+                         <green>0</green>
+                         <blue>0</blue>
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+                        <color alpha="255">
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+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
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+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
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+                        <color alpha="255">
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+                         <green>0</green>
+                         <blue>0</blue>
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+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Yaw</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="6">
+                  <spacer name="horizontalSpacer_45">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QLabel" name="label_141">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>78</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Proportional</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="1">
+                  <widget class="QSlider" name="horizontalSlider_76">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="value">
+                    <number>51</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>51</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="2">
+                  <widget class="QSpinBox" name="spinBox_7">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="3">
+                  <widget class="QSlider" name="PitchPSlider">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="4">
+                  <widget class="QSpinBox" name="spinBox_PitchRateP">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="5">
+                  <widget class="QSlider" name="horizontalSlider_78">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="6">
+                  <widget class="QSpinBox" name="spinBox_12">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_145">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Integral</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="1">
+                  <widget class="QSlider" name="horizontalSlider_79">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="2">
+                  <widget class="QSpinBox" name="spinBox_8">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="3">
+                  <widget class="QSlider" name="horizontalSlider_80">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="4">
+                  <widget class="QSpinBox" name="spinBox_9">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="5">
+                  <widget class="QSlider" name="horizontalSlider_81">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="6">
+                  <widget class="QSpinBox" name="spinBox_10">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <layout class="QHBoxLayout" name="horizontalLayout_9">
+             <item>
+              <spacer name="horizontalSpacer_18">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>13</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item>
+              <widget class="QLabel" name="label_149">
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>16</height>
+                </size>
+               </property>
+               <property name="text">
+                <string>Attitude Stabilization (Outer Loop)</string>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="RateStabilizationGroup_17">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>181</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>181</height>
+              </size>
+             </property>
+             <property name="palette">
+              <palette>
+               <active>
+                <colorrole role="WindowText">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>0</red>
+                   <green>0</green>
+                   <blue>0</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+                <colorrole role="Button">
+                 <brush brushstyle="LinearGradientPattern">
+                  <gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
+                   <gradientstop position="0.000000000000000">
+                    <color alpha="255">
+                     <red>243</red>
+                     <green>243</green>
+                     <blue>243</blue>
+                    </color>
+                   </gradientstop>
+                   <gradientstop position="1.000000000000000">
+                    <color alpha="255">
+                     <red>250</red>
+                     <green>250</green>
+                     <blue>250</blue>
+                    </color>
+                   </gradientstop>
+                  </gradient>
+                 </brush>
+                </colorrole>
+                <colorrole role="Light">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>255</red>
+                   <green>255</green>
+                   <blue>255</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+                <colorrole role="Midlight">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>251</red>
+                   <green>251</green>
+                   <blue>251</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+                <colorrole role="Dark">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>124</red>
+                   <green>124</green>
+                   <blue>124</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+                <colorrole role="Mid">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>165</red>
+                   <green>165</green>
+                   <blue>165</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+                <colorrole role="Text">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>0</red>
+                   <green>0</green>
+                   <blue>0</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+                <colorrole role="BrightText">
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@@ -702,3339 +4114,23 @@ border-radius: 4;
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-                    <height>10</height>
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-                  <property name="text">
-                   <string>Link Roll and Pitch</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="0" column="4">
+                <item>
                  <widget class="QPushButton" name="pushButton_22">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
                   <property name="minimumSize">
                    <size>
                     <width>81</width>
                     <height>28</height>
                    </size>
                   </property>
+                  <property name="toolTip">
+                   <string>Reset all values to GCS defaults</string>
+                  </property>
                   <property name="styleSheet">
                    <string notr="true">QPushButton {
 border: 1px outset #999;
@@ -4067,2742 +4163,2697 @@ border-radius: 4;
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-
-QPushButton:hover  {
-	border: 1px outset #999;	
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-border-radius: 4;
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+              <item>
+               <widget class="QGroupBox" name="RateStabilizationGroup_18">
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+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Pitch</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="5">
+                  <widget class="QLabel" name="label_152">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </active>
+                     <inactive>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </inactive>
+                     <disabled>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Yaw</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QLabel" name="label_153">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>78</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Proportional</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="1">
+                  <widget class="QSlider" name="horizontalSlider_82">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollPI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="2">
+                  <widget class="QSpinBox" name="spinBox_13">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollPI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="3">
+                  <widget class="QSlider" name="horizontalSlider_83">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="4">
+                  <widget class="QSpinBox" name="spinBox_14">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
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+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
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+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
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+                   <property name="objrelation" stdset="0">
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+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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+                   <property name="minimumSize">
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+                     <height>25</height>
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+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
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+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawPI</string>
+                     <string>element:Kp</string>
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+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
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+                  <widget class="QSpinBox" name="spinBox_15">
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+                   <property name="maximumSize">
+                    <size>
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+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
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+                   <property name="maximum">
+                    <number>200</number>
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+                   <property name="value">
+                    <number>200</number>
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+                   <property name="objrelation" stdset="0">
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+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
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+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
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+                   <property name="styleSheet">
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+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
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+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
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+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
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+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
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+                   <property name="maximumSize">
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+                     <height>22</height>
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+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
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+                   <property name="value">
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+                   <property name="objrelation" stdset="0">
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+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
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+                   <property name="minimumSize">
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+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
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+                   <property name="styleSheet">
+                    <string notr="true"/>
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+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
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+                   </property>
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+                 </item>
+                 <item row="2" column="4">
+                  <widget class="QSpinBox" name="spinBox_19">
+                   <property name="minimumSize">
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+                     <height>22</height>
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+                   <property name="maximumSize">
+                    <size>
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+                     <height>22</height>
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+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
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+                     <string>fieldname:PitchPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
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+                 </item>
+                 <item row="2" column="5">
+                  <widget class="QSlider" name="horizontalSlider_87">
+                   <property name="sizePolicy">
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+                     <verstretch>0</verstretch>
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+                   <property name="minimumSize">
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+                     <height>25</height>
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+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
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+                   <property name="styleSheet">
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+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
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+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
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+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
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+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="6">
+                  <widget class="QSpinBox" name="spinBox_20">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
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+                     <string>fieldname:YawPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="2">
+                  <spacer name="horizontalSpacer_2">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="0" column="4">
+                  <spacer name="horizontalSpacer_5">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="0" column="0">
+                  <spacer name="horizontalSpacer_46">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="0" column="6">
+                  <spacer name="horizontalSpacer_47">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <layout class="QHBoxLayout" name="horizontalLayout_10">
+             <item>
               <spacer name="horizontalSpacer_21">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -6818,7 +6869,7 @@ border-radius: 4;
                </property>
               </spacer>
              </item>
-             <item row="4" column="1">
+             <item>
               <widget class="QLabel" name="label_161">
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@@ -6831,571 +6882,587 @@ border-radius: 4;
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+           <item>
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+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
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+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>211</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>211</height>
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+              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_4">
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_3">
+                <property name="spacing">
+                 <number>4</number>
+                </property>
+                <item>
                  <spacer name="horizontalSpacer_22">
                   <property name="orientation">
                    <enum>Qt::Horizontal</enum>
                   </property>
                   <property name="sizeType">
-                   <enum>QSizePolicy::Preferred</enum>
+                   <enum>QSizePolicy::Expanding</enum>
                   </property>
                   <property name="sizeHint" stdset="0">
                    <size>
-                    <width>1000</width>
-                    <height>10</height>
+                    <width>474</width>
+                    <height>13</height>
                    </size>
                   </property>
                  </spacer>
                 </item>
-                <item row="0" column="1">
+                <item>
                  <widget class="QPushButton" name="pushButton_23">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
                   <property name="minimumSize">
                    <size>
                     <width>51</width>
                     <height>28</height>
                    </size>
                   </property>
+                  <property name="toolTip">
+                   <string>Takes you to the online wiki page for Stick settings</string>
+                  </property>
                   <property name="styleSheet">
                    <string notr="true">QPushButton {
 border: 1px outset #999;
@@ -7428,7 +7495,7 @@ border-radius: 4;
                   </property>
                  </widget>
                 </item>
-                <item row="0" column="2">
+                <item>
                  <widget class="QPushButton" name="pushButton_24">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -7442,6 +7509,9 @@ border-radius: 4;
                     <height>28</height>
                    </size>
                   </property>
+                  <property name="toolTip">
+                   <string>Reset all values to GCS defaults</string>
+                  </property>
                   <property name="styleSheet">
                    <string notr="true">QPushButton {
 border: 1px outset #999;
@@ -7474,3731 +7544,3063 @@ border-radius: 4;
                   </property>
                  </widget>
                 </item>
-                <item row="1" column="0" colspan="3">
-                 <widget class="QGroupBox" name="RateStabilizationGroup_20">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>0</width>
-                    <height>161</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>16777215</width>
-                    <height>161</height>
-                   </size>
-                  </property>
-                  <property name="palette">
-                   <palette>
-                    <active>
-                     <colorrole role="WindowText">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Button">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="0">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Light">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>255</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Midlight">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>251</red>
-                        <green>251</green>
-                        <blue>251</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Dark">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>124</red>
-                        <green>124</green>
-                        <blue>124</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Mid">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>165</red>
-                        <green>165</green>
-                        <blue>165</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Text">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="BrightText">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>255</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="ButtonText">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
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-                      </brush>
-                     </colorrole>
-                     <colorrole role="Base">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="0">
-                        <red>0</red>
-                        <green>0</green>
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-                     <colorrole role="Window">
-                      <brush brushstyle="SolidPattern">
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-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
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-                     </colorrole>
-                     <colorrole role="Shadow">
-                      <brush brushstyle="SolidPattern">
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-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
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-                     <colorrole role="AlternateBase">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>251</red>
-                        <green>251</green>
-                        <blue>251</blue>
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-                     <colorrole role="ToolTipBase">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>220</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="ToolTipText">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
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-                     </colorrole>
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-                     <colorrole role="WindowText">
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-                        <red>0</red>
-                        <green>0</green>
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-                     <colorrole role="Button">
-                      <brush brushstyle="SolidPattern">
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-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
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-                     <colorrole role="Light">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>255</blue>
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-                     <colorrole role="Midlight">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>251</red>
-                        <green>251</green>
-                        <blue>251</blue>
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-                     </colorrole>
-                     <colorrole role="Dark">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>124</red>
-                        <green>124</green>
-                        <blue>124</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Mid">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>165</red>
-                        <green>165</green>
-                        <blue>165</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Text">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="BrightText">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>255</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="ButtonText">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
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-                     <colorrole role="Base">
-                      <brush brushstyle="SolidPattern">
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-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
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-                      <brush brushstyle="SolidPattern">
-                       <color alpha="0">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
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-                     </colorrole>
-                     <colorrole role="Shadow">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
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-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>251</red>
-                        <green>251</green>
-                        <blue>251</blue>
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-                     <colorrole role="ToolTipBase">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>220</blue>
-                       </color>
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-                     <colorrole role="ToolTipText">
-                      <brush brushstyle="SolidPattern">
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-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
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-                       <color alpha="255">
-                        <red>124</red>
-                        <green>124</green>
-                        <blue>124</blue>
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-                      <brush brushstyle="SolidPattern">
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-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
-                       </color>
-                      </brush>
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-                     <colorrole role="Light">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>255</blue>
-                       </color>
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-                     </colorrole>
-                     <colorrole role="Midlight">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>251</red>
-                        <green>251</green>
-                        <blue>251</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Dark">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>124</red>
-                        <green>124</green>
-                        <blue>124</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Mid">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>165</red>
-                        <green>165</green>
-                        <blue>165</blue>
-                       </color>
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-                     <colorrole role="Text">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>124</red>
-                        <green>124</green>
-                        <blue>124</blue>
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-                     <colorrole role="BrightText">
-                      <brush brushstyle="SolidPattern">
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-                        <red>255</red>
-                        <green>255</green>
-                        <blue>255</blue>
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-                     <colorrole role="ButtonText">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>124</red>
-                        <green>124</green>
-                        <blue>124</blue>
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-                     <colorrole role="Base">
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-                        <red>0</red>
-                        <green>0</green>
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-                     <colorrole role="Window">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="0">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
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-                     <colorrole role="Shadow">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
-                       </color>
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-                     </colorrole>
-                     <colorrole role="AlternateBase">
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-                       <color alpha="255">
-                        <red>248</red>
-                        <green>248</green>
-                        <blue>248</blue>
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-                        <red>255</red>
-                        <green>255</green>
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-                        <green>0</green>
-                        <blue>0</blue>
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-                      </brush>
-                     </colorrole>
-                    </disabled>
-                   </palette>
-                  </property>
-                  <property name="autoFillBackground">
-                   <bool>false</bool>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="title">
-                   <string/>
-                  </property>
-                  <property name="flat">
-                   <bool>true</bool>
-                  </property>
-                  <layout class="QGridLayout" name="gridLayout_13">
-                   <item row="0" column="1">
-                    <widget class="QLabel" name="label_162">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>16</height>
-                      </size>
-                     </property>
-                     <property name="palette">
-                      <palette>
-                       <active>
-                        <colorrole role="WindowText">
-                         <brush brushstyle="SolidPattern">
+               </layout>
+              </item>
+              <item>
+               <widget class="QGroupBox" name="RateStabilizationGroup_20">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>161</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>180</height>
+                 </size>
+                </property>
+                <property name="palette">
+                 <palette>
+                  <active>
+                   <colorrole role="WindowText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Button">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="0">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
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+                   </colorrole>
+                   <colorrole role="Light">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>255</blue>
+                     </color>
+                    </brush>
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+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>251</red>
+                      <green>251</green>
+                      <blue>251</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Dark">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>124</red>
+                      <green>124</green>
+                      <blue>124</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Mid">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>165</red>
+                      <green>165</green>
+                      <blue>165</blue>
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+                    </brush>
+                   </colorrole>
+                   <colorrole role="Text">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
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+                   <colorrole role="BrightText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>255</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="ButtonText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
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+                   <colorrole role="Base">
+                    <brush brushstyle="SolidPattern">
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+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
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+                    <brush brushstyle="SolidPattern">
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+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
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+                   <colorrole role="Shadow">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
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+                    </brush>
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+                   <colorrole role="AlternateBase">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>251</red>
+                      <green>251</green>
+                      <blue>251</blue>
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+                    </brush>
+                   </colorrole>
+                   <colorrole role="ToolTipBase">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>220</blue>
+                     </color>
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+                    <brush brushstyle="SolidPattern">
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+                      <red>0</red>
+                      <green>0</green>
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+                      <green>0</green>
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+                      <red>255</red>
+                      <green>255</green>
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+                      <red>251</red>
+                      <green>251</green>
+                      <blue>251</blue>
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+                      <red>124</red>
+                      <green>124</green>
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+                      <red>165</red>
+                      <green>165</green>
+                      <blue>165</blue>
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+                         <green>48</green>
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+                         <green>19</green>
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+                         <red>26</red>
+                         <green>26</green>
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+                        </color>
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+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
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+                         <green>255</green>
+                         <blue>255</blue>
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+                      </colorrole>
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+                         <green>255</green>
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+                       <brush brushstyle="SolidPattern">
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                           <color alpha="255">
-                           <red>48</red>
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+                           <green>74</green>
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-                         <brush brushstyle="SolidPattern">
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+                         <gradientstop position="0.786070000000000">
                           <color alpha="255">
-                           <red>19</red>
-                           <green>19</green>
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+                           <red>36</red>
+                           <green>36</green>
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                           </color>
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 Angle (deg)</string>
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-                     </property>
-                    </widget>
-                   </item>
-                   <item row="1" column="8">
-                    <widget class="QSpinBox" name="spinBox_21">
-                     <property name="minimumSize">
-                      <size>
-                       <width>43</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>43</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="maximum">
-                      <number>180</number>
-                     </property>
-                     <property name="value">
-                      <number>180</number>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:YawMax</string>
-                       <string>haslimits:yes</string>
-                       <string>scale:1.0</string>
-                       <string>buttongroup:3,10</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="2" column="0">
-                    <widget class="QLabel" name="label_169">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="text">
-                      <string>Full Stick
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="1">
+                  <widget class="QSlider" name="horizontalSlider_88">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>180</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollMax</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:1.0</string>
+                     <string>buttongroup:3,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="2">
+                  <widget class="QSpinBox" name="spinBox_16">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="maximum">
+                    <number>180</number>
+                   </property>
+                   <property name="value">
+                    <number>180</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollMax</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:1.0</string>
+                     <string>buttongroup:3,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="3">
+                  <spacer name="horizontalSpacer_38">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>3</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="4">
+                  <widget class="QSlider" name="horizontalSlider_89">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>180</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchMax</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:1.0</string>
+                     <string>buttongroup:3,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="5">
+                  <widget class="QSpinBox" name="spinBox_17">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="maximum">
+                    <number>180</number>
+                   </property>
+                   <property name="value">
+                    <number>180</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchMax</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:1.0</string>
+                     <string>buttongroup:3,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="6">
+                  <spacer name="horizontalSpacer_39">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>3</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="7">
+                  <widget class="QSlider" name="horizontalSlider_90">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>180</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawMax</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:1.0</string>
+                     <string>buttongroup:3,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="8">
+                  <widget class="QSpinBox" name="spinBox_21">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="maximum">
+                    <number>180</number>
+                   </property>
+                   <property name="value">
+                    <number>180</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawMax</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:1.0</string>
+                     <string>buttongroup:3,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_169">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>69</width>
+                     <height>29</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Full Stick
 Rate (deg/s)</string>
-                     </property>
-                     <property name="alignment">
-                      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="2" column="1">
-                    <widget class="QSlider" name="horizontalSlider_91">
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-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>25</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="maximum">
-                      <number>500</number>
-                     </property>
-                     <property name="sliderPosition">
-                      <number>50</number>
-                     </property>
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                     <property name="tickPosition">
-                      <enum>QSlider::TicksBelow</enum>
-                     </property>
-                     <property name="tickInterval">
-                      <number>25</number>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:ManualRate</string>
-                       <string>element:Roll</string>
-                       <string>haslimits:yes</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:3,10</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="2" column="2">
-                    <widget class="QSpinBox" name="spinBox_22">
-                     <property name="minimumSize">
-                      <size>
-                       <width>43</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>43</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="maximum">
-                      <number>500</number>
-                     </property>
-                     <property name="value">
-                      <number>180</number>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:ManualRate</string>
-                       <string>element:Roll</string>
-                       <string>haslimits:yes</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:3,10</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="2" column="4">
-                    <widget class="QSlider" name="horizontalSlider_92">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>25</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="maximum">
-                      <number>500</number>
-                     </property>
-                     <property name="sliderPosition">
-                      <number>50</number>
-                     </property>
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                     <property name="tickPosition">
-                      <enum>QSlider::TicksBelow</enum>
-                     </property>
-                     <property name="tickInterval">
-                      <number>25</number>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:ManualRate</string>
-                       <string>element:Pitch</string>
-                       <string>haslimits:yes</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:3,10</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="2" column="5" colspan="2">
-                    <widget class="QSpinBox" name="spinBox_23">
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-                      <size>
-                       <width>43</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>43</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="maximum">
-                      <number>500</number>
-                     </property>
-                     <property name="value">
-                      <number>180</number>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:ManualRate</string>
-                       <string>element:Pitch</string>
-                       <string>haslimits:yes</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:3,10</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="2" column="7">
-                    <widget class="QSlider" name="horizontalSlider_93">
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-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>25</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="maximum">
-                      <number>500</number>
-                     </property>
-                     <property name="sliderPosition">
-                      <number>50</number>
-                     </property>
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                     <property name="tickPosition">
-                      <enum>QSlider::TicksBelow</enum>
-                     </property>
-                     <property name="tickInterval">
-                      <number>25</number>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:ManualRate</string>
-                       <string>element:Yaw</string>
-                       <string>haslimits:yes</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:3,10</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="2" column="8">
-                    <widget class="QSpinBox" name="spinBox_24">
-                     <property name="minimumSize">
-                      <size>
-                       <width>43</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>43</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="maximum">
-                      <number>500</number>
-                     </property>
-                     <property name="value">
-                      <number>180</number>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:ManualRate</string>
-                       <string>element:Yaw</string>
-                       <string>haslimits:yes</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:3,10</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="3" column="0">
-                    <widget class="QLabel" name="label_173">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="text">
-                      <string>Max Rate in
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="1">
+                  <widget class="QSlider" name="horizontalSlider_91">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>500</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:ManualRate</string>
+                     <string>element:Roll</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:3,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="2">
+                  <widget class="QSpinBox" name="spinBox_22">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="maximum">
+                    <number>500</number>
+                   </property>
+                   <property name="value">
+                    <number>180</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:ManualRate</string>
+                     <string>element:Roll</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:3,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="4">
+                  <widget class="QSlider" name="horizontalSlider_92">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>500</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:ManualRate</string>
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-               <property name="autoFillBackground">
-                <bool>false</bool>
-               </property>
-               <property name="title">
-                <string/>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-               </property>
-               <layout class="QGridLayout" name="gridLayout_10">
-                <item row="0" column="0" colspan="2">
-                 <widget class="QCheckBox" name="lowThrottleZeroIntegral_8">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>239</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>When the throttle is low, zero the intergral term to prevent intergral wind-up</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Zero the integral when throttle is low</string>
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-                    <string>objname:StabilizationSettings</string>
-                    <string>fieldname:LowThrottleZeroIntegral</string>
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-                  </property>
-                 </widget>
-                </item>
-                <item row="1" column="0">
-                 <widget class="QCheckBox" name="realTimeUpdates_6">
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-                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
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-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>136</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>If you check this, the GCS will udpate the stabilization factors
-automatically every 300ms, which will help for fast tuning.</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Update in real time</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="1" column="1">
-                 <spacer name="horizontalSpacer_3">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>111</width>
-                    <height>10</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item row="1" column="2">
-                 <widget class="QPushButton" name="stabilizationReloadBoardData_6">
-                  <property name="minimumSize">
-                   <size>
-                    <width>120</width>
-                    <height>28</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Reloads the saved settings into GCS.
-Useful if you have accidentally changed some settings.</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true">QPushButton {
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-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
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-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
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-                  </property>
-                  <property name="text">
-                   <string>Reload Board Data</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
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-                    <string>buttongroup:10</string>
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-                 </widget>
-                </item>
-                <item row="1" column="3">
-                 <widget class="QPushButton" name="saveStabilizationToRAM_6">
-                  <property name="minimumSize">
-                   <size>
-                    <width>60</width>
-                    <height>28</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Send settings to the board but do not save to the non-volatile memory</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
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-    border-style: inset;
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-
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-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
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-                  </property>
-                  <property name="text">
-                   <string>Apply</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>button:apply</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
-                <item row="1" column="4">
-                 <widget class="QPushButton" name="saveStabilizationToSD_6">
-                  <property name="minimumSize">
-                   <size>
-                    <width>60</width>
-                    <height>28</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Send settings to the board and save to the non-volatile memory</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true">QPushButton {
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-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
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-
-QPushButton:pressed {
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-
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-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
-                  </property>
-                  <property name="text">
-                   <string>Save</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>button:save</string>
-                   </stringlist>
-                  </property>
-                 </widget>
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-              </widget>
-             </item>
-            </layout>
-           </widget>
-          </widget>
-         </item>
-        </layout>
-       </widget>
-       <widget class="QWidget" name="Expert">
-        <attribute name="title">
-         <string>Expert</string>
-        </attribute>
-        <layout class="QGridLayout" name="gridLayout_9">
-         <item row="0" column="0">
-          <widget class="QScrollArea" name="scrollArea_2">
-           <property name="frameShape">
-            <enum>QFrame::NoFrame</enum>
+                   </property>
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+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
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+                   <property name="minimumSize">
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+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
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+                   <property name="styleSheet">
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+                   <property name="maximum">
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+                   <property name="sliderPosition">
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+                    <enum>Qt::Horizontal</enum>
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+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
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+                   <property name="tickInterval">
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+                   </property>
+                   <property name="objrelation" stdset="0">
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+                     <string>fieldname:MaximumRate</string>
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+                   <property name="maximumSize">
+                    <size>
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+                   <property name="minimumSize">
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+                   <property name="maximum">
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+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
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+                   <property name="tickInterval">
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+                   <property name="objrelation" stdset="0">
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+                   <property name="maximumSize">
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+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
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+                   <property name="value">
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+                   <property name="objrelation" stdset="0">
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+                     <string>scale:1</string>
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+                  <widget class="QSlider" name="horizontalSlider_96">
+                   <property name="sizePolicy">
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+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>500</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:MaximumRate</string>
+                     <string>element:Yaw</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:3,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="8">
+                  <widget class="QSpinBox" name="spinBox_27">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="maximum">
+                    <number>500</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:MaximumRate</string>
+                     <string>element:Yaw</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:3,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="2">
+                  <spacer name="horizontalSpacer_42">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="0" column="5">
+                  <spacer name="horizontalSpacer_43">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="0" column="0">
+                  <spacer name="horizontalSpacer_48">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="0" column="8">
+                  <spacer name="horizontalSpacer_49">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
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@@ -11214,7 +10616,7 @@ border-radius: 4;
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@@ -11227,567 +10629,558 @@ border-radius: 4;
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+             <property name="minimumSize">
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+             <property name="maximumSize">
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@@ -11797,7 +11190,7 @@ border-radius: 4;
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@@ -11850,2866 +11243,2857 @@ border-radius: 4;
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-                        <green>124</green>
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-                  </property>
-                  <property name="styleSheet">
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-                  <property name="title">
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-                  <property name="flat">
-                   <bool>true</bool>
-                  </property>
-                  <layout class="QGridLayout" name="gridLayout_3">
-                   <property name="bottomMargin">
-                    <number>2</number>
+               </layout>
+              </item>
+              <item>
+               <widget class="QGroupBox" name="RateStabilizationGroup_9">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>151</height>
+                 </size>
+                </property>
+                <property name="palette">
+                 <palette>
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+                    <brush brushstyle="SolidPattern">
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+                      <red>0</red>
+                      <green>0</green>
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+                    <brush brushstyle="SolidPattern">
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+                      <green>0</green>
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+                      <green>255</green>
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+                      <green>251</green>
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+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>124</red>
+                      <green>124</green>
+                      <blue>124</blue>
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+                      <red>165</red>
+                      <green>165</green>
+                      <blue>165</blue>
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+                    <brush brushstyle="SolidPattern">
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+                    <brush brushstyle="SolidPattern">
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+                      <green>255</green>
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+                    <brush brushstyle="SolidPattern">
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+                    <brush brushstyle="SolidPattern">
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+                      <green>0</green>
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+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>251</red>
+                      <green>251</green>
+                      <blue>251</blue>
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+                    <brush brushstyle="SolidPattern">
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+                      <green>255</green>
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+                      <green>255</green>
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+                      <red>251</red>
+                      <green>251</green>
+                      <blue>251</blue>
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+                      <red>124</red>
+                      <green>124</green>
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+                      <green>165</green>
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+                      <red>124</red>
+                      <green>124</green>
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+                    <brush brushstyle="SolidPattern">
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+                <property name="autoFillBackground">
+                 <bool>false</bool>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
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+                <property name="title">
+                 <string/>
+                </property>
+                <property name="flat">
+                 <bool>true</bool>
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+                <layout class="QGridLayout" name="gridLayout_3">
+                 <property name="bottomMargin">
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+                 </property>
+                 <item row="0" column="0">
+                  <spacer name="horizontalSpacer_24">
+                   <property name="orientation">
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                    </property>
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-                     </property>
-                     <property name="palette">
-                      <palette>
-                       <active>
-                        <colorrole role="WindowText">
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+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
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+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>110</width>
+                     <height>13</height>
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+                   </property>
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+                 </item>
+                 <item row="0" column="2">
+                  <widget class="QLabel" name="label_30">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
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+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
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+                         <green>255</green>
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                           <color alpha="255">
-                           <red>58</red>
-                           <green>58</green>
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+                           <green>36</green>
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                           </color>
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-                        <colorrole role="Midlight">
-                         <brush brushstyle="SolidPattern">
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+                         <green>58</green>
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+                         <green>48</green>
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+                         <green>19</green>
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+                         <green>26</green>
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+                       <brush brushstyle="SolidPattern">
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+                         <green>255</green>
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+                         <green>255</green>
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+                        <color alpha="255">
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+                         <green>255</green>
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-                           <green>19</green>
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-                           <green>39</green>
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-                         <brush brushstyle="SolidPattern">
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-                           <red>255</red>
-                           <green>255</green>
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-                         </brush>
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-                         </brush>
-                        </colorrole>
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-                      </palette>
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-                       <bold>true</bold>
-                      </font>
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+                         <green>39</green>
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+                    </palette>
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+                   <property name="font">
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+                     <bold>true</bold>
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+                   <property name="text">
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+                   </property>
+                   <property name="alignment">
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+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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+                   <property name="minimumSize">
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+                         <green>255</green>
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-                           <green>58</green>
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                           </color>
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+                         <green>58</green>
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+                       </brush>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                         <green>255</green>
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-                           <green>48</green>
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+                         <gradientstop position="0.786070000000000">
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-                           <red>19</red>
-                           <green>19</green>
-                           <blue>19</blue>
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+                           <green>36</green>
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-                        <colorrole role="Mid">
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+                         <gradientstop position="0.208955000000000">
                           <color alpha="255">
-                           <red>26</red>
-                           <green>26</green>
-                           <blue>26</blue>
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+                           <green>74</green>
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                           </color>
-                         </brush>
-                        </colorrole>
-                        <colorrole role="Text">
-                         <brush brushstyle="SolidPattern">
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+                         <gradientstop position="0.786070000000000">
                           <color alpha="255">
-                           <red>255</red>
-                           <green>255</green>
-                           <blue>255</blue>
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+                           <green>36</green>
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                           </color>
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-                        <colorrole role="BrightText">
-                         <brush brushstyle="SolidPattern">
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
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+                        </color>
+                       </brush>
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+                        <color alpha="255">
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+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
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+                       </brush>
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+                     </active>
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+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
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                           <color alpha="255">
-                           <red>255</red>
-                           <green>255</green>
-                           <blue>255</blue>
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+                           <green>74</green>
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                           </color>
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-                        <colorrole role="ButtonText">
-                         <brush brushstyle="SolidPattern">
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
                           <color alpha="255">
-                           <red>255</red>
-                           <green>255</green>
-                           <blue>255</blue>
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+                           <green>36</green>
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                           </color>
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-                             <blue>36</blue>
-                            </color>
-                           </gradientstop>
-                          </gradient>
-                         </brush>
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-                        <colorrole role="Shadow">
-                         <brush brushstyle="SolidPattern">
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+                       </brush>
+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
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+                        </color>
+                       </brush>
+                      </colorrole>
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+                         <red>48</red>
+                         <green>48</green>
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+                        </color>
+                       </brush>
+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
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+                       </brush>
+                      </colorrole>
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+                         <green>26</green>
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+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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-                           <green>19</green>
-                           <blue>19</blue>
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                           </color>
-                         </brush>
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-                        <colorrole role="ToolTipBase">
-                         <brush brushstyle="SolidPattern">
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                           <color alpha="255">
-                           <red>255</red>
-                           <green>255</green>
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                           </color>
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+                         <gradientstop position="0.786070000000000">
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-                           <green>0</green>
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                           </color>
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+                       </brush>
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+                       <brush brushstyle="SolidPattern">
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+                         <red>0</red>
+                         <green>0</green>
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+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
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+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
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+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
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+                         <green>0</green>
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+                       </brush>
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                           <color alpha="255">
-                           <red>255</red>
-                           <green>255</green>
-                           <blue>255</blue>
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+                           <green>74</green>
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                           </color>
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+                         <green>58</green>
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+                         <red>48</red>
+                         <green>48</green>
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+                         <red>19</red>
+                         <green>19</green>
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+                       <brush brushstyle="SolidPattern">
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+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
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+                         <gradientstop position="0.208955000000000">
                           <color alpha="255">
-                           <red>48</red>
-                           <green>48</green>
-                           <blue>48</blue>
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+                           <green>74</green>
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                           </color>
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-                        </colorrole>
-                        <colorrole role="Dark">
-                         <brush brushstyle="SolidPattern">
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
                           <color alpha="255">
-                           <red>19</red>
-                           <green>19</green>
-                           <blue>19</blue>
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
                           </color>
-                         </brush>
-                        </colorrole>
-                        <colorrole role="Mid">
-                         <brush brushstyle="SolidPattern">
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                           <color alpha="255">
-                           <red>26</red>
-                           <green>26</green>
-                           <blue>26</blue>
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+                           <green>74</green>
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                           </color>
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-                           <green>255</green>
-                           <blue>255</blue>
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-                           <blue>0</blue>
-                          </color>
-                         </brush>
-                        </colorrole>
-                        <colorrole role="AlternateBase">
-                         <brush brushstyle="SolidPattern">
-                          <color alpha="255">
-                           <red>39</red>
-                           <green>39</green>
-                           <blue>39</blue>
-                          </color>
-                         </brush>
-                        </colorrole>
-                        <colorrole role="ToolTipBase">
-                         <brush brushstyle="SolidPattern">
-                          <color alpha="255">
-                           <red>255</red>
-                           <green>255</green>
-                           <blue>220</blue>
-                          </color>
-                         </brush>
-                        </colorrole>
-                        <colorrole role="ToolTipText">
-                         <brush brushstyle="SolidPattern">
-                          <color alpha="255">
-                           <red>0</red>
-                           <green>0</green>
-                           <blue>0</blue>
-                          </color>
-                         </brush>
-                        </colorrole>
-                       </disabled>
-                      </palette>
-                     </property>
-                     <property name="font">
-                      <font>
-                       <weight>75</weight>
-                       <bold>true</bold>
-                      </font>
-                     </property>
-                     <property name="autoFillBackground">
-                      <bool>false</bool>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;</string>
-                     </property>
-                     <property name="text">
-                      <string>Yaw</string>
-                     </property>
-                     <property name="alignment">
-                      <set>Qt::AlignCenter</set>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="1" column="0">
-                    <widget class="QLabel" name="label_43">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>69</width>
-                       <height>16</height>
-                      </size>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="text">
-                      <string>Proportional</string>
-                     </property>
-                     <property name="alignment">
-                      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="1" column="2">
-                    <widget class="QDoubleSpinBox" name="RateRollKp_2">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>16777215</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="toolTip">
-                      <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+                   </property>
+                   <property name="text">
+                    <string>Yaw</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QLabel" name="label_43">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>69</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Proportional</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="2">
+                  <widget class="QDoubleSpinBox" name="RateRollKp_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
 Then lower the value by 20% or so.</string>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="decimals">
-                      <number>5</number>
-                     </property>
-                     <property name="singleStep">
-                      <double>0.000100000000000</double>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:RollRatePID</string>
-                       <string>element:Kp</string>
-                       <string>haslimits:no</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:4,20</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="1" column="4">
-                    <widget class="QDoubleSpinBox" name="RatePitchKp">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>16777215</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="toolTip">
-                      <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="4">
+                  <widget class="QDoubleSpinBox" name="RatePitchKp">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
 Then lower the value by 20% or so.</string>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="decimals">
-                      <number>5</number>
-                     </property>
-                     <property name="singleStep">
-                      <double>0.000100000000000</double>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:PitchRatePID</string>
-                       <string>element:Kp</string>
-                       <string>haslimits:no</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:4,20</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="1" column="6">
-                    <widget class="QDoubleSpinBox" name="RateYawKp">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>16777215</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="toolTip">
-                      <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="6">
+                  <widget class="QDoubleSpinBox" name="RateYawKp">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
 Then lower the value by 20% or so.
 
 You can usually go for higher values for Yaw factors.</string>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="decimals">
-                      <number>5</number>
-                     </property>
-                     <property name="singleStep">
-                      <double>0.000100000000000</double>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:YawRatePID</string>
-                       <string>element:Kp</string>
-                       <string>haslimits:no</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:4,20</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="2" column="0">
-                    <widget class="QLabel" name="label_44">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="text">
-                      <string>Integral</string>
-                     </property>
-                     <property name="alignment">
-                      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="2" column="1">
-                    <spacer name="horizontalSpacer_26">
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                     <property name="sizeType">
-                      <enum>QSizePolicy::Fixed</enum>
-                     </property>
-                     <property name="sizeHint" stdset="0">
-                      <size>
-                       <width>10</width>
-                       <height>10</height>
-                      </size>
-                     </property>
-                    </spacer>
-                   </item>
-                   <item row="2" column="2">
-                    <widget class="QDoubleSpinBox" name="RateRollKi_2">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>16777215</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="toolTip">
-                      <string>As a rule of thumb, you can set the Ki at roughly the same
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_44">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Integral</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="1">
+                  <spacer name="horizontalSpacer_26">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="2" column="2">
+                  <widget class="QDoubleSpinBox" name="RateRollKi_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Ki at roughly the same
 value as the Kp.</string>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="decimals">
-                      <number>5</number>
-                     </property>
-                     <property name="singleStep">
-                      <double>0.000100000000000</double>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:RollRatePID</string>
-                       <string>element:Ki</string>
-                       <string>haslimits:no</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:4,20</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="2" column="3">
-                    <spacer name="horizontalSpacer_27">
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                     <property name="sizeType">
-                      <enum>QSizePolicy::Fixed</enum>
-                     </property>
-                     <property name="sizeHint" stdset="0">
-                      <size>
-                       <width>10</width>
-                       <height>10</height>
-                      </size>
-                     </property>
-                    </spacer>
-                   </item>
-                   <item row="2" column="4">
-                    <widget class="QDoubleSpinBox" name="RatePitchKi">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>16777215</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="toolTip">
-                      <string>As a rule of thumb, you can set the Ki at roughly the same
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="3">
+                  <spacer name="horizontalSpacer_27">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="2" column="4">
+                  <widget class="QDoubleSpinBox" name="RatePitchKi">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Ki at roughly the same
 value as the Kp.</string>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="decimals">
-                      <number>5</number>
-                     </property>
-                     <property name="singleStep">
-                      <double>0.000100000000000</double>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:PitchRatePID</string>
-                       <string>element:Ki</string>
-                       <string>haslimits:no</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:4,20</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="2" column="5">
-                    <spacer name="horizontalSpacer_28">
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                     <property name="sizeType">
-                      <enum>QSizePolicy::Fixed</enum>
-                     </property>
-                     <property name="sizeHint" stdset="0">
-                      <size>
-                       <width>10</width>
-                       <height>10</height>
-                      </size>
-                     </property>
-                    </spacer>
-                   </item>
-                   <item row="2" column="6">
-                    <widget class="QDoubleSpinBox" name="RateYawKi">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>16777215</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="toolTip">
-                      <string>As a rule of thumb, you can set the Ki at roughly the same
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="5">
+                  <spacer name="horizontalSpacer_28">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="2" column="6">
+                  <widget class="QDoubleSpinBox" name="RateYawKi">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Ki at roughly the same
 value as the Kp.</string>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="decimals">
-                      <number>5</number>
-                     </property>
-                     <property name="singleStep">
-                      <double>0.000100000000000</double>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:YawRatePID</string>
-                       <string>element:Ki</string>
-                       <string>haslimits:no</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:4,20</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="3" column="0">
-                    <widget class="QLabel" name="label_24">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>58</width>
-                       <height>0</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>16777215</width>
-                       <height>16777215</height>
-                      </size>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="text">
-                      <string>Derivative</string>
-                     </property>
-                     <property name="alignment">
-                      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="3" column="2">
-                    <widget class="QDoubleSpinBox" name="RollRateKd">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>16777215</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="toolTip">
-                      <string/>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="decimals">
-                      <number>6</number>
-                     </property>
-                     <property name="singleStep">
-                      <double>0.000001000000000</double>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:RollRatePID</string>
-                       <string>element:Kd</string>
-                       <string>haslimits:no</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:4,20</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="3" column="4">
-                    <widget class="QDoubleSpinBox" name="PitchRateKd">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>16777215</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="decimals">
-                      <number>6</number>
-                     </property>
-                     <property name="singleStep">
-                      <double>0.000001000000000</double>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:PitchRatePID</string>
-                       <string>element:Kd</string>
-                       <string>haslimits:no</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:4,20</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="3" column="6">
-                    <widget class="QDoubleSpinBox" name="YawRateKd">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>16777215</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="toolTip">
-                      <string/>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="decimals">
-                      <number>6</number>
-                     </property>
-                     <property name="singleStep">
-                      <double>0.000001000000000</double>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:YawRatePID</string>
-                       <string>element:Kd</string>
-                       <string>haslimits:no</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:4,20</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="4" column="0">
-                    <widget class="QLabel" name="label_23">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>50</width>
-                       <height>0</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>16777215</width>
-                       <height>16777215</height>
-                      </size>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="text">
-                      <string>ILimit</string>
-                     </property>
-                     <property name="alignment">
-                      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="4" column="2">
-                    <widget class="QDoubleSpinBox" name="RateRollILimit_2">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>16777215</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="toolTip">
-                      <string/>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="decimals">
-                      <number>4</number>
-                     </property>
-                     <property name="maximum">
-                      <double>1.000000000000000</double>
-                     </property>
-                     <property name="singleStep">
-                      <double>0.001000000000000</double>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:RollRatePID</string>
-                       <string>element:ILimit</string>
-                       <string>haslimits:no</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:4,20</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="4" column="4">
-                    <widget class="QDoubleSpinBox" name="RatePitchILimit">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>16777215</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="decimals">
-                      <number>4</number>
-                     </property>
-                     <property name="maximum">
-                      <double>1.000000000000000</double>
-                     </property>
-                     <property name="singleStep">
-                      <double>0.001000000000000</double>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:PitchRatePID</string>
-                       <string>element:ILimit</string>
-                       <string>haslimits:no</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:4,20</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                   <item row="4" column="6">
-                    <widget class="QDoubleSpinBox" name="RateYawILimit">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>0</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>16777215</width>
-                       <height>22</height>
-                      </size>
-                     </property>
-                     <property name="focusPolicy">
-                      <enum>Qt::StrongFocus</enum>
-                     </property>
-                     <property name="toolTip">
-                      <string/>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
-                     </property>
-                     <property name="decimals">
-                      <number>4</number>
-                     </property>
-                     <property name="maximum">
-                      <double>1.000000000000000</double>
-                     </property>
-                     <property name="singleStep">
-                      <double>0.001000000000000</double>
-                     </property>
-                     <property name="objrelation" stdset="0">
-                      <stringlist>
-                       <string>objname:StabilizationSettings</string>
-                       <string>fieldname:YawRatePID</string>
-                       <string>element:ILimit</string>
-                       <string>haslimits:no</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:4,20</string>
-                      </stringlist>
-                     </property>
-                    </widget>
-                   </item>
-                  </layout>
-                 </widget>
-                </item>
-                <item row="0" column="2">
-                 <spacer name="horizontalSpacer_2">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>40</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-               </layout>
-              </widget>
-             </item>
-             <item row="3" column="0">
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="0">
+                  <widget class="QLabel" name="label_24">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>58</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Derivative</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="2">
+                  <widget class="QDoubleSpinBox" name="RollRateKd">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>6</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000001000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Kd</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="4">
+                  <widget class="QDoubleSpinBox" name="PitchRateKd">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>6</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000001000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Kd</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="6">
+                  <widget class="QDoubleSpinBox" name="YawRateKd">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>6</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000001000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Kd</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="4" column="0">
+                  <widget class="QLabel" name="label_23">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>ILimit</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="4" column="2">
+                  <widget class="QDoubleSpinBox" name="RateRollILimit_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>4</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
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+                   <property name="objrelation" stdset="0">
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+                     <string>scale:1</string>
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+                   <property name="styleSheet">
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+                   </property>
+                   <property name="decimals">
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+                   </property>
+                   <property name="singleStep">
+                    <double>0.001000000000000</double>
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+                   <property name="objrelation" stdset="0">
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+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:ILimit</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
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+                   </property>
+                  </widget>
+                 </item>
+                 <item row="4" column="6">
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+                     <verstretch>0</verstretch>
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+                   </property>
+                   <property name="minimumSize">
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+                   <property name="maximumSize">
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+                   <property name="focusPolicy">
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+                   <property name="toolTip">
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+                   </property>
+                   <property name="styleSheet">
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+                   <property name="decimals">
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+                   </property>
+                   <property name="maximum">
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+                   <property name="singleStep">
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+                   </property>
+                   <property name="objrelation" stdset="0">
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+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
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+                   </property>
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+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
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@@ -14725,7 +14109,7 @@ value as the Kp.</string>
                </property>
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              </item>
-             <item row="3" column="1" colspan="2">
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                 <size>
@@ -14738,3218 +14122,571 @@ value as the Kp.</string>
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+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>181</height>
+              </size>
+             </property>
+             <property name="maximumSize">
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-                     <property name="decimals">
-                      <number>3</number>
-                     </property>
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-                      <double>0.100000000000000</double>
-                     </property>
-                     <property name="objrelation" stdset="0">
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-                       <string>fieldname:YawPI</string>
-                       <string>element:Ki</string>
-                       <string>haslimits:no</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:5,20</string>
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-                     </property>
-                    </widget>
-                   </item>
-                   <item row="3" column="0">
-                    <widget class="QLabel" name="label_21">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>50</width>
-                       <height>0</height>
-                      </size>
-                     </property>
-                     <property name="maximumSize">
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-                       <height>16777215</height>
-                      </size>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
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-                     <property name="text">
-                      <string>ILimit</string>
-                     </property>
-                     <property name="alignment">
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-                    </widget>
-                   </item>
-                   <item row="3" column="2">
-                    <widget class="QDoubleSpinBox" name="AttitudeRollILimit">
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-                       <string>scale:1</string>
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-                       <string>scale:1</string>
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-                    </widget>
-                   </item>
-                   <item row="3" column="6">
-                    <widget class="QDoubleSpinBox" name="AttitudeYawILimit">
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-                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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-                       <height>22</height>
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-                       <height>22</height>
-                      </size>
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-                     </property>
-                     <property name="toolTip">
-                      <string/>
-                     </property>
-                     <property name="styleSheet">
-                      <string notr="true"/>
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-                     <property name="decimals">
-                      <number>2</number>
-                     </property>
-                     <property name="singleStep">
-                      <double>0.100000000000000</double>
-                     </property>
-                     <property name="objrelation" stdset="0">
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-                       <string>haslimits:no</string>
-                       <string>scale:1</string>
-                       <string>buttongroup:5,20</string>
-                      </stringlist>
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-                    </widget>
-                   </item>
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                  </widget>
                 </item>
-                <item row="0" column="0">
-                 <spacer name="horizontalSpacer_7">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeType">
-                   <enum>QSizePolicy::Fixed</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>10</width>
-                    <height>10</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item row="0" column="3">
+                <item>
                  <widget class="QPushButton" name="pushButton_2">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -17969,6 +14706,9 @@ border-radius: 5;</string>
                     <height>28</height>
                    </size>
                   </property>
+                  <property name="toolTip">
+                   <string>Reset all values to GCS defaults</string>
+                  </property>
                   <property name="styleSheet">
                    <string notr="true">QPushButton {
 border: 1px outset #999;
@@ -18002,33 +14742,2662 @@ border-radius: 4;
                   </property>
                  </widget>
                 </item>
-                <item row="0" column="1">
-                 <widget class="QCheckBox" name="checkBox_2">
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Link Roll and Pitch</string>
-                  </property>
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-                </item>
-                <item row="0" column="2">
-                 <spacer name="horizontalSpacer">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
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-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>40</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
                </layout>
-              </widget>
-             </item>
-             <item row="5" column="0">
+              </item>
+              <item>
+               <widget class="QGroupBox" name="RateStabilizationGroup_5">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>131</height>
+                 </size>
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+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Yaw</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QLabel" name="label_31">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>69</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Proportional</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="2">
+                  <widget class="QDoubleSpinBox" name="AttitudeRollKp">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>3</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollPI</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="4">
+                  <widget class="QDoubleSpinBox" name="AttitudePitchKp_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>3</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="6">
+                  <widget class="QDoubleSpinBox" name="AttitudeYawKp">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>3</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawPI</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_32">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Integral</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="1">
+                  <spacer name="horizontalSpacer_9">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="2" column="2">
+                  <widget class="QDoubleSpinBox" name="AttitudeRollKi">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>3</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollPI</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="3">
+                  <spacer name="horizontalSpacer_10">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="2" column="4">
+                  <widget class="QDoubleSpinBox" name="AttitudePitchKi_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>3</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="5">
+                  <spacer name="horizontalSpacer_11">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="2" column="6">
+                  <widget class="QDoubleSpinBox" name="AttitudeYawKi">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>3</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawPI</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="0">
+                  <widget class="QLabel" name="label_21">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>ILimit</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="2">
+                  <widget class="QDoubleSpinBox" name="AttitudeRollILimit">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>2</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollPI</string>
+                     <string>element:ILimit</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="4">
+                  <widget class="QDoubleSpinBox" name="AttitudePitchILimit_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>2</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:ILimit</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="6">
+                  <widget class="QDoubleSpinBox" name="AttitudeYawILimit">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>2</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawPI</string>
+                     <string>element:ILimit</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <layout class="QHBoxLayout" name="horizontalLayout_13">
+             <item>
               <spacer name="horizontalSpacer_13">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -18044,7 +17413,7 @@ border-radius: 4;
                </property>
               </spacer>
              </item>
-             <item row="5" column="1" colspan="2">
+             <item>
               <widget class="QLabel" name="label_36">
                <property name="minimumSize">
                 <size>
@@ -18057,571 +17426,593 @@ border-radius: 4;
                </property>
               </widget>
              </item>
-             <item row="6" column="0" colspan="3">
-              <widget class="QGroupBox" name="RateStabilizationGroup_6">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="minimumSize">
-                <size>
-                 <width>0</width>
-                 <height>211</height>
-                </size>
-               </property>
-               <property name="maximumSize">
-                <size>
-                 <width>16777215</width>
-                 <height>211</height>
-                </size>
-               </property>
-               <property name="palette">
-                <palette>
-                 <active>
-                  <colorrole role="WindowText">
-                   <brush brushstyle="SolidPattern">
+            </layout>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="RateStabilizationGroup_6">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>211</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>211</height>
+              </size>
+             </property>
+             <property name="palette">
+              <palette>
+               <active>
+                <colorrole role="WindowText">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>0</red>
+                   <green>0</green>
+                   <blue>0</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+                <colorrole role="Button">
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-               <layout class="QGridLayout" name="gridLayout_5">
-                <item row="0" column="0">
+                   </gradientstop>
+                  </gradient>
+                 </brush>
+                </colorrole>
+                <colorrole role="Shadow">
+                 <brush brushstyle="SolidPattern">
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+                </colorrole>
+               </disabled>
+              </palette>
+             </property>
+             <property name="title">
+              <string/>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_7">
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_6">
+                <property name="spacing">
+                 <number>-1</number>
+                </property>
+                <item>
                  <spacer name="horizontalSpacer_14">
                   <property name="orientation">
                    <enum>Qt::Horizontal</enum>
                   </property>
                   <property name="sizeType">
-                   <enum>QSizePolicy::Preferred</enum>
+                   <enum>QSizePolicy::Expanding</enum>
                   </property>
                   <property name="sizeHint" stdset="0">
                    <size>
-                    <width>10000</width>
+                    <width>100</width>
                     <height>10</height>
                    </size>
                   </property>
                  </spacer>
                 </item>
-                <item row="0" column="1">
+                <item>
                  <widget class="QPushButton" name="pushButton_3">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
                   <property name="minimumSize">
                    <size>
                     <width>81</width>
                     <height>28</height>
                    </size>
                   </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>81</width>
+                    <height>28</height>
+                   </size>
+                  </property>
+                  <property name="toolTip">
+                   <string>Reset all values to GCS defaults</string>
+                  </property>
                   <property name="styleSheet">
                    <string notr="true">QPushButton {
 border: 1px outset #999;
@@ -18655,3261 +18046,3271 @@ border-radius: 4;
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+                           <green>36</green>
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+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
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+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Roll</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="4">
+                  <widget class="QLabel" name="label_37">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                           <green>74</green>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
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+                           <green>36</green>
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+                         </gradientstop>
+                        </gradient>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
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+                       </brush>
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+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
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+                        </color>
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+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
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+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
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+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
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+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
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+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
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+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
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+                       </brush>
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+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
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+                        </color>
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+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                         <gradientstop position="0.786070000000000">
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+                           <green>36</green>
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+                           <green>74</green>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
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+                        </gradient>
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+                      </colorrole>
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+                         <green>0</green>
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+                         <green>19</green>
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+                        </color>
+                       </brush>
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+                         <red>255</red>
+                         <green>255</green>
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+                        </color>
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+                         <green>0</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
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+                         <green>48</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
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+                        </color>
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+                      <colorrole role="Text">
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+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
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+                         <green>39</green>
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+                        </color>
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+                      </colorrole>
+                      <colorrole role="ToolTipBase">
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+                         <green>255</green>
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+                         <green>0</green>
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+                     </disabled>
+                    </palette>
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+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
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+                   <property name="styleSheet">
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+color: rgb(255, 255, 255);
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+                   </property>
+                   <property name="text">
+                    <string>Pitch</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="6">
+                  <widget class="QLabel" name="label_38">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                         <green>58</green>
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+                         <green>48</green>
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+                         <green>19</green>
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+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="2" column="6">
+                  <widget class="QDoubleSpinBox" name="rateYawKi_3">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:ManualRate</string>
+                     <string>element:Yaw</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="0">
+                  <widget class="QLabel" name="label_22">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>125</width>
+                     <height>30</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Max rate in attitude
+ mode(deg/s)</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="2">
+                  <widget class="QDoubleSpinBox" name="rateRollILimit_3">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:MaximumRate</string>
+                     <string>element:Roll</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="4">
+                  <widget class="QDoubleSpinBox" name="ratePitchILimit_4">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:MaximumRate</string>
+                     <string>element:Pitch</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="6">
+                  <widget class="QDoubleSpinBox" name="rateYawILimit_3">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:MaximumRate</string>
+                     <string>element:Yaw</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="6">
+                  <widget class="QDoubleSpinBox" name="rateYawKp_3">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawMax</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_45">
+             <property name="minimumSize">
+              <size>
+               <width>180</width>
+               <height>16</height>
+              </size>
+             </property>
+             <property name="text">
+              <string>Sensor Tunning</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="horizontalSpacer_41">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Fixed</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>10</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="RateStabilizationGroup_23">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>125</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>125</height>
+              </size>
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+                </colorrole>
+                <colorrole role="BrightText">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>255</red>
+                   <green>255</green>
+                   <blue>255</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+                <colorrole role="ButtonText">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>124</red>
+                   <green>124</green>
+                   <blue>124</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+                <colorrole role="Base">
+                 <brush brushstyle="LinearGradientPattern">
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+                    <color alpha="255">
+                     <red>243</red>
+                     <green>243</green>
+                     <blue>243</blue>
+                    </color>
+                   </gradientstop>
+                   <gradientstop position="1.000000000000000">
+                    <color alpha="255">
+                     <red>250</red>
+                     <green>250</green>
+                     <blue>250</blue>
+                    </color>
+                   </gradientstop>
+                  </gradient>
+                 </brush>
+                </colorrole>
+                <colorrole role="Window">
+                 <brush brushstyle="LinearGradientPattern">
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+                     <red>243</red>
+                     <green>243</green>
+                     <blue>243</blue>
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+                   </gradientstop>
+                   <gradientstop position="1.000000000000000">
+                    <color alpha="255">
+                     <red>250</red>
+                     <green>250</green>
+                     <blue>250</blue>
+                    </color>
+                   </gradientstop>
+                  </gradient>
+                 </brush>
+                </colorrole>
+                <colorrole role="Shadow">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>0</red>
+                   <green>0</green>
+                   <blue>0</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+                <colorrole role="AlternateBase">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>248</red>
+                   <green>248</green>
+                   <blue>248</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+                <colorrole role="ToolTipBase">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>255</red>
+                   <green>255</green>
+                   <blue>220</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+                <colorrole role="ToolTipText">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>0</red>
+                   <green>0</green>
+                   <blue>0</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+               </disabled>
+              </palette>
+             </property>
+             <property name="autoFillBackground">
+              <bool>false</bool>
+             </property>
+             <property name="title">
+              <string/>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+             </property>
+             <layout class="QGridLayout" name="gridLayout">
+              <item row="0" column="0">
+               <layout class="QHBoxLayout" name="horizontalLayout_7">
+                <property name="spacing">
+                 <number>-1</number>
+                </property>
+                <item>
                  <spacer name="horizontalSpacer_40">
                   <property name="orientation">
                    <enum>Qt::Horizontal</enum>
                   </property>
                   <property name="sizeType">
-                   <enum>QSizePolicy::Preferred</enum>
+                   <enum>QSizePolicy::Expanding</enum>
                   </property>
                   <property name="sizeHint" stdset="0">
                    <size>
@@ -21919,7 +21320,7 @@ rate(deg/s)</string>
                   </property>
                  </spacer>
                 </item>
-                <item row="0" column="1">
+                <item>
                  <widget class="QPushButton" name="pushButton_5">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -21939,6 +21340,9 @@ rate(deg/s)</string>
                     <height>28</height>
                    </size>
                   </property>
+                  <property name="toolTip">
+                   <string>Reset all values to GCS defaults</string>
+                  </property>
                   <property name="styleSheet">
                    <string notr="true">QPushButton {
 border: 1px outset #999;
@@ -21972,2991 +21376,3031 @@ border-radius: 4;
                   </property>
                  </widget>
                 </item>
-                <item row="1" column="0" colspan="2">
-                 <widget class="QGroupBox" name="RateStabilizationGroup_10">
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-                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>0</width>
-                    <height>70</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>16777215</width>
-                    <height>72</height>
-                   </size>
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-                       <width>0</width>
-                       <height>16</height>
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+       </disabled>
+      </palette>
+     </property>
+     <property name="autoFillBackground">
+      <bool>false</bool>
+     </property>
+     <property name="title">
+      <string/>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_9">
+      <property name="spacing">
+       <number>12</number>
+      </property>
+      <property name="topMargin">
+       <number>12</number>
+      </property>
+      <item>
+       <layout class="QGridLayout" name="gridLayout_5">
+        <item row="0" column="0">
+         <widget class="QCheckBox" name="lowThrottleZeroIntegral_8">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>300</width>
+            <height>20</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>When the throttle is low, zero the intergral term to prevent intergral wind-up</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true"/>
+          </property>
+          <property name="text">
+           <string>Zero the integral when throttle is low</string>
+          </property>
+          <property name="objrelation" stdset="0">
+           <stringlist>
+            <string>objname:StabilizationSettings</string>
+            <string>fieldname:LowThrottleZeroIntegral</string>
+           </stringlist>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1" rowspan="2">
+         <widget class="QPushButton" name="stabilizationReloadBoardData_6">
+          <property name="minimumSize">
+           <size>
+            <width>130</width>
+            <height>28</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>130</width>
+            <height>28</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Reloads the saved settings into GCS.
+Useful if you have accidentally changed some settings.</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
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+QPushButton:pressed {
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+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+          </property>
+          <property name="text">
+           <string>Reload Board Data</string>
+          </property>
+          <property name="objrelation" stdset="0">
+           <stringlist>
+            <string>button:reload</string>
+            <string>buttongroup:10</string>
+           </stringlist>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="2" rowspan="2">
+         <widget class="QPushButton" name="saveStabilizationToRAM_6">
+          <property name="minimumSize">
+           <size>
+            <width>60</width>
+            <height>28</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>60</width>
+            <height>28</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Send settings to the board but do not save to the non-volatile memory</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">QPushButton {
+border: 1px outset #999;
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+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+          </property>
+          <property name="text">
+           <string>Apply</string>
+          </property>
+          <property name="objrelation" stdset="0">
+           <stringlist>
+            <string>button:apply</string>
+           </stringlist>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="3" rowspan="2">
+         <widget class="QPushButton" name="saveStabilizationToSD_6">
+          <property name="minimumSize">
+           <size>
+            <width>60</width>
+            <height>28</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>60</width>
+            <height>28</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Send settings to the board and save to the non-volatile memory</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+          </property>
+          <property name="text">
+           <string>Save</string>
+          </property>
+          <property name="objrelation" stdset="0">
+           <stringlist>
+            <string>button:save</string>
+           </stringlist>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="0">
+         <widget class="QCheckBox" name="realTimeUpdates_6">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>136</width>
+            <height>20</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>If you check this, the GCS will udpate the stabilization factors
 automatically every 300ms, which will help for fast tuning.</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Update in real time</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="2" column="1" colspan="2">
-                 <spacer name="horizontalSpacer_33">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>40</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item row="2" column="3">
-                 <widget class="QPushButton" name="saveStabilizationToRAM_7">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>60</width>
-                    <height>28</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>60</width>
-                    <height>28</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Send settings to the board but do not save to the non-volatile memory</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
-                  </property>
-                  <property name="text">
-                   <string>Apply</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>button:apply</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
-                <item row="2" column="4">
-                 <widget class="QPushButton" name="saveStabilizationToSD_7">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>60</width>
-                    <height>28</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>60</width>
-                    <height>28</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Send settings to the board and save to the non-volatile memory</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
-                  </property>
-                  <property name="text">
-                   <string>Save</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>button:save</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
-               </layout>
-              </widget>
-             </item>
-            </layout>
-           </widget>
-          </widget>
-         </item>
-        </layout>
-       </widget>
-      </widget>
-     </item>
-    </layout>
+          </property>
+          <property name="styleSheet">
+           <string notr="true"/>
+          </property>
+          <property name="text">
+           <string>Update in real time</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
    </item>
   </layout>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <tabstops>
-  <tabstop>tabWidget</tabstop>
   <tabstop>scrollArea</tabstop>
   <tabstop>checkBox_7</tabstop>
   <tabstop>pushButton_19</tabstop>
@@ -25053,10 +24497,6 @@ border-radius: 4;
   <tabstop>GyroTau</tabstop>
   <tabstop>AccelKp</tabstop>
   <tabstop>AccelKi</tabstop>
-  <tabstop>lowThrottleZeroIntegral_9</tabstop>
-  <tabstop>realTimeUpdates_7</tabstop>
-  <tabstop>saveStabilizationToRAM_7</tabstop>
-  <tabstop>saveStabilizationToSD_7</tabstop>
  </tabstops>
  <resources/>
  <connections/>
diff --git a/ground/openpilotgcs/src/plugins/config/txpid.ui b/ground/openpilotgcs/src/plugins/config/txpid.ui
index 6ffa2e62d..c10a16c6a 100644
--- a/ground/openpilotgcs/src/plugins/config/txpid.ui
+++ b/ground/openpilotgcs/src/plugins/config/txpid.ui
@@ -6,39 +6,67 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>720</width>
-    <height>567</height>
+    <width>708</width>
+    <height>880</height>
    </rect>
   </property>
   <property name="windowTitle">
-   <string>Form</string>
+   <string>TxPID</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_3">
+   <property name="spacing">
+    <number>12</number>
+   </property>
    <item>
-    <widget class="QScrollArea" name="scrollArea">
-     <property name="frameShape">
-      <enum>QFrame::NoFrame</enum>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
      </property>
-     <property name="widgetResizable">
-      <bool>true</bool>
-     </property>
-     <widget class="QWidget" name="scrollAreaWidgetContents_2">
-      <property name="geometry">
-       <rect>
-        <x>0</x>
-        <y>0</y>
-        <width>696</width>
-        <height>475</height>
-       </rect>
-      </property>
-      <layout class="QVBoxLayout" name="verticalLayout_2">
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>Tx PID</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_4">
+       <property name="leftMargin">
+        <number>12</number>
+       </property>
+       <property name="rightMargin">
+        <number>12</number>
+       </property>
+       <property name="bottomMargin">
+        <number>12</number>
+       </property>
        <item>
-        <widget class="QCheckBox" name="TxPIDEnable">
-         <property name="focusPolicy">
-          <enum>Qt::StrongFocus</enum>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
          </property>
-         <property name="toolTip">
-          <string>This module will periodically update values of stabilization PID settings
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents_2">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>654</width>
+            <height>671</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_2">
+           <item>
+            <widget class="QGroupBox" name="groupBox_2">
+             <property name="title">
+              <string/>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_5">
+              <item>
+               <widget class="QCheckBox" name="TxPIDEnable">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>This module will periodically update values of stabilization PID settings
 depending on configured input control channels. New values of stabilization
 settings are not saved to flash, but updated in RAM. It is expected that the
 module will be enabled only for tuning. When desired values are found, they
@@ -46,156 +74,152 @@ can be read via GCS and saved permanently. Then this module should be
 disabled again.
 
 Up to 3 separate PID options (or option pairs) can be selected and updated.</string>
-         </property>
-         <property name="text">
-          <string>Enable TxPID module</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="label_7">
-         <property name="text">
-          <string>After enabling the module, you must power cycle before using and configuring.</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="Line" name="line">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="verticalSpacer_2">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeType">
-          <enum>QSizePolicy::Preferred</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>10</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QGroupBox" name="groupBox_6">
-         <property name="enabled">
-          <bool>true</bool>
-         </property>
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="minimumSize">
-          <size>
-           <width>0</width>
-           <height>100</height>
-          </size>
-         </property>
-         <property name="title">
-          <string>Module Settings</string>
-         </property>
-         <layout class="QGridLayout" name="gridLayout">
-          <item row="1" column="1">
-           <widget class="QLabel" name="label_51">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                </property>
+                <property name="text">
+                 <string>Enable TxPID module</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="label_7">
+                <property name="text">
+                 <string>After enabling the module, you must power cycle before using and configuring.</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Preferred</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>10</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_6">
+             <property name="enabled">
+              <bool>true</bool>
+             </property>
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>100</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Module Settings</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout">
+              <item row="1" column="1">
+               <widget class="QLabel" name="label_51">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>PID option</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="2">
-           <widget class="QLabel" name="label_50">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                </property>
+                <property name="text">
+                 <string>PID option</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QLabel" name="label_50">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Control Source</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="3">
-           <widget class="QLabel" name="label_49">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                </property>
+                <property name="text">
+                 <string>Control Source</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="3">
+               <widget class="QLabel" name="label_49">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Min</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="4">
-           <widget class="QLabel" name="label">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                </property>
+                <property name="text">
+                 <string>Min</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="4">
+               <widget class="QLabel" name="label">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Max</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="label_47">
-            <property name="text">
-             <string>Instance 1</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QComboBox" name="PID1">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Select PID option or option pair to update.
+                </property>
+                <property name="text">
+                 <string>Max</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label_47">
+                <property name="text">
+                 <string>Instance 1</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QComboBox" name="PID1">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Select PID option or option pair to update.
 Set to Disabled if not used.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="2">
-           <widget class="QComboBox" name="Input1">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Select input used as a control source for this instance.
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="2">
+               <widget class="QComboBox" name="Input1">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Select input used as a control source for this instance.
 It can be one of Accessory channels or Throttle channel.
 
 If Accessory channel is chosen then its range [0..1] will be mapped
@@ -209,68 +233,68 @@ accordingly.
 Note that it is possible to set PID Min &gt; Max. In that case increasing
 control input value will decrease the PID option value. This can be
 used, for instance, to decrease PID value when increasing Throttle.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="3">
-           <widget class="QDoubleSpinBox" name="MinPID1">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Minimum PID value mapped to Accessory channel = 0 or
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="3">
+               <widget class="QDoubleSpinBox" name="MinPID1">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Minimum PID value mapped to Accessory channel = 0 or
 Throttle channel lesser or equal to Throttle Min value.</string>
-            </property>
-            <property name="decimals">
-             <number>6</number>
-            </property>
-            <property name="singleStep">
-             <double>0.000100000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="4">
-           <widget class="QDoubleSpinBox" name="MaxPID1">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum PID value mapped to Accessory channel = 1 or
+                </property>
+                <property name="decimals">
+                 <number>6</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.000100000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="4">
+               <widget class="QDoubleSpinBox" name="MaxPID1">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum PID value mapped to Accessory channel = 1 or
 Throttle channel greater or equal to Throttle Max value.</string>
-            </property>
-            <property name="decimals">
-             <number>6</number>
-            </property>
-            <property name="singleStep">
-             <double>0.000100000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="0">
-           <widget class="QLabel" name="label_48">
-            <property name="text">
-             <string>Instance 2</string>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="1">
-           <widget class="QComboBox" name="PID2">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Select PID option or option pair to update.
+                </property>
+                <property name="decimals">
+                 <number>6</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.000100000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="0">
+               <widget class="QLabel" name="label_48">
+                <property name="text">
+                 <string>Instance 2</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="1">
+               <widget class="QComboBox" name="PID2">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Select PID option or option pair to update.
 Set to Disabled if not used.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="2">
-           <widget class="QComboBox" name="Input2">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Select input used as a control source for this instance.
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="2">
+               <widget class="QComboBox" name="Input2">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Select input used as a control source for this instance.
 It can be one of Accessory channels or Throttle channel.
 
 If Accessory channel is chosen then its range [0..1] will be mapped
@@ -284,68 +308,68 @@ accordingly.
 Note that it is possible to set PID Min &gt; Max. In that case increasing
 control input value will decrease the PID option value. This can be
 used, for instance, to decrease PID value when increasing Throttle.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="3">
-           <widget class="QDoubleSpinBox" name="MinPID2">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Minimum PID value mapped to Accessory channel = 0 or
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="3">
+               <widget class="QDoubleSpinBox" name="MinPID2">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Minimum PID value mapped to Accessory channel = 0 or
 Throttle channel lesser or equal to Throttle Min value.</string>
-            </property>
-            <property name="decimals">
-             <number>6</number>
-            </property>
-            <property name="singleStep">
-             <double>0.000100000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="4">
-           <widget class="QDoubleSpinBox" name="MaxPID2">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum PID value mapped to Accessory channel = 1 or
+                </property>
+                <property name="decimals">
+                 <number>6</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.000100000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="4">
+               <widget class="QDoubleSpinBox" name="MaxPID2">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum PID value mapped to Accessory channel = 1 or
 Throttle channel greater or equal to Throttle Max value.</string>
-            </property>
-            <property name="decimals">
-             <number>6</number>
-            </property>
-            <property name="singleStep">
-             <double>0.000100000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="0">
-           <widget class="QLabel" name="label_52">
-            <property name="text">
-             <string>Instance 3</string>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="1">
-           <widget class="QComboBox" name="PID3">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Select PID option or option pair to update.
+                </property>
+                <property name="decimals">
+                 <number>6</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.000100000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="0">
+               <widget class="QLabel" name="label_52">
+                <property name="text">
+                 <string>Instance 3</string>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="1">
+               <widget class="QComboBox" name="PID3">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Select PID option or option pair to update.
 Set to Disabled if not used.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="2">
-           <widget class="QComboBox" name="Input3">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Select input used as a control source for this instance.
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="2">
+               <widget class="QComboBox" name="Input3">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Select input used as a control source for this instance.
 It can be one of Accessory channels or Throttle channel.
 
 If Accessory channel is chosen then its range [0..1] will be mapped
@@ -359,57 +383,57 @@ accordingly.
 Note that it is possible to set PID Min &gt; Max. In that case increasing
 control input value will decrease the PID option value. This can be
 used, for instance, to decrease PID value when increasing Throttle.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="3">
-           <widget class="QDoubleSpinBox" name="MinPID3">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Minimum PID value mapped to Accessory channel = 0 or
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="3">
+               <widget class="QDoubleSpinBox" name="MinPID3">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Minimum PID value mapped to Accessory channel = 0 or
 Throttle channel lesser or equal to Throttle Min value.</string>
-            </property>
-            <property name="decimals">
-             <number>6</number>
-            </property>
-            <property name="singleStep">
-             <double>0.000100000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="4">
-           <widget class="QDoubleSpinBox" name="MaxPID3">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum PID value mapped to Accessory channel = 1 or
+                </property>
+                <property name="decimals">
+                 <number>6</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.000100000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="4">
+               <widget class="QDoubleSpinBox" name="MaxPID3">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum PID value mapped to Accessory channel = 1 or
 Throttle channel greater or equal to Throttle Max value.</string>
-            </property>
-            <property name="decimals">
-             <number>6</number>
-            </property>
-            <property name="singleStep">
-             <double>0.000100000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="8" column="0">
-           <widget class="QLabel" name="label_2">
-            <property name="text">
-             <string>Update Mode</string>
-            </property>
-           </widget>
-          </item>
-          <item row="8" column="1">
-           <widget class="QComboBox" name="UpdateMode">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>PID values update mode which can be set to:
+                </property>
+                <property name="decimals">
+                 <number>6</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.000100000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="8" column="0">
+               <widget class="QLabel" name="label_2">
+                <property name="text">
+                 <string>Update Mode</string>
+                </property>
+               </widget>
+              </item>
+              <item row="8" column="1">
+               <widget class="QComboBox" name="UpdateMode">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>PID values update mode which can be set to:
 - Never: this disables PID updates (but module still will be run if enabled),
 - When Armed: PID updated only when system is armed,
 - Always: PID updated always regardless of arm state.
@@ -419,183 +443,266 @@ tricky to change other PID values from the GUI if the module is enabled
 and constantly updates stabilization settings object. As a workaround,
 this option can be used to temporarily disable updates or enable them
 only when system is armed without disabling the module.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="7" column="0">
-           <widget class="QLabel" name="label_3">
-            <property name="text">
-             <string>Throttle Range</string>
-            </property>
-           </widget>
-          </item>
-          <item row="7" column="1">
-           <widget class="QDoubleSpinBox" name="ThrottleMin">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Throttle channel lower bound mapped to PID Min value</string>
-            </property>
-            <property name="maximum">
-             <double>1.000000000000000</double>
-            </property>
-            <property name="singleStep">
-             <double>0.010000000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="7" column="2">
-           <widget class="QDoubleSpinBox" name="ThrottleMax">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Throttle channel upper bound mapped to PID Max value</string>
-            </property>
-            <property name="maximum">
-             <double>1.000000000000000</double>
-            </property>
-            <property name="singleStep">
-             <double>0.010000000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="6" column="1">
-           <widget class="QLabel" name="label_4">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                </property>
+               </widget>
+              </item>
+              <item row="7" column="0">
+               <widget class="QLabel" name="label_3">
+                <property name="text">
+                 <string>Throttle Range</string>
+                </property>
+               </widget>
+              </item>
+              <item row="7" column="1">
+               <widget class="QDoubleSpinBox" name="ThrottleMin">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Throttle channel lower bound mapped to PID Min value</string>
+                </property>
+                <property name="maximum">
+                 <double>1.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>0.010000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="7" column="2">
+               <widget class="QDoubleSpinBox" name="ThrottleMax">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Throttle channel upper bound mapped to PID Max value</string>
+                </property>
+                <property name="maximum">
+                 <double>1.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>0.010000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="1">
+               <widget class="QLabel" name="label_4">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Min</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="6" column="2">
-           <widget class="QLabel" name="label_5">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                </property>
+                <property name="text">
+                 <string>Min</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="2">
+               <widget class="QLabel" name="label_5">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Max</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="1">
-           <spacer name="verticalSpacer_3">
-            <property name="orientation">
-             <enum>Qt::Vertical</enum>
-            </property>
-            <property name="sizeType">
-             <enum>QSizePolicy::Preferred</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>20</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-         </layout>
+                </property>
+                <property name="text">
+                 <string>Max</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="1">
+               <spacer name="verticalSpacer_3">
+                <property name="orientation">
+                 <enum>Qt::Vertical</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Preferred</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>20</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
         </widget>
        </item>
-       <item>
-        <spacer name="verticalSpacer">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
       </layout>
      </widget>
     </widget>
    </item>
    <item>
-    <layout class="QVBoxLayout" name="verticalLayout">
-     <item>
-      <widget class="QLabel" name="message">
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <layout class="QHBoxLayout" name="submitButtons">
-       <item>
-        <widget class="QFrame" name="frame">
-         <property name="frameShape">
-          <enum>QFrame::StyledPanel</enum>
-         </property>
-         <property name="frameShadow">
-          <enum>QFrame::Raised</enum>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="horizontalSpacer">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>40</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QPushButton" name="Apply">
-         <property name="toolTip">
-          <string>Send settings to the board but do not save to the non-volatile memory</string>
-         </property>
-         <property name="text">
-          <string>Apply</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="Save">
-         <property name="toolTip">
-          <string>Send settings to the board and save to the non-volatile memory</string>
-         </property>
-         <property name="text">
-          <string>Save</string>
-         </property>
-         <property name="checked">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-    </layout>
+    <widget class="QGroupBox" name="groupBox_3">
+     <property name="title">
+      <string>Messsages</string>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <item>
+       <widget class="QLabel" name="message">
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>79</height>
+      </size>
+     </property>
+     <property name="title">
+      <string/>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <item>
+       <layout class="QHBoxLayout" name="submitButtons">
+        <item>
+         <widget class="QFrame" name="frame">
+          <property name="frameShape">
+           <enum>QFrame::StyledPanel</enum>
+          </property>
+          <property name="frameShadow">
+           <enum>QFrame::Raised</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <spacer name="horizontalSpacer">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <widget class="QPushButton" name="Apply">
+          <property name="minimumSize">
+           <size>
+            <width>60</width>
+            <height>28</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Send settings to the board but do not save to the non-volatile memory</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+          </property>
+          <property name="text">
+           <string>Apply</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="Save">
+          <property name="minimumSize">
+           <size>
+            <width>60</width>
+            <height>28</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Send settings to the board and save to the non-volatile memory</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+          </property>
+          <property name="text">
+           <string>Save</string>
+          </property>
+          <property name="checked">
+           <bool>false</bool>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
    </item>
   </layout>
  </widget>
  <tabstops>
-  <tabstop>TxPIDEnable</tabstop>
   <tabstop>Apply</tabstop>
   <tabstop>Save</tabstop>
   <tabstop>scrollArea</tabstop>

From e1b469b130ba9c1a272280969102ab51658633c2 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Wed, 11 Jul 2012 21:49:05 -0700
Subject: [PATCH 035/543] MixerCurve: simplified.

---
 .../src/plugins/config/mixercurve.cpp         |  82 ++-
 .../src/plugins/config/mixercurve.h           |   1 +
 .../src/plugins/config/mixercurve.ui          | 633 +++++++++---------
 .../uavobjectwidgetutils/mixercurvepoint.cpp  |  57 +-
 .../uavobjectwidgetutils/mixercurvepoint.h    |  34 +-
 .../uavobjectwidgetutils/mixercurvewidget.cpp | 247 ++++++-
 .../uavobjectwidgetutils/mixercurvewidget.h   |  18 +
 7 files changed, 705 insertions(+), 367 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index e8da7dbaa..47e16db1f 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -47,18 +47,26 @@ MixerCurve::MixerCurve(QWidget *parent) :
     // set the default mixer type
     setMixerType(MixerCurve::MIXERCURVE_THROTTLE);
 
+    // setup and turn off advanced mode
+    CommandActivated();
+
     // paint the ui
     UpdateCurveUI();
 
     // wire up our signals
+
     connect(m_mixerUI->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(CurveTypeChanged()));
     connect(m_mixerUI->ResetCurve, SIGNAL(clicked()), this, SLOT(ResetCurve()));
     connect(m_mixerUI->GenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve()));
     connect(m_curve, SIGNAL(curveUpdated()), this, SLOT(UpdateSettingsTable()));
+    connect(m_curve, SIGNAL(commandActivated(Node*)),this, SLOT(CommandActivated(Node*)));
     connect(m_settings, SIGNAL(cellChanged(int,int)), this, SLOT(SettingsTableChanged()));
     connect(m_mixerUI->CurveMin, SIGNAL(valueChanged(double)), this, SLOT(CurveMinChanged(double)));
     connect(m_mixerUI->CurveMax, SIGNAL(valueChanged(double)), this, SLOT(CurveMaxChanged(double)));
     connect(m_mixerUI->CurveStep, SIGNAL(valueChanged(double)), this, SLOT(GenerateCurve()));
+
+
+
 }
 
 MixerCurve::~MixerCurve()
@@ -86,7 +94,8 @@ void MixerCurve::setMixerType(MixerCurveType curveType)
         case MixerCurve::MIXERCURVE_PITCH:
         {
             m_mixerUI->SettingsGroup->setTitle("Pitch Curve");
-            m_curve->setRange(-1.0, 1.0);
+            m_curve->setRange(-1.0, 1.0);            
+            m_curve->setPositiveColor("#0000ff", "#0000ff");
             m_mixerUI->CurveMin->setMinimum(-1.0);
             m_mixerUI->CurveMax->setMinimum(-1.0);
             break;
@@ -109,6 +118,8 @@ void MixerCurve::ResetCurve()
 
     initLinearCurve(MixerCurveWidget::NODE_NUMELEM, getCurveMax(), getCurveMin());
 
+    m_curve->activateCommand("Linear");
+
     UpdateSettingsTable();
 }
 
@@ -117,14 +128,11 @@ void MixerCurve::UpdateCurveUI()
     //get the user settings
     QString curveType = m_mixerUI->CurveType->currentText();
 
-    m_mixerUI->CurveMin->setValue(m_mixerUI->CurveMin->minimum());
-    m_mixerUI->CurveMax->setValue(m_mixerUI->CurveMax->maximum());
-
     m_mixerUI->CurveStep->setMinimum(0.0);
     m_mixerUI->CurveStep->setMaximum(100.0);
+    m_mixerUI->CurveStep->setSingleStep(1.00);
 
     //set default visible
-    m_mixerUI->minLabel->setText("Min");
     m_mixerUI->minLabel->setVisible(true);
     m_mixerUI->CurveMin->setVisible(true);
     m_mixerUI->maxLabel->setVisible(false);
@@ -134,7 +142,10 @@ void MixerCurve::UpdateCurveUI()
 
     if ( curveType.compare("Flat")==0)
     {
-        m_mixerUI->minLabel->setText("Value");
+        m_mixerUI->CurveStep->setMinimum(m_mixerUI->CurveMin->minimum());
+        m_mixerUI->CurveStep->setMaximum(m_mixerUI->CurveMax->maximum());
+        m_mixerUI->CurveStep->setSingleStep(0.01);
+        m_mixerUI->CurveStep->setValue(m_mixerUI->CurveMax->value() / 2);
     }
     if ( curveType.compare("Linear")==0)
     {
@@ -155,7 +166,7 @@ void MixerCurve::UpdateCurveUI()
     {
         m_mixerUI->maxLabel->setVisible(true);
         m_mixerUI->CurveMax->setVisible(true);
-        m_mixerUI->stepLabel->setText("Strength");
+        m_mixerUI->stepLabel->setText("Power");
         m_mixerUI->stepLabel->setVisible(true);
         m_mixerUI->CurveStep->setVisible(true);
 
@@ -165,7 +176,7 @@ void MixerCurve::UpdateCurveUI()
     {
         m_mixerUI->maxLabel->setVisible(true);
         m_mixerUI->CurveMax->setVisible(true);
-        m_mixerUI->stepLabel->setText("Strength");
+        m_mixerUI->stepLabel->setText("Power");
         m_mixerUI->stepLabel->setVisible(true);
         m_mixerUI->CurveStep->setVisible(true);        
         m_mixerUI->CurveStep->setMinimum(1.0);
@@ -184,6 +195,8 @@ void MixerCurve::GenerateCurve()
    double value2 = getCurveMax();
    double value3 = getCurveStep();
 
+   m_curve->setCommandText("StepValue", QString("%0").arg(value3));
+
    QString CurveType = m_mixerUI->CurveType->currentText();
 
    QList<double> points;
@@ -194,7 +207,7 @@ void MixerCurve::GenerateCurve()
 
        if ( CurveType.compare("Flat")==0)
        {
-           points.append(value1);
+           points.append(value3);
        }
        if ( CurveType.compare("Linear")==0)
        {
@@ -323,6 +336,57 @@ void MixerCurve::SettingsTableChanged()
     m_curve->setCurve(&points);
 }
 
+void MixerCurve::CommandActivated(Node* node)
+{
+    //m_mixerUI->GenerateCurve->hide();
+
+    m_mixerUI->SettingsGroup->hide();
+    m_mixerUI->ValuesGroup->hide();
+
+    QString name = (node) ? node->getName() : "Reset";
+
+    if (name == "Reset") {
+        ResetCurve();
+    }
+    else if (name == "Linear") {
+        m_mixerUI->CurveType->setCurrentIndex(m_mixerUI->CurveType->findText("Linear"));
+    }
+    else if (name == "Log") {
+        m_mixerUI->CurveType->setCurrentIndex(m_mixerUI->CurveType->findText("Log"));
+    }
+    else if (name == "Exp") {
+        m_mixerUI->CurveType->setCurrentIndex(m_mixerUI->CurveType->findText("Exp"));
+    }
+    else if (name == "Flat") {
+        m_mixerUI->CurveType->setCurrentIndex(m_mixerUI->CurveType->findText("Flat"));
+    }
+    else if (name == "Step") {
+        m_mixerUI->CurveType->setCurrentIndex(m_mixerUI->CurveType->findText("Step"));
+    }
+    else if (name ==  "MinPlus") {
+        m_mixerUI->CurveMin->stepUp();
+    }
+    else if (name ==  "MinMinus") {
+        m_mixerUI->CurveMin->stepDown();
+    }
+    else if (name == "MaxPlus") {
+        m_mixerUI->CurveMax->stepUp();
+    }
+    else if (name == "MaxMinus"){
+        m_mixerUI->CurveMax->stepDown();
+    }
+    else if (name ==  "StepPlus") {
+        m_mixerUI->CurveStep->stepUp();
+        m_curve->setCommandText("StepValue", QString("%0").arg(getCurveStep()));
+    }
+    else if (name == "StepMinus") {
+        m_mixerUI->CurveStep->stepDown();
+        m_curve->setCommandText("StepValue", QString("%0").arg(getCurveStep()));
+    }
+
+    GenerateCurve();
+}
+
 void MixerCurve::CurveTypeChanged()
 {
     // setup the ui for this curvetype
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.h b/ground/openpilotgcs/src/plugins/config/mixercurve.h
index f746dfec7..bd24c46a9 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.h
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.h
@@ -82,6 +82,7 @@ public slots:
     void UpdateSettingsTable();
 
 private slots:
+    void CommandActivated(Node* node = 0);
     void SettingsTableChanged();
     void CurveTypeChanged();
     void CurveMinChanged(double value);
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.ui b/ground/openpilotgcs/src/plugins/config/mixercurve.ui
index ad6e8b696..7adf707da 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.ui
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>441</width>
-    <height>321</height>
+    <height>334</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -43,340 +43,309 @@
   <property name="frameShadow">
    <enum>QFrame::Raised</enum>
   </property>
-  <layout class="QHBoxLayout" name="horizontalLayout_3">
-   <item>
-    <layout class="QHBoxLayout" name="MainLayout">
-     <item>
-      <layout class="QVBoxLayout" name="SettingsLayout">
-       <property name="sizeConstraint">
-        <enum>QLayout::SetDefaultConstraint</enum>
-       </property>
-       <item>
-        <widget class="QGroupBox" name="SettingsGroup">
-         <property name="maximumSize">
-          <size>
-           <width>150</width>
-           <height>16777215</height>
-          </size>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0" rowspan="2">
+    <widget class="QGroupBox" name="SettingsGroup">
+     <property name="maximumSize">
+      <size>
+       <width>150</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="title">
+      <string>Throttle Curve</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <item>
+       <widget class="QTableWidget" name="CurveSettings">
+        <property name="maximumSize">
+         <size>
+          <width>100</width>
+          <height>200</height>
+         </size>
+        </property>
+        <property name="font">
+         <font>
+          <pointsize>8</pointsize>
+         </font>
+        </property>
+        <property name="verticalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
+        </property>
+        <property name="horizontalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
+        </property>
+        <property name="autoScroll">
+         <bool>false</bool>
+        </property>
+        <property name="alternatingRowColors">
+         <bool>true</bool>
+        </property>
+        <property name="rowCount">
+         <number>5</number>
+        </property>
+        <property name="columnCount">
+         <number>1</number>
+        </property>
+        <row>
+         <property name="text">
+          <string>Max</string>
          </property>
-         <property name="title">
-          <string>Throttle Curve</string>
+        </row>
+        <row>
+         <property name="text">
+          <string>4</string>
          </property>
-         <layout class="QVBoxLayout" name="verticalLayout">
-          <item>
-           <widget class="QTableWidget" name="CurveSettings">
-            <property name="maximumSize">
-             <size>
-              <width>100</width>
-              <height>200</height>
-             </size>
-            </property>
-            <property name="font">
-             <font>
-              <pointsize>8</pointsize>
-             </font>
-            </property>
-            <property name="verticalScrollBarPolicy">
-             <enum>Qt::ScrollBarAlwaysOff</enum>
-            </property>
-            <property name="horizontalScrollBarPolicy">
-             <enum>Qt::ScrollBarAlwaysOff</enum>
-            </property>
-            <property name="autoScroll">
-             <bool>false</bool>
-            </property>
-            <property name="alternatingRowColors">
-             <bool>true</bool>
-            </property>
-            <property name="rowCount">
-             <number>5</number>
-            </property>
-            <property name="columnCount">
-             <number>1</number>
-            </property>
-            <row>
-             <property name="text">
-              <string>5</string>
-             </property>
-            </row>
-            <row>
-             <property name="text">
-              <string>4</string>
-             </property>
-            </row>
-            <row>
-             <property name="text">
-              <string>3</string>
-             </property>
-            </row>
-            <row>
-             <property name="text">
-              <string>2</string>
-             </property>
-            </row>
-            <row>
-             <property name="text">
-              <string>1</string>
-             </property>
-            </row>
-            <column>
-             <property name="text">
-              <string>Value</string>
-             </property>
-             <property name="textAlignment">
-              <set>AlignJustify|AlignVCenter</set>
-             </property>
-            </column>
-            <item row="0" column="0">
-             <property name="text">
-              <string>1.0</string>
-             </property>
-            </item>
-            <item row="1" column="0">
-             <property name="text">
-              <string>.75</string>
-             </property>
-            </item>
-            <item row="2" column="0">
-             <property name="text">
-              <string>.50</string>
-             </property>
-            </item>
-            <item row="3" column="0">
-             <property name="text">
-              <string>.25</string>
-             </property>
-            </item>
-            <item row="4" column="0">
-             <property name="text">
-              <string>.00</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item>
-           <widget class="QComboBox" name="CurveType">
-            <item>
-             <property name="text">
-              <string>Linear</string>
-             </property>
-            </item>
-            <item>
-             <property name="text">
-              <string>Log</string>
-             </property>
-            </item>
-            <item>
-             <property name="text">
-              <string>Exp</string>
-             </property>
-            </item>
-            <item>
-             <property name="text">
-              <string>Flat</string>
-             </property>
-            </item>
-            <item>
-             <property name="text">
-              <string>Step</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item>
-           <widget class="QPushButton" name="GenerateCurve">
-            <property name="text">
-             <string>Generate</string>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <spacer name="verticalSpacer">
-            <property name="orientation">
-             <enum>Qt::Vertical</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>20</width>
-              <height>40</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
-           <widget class="QPushButton" name="ResetCurve">
-            <property name="text">
-             <string>Reset</string>
-            </property>
-           </widget>
-          </item>
-         </layout>
-         <zorder>GenerateCurve</zorder>
-         <zorder>CurveSettings</zorder>
-         <zorder>ResetCurve</zorder>
-         <zorder>CurveType</zorder>
-         <zorder>verticalSpacer</zorder>
-        </widget>
-       </item>
-      </layout>
-     </item>
-     <item>
-      <layout class="QHBoxLayout" name="horizontalLayout_2">
-       <property name="sizeConstraint">
-        <enum>QLayout::SetDefaultConstraint</enum>
-       </property>
-       <item>
-        <widget class="QGroupBox" name="CurveGroup">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-           <horstretch>1</horstretch>
-           <verstretch>1</verstretch>
-          </sizepolicy>
+        </row>
+        <row>
+         <property name="text">
+          <string>3</string>
          </property>
-         <layout class="QGridLayout" name="gridLayout">
-          <property name="sizeConstraint">
-           <enum>QLayout::SetMinAndMaxSize</enum>
-          </property>
-          <item row="1" column="0">
-           <widget class="MixerCurveWidget" name="CurveWidget" native="true">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-              <horstretch>5</horstretch>
-              <verstretch>5</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="minimumSize">
-             <size>
-              <width>50</width>
-              <height>50</height>
-             </size>
-            </property>
-            <property name="maximumSize">
-             <size>
-              <width>1000</width>
-              <height>1000</height>
-             </size>
-            </property>
-            <property name="sizeIncrement">
-             <size>
-              <width>10</width>
-              <height>10</height>
-             </size>
-            </property>
-            <property name="baseSize">
-             <size>
-              <width>200</width>
-              <height>200</height>
-             </size>
-            </property>
-            <property name="font">
-             <font>
-              <pointsize>7</pointsize>
-             </font>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <layout class="QHBoxLayout" name="CurveLayout">
-            <item>
-             <widget class="QGroupBox" name="groupBox_2">
-              <property name="title">
-               <string/>
-              </property>
-              <layout class="QHBoxLayout" name="horizontalLayout">
-               <item>
-                <widget class="QLabel" name="minLabel">
-                 <property name="text">
-                  <string>Min</string>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QDoubleSpinBox" name="CurveMin">
-                 <property name="correctionMode">
-                  <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-                 </property>
-                 <property name="minimum">
-                  <double>-1.000000000000000</double>
-                 </property>
-                 <property name="maximum">
-                  <double>1.000000000000000</double>
-                 </property>
-                 <property name="singleStep">
-                  <double>0.010000000000000</double>
-                 </property>
-                 <property name="value">
-                  <double>0.000000000000000</double>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QLabel" name="maxLabel">
-                 <property name="text">
-                  <string>Max</string>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QDoubleSpinBox" name="CurveMax">
-                 <property name="correctionMode">
-                  <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-                 </property>
-                 <property name="minimum">
-                  <double>0.000000000000000</double>
-                 </property>
-                 <property name="maximum">
-                  <double>1.000000000000000</double>
-                 </property>
-                 <property name="singleStep">
-                  <double>0.010000000000000</double>
-                 </property>
-                 <property name="value">
-                  <double>1.000000000000000</double>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QLabel" name="stepLabel">
-                 <property name="text">
-                  <string>Step</string>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QDoubleSpinBox" name="CurveStep">
-                 <property name="correctionMode">
-                  <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
-                 </property>
-                 <property name="value">
-                  <double>50.000000000000000</double>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <spacer name="horizontalSpacer">
-                 <property name="orientation">
-                  <enum>Qt::Horizontal</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>40</width>
-                   <height>20</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-              </layout>
-             </widget>
-            </item>
-           </layout>
-          </item>
-         </layout>
-        </widget>
-       </item>
-      </layout>
-     </item>
-    </layout>
+        </row>
+        <row>
+         <property name="text">
+          <string>2</string>
+         </property>
+        </row>
+        <row>
+         <property name="text">
+          <string>Min</string>
+         </property>
+        </row>
+        <column>
+         <property name="text">
+          <string>Value</string>
+         </property>
+         <property name="textAlignment">
+          <set>AlignJustify|AlignVCenter</set>
+         </property>
+        </column>
+        <item row="0" column="0">
+         <property name="text">
+          <string>1.0</string>
+         </property>
+        </item>
+        <item row="1" column="0">
+         <property name="text">
+          <string>.75</string>
+         </property>
+        </item>
+        <item row="2" column="0">
+         <property name="text">
+          <string>.50</string>
+         </property>
+        </item>
+        <item row="3" column="0">
+         <property name="text">
+          <string>.25</string>
+         </property>
+        </item>
+        <item row="4" column="0">
+         <property name="text">
+          <string>.00</string>
+         </property>
+        </item>
+       </widget>
+      </item>
+      <item>
+       <widget class="QComboBox" name="CurveType">
+        <item>
+         <property name="text">
+          <string>Linear</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>Log</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>Exp</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>Flat</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>Step</string>
+         </property>
+        </item>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="GenerateCurve">
+        <property name="text">
+         <string>Generate</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <spacer name="verticalSpacer">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>20</width>
+          <height>40</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QPushButton" name="ResetCurve">
+        <property name="text">
+         <string>Reset</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+     <zorder>GenerateCurve</zorder>
+     <zorder>CurveSettings</zorder>
+     <zorder>ResetCurve</zorder>
+     <zorder>CurveType</zorder>
+     <zorder>verticalSpacer</zorder>
+    </widget>
+   </item>
+   <item row="0" column="1" colspan="2">
+    <widget class="MixerCurveWidget" name="CurveWidget" native="true">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+       <horstretch>5</horstretch>
+       <verstretch>5</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>50</width>
+       <height>50</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>1000</width>
+       <height>1000</height>
+      </size>
+     </property>
+     <property name="sizeIncrement">
+      <size>
+       <width>10</width>
+       <height>10</height>
+      </size>
+     </property>
+     <property name="baseSize">
+      <size>
+       <width>200</width>
+       <height>200</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>7</pointsize>
+      </font>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="1">
+    <widget class="QGroupBox" name="ValuesGroup">
+     <property name="title">
+      <string/>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <item>
+       <widget class="QLabel" name="minLabel">
+        <property name="text">
+         <string>Min</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="CurveMin">
+        <property name="alignment">
+         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+        </property>
+        <property name="correctionMode">
+         <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+        </property>
+        <property name="minimum">
+         <double>-1.000000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>1.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.010000000000000</double>
+        </property>
+        <property name="value">
+         <double>0.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="maxLabel">
+        <property name="text">
+         <string>Max</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="CurveMax">
+        <property name="correctionMode">
+         <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+        </property>
+        <property name="minimum">
+         <double>0.000000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>1.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.010000000000000</double>
+        </property>
+        <property name="value">
+         <double>1.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="stepLabel">
+        <property name="text">
+         <string>Step</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="CurveStep">
+        <property name="correctionMode">
+         <enum>QAbstractSpinBox::CorrectToNearestValue</enum>
+        </property>
+        <property name="value">
+         <double>50.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+     </layout>
+    </widget>
    </item>
   </layout>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
index 5fdd2fbbf..3a6f91b21 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
@@ -29,6 +29,7 @@
 #include <QGraphicsSceneMouseEvent>
 #include <QPainter>
 #include <QStyleOption>
+#include <QColor>
 #include <QDebug>
 
 #include "mixercurveline.h"
@@ -42,7 +43,16 @@ Node::Node(MixerCurveWidget *graphWidget)
     setFlag(ItemSendsGeometryChanges);
     setCacheMode(DeviceCoordinateCache);
     setZValue(-1);
+    cmdActive = false;
     vertical = false;
+    cmdNode = false;
+    cmdToggle = true;
+
+    posColor0 = "#1c870b";  //greenish?
+    posColor1 = "#116703";  //greenish?
+    negColor0 = "#ff0000";  //red
+    negColor1 = "#ff0000";  //red
+
 }
 
 void Node::addEdge(Edge *edge)
@@ -59,53 +69,53 @@ QList<Edge *> Node::edges() const
 
 QRectF Node::boundingRect() const
 {
-    return QRectF(-13, -13, 26, 26);
+    return cmdNode ? QRectF(-4, -4, 15, 10) : QRectF(-13, -13, 26, 26);
 }
 
 QPainterPath Node::shape() const
 {
     QPainterPath path;
-    path.addEllipse(-13, -13, 26, 26);
+    path.addEllipse(boundingRect());
     return path;
 }
 
 void Node::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *)
 {
-    /*
-    painter->setPen(Qt::NoPen);
-    painter->setBrush(Qt::darkGray);
-    painter->drawEllipse(-7, -7, 20, 20);
-    */
+    QString text = cmdNode ? cmdText : QString().sprintf("% .2f", value());
 
     QRadialGradient gradient(-3, -3, 10);
     if (option->state & QStyle::State_Sunken) {
         gradient.setCenter(3, 3);
         gradient.setFocalPoint(3, 3);
-        //gradient.setColorAt(1, QColor("#1c870b").light(120));
-        //gradient.setColorAt(0, QColor("#116703").light(120));
 
         gradient.setColorAt(1, Qt::darkBlue);
         gradient.setColorAt(0, Qt::darkBlue);
     } else {
-        if (value() < 0) {
-            gradient.setColorAt(0, Qt::red);
-            gradient.setColorAt(1, Qt::red);
+        if (cmdNode) {
+            gradient.setColorAt(0, cmdActive ? posColor0 : negColor0);
+            gradient.setColorAt(1, cmdActive ? posColor1 : negColor1);
         }
         else {
-            gradient.setColorAt(0, "#1c870b");
-            gradient.setColorAt(1, "#116703");
+            if (value() < 0) {
+                gradient.setColorAt(0, negColor0);
+                gradient.setColorAt(1, negColor1);
+            }
+            else {
+                gradient.setColorAt(0, posColor0);
+                gradient.setColorAt(1, posColor1);
+            }
         }
     }
     painter->setBrush(gradient);
     painter->setPen(QPen(Qt::black, 0));
-    painter->drawEllipse(-13, -13, 26, 26);
+    painter->drawEllipse(boundingRect());
 
     painter->setPen(QPen(Qt::white, 0));
-    if (value() < 0) {
-        painter->drawText(-13, 4, QString().sprintf("% .2f", value()));
+    if (cmdNode) {
+        painter->drawText(0,4,text);
     }
     else {
-        painter->drawText(-11, 4, QString().sprintf("%.2f", value()));
+        painter->drawText(-13, 4, text);
     }
 }
 
@@ -113,6 +123,13 @@ void Node::verticalMove(bool flag){
     vertical = flag;
 }
 
+void Node::commandNode(bool enable){
+    cmdNode = enable;
+}
+void Node::commandText(QString text){
+    cmdText = text;
+}
+
 double Node::value() {
     double h = graph->sceneRect().height();
     double ratio = (h - pos().y()) / h;
@@ -161,6 +178,10 @@ QVariant Node::itemChange(GraphicsItemChange change, const QVariant &val)
 
 void Node::mousePressEvent(QGraphicsSceneMouseEvent *event)
 {
+    if (cmdNode) {
+        graph->cmdActivated(this);
+        //return;
+    }
     update();
     QGraphicsItem::mousePressEvent(event);
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
index eca445d32..1747f1679 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
@@ -29,6 +29,7 @@
 #define MIXERCURVEPOINT_H
 
 #include <QGraphicsItem>
+#include <QColor>
 #include <QList>
 
 class Edge;
@@ -48,8 +49,20 @@ public:
     enum { Type = UserType + 1 };
     int type() const { return Type; }
 
+    void setName(QString name) { cmdName = name; }
+    const QString& getName() { return cmdName; }
 
     void verticalMove(bool flag);
+    void commandNode(bool enable);
+    void commandText(QString text);
+    int  getCommandIndex() { return index; }
+    void setCommandIndex(int idx) { index = idx; }
+    void setActive(bool enable) { cmdActive = enable; }
+    void setToggle(bool enable) { cmdToggle = enable; }
+    bool getToggle() { return cmdToggle; }
+
+    void setPositiveColor(QString color0 = "#00ff00", QString color1 = "#00ff00") { posColor0 = color0;  posColor1 = color1; }
+    void setNegativeColor(QString color0 = "#ff0000", QString color1 = "#ff0000") { negColor0 = color0; negColor1 = color1; }
 
     QRectF boundingRect() const;
     QPainterPath shape() const;
@@ -57,6 +70,9 @@ public:
 
     double value();
 
+signals:
+   void commandActivated(QString text);
+
 protected:
     QVariant itemChange(GraphicsItemChange change, const QVariant &val);
 
@@ -64,11 +80,21 @@ protected:
     void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
     
 private:
+    QList<Edge *>       edgeList;
+    QPointF             newPos;
+    MixerCurveWidget*   graph;
+    QString             posColor0;
+    QString             posColor1;
+    QString             negColor0;
+    QString             negColor1;
 
-    QList<Edge *> edgeList;
-    QPointF newPos;
-    MixerCurveWidget *graph;
-    bool vertical;
+    bool    vertical;
+    QString cmdName;
+    bool    cmdActive;
+    bool    cmdNode;
+    bool    cmdToggle;
+    QString cmdText;    
+    int     index;
 
 };
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index 3833b18ed..bff81f98a 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -29,6 +29,7 @@
 #include "mixercurveline.h"
 #include "mixercurvepoint.h"
 
+#include <QObject>
 #include <QtGui>
 #include <QDebug>
 
@@ -57,7 +58,6 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     curveMin=0.0;
     curveMax=1.0;
 
-
     setFrameStyle(QFrame::NoFrame);
     setStyleSheet("background:transparent");
 
@@ -73,7 +73,111 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     scene->setSceneRect(plot->boundingRect());
     setScene(scene);
 
+    posColor0 = "#1c870b";  //greenish?
+    posColor1 = "#116703";  //greenish?
+    negColor0 = "#ff0000";  //red
+    negColor1 = "#ff0000";  //red
+
+    // commmand nodes
+    // reset
+    Node* node = getCommandNode(0);    
+    node->setName("Reset");
+    node->setToggle(false);
+    node->setPositiveColor("#ffffff", "#ffffff");  //white
+    node->setNegativeColor("#ffffff", "#ffffff");
+    scene->addItem(node);
+
+    // linear
+    node = getCommandNode(1);
+    node->setName("Linear");
+    node->commandText("/");
+    scene->addItem(node);
+
+    // log
+    node = getCommandNode(2);
+    node->setName("Log");
+    node->commandText("(");
+    scene->addItem(node);
+
+    // exp
+    node = getCommandNode(3);
+    node->setName("Exp");
+    node->commandText(")");
+    scene->addItem(node);
+
+    // flat
+    node = getCommandNode(4);
+    node->setName("Flat");
+    node->commandText("--");
+    scene->addItem(node);
+
+    // step
+    node = getCommandNode(5);
+    node->setName("Step");
+    node->commandText("z");
+    scene->addItem(node);
+
+
+    // curve min/max nodes
+    node = getCommandNode(6);
+    node->setName("MinPlus");
+    node->setToggle(false);
+    node->setPositiveColor("#00ff00", "#00ff00");   //green
+    node->setNegativeColor("#00ff00", "#00ff00");
+    node->commandText("+");
+    scene->addItem(node);
+
+    node = getCommandNode(7);
+    node->setName("MinMinus");
+    node->setToggle(false);
+    node->setPositiveColor("#ff0000", "#ff0000");   //red
+    node->setNegativeColor("#ff0000", "#ff0000");
+    node->commandText("-");
+    scene->addItem(node);
+
+    node = getCommandNode(8);
+    node->setName("MaxPlus");
+    node->setToggle(false);
+    node->setPositiveColor("#00ff00", "#00ff00");   //green
+    node->setNegativeColor("#00ff00", "#00ff00");
+    node->commandText("+");
+    scene->addItem(node);
+
+    node = getCommandNode(9);
+    node->setName("MaxMinus");
+    node->setToggle(false);
+    node->setPositiveColor("#ff0000", "#ff0000");   //red
+    node->setNegativeColor("#ff0000", "#ff0000");
+    node->commandText("-");
+    scene->addItem(node);
+
+    node = getCommandNode(10);
+    node->setName("StepPlus");
+    node->setToggle(false);
+    node->setPositiveColor("#00ff00", "#00ff00");   //green
+    node->setNegativeColor("#00ff00", "#00ff00");
+    node->commandText("+");
+    scene->addItem(node);
+
+    node = getCommandNode(11);
+    node->setName("StepMinus");
+    node->setToggle(false);
+    node->setPositiveColor("#ff0000", "#ff0000");   //red
+    node->setNegativeColor("#ff0000", "#ff0000");
+    node->commandText("-");
+    scene->addItem(node);
+
+    node = getCommandNode(12);
+    node->setName("StepValue");
+    node->setToggle(false);
+    node->setPositiveColor("#0000ff", "#0000ff");  //blue
+    node->setNegativeColor("#0000ff", "#0000ff");
+    scene->addItem(node);
+
+    resizeCommands();
+
     initNodes(MixerCurveWidget::NODE_NUMELEM);
+
 }
 
 MixerCurveWidget::~MixerCurveWidget()
@@ -83,6 +187,30 @@ MixerCurveWidget::~MixerCurveWidget()
 
     while (!edgePool.isEmpty())
         delete edgePool.takeFirst();
+
+    while (!cmdNodePool.isEmpty())
+        delete cmdNodePool.takeFirst();
+}
+
+Node* MixerCurveWidget::getCommandNode(int index)
+{
+    Node* node;
+
+    if (index >= 0 && index < cmdNodePool.count())
+    {
+        node = cmdNodePool.at(index);
+    }
+    else {
+        node = new Node(this);        
+        node->commandNode(true);
+        node->commandText("");
+        node->setCommandIndex(index);
+        node->setActive(false);        
+        node->setPositiveColor("#ff0000", "#ff0000");
+        node->setNegativeColor("#0000cc", "#0000cc");
+        cmdNodePool.append(node);
+    }
+    return node;
 }
 
 Node* MixerCurveWidget::getNode(int index)
@@ -99,7 +227,6 @@ Node* MixerCurveWidget::getNode(int index)
     }
     return node;
 }
-
 Edge* MixerCurveWidget::getEdge(int index, Node* sourceNode, Node* destNode)
 {
     Edge* edge;
@@ -117,6 +244,26 @@ Edge* MixerCurveWidget::getEdge(int index, Node* sourceNode, Node* destNode)
     return edge;
 }
 
+void MixerCurveWidget::setPositiveColor(QString color0, QString color1)
+{
+    posColor0 = color0;
+    posColor1 = color1;
+    for (int i=0; i<nodePool.count(); i++) {
+        Node* node = nodePool.at(i);
+        node->setPositiveColor(color0, color1);
+    }
+}
+void MixerCurveWidget::setNegativeColor(QString color0, QString color1)
+{
+    negColor0 = color0;
+    negColor1 = color1;
+    for (int i=0; i<nodePool.count(); i++) {
+        Node* node = nodePool.at(i);
+        node->setNegativeColor(color0, color1);
+    }
+}
+
+
 /**
   Init curve: create a (flat) curve with a specified number of points.
 
@@ -220,6 +367,10 @@ void MixerCurveWidget::setCurve(const QList<double>* points)
         Node* node = nodeList.at(i);
         node->setPos(w*i, h - (val*h));
         node->verticalMove(true);
+
+        node->setPositiveColor(posColor0, posColor1);
+        node->setNegativeColor(negColor0, negColor1);
+
         node->update();
     }
     curveUpdating = false;
@@ -238,7 +389,7 @@ void MixerCurveWidget::showEvent(QShowEvent *event)
     // the result is usually a ahrsbargraph that is way too small.
 
     QRectF rect = plot->boundingRect();
-
+    resizeCommands();
     fitInView(rect.adjusted(-15,-15,15,15), Qt::KeepAspectRatio);
 }
 
@@ -247,12 +398,54 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
     Q_UNUSED(event);
 
     QRectF rect = plot->boundingRect();
-
+    resizeCommands();
     fitInView(rect.adjusted(-15,-15,15,15), Qt::KeepAspectRatio);
 }
 
+void MixerCurveWidget::resizeCommands()
+{
+    QRectF rect = plot->boundingRect();
+
+    Node* node;
+    for (int i = 0; i<6; i++) {
+        node = getCommandNode(i);
+
+        node->setPos((rect.left() + rect.width() / 2) - 60 + (i * 20), rect.height() + 10);
+    }
+
+    //curveminplus
+    node = getCommandNode(6);
+    node->setPos(rect.bottomLeft().x() + 15, rect.bottomLeft().y() - 10);
+
+    //curveminminus
+    node = getCommandNode(7);
+    node->setPos(rect.bottomLeft().x() + 15, rect.bottomLeft().y() + 5);
+
+    //curvemaxplus
+    node = getCommandNode(8);
+    node->setPos(rect.topRight().x() - 20, rect.topRight().y() - 7);
+
+    //curvemaxminus
+    node = getCommandNode(9);
+    node->setPos(rect.topRight().x() - 20, rect.topRight().y() + 8);
+
+    //stepplus
+    node = getCommandNode(10);
+    node->setPos(rect.bottomRight().x() - 60, rect.bottomRight().y() + 8);
+
+    //stepminus
+    node = getCommandNode(11);
+    node->setPos(rect.bottomRight().x() - 40, rect.bottomRight().y() + 8);
+
+    //step
+    node = getCommandNode(12);
+    node->setPos(rect.bottomRight().x() - 20, rect.bottomRight().y() + 8);
+}
+
 void MixerCurveWidget::itemMoved(double itemValue)
 {
+    Q_UNUSED(itemValue);
+
     if (!curveUpdating) {
         emit curveUpdated();
     }
@@ -288,3 +481,49 @@ double MixerCurveWidget::setRange(double min, double max)
     curveMax = max;
     return curveMax - curveMin;
 }
+
+Node* MixerCurveWidget::getCmdNode(const QString& name)
+{
+    Node* node = 0;
+    for (int i=0; i<cmdNodePool.count(); i++) {
+        Node* n = cmdNodePool.at(i);
+        if (n->getName() == name)
+            node = n;
+    }
+    return node;
+}
+
+void MixerCurveWidget::setCommandText(const QString& name, const QString& text)
+{
+    for (int i=0; i<cmdNodePool.count(); i++) {
+        Node* n = cmdNodePool.at(i);
+        if (n->getName() == name) {
+            n->commandText(text);
+            n->update();
+        }
+    }
+}
+void MixerCurveWidget::activateCommand(const QString& name)
+{
+    for (int i=0; i<cmdNodePool.count(); i++) {
+        Node* node = cmdNodePool.at(i);
+        node->setActive(node->getName() == name);
+        node->update();
+    }
+}
+
+void MixerCurveWidget::cmdActivated(Node* node)
+{
+    if (node->getToggle()) {
+        for (int i=0; i<cmdNodePool.count(); i++) {
+            Node* n = cmdNodePool.at(i);
+            n->setActive(false);
+            n->update();
+        }
+
+        node->setActive(true);
+    }
+    node->update();
+    emit commandActivated(node);
+}
+
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
index dcf9dc93a..3747730a0 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
@@ -28,6 +28,7 @@
 #ifndef MIXERCURVEWIDGET_H_
 #define MIXERCURVEWIDGET_H_
 
+#include <QObject>
 #include <QGraphicsView>
 #include <QtSvg/QSvgRenderer>
 #include <QtSvg/QGraphicsSvgItem>
@@ -57,12 +58,18 @@ public:
    double getMax();
    double setRange(double min, double max);
 
+   void cmdActivated(Node* node);
+   void activateCommand(const QString& name);
+   Node* getCmdNode(const QString& name);
+   void setCommandText(const QString& name, const QString& text);
+
    static const int NODE_NUMELEM = 5;
 
 signals:
    void curveUpdated();
    void curveMinChanged(double value);
    void curveMaxChanged(double value);
+   void commandActivated(Node* node);
 
 private slots:
 
@@ -70,6 +77,7 @@ private:
    QGraphicsSvgItem *plot;
 
    QList<Node*> nodePool;
+   QList<Node*> cmdNodePool;
    QList<Edge*> edgePool;
    QList<Node*> nodeList;
 
@@ -77,9 +85,19 @@ private:
    double curveMax;
    bool   curveUpdating;
 
+   QString posColor0;
+   QString posColor1;
+   QString negColor0;
+   QString negColor1;
+
    void  initNodes(int numPoints);
    Node* getNode(int index);
+   Node* getCommandNode(int index);
    Edge* getEdge(int index, Node* sourceNode, Node* destNode);
+   void setPositiveColor(QString color0 = "#00ff00", QString color1 = "#00ff00");
+   void setNegativeColor(QString color0 = "#ff0000", QString color1 = "#ff0000");
+
+   void  resizeCommands();
 
 protected:
     void showEvent(QShowEvent *event);

From a5e117101bc046b2e831749a3687f1845245767b Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Thu, 12 Jul 2012 10:49:22 -0700
Subject: [PATCH 036/543] Mixercurve, change command location/colors; add
 tooltips;  subdue node colors.

---
 .../src/plugins/config/mixercurve.cpp         |  2 +-
 .../uavobjectwidgetutils/mixercurvepoint.cpp  |  4 +-
 .../uavobjectwidgetutils/mixercurvewidget.cpp | 68 ++++++++++++-------
 3 files changed, 48 insertions(+), 26 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index 47e16db1f..73593dca9 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -95,7 +95,7 @@ void MixerCurve::setMixerType(MixerCurveType curveType)
         {
             m_mixerUI->SettingsGroup->setTitle("Pitch Curve");
             m_curve->setRange(-1.0, 1.0);            
-            m_curve->setPositiveColor("#0000ff", "#0000ff");
+            m_curve->setPositiveColor("#0000aa", "#0000aa");
             m_mixerUI->CurveMin->setMinimum(-1.0);
             m_mixerUI->CurveMax->setMinimum(-1.0);
             break;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
index 3a6f91b21..856f44b56 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
@@ -50,8 +50,8 @@ Node::Node(MixerCurveWidget *graphWidget)
 
     posColor0 = "#1c870b";  //greenish?
     posColor1 = "#116703";  //greenish?
-    negColor0 = "#ff0000";  //red
-    negColor1 = "#ff0000";  //red
+    negColor0 = "#aa0000";  //red
+    negColor1 = "#aa0000";  //red
 
 }
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index bff81f98a..04464d9d8 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -82,6 +82,7 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     // reset
     Node* node = getCommandNode(0);    
     node->setName("Reset");
+    node->setToolTip("Reset Curve to Defaults");
     node->setToggle(false);
     node->setPositiveColor("#ffffff", "#ffffff");  //white
     node->setNegativeColor("#ffffff", "#ffffff");
@@ -90,30 +91,35 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     // linear
     node = getCommandNode(1);
     node->setName("Linear");
+    node->setToolTip("Generate a Linear Curve");
     node->commandText("/");
     scene->addItem(node);
 
     // log
     node = getCommandNode(2);
     node->setName("Log");
+    node->setToolTip("Generate a Logarithmic Curve");
     node->commandText("(");
     scene->addItem(node);
 
     // exp
     node = getCommandNode(3);
     node->setName("Exp");
+    node->setToolTip("Generate an Exponential Curve");
     node->commandText(")");
     scene->addItem(node);
 
     // flat
     node = getCommandNode(4);
     node->setName("Flat");
+    node->setToolTip("Generate a Flat Curve");
     node->commandText("--");
     scene->addItem(node);
 
     // step
     node = getCommandNode(5);
     node->setName("Step");
+    node->setToolTip("Generate a Stepped Curve");
     node->commandText("z");
     scene->addItem(node);
 
@@ -121,57 +127,64 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     // curve min/max nodes
     node = getCommandNode(6);
     node->setName("MinPlus");
+    node->setToolTip("Increase Curve Minimum");
     node->setToggle(false);
-    node->setPositiveColor("#00ff00", "#00ff00");   //green
-    node->setNegativeColor("#00ff00", "#00ff00");
+    node->setPositiveColor("#00aa00", "#00aa00");   //green
+    node->setNegativeColor("#00aa00", "#00aa00");
     node->commandText("+");
     scene->addItem(node);
 
     node = getCommandNode(7);
     node->setName("MinMinus");
+    node->setToolTip("Decrease Curve Minimum");
     node->setToggle(false);
-    node->setPositiveColor("#ff0000", "#ff0000");   //red
-    node->setNegativeColor("#ff0000", "#ff0000");
+    node->setPositiveColor("#aa0000", "#aa0000");   //red
+    node->setNegativeColor("#aa0000", "#aa0000");
     node->commandText("-");
     scene->addItem(node);
 
     node = getCommandNode(8);
     node->setName("MaxPlus");
+    node->setToolTip("Increase Curve Maximum");
     node->setToggle(false);
-    node->setPositiveColor("#00ff00", "#00ff00");   //green
-    node->setNegativeColor("#00ff00", "#00ff00");
+    node->setPositiveColor("#00aa00", "#00aa00");   //green
+    node->setNegativeColor("#00aa00", "#00aa00");
     node->commandText("+");
     scene->addItem(node);
 
     node = getCommandNode(9);
     node->setName("MaxMinus");
+    node->setToolTip("Decrease Curve Maximum");
     node->setToggle(false);
-    node->setPositiveColor("#ff0000", "#ff0000");   //red
-    node->setNegativeColor("#ff0000", "#ff0000");
+    node->setPositiveColor("#aa0000", "#aa0000");   //red
+    node->setNegativeColor("#aa0000", "#aa0000");
     node->commandText("-");
     scene->addItem(node);
 
     node = getCommandNode(10);
     node->setName("StepPlus");
+    node->setToolTip("Increase Step/Power Value");
     node->setToggle(false);
-    node->setPositiveColor("#00ff00", "#00ff00");   //green
-    node->setNegativeColor("#00ff00", "#00ff00");
+    node->setPositiveColor("#00aa00", "#00aa00");   //green
+    node->setNegativeColor("#00aa00", "#00aa00");
     node->commandText("+");
     scene->addItem(node);
 
     node = getCommandNode(11);
     node->setName("StepMinus");
+    node->setToolTip("Decrease Step/Power Value");
     node->setToggle(false);
-    node->setPositiveColor("#ff0000", "#ff0000");   //red
-    node->setNegativeColor("#ff0000", "#ff0000");
+    node->setPositiveColor("#aa0000", "#aa0000");   //red
+    node->setNegativeColor("#aa0000", "#aa0000");
     node->commandText("-");
     scene->addItem(node);
 
     node = getCommandNode(12);
     node->setName("StepValue");
+    node->setToolTip("Current Step/Power Value");
     node->setToggle(false);
-    node->setPositiveColor("#0000ff", "#0000ff");  //blue
-    node->setNegativeColor("#0000ff", "#0000ff");
+    node->setPositiveColor("#0000aa", "#0000aa");  //blue
+    node->setNegativeColor("#0000aa", "#0000aa");
     scene->addItem(node);
 
     resizeCommands();
@@ -206,8 +219,8 @@ Node* MixerCurveWidget::getCommandNode(int index)
         node->commandText("");
         node->setCommandIndex(index);
         node->setActive(false);        
-        node->setPositiveColor("#ff0000", "#ff0000");
-        node->setNegativeColor("#0000cc", "#0000cc");
+        node->setPositiveColor("#aaaa00", "#aaaa00");
+        node->setNegativeColor("#aa00aa", "#aa00aa");
         cmdNodePool.append(node);
     }
     return node;
@@ -368,8 +381,8 @@ void MixerCurveWidget::setCurve(const QList<double>* points)
         node->setPos(w*i, h - (val*h));
         node->verticalMove(true);
 
-        node->setPositiveColor(posColor0, posColor1);
-        node->setNegativeColor(negColor0, negColor1);
+//        node->setPositiveColor(posColor0, posColor1);
+//        node->setNegativeColor(negColor0, negColor1);
 
         node->update();
     }
@@ -407,10 +420,19 @@ void MixerCurveWidget::resizeCommands()
     QRectF rect = plot->boundingRect();
 
     Node* node;
-    for (int i = 0; i<6; i++) {
+    node = getCommandNode(0);
+
+    //centered under widget
+    node->setPos((rect.left() + rect.width() / 2) - 5, rect.height() + 10);
+
+    for (int i = 1; i<6; i++) {
         node = getCommandNode(i);
 
-        node->setPos((rect.left() + rect.width() / 2) - 60 + (i * 20), rect.height() + 10);
+        //centered under widget
+        //node->setPos((rect.left() + rect.width() / 2) - 60 + (i * 20), rect.height() + 10);
+
+        //bottom right of widget
+        node->setPos(rect.right() - 120 + (i * 20), rect.bottomRight().x() - 14);
     }
 
     //curveminplus
@@ -431,15 +453,15 @@ void MixerCurveWidget::resizeCommands()
 
     //stepplus
     node = getCommandNode(10);
-    node->setPos(rect.bottomRight().x() - 60, rect.bottomRight().y() + 8);
+    node->setPos(rect.bottomRight().x() - 38, rect.bottomRight().y() + 5);
 
     //stepminus
     node = getCommandNode(11);
-    node->setPos(rect.bottomRight().x() - 40, rect.bottomRight().y() + 8);
+    node->setPos(rect.bottomRight().x() - 38, rect.bottomRight().y() + 15);
 
     //step
     node = getCommandNode(12);
-    node->setPos(rect.bottomRight().x() - 20, rect.bottomRight().y() + 8);
+    node->setPos(rect.bottomRight().x() - 20, rect.bottomRight().y() + 9);
 }
 
 void MixerCurveWidget::itemMoved(double itemValue)

From 2be7721a0f51910dfc537046eea592819774f157 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Thu, 12 Jul 2012 12:40:51 -0700
Subject: [PATCH 037/543] MixerCurve, Commands on/off button.

---
 .../uavobjectwidgetutils/mixercurvepoint.h    |  4 +-
 .../uavobjectwidgetutils/mixercurvewidget.cpp | 49 +++++++++++++++----
 .../uavobjectwidgetutils/mixercurvewidget.h   |  2 +
 3 files changed, 45 insertions(+), 10 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
index 1747f1679..65b6b7955 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
@@ -57,7 +57,9 @@ public:
     void commandText(QString text);
     int  getCommandIndex() { return index; }
     void setCommandIndex(int idx) { index = idx; }
-    void setActive(bool enable) { cmdActive = enable; }
+
+    bool getCommandActive() { return cmdActive; }
+    void setCommandActive(bool enable) { cmdActive = enable; }
     void setToggle(bool enable) { cmdToggle = enable; }
     bool getToggle() { return cmdToggle; }
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index 04464d9d8..fa56ebd33 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -187,6 +187,15 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     node->setNegativeColor("#0000aa", "#0000aa");
     scene->addItem(node);
 
+    // commands toggle
+    node = getCommandNode(13);
+    node->setName("Commands");
+    node->setToolTip("Toggle Command Buttons On/Off");
+    node->setToggle(true);
+    node->setPositiveColor("#00aa00", "#00aa00");  //greenish
+    node->setNegativeColor("#000000", "#000000");
+    scene->addItem(node);
+
     resizeCommands();
 
     initNodes(MixerCurveWidget::NODE_NUMELEM);
@@ -420,10 +429,13 @@ void MixerCurveWidget::resizeCommands()
     QRectF rect = plot->boundingRect();
 
     Node* node;
+    //reset
     node = getCommandNode(0);
+    node->setPos((rect.left() + rect.width() / 2) - 10, rect.height() + 10);
 
-    //centered under widget
-    node->setPos((rect.left() + rect.width() / 2) - 5, rect.height() + 10);
+    //commands on/off
+    node = getCommandNode(13);
+    node->setPos((rect.left() + rect.width() / 2) + 10, rect.height() + 10);
 
     for (int i = 1; i<6; i++) {
         node = getCommandNode(i);
@@ -527,23 +539,42 @@ void MixerCurveWidget::setCommandText(const QString& name, const QString& text)
 }
 void MixerCurveWidget::activateCommand(const QString& name)
 {
-    for (int i=0; i<cmdNodePool.count(); i++) {
+    for (int i=1; i<cmdNodePool.count()-1; i++) {
         Node* node = cmdNodePool.at(i);
-        node->setActive(node->getName() == name);
+        node->setCommandActive(node->getName() == name);
         node->update();
     }
 }
 
+void MixerCurveWidget::showCommands(bool show)
+{
+    for (int i=1; i<cmdNodePool.count()-1; i++) {
+        Node* node = cmdNodePool.at(i);
+        if (show)
+            node->show();
+        else
+            node->hide();
+
+        node->update();
+    }
+}
 void MixerCurveWidget::cmdActivated(Node* node)
 {
     if (node->getToggle()) {
-        for (int i=0; i<cmdNodePool.count(); i++) {
-            Node* n = cmdNodePool.at(i);
-            n->setActive(false);
-            n->update();
+        if (node->getName() == "Commands") {
+            node->setCommandActive(!node->getCommandActive());
+            showCommands(node->getCommandActive());
+        }
+        else {
+            for (int i=1; i<cmdNodePool.count()-1; i++) {
+                Node* n = cmdNodePool.at(i);
+                n->setCommandActive(false);
+                n->update();
+            }
+
+            node->setCommandActive(true);
         }
 
-        node->setActive(true);
     }
     node->update();
     emit commandActivated(node);
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
index 3747730a0..2e7b73adc 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
@@ -58,8 +58,10 @@ public:
    double getMax();
    double setRange(double min, double max);
 
+
    void cmdActivated(Node* node);
    void activateCommand(const QString& name);
+   void showCommands(bool show);
    Node* getCmdNode(const QString& name);
    void setCommandText(const QString& name, const QString& text);
 

From 268b9415423d16a51bc5c61ed63227e7dc2ab426 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Thu, 12 Jul 2012 22:23:37 -0700
Subject: [PATCH 038/543] UI changes to the GCS interface pages

---
 .../config/configstabilizationwidget.cpp      |   1 +
 .../openpilotgcs/src/plugins/config/input.ui  | 903 +++++++++---------
 .../src/plugins/config/stabilization.ui       |  60 +-
 3 files changed, 436 insertions(+), 528 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
index 89d866274..0ee0875ab 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
@@ -44,6 +44,7 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     // To bring old style sheet back without adding it manually do this:
     // Alternatively apply a global stylesheet to the QGroupBox
     // setStyleSheet("QGroupBox {background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; }");
+    setStyleSheet("QPushButton {\nborder: 1px outset #999;\nborder-radius: 5;\nbackground-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));\n}\n\nQPushButton:pressed {\n\n    border-style: inset;\n	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));\n\n}\n\n\nQPushButton:hover  {\n	border: 1px outset #999;	\nborder-color: rgb(83, 83, 83);\nborder-radius: 4;\n}");
 
     autoLoadWidgets();
     realtimeUpdates=new QTimer(this);
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index 561e0fe9f..ae1c13963 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -261,433 +261,186 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>100</width>
-            <height>30</height>
+            <width>638</width>
+            <height>801</height>
            </rect>
           </property>
-          <widget class="QGroupBox" name="groupBox">
-           <property name="geometry">
-            <rect>
-             <x>10</x>
-             <y>310</y>
-             <width>611</width>
-             <height>151</height>
-            </rect>
-           </property>
-           <property name="styleSheet">
-            <string notr="true"/>
-           </property>
-           <property name="title">
-            <string>Configure each stabilization mode for each axis</string>
-           </property>
-           <layout class="QGridLayout" name="gridLayout_2">
-            <item row="3" column="0">
-             <widget class="QLabel" name="label_22">
-              <property name="text">
-               <string>Stabilized3</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="1">
-             <widget class="QLabel" name="label_8">
-              <property name="styleSheet">
-               <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-              </property>
-              <property name="text">
-               <string>Roll</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1">
-             <widget class="QComboBox" name="fmsSsPos1Roll">
-              <property name="minimumSize">
-               <size>
-                <width>102</width>
-                <height>0</height>
-               </size>
-              </property>
-              <property name="focusPolicy">
-               <enum>Qt::StrongFocus</enum>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="2">
-             <widget class="QLabel" name="label_9">
-              <property name="styleSheet">
-               <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-              </property>
-              <property name="text">
-               <string>Pitch</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="2">
-             <widget class="QComboBox" name="fmsSsPos3Pitch">
-              <property name="focusPolicy">
-               <enum>Qt::StrongFocus</enum>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="3">
-             <widget class="QComboBox" name="fmsSsPos3Yaw">
-              <property name="focusPolicy">
-               <enum>Qt::StrongFocus</enum>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="2">
-             <widget class="QComboBox" name="fmsSsPos2Pitch">
-              <property name="focusPolicy">
-               <enum>Qt::StrongFocus</enum>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="0">
-             <widget class="QLabel" name="label_14">
-              <property name="text">
-               <string>Stabilized1</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="3">
-             <widget class="QLabel" name="label_10">
-              <property name="styleSheet">
-               <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-              </property>
-              <property name="text">
-               <string>Yaw</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="1">
-             <widget class="QComboBox" name="fmsSsPos3Roll">
-              <property name="focusPolicy">
-               <enum>Qt::StrongFocus</enum>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="3">
-             <widget class="QComboBox" name="fmsSsPos1Yaw">
-              <property name="minimumSize">
-               <size>
-                <width>102</width>
-                <height>0</height>
-               </size>
-              </property>
-              <property name="focusPolicy">
-               <enum>Qt::StrongFocus</enum>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="3">
-             <widget class="QComboBox" name="fmsSsPos2Yaw">
-              <property name="focusPolicy">
-               <enum>Qt::StrongFocus</enum>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="1">
-             <widget class="QComboBox" name="fmsSsPos2Roll">
-              <property name="focusPolicy">
-               <enum>Qt::StrongFocus</enum>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="0">
-             <widget class="QLabel" name="label_21">
-              <property name="text">
-               <string>Stabilized2</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="2">
-             <widget class="QComboBox" name="fmsSsPos1Pitch">
-              <property name="minimumSize">
-               <size>
-                <width>102</width>
-                <height>0</height>
-               </size>
-              </property>
-              <property name="focusPolicy">
-               <enum>Qt::StrongFocus</enum>
-              </property>
-             </widget>
-            </item>
-           </layout>
-          </widget>
-          <widget class="QGroupBox" name="groupBox_2">
-           <property name="geometry">
-            <rect>
-             <x>10</x>
-             <y>20</y>
-             <width>611</width>
-             <height>231</height>
-            </rect>
-           </property>
-           <property name="title">
-            <string>FlightMode Switch Positions</string>
-           </property>
-           <widget class="QComboBox" name="fmsModePos5">
-            <property name="enabled">
-             <bool>false</bool>
-            </property>
-            <property name="geometry">
-             <rect>
-              <x>100</x>
-              <y>140</y>
-              <width>151</width>
-              <height>26</height>
-             </rect>
-            </property>
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-           </widget>
-           <widget class="QComboBox" name="fmsModePos4">
-            <property name="enabled">
-             <bool>false</bool>
-            </property>
-            <property name="geometry">
-             <rect>
-              <x>100</x>
-              <y>110</y>
-              <width>151</width>
-              <height>26</height>
-             </rect>
-            </property>
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
-            </property>
-           </widget>
-           <widget class="QLabel" name="label_pos4">
-            <property name="geometry">
-             <rect>
-              <x>10</x>
-              <y>115</y>
-              <width>62</width>
-              <height>17</height>
-             </rect>
-            </property>
-            <property name="text">
-             <string>Pos. 4</string>
-            </property>
-           </widget>
-           <widget class="QComboBox" name="fmsModePos6">
-            <property name="enabled">
-             <bool>false</bool>
-            </property>
-            <property name="geometry">
-             <rect>
-              <x>100</x>
-              <y>170</y>
-              <width>151</width>
-              <height>26</height>
-             </rect>
-            </property>
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-           </widget>
-           <widget class="QLabel" name="label_pos5">
-            <property name="geometry">
-             <rect>
-              <x>10</x>
-              <y>145</y>
-              <width>62</width>
-              <height>17</height>
-             </rect>
-            </property>
-            <property name="text">
-             <string>Pos. 5</string>
-            </property>
-           </widget>
-           <widget class="QLabel" name="label_pos6">
-            <property name="geometry">
-             <rect>
-              <x>10</x>
-              <y>175</y>
-              <width>62</width>
-              <height>17</height>
-             </rect>
-            </property>
-            <property name="text">
-             <string>Pos. 6</string>
-            </property>
-           </widget>
-           <widget class="QSlider" name="fmsSlider">
-            <property name="enabled">
-             <bool>false</bool>
-            </property>
-            <property name="geometry">
-             <rect>
-              <x>70</x>
-              <y>28</y>
-              <width>20</width>
-              <height>160</height>
-             </rect>
-            </property>
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>This slider moves when you move the flight mode switch
+          <layout class="QGridLayout" name="gridLayout_7">
+           <item row="0" column="0">
+            <widget class="QGroupBox" name="groupBox_2">
+             <property name="title">
+              <string>FlightMode Switch Positions</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_6">
+              <item row="0" column="0">
+               <layout class="QGridLayout" name="gridLayout_4">
+                <item row="0" column="0">
+                 <layout class="QVBoxLayout" name="verticalLayout_9">
+                  <item>
+                   <widget class="QLabel" name="label_pos1">
+                    <property name="text">
+                     <string>Pos. 1</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLabel" name="label_pos2">
+                    <property name="text">
+                     <string>Pos. 2</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLabel" name="label_pos3">
+                    <property name="text">
+                     <string>Pos. 3</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLabel" name="label_pos4">
+                    <property name="text">
+                     <string>Pos. 4</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLabel" name="label_pos5">
+                    <property name="text">
+                     <string>Pos. 5</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QLabel" name="label_pos6">
+                    <property name="text">
+                     <string>Pos. 6</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="0" column="1">
+                 <widget class="QSlider" name="fmsSlider">
+                  <property name="enabled">
+                   <bool>false</bool>
+                  </property>
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
+                  </property>
+                  <property name="toolTip">
+                   <string>This slider moves when you move the flight mode switch
 on your remote. It shows currently active flight mode.
 
 Setup the flight mode channel on the RC Input tab if you have not done so already.</string>
-            </property>
-            <property name="minimum">
-             <number>0</number>
-            </property>
-            <property name="maximum">
-             <number>5</number>
-            </property>
-            <property name="pageStep">
-             <number>10</number>
-            </property>
-            <property name="value">
-             <number>0</number>
-            </property>
-            <property name="sliderPosition">
-             <number>0</number>
-            </property>
-            <property name="orientation">
-             <enum>Qt::Vertical</enum>
-            </property>
-            <property name="invertedAppearance">
-             <bool>true</bool>
-            </property>
-            <property name="tickPosition">
-             <enum>QSlider::TicksBelow</enum>
-            </property>
-            <property name="tickInterval">
-             <number>1</number>
-            </property>
-           </widget>
-           <widget class="QComboBox" name="fmsModePos2">
-            <property name="geometry">
-             <rect>
-              <x>100</x>
-              <y>50</y>
-              <width>151</width>
-              <height>26</height>
-             </rect>
-            </property>
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-           </widget>
-           <widget class="QComboBox" name="fmsModePos3">
-            <property name="geometry">
-             <rect>
-              <x>100</x>
-              <y>80</y>
-              <width>151</width>
-              <height>26</height>
-             </rect>
-            </property>
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-           </widget>
-           <widget class="QComboBox" name="fmsModePos1">
-            <property name="geometry">
-             <rect>
-              <x>100</x>
-              <y>20</y>
-              <width>151</width>
-              <height>26</height>
-             </rect>
-            </property>
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
-            </property>
-           </widget>
-           <widget class="QLabel" name="label_pos2">
-            <property name="geometry">
-             <rect>
-              <x>11</x>
-              <y>55</y>
-              <width>62</width>
-              <height>17</height>
-             </rect>
-            </property>
-            <property name="text">
-             <string>Pos. 2</string>
-            </property>
-           </widget>
-           <widget class="QLabel" name="label_pos1">
-            <property name="geometry">
-             <rect>
-              <x>11</x>
-              <y>25</y>
-              <width>62</width>
-              <height>17</height>
-             </rect>
-            </property>
-            <property name="text">
-             <string>Pos. 1</string>
-            </property>
-           </widget>
-           <widget class="QLabel" name="label_pos3">
-            <property name="geometry">
-             <rect>
-              <x>11</x>
-              <y>85</y>
-              <width>62</width>
-              <height>17</height>
-             </rect>
-            </property>
-            <property name="text">
-             <string>Pos. 3</string>
-            </property>
-           </widget>
-           <widget class="QSpinBox" name="fmsPosNum">
-            <property name="geometry">
-             <rect>
-              <x>458</x>
-              <y>20</y>
-              <width>61</width>
-              <height>20</height>
-             </rect>
-            </property>
-            <property name="toolTip">
-             <string>Number of positions your FlightMode switch has.
+                  </property>
+                  <property name="minimum">
+                   <number>0</number>
+                  </property>
+                  <property name="maximum">
+                   <number>5</number>
+                  </property>
+                  <property name="pageStep">
+                   <number>10</number>
+                  </property>
+                  <property name="value">
+                   <number>0</number>
+                  </property>
+                  <property name="sliderPosition">
+                   <number>0</number>
+                  </property>
+                  <property name="orientation">
+                   <enum>Qt::Vertical</enum>
+                  </property>
+                  <property name="invertedAppearance">
+                   <bool>true</bool>
+                  </property>
+                  <property name="tickPosition">
+                   <enum>QSlider::TicksBelow</enum>
+                  </property>
+                  <property name="tickInterval">
+                   <number>1</number>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="2">
+                 <layout class="QVBoxLayout" name="verticalLayout_10">
+                  <item>
+                   <widget class="QComboBox" name="fmsModePos1">
+                    <property name="focusPolicy">
+                     <enum>Qt::StrongFocus</enum>
+                    </property>
+                    <property name="toolTip">
+                     <string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QComboBox" name="fmsModePos2">
+                    <property name="focusPolicy">
+                     <enum>Qt::StrongFocus</enum>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QComboBox" name="fmsModePos3">
+                    <property name="focusPolicy">
+                     <enum>Qt::StrongFocus</enum>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QComboBox" name="fmsModePos4">
+                    <property name="enabled">
+                     <bool>false</bool>
+                    </property>
+                    <property name="focusPolicy">
+                     <enum>Qt::StrongFocus</enum>
+                    </property>
+                    <property name="toolTip">
+                     <string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QComboBox" name="fmsModePos5">
+                    <property name="enabled">
+                     <bool>false</bool>
+                    </property>
+                    <property name="focusPolicy">
+                     <enum>Qt::StrongFocus</enum>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QComboBox" name="fmsModePos6">
+                    <property name="enabled">
+                     <bool>false</bool>
+                    </property>
+                    <property name="focusPolicy">
+                     <enum>Qt::StrongFocus</enum>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+               </layout>
+              </item>
+              <item row="0" column="2">
+               <layout class="QGridLayout" name="gridLayout_5">
+                <item row="0" column="0">
+                 <layout class="QHBoxLayout" name="horizontalLayout_6">
+                  <item>
+                   <widget class="QLabel" name="label">
+                    <property name="text">
+                     <string>Number of flight modes:</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QSpinBox" name="fmsPosNum">
+                    <property name="toolTip">
+                     <string>Number of positions your FlightMode switch has.
 
 Default is 3.
 
@@ -695,53 +448,261 @@ It will be 2 or 3 for most of setups, but it also can be up to 6.
 In that case you have to configure your radio mixers so the whole range
 from min to max is split into N equal intervals, and you may set arbitrary
 channel value for each flight mode.</string>
-            </property>
-            <property name="minimum">
-             <number>1</number>
-            </property>
-            <property name="maximum">
-             <number>6</number>
-            </property>
-            <property name="value">
-             <number>3</number>
-            </property>
-           </widget>
-           <widget class="QLabel" name="label">
-            <property name="geometry">
-             <rect>
-              <x>277</x>
-              <y>22</y>
-              <width>171</width>
-              <height>16</height>
-             </rect>
-            </property>
-            <property name="text">
-             <string>Number of flight modes:</string>
-            </property>
-           </widget>
-           <widget class="QLabel" name="label_15">
-            <property name="geometry">
-             <rect>
-              <x>310</x>
-              <y>120</y>
-              <width>191</width>
-              <height>30</height>
-             </rect>
-            </property>
-            <property name="font">
-             <font>
-              <weight>75</weight>
-              <bold>true</bold>
-             </font>
-            </property>
-            <property name="text">
-             <string>Avoid &quot;Manual&quot; for multirotors!</string>
-            </property>
-            <property name="wordWrap">
-             <bool>true</bool>
-            </property>
-           </widget>
-          </widget>
+                    </property>
+                    <property name="minimum">
+                     <number>1</number>
+                    </property>
+                    <property name="maximum">
+                     <number>6</number>
+                    </property>
+                    <property name="value">
+                     <number>3</number>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item row="1" column="0">
+                 <widget class="QLabel" name="label_15">
+                  <property name="font">
+                   <font>
+                    <weight>75</weight>
+                    <bold>true</bold>
+                   </font>
+                  </property>
+                  <property name="text">
+                   <string>Avoid &quot;Manual&quot; for multirotors!</string>
+                  </property>
+                  <property name="wordWrap">
+                   <bool>true</bool>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </item>
+              <item row="0" column="1">
+               <spacer name="horizontalSpacer_4">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Fixed</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item row="1" column="0">
+            <spacer name="verticalSpacer_6">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Fixed</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>50</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="2" column="0">
+            <widget class="QGroupBox" name="groupBox">
+             <property name="styleSheet">
+              <string notr="true"/>
+             </property>
+             <property name="title">
+              <string>Configure each stabilization mode for each axis</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_2">
+              <item row="3" column="0">
+               <widget class="QLabel" name="label_22">
+                <property name="text">
+                 <string>Stabilized3</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_8">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Roll</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QComboBox" name="fmsSsPos1Roll">
+                <property name="minimumSize">
+                 <size>
+                  <width>102</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="2">
+               <widget class="QLabel" name="label_9">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Pitch</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="2">
+               <widget class="QComboBox" name="fmsSsPos3Pitch">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="3">
+               <widget class="QComboBox" name="fmsSsPos3Yaw">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="2">
+               <widget class="QComboBox" name="fmsSsPos2Pitch">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="label_14">
+                <property name="text">
+                 <string>Stabilized1</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="3">
+               <widget class="QLabel" name="label_10">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Yaw</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="1">
+               <widget class="QComboBox" name="fmsSsPos3Roll">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="3">
+               <widget class="QComboBox" name="fmsSsPos1Yaw">
+                <property name="minimumSize">
+                 <size>
+                  <width>102</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="3">
+               <widget class="QComboBox" name="fmsSsPos2Yaw">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QComboBox" name="fmsSsPos2Roll">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label_21">
+                <property name="text">
+                 <string>Stabilized2</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QComboBox" name="fmsSsPos1Pitch">
+                <property name="minimumSize">
+                 <size>
+                  <width>102</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item row="3" column="0">
+            <spacer name="verticalSpacer_5">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>300</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
          </widget>
         </widget>
        </item>
@@ -774,8 +735,8 @@ channel value for each flight mode.</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>499</width>
-            <height>121</height>
+            <width>638</width>
+            <height>801</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index b09ff05ca..8e8fd71cd 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -24239,25 +24239,7 @@ border-radius: 5;</string>
 Useful if you have accidentally changed some settings.</string>
           </property>
           <property name="styleSheet">
-           <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+           <string notr="true"/>
           </property>
           <property name="text">
            <string>Reload Board Data</string>
@@ -24288,25 +24270,7 @@ border-radius: 4;
            <string>Send settings to the board but do not save to the non-volatile memory</string>
           </property>
           <property name="styleSheet">
-           <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+           <string notr="true"/>
           </property>
           <property name="text">
            <string>Apply</string>
@@ -24336,25 +24300,7 @@ border-radius: 4;
            <string>Send settings to the board and save to the non-volatile memory</string>
           </property>
           <property name="styleSheet">
-           <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+           <string notr="true"/>
           </property>
           <property name="text">
            <string>Save</string>

From d2c99fefafaf226f93a9bc196c863265b56f56a7 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 13 Jul 2012 13:44:56 -0700
Subject: [PATCH 039/543] MixerCurve, Popup Dialog Support.

---
 .../src/plugins/config/mixercurve.cpp         | 28 ++++++++---
 .../src/plugins/config/mixercurve.h           |  1 +
 .../uavobjectwidgetutils/mixercurvewidget.cpp | 26 ++++++++---
 .../uavobjectwidgetutils/popupwidget.cpp      | 46 +++++++++++++++++++
 .../uavobjectwidgetutils/popupwidget.h        | 39 ++++++++++++++++
 .../uavobjectwidgetutils.pro                  |  6 ++-
 6 files changed, 132 insertions(+), 14 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h

diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index 73593dca9..e5f73590c 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -41,6 +41,11 @@ MixerCurve::MixerCurve(QWidget *parent) :
     m_curve = m_mixerUI->CurveWidget;
     m_settings = m_mixerUI->CurveSettings;
 
+
+    m_mixerUI->SettingsGroup->hide();
+    m_mixerUI->ValuesGroup->hide();
+    m_curve->showCommands(false);
+
     // create our spin delegate
     m_spinDelegate = new DoubleSpinDelegate();
 
@@ -338,15 +343,26 @@ void MixerCurve::SettingsTableChanged()
 
 void MixerCurve::CommandActivated(Node* node)
 {
-    //m_mixerUI->GenerateCurve->hide();
-
-    m_mixerUI->SettingsGroup->hide();
-    m_mixerUI->ValuesGroup->hide();
-
     QString name = (node) ? node->getName() : "Reset";
 
-    if (name == "Reset") {
+    if (name == "Reset") {        
         ResetCurve();
+        m_curve->showCommands(false);
+    }
+    else if (name == "Commands") {
+
+    }
+    else if (name == "Popup") {
+        m_mixerUI->SettingsGroup->show();
+        m_mixerUI->ValuesGroup->show();
+
+        PopupWidget* popup = new PopupWidget();
+        popup->setWidget(this);
+        popup->exec();
+
+        m_mixerUI->SettingsGroup->hide();
+        m_mixerUI->ValuesGroup->hide();
+        m_curve->showCommands(false);
     }
     else if (name == "Linear") {
         m_mixerUI->CurveType->setCurrentIndex(m_mixerUI->CurveType->findText("Linear"));
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.h b/ground/openpilotgcs/src/plugins/config/mixercurve.h
index bd24c46a9..346c3792b 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.h
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.h
@@ -36,6 +36,7 @@
 #include "mixercurvewidget.h"
 #include "dblspindelegate.h"
 #include "uavobjectwidgetutils_global.h"
+#include "uavobjectwidgetutils/popupwidget.h"
 
 
 namespace Ui {
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index fa56ebd33..ec6853468 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -196,6 +196,15 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     node->setNegativeColor("#000000", "#000000");
     scene->addItem(node);
 
+    // popup
+    node = getCommandNode(14);
+    node->setName("Popup");
+    node->setToolTip("Advanced Mode...");
+    node->setToggle(false);
+    node->setPositiveColor("#ff0000", "#ff0000");  //red
+    node->setNegativeColor("#ff0000", "#ff0000");
+    scene->addItem(node);
+
     resizeCommands();
 
     initNodes(MixerCurveWidget::NODE_NUMELEM);
@@ -229,10 +238,11 @@ Node* MixerCurveWidget::getCommandNode(int index)
         node->setCommandIndex(index);
         node->setActive(false);        
         node->setPositiveColor("#aaaa00", "#aaaa00");
-        node->setNegativeColor("#aa00aa", "#aa00aa");
+        node->setNegativeColor("#1c870b", "#116703");
         cmdNodePool.append(node);
     }
     return node;
+
 }
 
 Node* MixerCurveWidget::getNode(int index)
@@ -429,13 +439,17 @@ void MixerCurveWidget::resizeCommands()
     QRectF rect = plot->boundingRect();
 
     Node* node;
+    //popup
+    node = getCommandNode(14);
+    node->setPos((rect.left() + rect.width() / 2) - 20, rect.height() + 10);
+
     //reset
     node = getCommandNode(0);
-    node->setPos((rect.left() + rect.width() / 2) - 10, rect.height() + 10);
+    node->setPos((rect.left() + rect.width() / 2) + 20, rect.height() + 10);
 
     //commands on/off
     node = getCommandNode(13);
-    node->setPos((rect.left() + rect.width() / 2) + 10, rect.height() + 10);
+    node->setPos((rect.left() + rect.width() / 2) + 40, rect.height() + 10);
 
     for (int i = 1; i<6; i++) {
         node = getCommandNode(i);
@@ -539,7 +553,7 @@ void MixerCurveWidget::setCommandText(const QString& name, const QString& text)
 }
 void MixerCurveWidget::activateCommand(const QString& name)
 {
-    for (int i=1; i<cmdNodePool.count()-1; i++) {
+    for (int i=1; i<cmdNodePool.count()-2; i++) {
         Node* node = cmdNodePool.at(i);
         node->setCommandActive(node->getName() == name);
         node->update();
@@ -548,7 +562,7 @@ void MixerCurveWidget::activateCommand(const QString& name)
 
 void MixerCurveWidget::showCommands(bool show)
 {
-    for (int i=1; i<cmdNodePool.count()-1; i++) {
+    for (int i=1; i<cmdNodePool.count()-2; i++) {
         Node* node = cmdNodePool.at(i);
         if (show)
             node->show();
@@ -566,7 +580,7 @@ void MixerCurveWidget::cmdActivated(Node* node)
             showCommands(node->getCommandActive());
         }
         else {
-            for (int i=1; i<cmdNodePool.count()-1; i++) {
+            for (int i=1; i<cmdNodePool.count()-2; i++) {
                 Node* n = cmdNodePool.at(i);
                 n->setCommandActive(false);
                 n->update();
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
new file mode 100644
index 000000000..2befd1d62
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
@@ -0,0 +1,46 @@
+#include "popupwidget.h"
+
+#include <QtGui>
+
+PopupWidget::PopupWidget(QWidget *parent) :
+    QDialog(parent)
+{    
+    m_widget = 0;
+
+    QVBoxLayout* mainLayout = new QVBoxLayout();
+
+    m_layout = new QHBoxLayout();
+    mainLayout->addLayout(m_layout);
+
+    QHBoxLayout* buttonLayout = new QHBoxLayout();
+
+    m_closeButton = new QPushButton(tr("Close"));
+    buttonLayout->addWidget(m_closeButton);
+
+    mainLayout->addLayout(buttonLayout);
+
+    setLayout(mainLayout);
+
+    connect(m_closeButton,SIGNAL(clicked()), this, SLOT(closePopup()));
+}
+
+void PopupWidget::setWidget(QWidget* widget)
+{
+    m_widget = widget;
+    m_widgetParent = widget->parentWidget();
+
+    m_layout->addWidget(m_widget);
+}
+
+
+void PopupWidget::closePopup()
+{
+    if (m_widget && m_widgetParent) {
+        if(QGroupBox * w =qobject_cast<QGroupBox *>(m_widgetParent))
+        {
+            w->layout()->addWidget(m_widget);
+        }
+    }
+
+    close();
+}
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h
new file mode 100644
index 000000000..dcf2fe50c
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h
@@ -0,0 +1,39 @@
+#ifndef POPUPWIDGET_H
+#define POPUPWIDGET_H
+
+#include <QtGui>
+#include <QWidget>
+#include <QDialog>
+
+
+#include "uavobjectwidgetutils_global.h"
+
+namespace Ui {
+class PopupWidget;
+}
+
+class UAVOBJECTWIDGETUTILS_EXPORT PopupWidget : public QDialog
+{
+    Q_OBJECT
+public:
+    explicit PopupWidget(QWidget *parent = 0);
+    
+    void         setWidget(QWidget* widget);
+    QWidget*     getWidget() { return m_widget; }
+    QHBoxLayout* getLayout() { return m_layout; }
+
+signals:
+    
+public slots:
+    
+private slots:
+    void closePopup();
+
+private:
+    QHBoxLayout*    m_layout;
+    QWidget*        m_widget;
+    QWidget*        m_widgetParent;
+    QPushButton*    m_closeButton;
+};
+
+#endif // POPUPWIDGET_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/uavobjectwidgetutils.pro b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/uavobjectwidgetutils.pro
index 475526325..cedaed7c3 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/uavobjectwidgetutils.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/uavobjectwidgetutils.pro
@@ -10,13 +10,15 @@ HEADERS += uavobjectwidgetutils_global.h \
     mixercurvewidget.h \
     mixercurvepoint.h \
     mixercurveline.h \
- smartsavebutton.h
+ smartsavebutton.h \
+    popupwidget.h
 SOURCES += uavobjectwidgetutilsplugin.cpp \
     configtaskwidget.cpp \
     mixercurvewidget.cpp \
     mixercurvepoint.cpp \
     mixercurveline.cpp \
-    smartsavebutton.cpp
+    smartsavebutton.cpp \
+    popupwidget.cpp
 
 
 OTHER_FILES += UAVObjectWidgetUtils.pluginspec

From cb66f5000a64028dc6e1c85bffccd1048a65b32b Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 13 Jul 2012 16:34:29 -0700
Subject: [PATCH 040/543] MixerCurve, add support for node background image.

---
 .../uavobjectwidgetutils/mixercurvepoint.cpp  |  4 +-
 .../uavobjectwidgetutils/mixercurvepoint.h    |  2 +
 .../uavobjectwidgetutils/mixercurvewidget.cpp | 71 ++++++++++++++++---
 3 files changed, 65 insertions(+), 12 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
index 856f44b56..c5813eba2 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
@@ -46,7 +46,7 @@ Node::Node(MixerCurveWidget *graphWidget)
     cmdActive = false;
     vertical = false;
     cmdNode = false;
-    cmdToggle = true;
+    cmdToggle = true;    
 
     posColor0 = "#1c870b";  //greenish?
     posColor1 = "#116703";  //greenish?
@@ -109,6 +109,8 @@ void Node::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWid
     painter->setBrush(gradient);
     painter->setPen(QPen(Qt::black, 0));
     painter->drawEllipse(boundingRect());
+    if (!image.isNull())
+        painter->drawImage(boundingRect().adjusted(1,1,-1,-1), image);
 
     painter->setPen(QPen(Qt::white, 0));
     if (cmdNode) {
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
index 65b6b7955..2e9f872a1 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
@@ -65,6 +65,7 @@ public:
 
     void setPositiveColor(QString color0 = "#00ff00", QString color1 = "#00ff00") { posColor0 = color0;  posColor1 = color1; }
     void setNegativeColor(QString color0 = "#ff0000", QString color1 = "#ff0000") { negColor0 = color0; negColor1 = color1; }
+    void setImage(QImage img) { image = img; }
 
     QRectF boundingRect() const;
     QPainterPath shape() const;
@@ -89,6 +90,7 @@ private:
     QString             posColor1;
     QString             negColor0;
     QString             negColor1;
+    QImage              image;
 
     bool    vertical;
     QString cmdName;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index ec6853468..50f0e2f90 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -92,35 +92,56 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     node = getCommandNode(1);
     node->setName("Linear");
     node->setToolTip("Generate a Linear Curve");
-    node->commandText("/");
+    QImage img = QImage(":/core/images/curve_linear.png");
+    if (!img.isNull())
+        node->setImage(img);
+    else
+        node->commandText("/");
+
     scene->addItem(node);
 
     // log
     node = getCommandNode(2);
     node->setName("Log");
     node->setToolTip("Generate a Logarithmic Curve");
-    node->commandText("(");
+    img = QImage(":/core/images/curve_log.png");
+    if (!img.isNull())
+        node->setImage(img);
+    else
+        node->commandText("(");
     scene->addItem(node);
 
     // exp
     node = getCommandNode(3);
     node->setName("Exp");
     node->setToolTip("Generate an Exponential Curve");
-    node->commandText(")");
+    img = QImage(":/core/images/curve_exp.png");
+    if (!img.isNull())
+        node->setImage(img);
+    else
+        node->commandText(")");
     scene->addItem(node);
 
     // flat
     node = getCommandNode(4);
     node->setName("Flat");
     node->setToolTip("Generate a Flat Curve");
-    node->commandText("--");
+    img = QImage(":/core/images/curve_flat.png");
+    if (!img.isNull())
+        node->setImage(img);
+    else
+        node->commandText("--");
     scene->addItem(node);
 
     // step
     node = getCommandNode(5);
     node->setName("Step");
     node->setToolTip("Generate a Stepped Curve");
-    node->commandText("z");
+    img = QImage(":/core/images/curve_step.png");
+    if (!img.isNull())
+        node->setImage(img);
+    else
+        node->commandText("z");
     scene->addItem(node);
 
 
@@ -128,55 +149,83 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     node = getCommandNode(6);
     node->setName("MinPlus");
     node->setToolTip("Increase Curve Minimum");
+    img = QImage(":/core/images/curve_plus.png");
+    if (!img.isNull())
+        node->setImage(img);
+    else
+        node->commandText("+");
     node->setToggle(false);
     node->setPositiveColor("#00aa00", "#00aa00");   //green
     node->setNegativeColor("#00aa00", "#00aa00");
-    node->commandText("+");
     scene->addItem(node);
 
     node = getCommandNode(7);
     node->setName("MinMinus");
     node->setToolTip("Decrease Curve Minimum");
+    img = QImage(":/core/images/curve_minus.png");
+    if (!img.isNull())
+        node->setImage(img);
+    else
+        node->commandText("-");
+
     node->setToggle(false);
     node->setPositiveColor("#aa0000", "#aa0000");   //red
     node->setNegativeColor("#aa0000", "#aa0000");
-    node->commandText("-");
     scene->addItem(node);
 
     node = getCommandNode(8);
     node->setName("MaxPlus");
     node->setToolTip("Increase Curve Maximum");
+    img = QImage(":/core/images/curve_plus.png");
+    if (!img.isNull())
+        node->setImage(img);
+    else
+        node->commandText("+");
+
     node->setToggle(false);
     node->setPositiveColor("#00aa00", "#00aa00");   //green
     node->setNegativeColor("#00aa00", "#00aa00");
-    node->commandText("+");
     scene->addItem(node);
 
     node = getCommandNode(9);
     node->setName("MaxMinus");
     node->setToolTip("Decrease Curve Maximum");
+    img = QImage(":/core/images/curve_plus.png");
+    if (!img.isNull())
+        node->setImage(img);
+    else
+        node->commandText("-");
+
     node->setToggle(false);
     node->setPositiveColor("#aa0000", "#aa0000");   //red
     node->setNegativeColor("#aa0000", "#aa0000");
-    node->commandText("-");
     scene->addItem(node);
 
     node = getCommandNode(10);
     node->setName("StepPlus");
     node->setToolTip("Increase Step/Power Value");
+    img = QImage(":/core/images/curve_plus.png");
+    if (!img.isNull())
+        node->setImage(img);
+    else
+        node->commandText("+");
     node->setToggle(false);
     node->setPositiveColor("#00aa00", "#00aa00");   //green
     node->setNegativeColor("#00aa00", "#00aa00");
-    node->commandText("+");
     scene->addItem(node);
 
     node = getCommandNode(11);
     node->setName("StepMinus");
     node->setToolTip("Decrease Step/Power Value");
+    img = QImage(":/core/images/curve_minus.png");
+    if (!img.isNull())
+        node->setImage(img);
+    else
+        node->commandText("-");
+
     node->setToggle(false);
     node->setPositiveColor("#aa0000", "#aa0000");   //red
     node->setNegativeColor("#aa0000", "#aa0000");
-    node->commandText("-");
     scene->addItem(node);
 
     node = getCommandNode(12);

From 685fb4e1d4e230b1c2069e2cf9f7342b5288b809 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 13 Jul 2012 22:41:58 -0700
Subject: [PATCH 041/543] MixerCurve bugs and tweeks: don't popup if already a
 popup;  enable drawing only text in nodes; trap close/done/accept/reject
 events as closePopup();

---
 .../src/plugins/config/mixercurve.cpp         | 38 +++++------
 .../uavobjectwidgetutils/mixercurvepoint.cpp  | 65 ++++++++++---------
 .../uavobjectwidgetutils/mixercurvepoint.h    |  4 ++
 .../uavobjectwidgetutils/mixercurvewidget.cpp | 38 +++++++----
 .../uavobjectwidgetutils/mixercurvewidget.h   |  2 +
 .../uavobjectwidgetutils/popupwidget.cpp      | 25 ++++++-
 .../uavobjectwidgetutils/popupwidget.h        |  5 +-
 7 files changed, 112 insertions(+), 65 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index e5f73590c..982abb70c 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -133,6 +133,13 @@ void MixerCurve::UpdateCurveUI()
     //get the user settings
     QString curveType = m_mixerUI->CurveType->currentText();
 
+    m_curve->activateCommand(curveType);
+    bool cmdsActive = m_curve->isCommandActive("Commands");
+
+    m_curve->showCommand("StepPlus", cmdsActive && curveType != "Linear");
+    m_curve->showCommand("StepMinus", cmdsActive && curveType != "Linear");
+    m_curve->showCommand("StepValue", cmdsActive && curveType != "Linear");
+
     m_mixerUI->CurveStep->setMinimum(0.0);
     m_mixerUI->CurveStep->setMaximum(100.0);
     m_mixerUI->CurveStep->setSingleStep(1.00);
@@ -147,6 +154,10 @@ void MixerCurve::UpdateCurveUI()
 
     if ( curveType.compare("Flat")==0)
     {
+        m_mixerUI->minLabel->setVisible(false);
+        m_mixerUI->CurveMin->setVisible(false);
+        m_mixerUI->stepLabel->setVisible(true);
+        m_mixerUI->CurveStep->setVisible(true);
         m_mixerUI->CurveStep->setMinimum(m_mixerUI->CurveMin->minimum());
         m_mixerUI->CurveStep->setMaximum(m_mixerUI->CurveMax->maximum());
         m_mixerUI->CurveStep->setSingleStep(0.01);
@@ -352,17 +363,18 @@ void MixerCurve::CommandActivated(Node* node)
     else if (name == "Commands") {
 
     }
-    else if (name == "Popup") {
+    else if (name == "Popup" && !m_curve->isCommandActive("Popup")) {
         m_mixerUI->SettingsGroup->show();
         m_mixerUI->ValuesGroup->show();
+        m_curve->showCommand("Popup", false);
 
         PopupWidget* popup = new PopupWidget();
-        popup->setWidget(this);
-        popup->exec();
+        popup->popUp(this);
 
         m_mixerUI->SettingsGroup->hide();
         m_mixerUI->ValuesGroup->hide();
         m_curve->showCommands(false);
+        m_curve->showCommand("Popup", true);
     }
     else if (name == "Linear") {
         m_mixerUI->CurveType->setCurrentIndex(m_mixerUI->CurveType->findText("Linear"));
@@ -412,24 +424,8 @@ void MixerCurve::CurveTypeChanged()
 void MixerCurve::CurveMinChanged(double value)
 {
     QList<double> points = m_curve->getCurve();
-    QString CurveType = m_mixerUI->CurveType->currentText();
-
-    if ( CurveType.compare("Flat")==0) {
-        // the min changed so redraw the curve
-        //  but since the curve is flat make all points = value
-        //  because we use curveMin for the flat value in ui
-        for (int i = 0; i < points.count(); i++) {
-            points.pop_back();
-            points.push_front(value);
-        }
-    }
-    else {
-        // the min changed so redraw the curve
-        //  mixercurvewidget::setCurve will trim any points below min
-
-        points.removeFirst();
-        points.push_front(value);
-    }
+    points.removeFirst();
+    points.push_front(value);
     setCurve(&points);
 }
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
index c5813eba2..c7dfccf4f 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
@@ -47,6 +47,8 @@ Node::Node(MixerCurveWidget *graphWidget)
     vertical = false;
     cmdNode = false;
     cmdToggle = true;    
+    drawNode = true;
+    drawText = true;
 
     posColor0 = "#1c870b";  //greenish?
     posColor1 = "#116703";  //greenish?
@@ -81,43 +83,48 @@ QPainterPath Node::shape() const
 
 void Node::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *)
 {
-    QString text = cmdNode ? cmdText : QString().sprintf("% .2f", value());
+    QString text = cmdNode ? cmdText : QString().sprintf("%.2f", value());
 
-    QRadialGradient gradient(-3, -3, 10);
-    if (option->state & QStyle::State_Sunken) {
-        gradient.setCenter(3, 3);
-        gradient.setFocalPoint(3, 3);
+    if (drawNode) {
+        QRadialGradient gradient(-3, -3, 10);
+        if (option->state & QStyle::State_Sunken) {
+            gradient.setCenter(3, 3);
+            gradient.setFocalPoint(3, 3);
 
-        gradient.setColorAt(1, Qt::darkBlue);
-        gradient.setColorAt(0, Qt::darkBlue);
-    } else {
-        if (cmdNode) {
-            gradient.setColorAt(0, cmdActive ? posColor0 : negColor0);
-            gradient.setColorAt(1, cmdActive ? posColor1 : negColor1);
-        }
-        else {
-            if (value() < 0) {
-                gradient.setColorAt(0, negColor0);
-                gradient.setColorAt(1, negColor1);
+            gradient.setColorAt(1, Qt::darkBlue);
+            gradient.setColorAt(0, Qt::darkBlue);
+        } else {
+            if (cmdNode) {
+                gradient.setColorAt(0, cmdActive ? posColor0 : negColor0);
+                gradient.setColorAt(1, cmdActive ? posColor1 : negColor1);
             }
             else {
-                gradient.setColorAt(0, posColor0);
-                gradient.setColorAt(1, posColor1);
+                if (value() < 0) {
+                    gradient.setColorAt(0, negColor0);
+                    gradient.setColorAt(1, negColor1);
+                }
+                else {
+                    gradient.setColorAt(0, posColor0);
+                    gradient.setColorAt(1, posColor1);
+                }
             }
         }
-    }
-    painter->setBrush(gradient);
-    painter->setPen(QPen(Qt::black, 0));
-    painter->drawEllipse(boundingRect());
-    if (!image.isNull())
-        painter->drawImage(boundingRect().adjusted(1,1,-1,-1), image);
+        painter->setBrush(gradient);
+        painter->setPen(QPen(Qt::black, 0));
+        painter->drawEllipse(boundingRect());
 
-    painter->setPen(QPen(Qt::white, 0));
-    if (cmdNode) {
-        painter->drawText(0,4,text);
+        if (!image.isNull())
+            painter->drawImage(boundingRect().adjusted(1,1,-1,-1), image);
     }
-    else {
-        painter->drawText(-13, 4, text);
+
+    if (drawText) {
+        painter->setPen(QPen(drawNode ? Qt::white : Qt::black, 0));
+        if (cmdNode) {
+            painter->drawText(0,4,text);
+        }
+        else {
+            painter->drawText(-13, 4, text);
+        }
     }
 }
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
index 2e9f872a1..b2298c5bb 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
@@ -66,6 +66,8 @@ public:
     void setPositiveColor(QString color0 = "#00ff00", QString color1 = "#00ff00") { posColor0 = color0;  posColor1 = color1; }
     void setNegativeColor(QString color0 = "#ff0000", QString color1 = "#ff0000") { negColor0 = color0; negColor1 = color1; }
     void setImage(QImage img) { image = img; }
+    void setDrawNode(bool draw) { drawNode = draw; }
+    void setDrawText(bool draw) { drawText = draw; }
 
     QRectF boundingRect() const;
     QPainterPath shape() const;
@@ -98,6 +100,8 @@ private:
     bool    cmdNode;
     bool    cmdToggle;
     QString cmdText;    
+    bool    drawNode;
+    bool    drawText;
     int     index;
 
 };
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index 50f0e2f90..90a84f490 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -230,6 +230,7 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
 
     node = getCommandNode(12);
     node->setName("StepValue");
+    node->setDrawNode(false);
     node->setToolTip("Current Step/Power Value");
     node->setToggle(false);
     node->setPositiveColor("#0000aa", "#0000aa");  //blue
@@ -249,6 +250,7 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     node = getCommandNode(14);
     node->setName("Popup");
     node->setToolTip("Advanced Mode...");
+    node->commandText("");
     node->setToggle(false);
     node->setPositiveColor("#ff0000", "#ff0000");  //red
     node->setNegativeColor("#ff0000", "#ff0000");
@@ -449,9 +451,6 @@ void MixerCurveWidget::setCurve(const QList<double>* points)
         node->setPos(w*i, h - (val*h));
         node->verticalMove(true);
 
-//        node->setPositiveColor(posColor0, posColor1);
-//        node->setNegativeColor(negColor0, negColor1);
-
         node->update();
     }
     curveUpdating = false;
@@ -498,16 +497,13 @@ void MixerCurveWidget::resizeCommands()
 
     //commands on/off
     node = getCommandNode(13);
-    node->setPos((rect.left() + rect.width() / 2) + 40, rect.height() + 10);
+    node->setPos(rect.right() - 15, rect.bottomRight().x() - 14);
 
     for (int i = 1; i<6; i++) {
         node = getCommandNode(i);
 
-        //centered under widget
-        //node->setPos((rect.left() + rect.width() / 2) - 60 + (i * 20), rect.height() + 10);
-
         //bottom right of widget
-        node->setPos(rect.right() - 120 + (i * 20), rect.bottomRight().x() - 14);
+        node->setPos(rect.right() - 130 + (i * 18), rect.bottomRight().x() - 14);
     }
 
     //curveminplus
@@ -528,15 +524,15 @@ void MixerCurveWidget::resizeCommands()
 
     //stepplus
     node = getCommandNode(10);
-    node->setPos(rect.bottomRight().x() - 38, rect.bottomRight().y() + 5);
+    node->setPos(rect.bottomRight().x() - 40, rect.bottomRight().y() + 5);
 
     //stepminus
     node = getCommandNode(11);
-    node->setPos(rect.bottomRight().x() - 38, rect.bottomRight().y() + 15);
+    node->setPos(rect.bottomRight().x() - 40, rect.bottomRight().y() + 15);
 
     //step
     node = getCommandNode(12);
-    node->setPos(rect.bottomRight().x() - 20, rect.bottomRight().y() + 9);
+    node->setPos(rect.bottomRight().x() - 22, rect.bottomRight().y() + 9);
 }
 
 void MixerCurveWidget::itemMoved(double itemValue)
@@ -609,6 +605,16 @@ void MixerCurveWidget::activateCommand(const QString& name)
     }
 }
 
+void MixerCurveWidget::showCommand(const QString& name, bool show)
+{
+    Node* node = getCmdNode(name);
+    if (node) {
+        if (show)
+            node->show();
+        else
+            node->hide();
+    }
+}
 void MixerCurveWidget::showCommands(bool show)
 {
     for (int i=1; i<cmdNodePool.count()-2; i++) {
@@ -621,6 +627,16 @@ void MixerCurveWidget::showCommands(bool show)
         node->update();
     }
 }
+bool MixerCurveWidget::isCommandActive(const QString& name)
+{
+    bool active = false;
+    Node* node = getCmdNode(name);
+    if (node) {
+        active = node->getCommandActive();
+    }
+    return active;
+}
+
 void MixerCurveWidget::cmdActivated(Node* node)
 {
     if (node->getToggle()) {
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
index 2e7b73adc..f2e8226cf 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
@@ -61,6 +61,8 @@ public:
 
    void cmdActivated(Node* node);
    void activateCommand(const QString& name);
+   bool isCommandActive(const QString& name);
+   void showCommand(const QString& name, bool show);
    void showCommands(bool show);
    Node* getCmdNode(const QString& name);
    void setCommandText(const QString& name, const QString& text);
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
index 2befd1d62..ca1af389b 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
@@ -21,7 +21,15 @@ PopupWidget::PopupWidget(QWidget *parent) :
 
     setLayout(mainLayout);
 
-    connect(m_closeButton,SIGNAL(clicked()), this, SLOT(closePopup()));
+    connect(m_closeButton,SIGNAL(clicked()), this, SLOT(close()));
+    connect(this, SIGNAL(accepted()),this,SLOT(close()));
+    connect(this,SIGNAL(rejected()), this, SLOT(close()));
+}
+
+void PopupWidget::popUp(QWidget* widget)
+{
+    setWidget(widget);
+    exec();
 }
 
 void PopupWidget::setWidget(QWidget* widget)
@@ -32,6 +40,19 @@ void PopupWidget::setWidget(QWidget* widget)
     m_layout->addWidget(m_widget);
 }
 
+bool PopupWidget::close()
+{
+    closePopup();
+
+    return QDialog::close();
+}
+
+void PopupWidget::done(int result)
+{
+    closePopup();
+
+    QDialog::done(result);
+}
 
 void PopupWidget::closePopup()
 {
@@ -41,6 +62,4 @@ void PopupWidget::closePopup()
             w->layout()->addWidget(m_widget);
         }
     }
-
-    close();
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h
index dcf2fe50c..a19a6650c 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h
@@ -18,6 +18,7 @@ class UAVOBJECTWIDGETUTILS_EXPORT PopupWidget : public QDialog
 public:
     explicit PopupWidget(QWidget *parent = 0);
     
+    void         popUp(QWidget* widget = 0);
     void         setWidget(QWidget* widget);
     QWidget*     getWidget() { return m_widget; }
     QHBoxLayout* getLayout() { return m_layout; }
@@ -25,7 +26,9 @@ public:
 signals:
     
 public slots:
-    
+    bool close();
+    void done(int result);
+
 private slots:
     void closePopup();
 

From 4a13554e1fc4a868d487cbc63bca9326a781bfac Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Sat, 14 Jul 2012 07:25:57 -0700
Subject: [PATCH 042/543] MixerCurve: disable command buttons; add conventional
 Reset/Advanced buttons; move min/max/step into SettingsGroup;

---
 .../src/plugins/config/mixercurve.cpp         |  34 ++--
 .../src/plugins/config/mixercurve.h           |   1 +
 .../src/plugins/config/mixercurve.ui          | 165 +++++++++---------
 3 files changed, 108 insertions(+), 92 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index 982abb70c..4ad2e3afe 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -43,8 +43,10 @@ MixerCurve::MixerCurve(QWidget *parent) :
 
 
     m_mixerUI->SettingsGroup->hide();
-    m_mixerUI->ValuesGroup->hide();
     m_curve->showCommands(false);
+    m_curve->showCommand("Reset", false);
+    m_curve->showCommand("Popup", false);
+    m_curve->showCommand("Commands", false);
 
     // create our spin delegate
     m_spinDelegate = new DoubleSpinDelegate();
@@ -62,6 +64,7 @@ MixerCurve::MixerCurve(QWidget *parent) :
 
     connect(m_mixerUI->CurveType, SIGNAL(currentIndexChanged(int)), this, SLOT(CurveTypeChanged()));
     connect(m_mixerUI->ResetCurve, SIGNAL(clicked()), this, SLOT(ResetCurve()));
+    connect(m_mixerUI->PopupCurve, SIGNAL(clicked()),this,SLOT(PopupCurve()));
     connect(m_mixerUI->GenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve()));
     connect(m_curve, SIGNAL(curveUpdated()), this, SLOT(UpdateSettingsTable()));
     connect(m_curve, SIGNAL(commandActivated(Node*)),this, SLOT(CommandActivated(Node*)));
@@ -128,6 +131,21 @@ void MixerCurve::ResetCurve()
     UpdateSettingsTable();
 }
 
+void MixerCurve::PopupCurve()
+{
+    if (!m_curve->isCommandActive("Popup")) {
+
+        m_mixerUI->SettingsGroup->show();
+        m_mixerUI->PopupCurve->hide();
+
+        PopupWidget* popup = new PopupWidget();
+        popup->popUp(this);
+
+        m_mixerUI->SettingsGroup->hide();
+        m_mixerUI->PopupCurve->show();
+        m_curve->showCommands(false);
+    }
+}
 void MixerCurve::UpdateCurveUI()
 {
     //get the user settings
@@ -363,18 +381,8 @@ void MixerCurve::CommandActivated(Node* node)
     else if (name == "Commands") {
 
     }
-    else if (name == "Popup" && !m_curve->isCommandActive("Popup")) {
-        m_mixerUI->SettingsGroup->show();
-        m_mixerUI->ValuesGroup->show();
-        m_curve->showCommand("Popup", false);
-
-        PopupWidget* popup = new PopupWidget();
-        popup->popUp(this);
-
-        m_mixerUI->SettingsGroup->hide();
-        m_mixerUI->ValuesGroup->hide();
-        m_curve->showCommands(false);
-        m_curve->showCommand("Popup", true);
+    else if (name == "Popup" ) {
+        PopupCurve();
     }
     else if (name == "Linear") {
         m_mixerUI->CurveType->setCurrentIndex(m_mixerUI->CurveType->findText("Linear"));
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.h b/ground/openpilotgcs/src/plugins/config/mixercurve.h
index 346c3792b..1e60534f6 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.h
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.h
@@ -79,6 +79,7 @@ protected:
 
 public slots:
     void ResetCurve();
+    void PopupCurve();
     void GenerateCurve();
     void UpdateSettingsTable();
 
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.ui b/ground/openpilotgcs/src/plugins/config/mixercurve.ui
index 7adf707da..e59882d89 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.ui
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>441</width>
-    <height>334</height>
+    <width>543</width>
+    <height>467</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -183,79 +183,6 @@
         </property>
        </widget>
       </item>
-      <item>
-       <spacer name="verticalSpacer">
-        <property name="orientation">
-         <enum>Qt::Vertical</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>20</width>
-          <height>40</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
-      <item>
-       <widget class="QPushButton" name="ResetCurve">
-        <property name="text">
-         <string>Reset</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-     <zorder>GenerateCurve</zorder>
-     <zorder>CurveSettings</zorder>
-     <zorder>ResetCurve</zorder>
-     <zorder>CurveType</zorder>
-     <zorder>verticalSpacer</zorder>
-    </widget>
-   </item>
-   <item row="0" column="1" colspan="2">
-    <widget class="MixerCurveWidget" name="CurveWidget" native="true">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-       <horstretch>5</horstretch>
-       <verstretch>5</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>50</width>
-       <height>50</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>1000</width>
-       <height>1000</height>
-      </size>
-     </property>
-     <property name="sizeIncrement">
-      <size>
-       <width>10</width>
-       <height>10</height>
-      </size>
-     </property>
-     <property name="baseSize">
-      <size>
-       <width>200</width>
-       <height>200</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <pointsize>7</pointsize>
-      </font>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="1">
-    <widget class="QGroupBox" name="ValuesGroup">
-     <property name="title">
-      <string/>
-     </property>
-     <layout class="QHBoxLayout" name="horizontalLayout">
       <item>
        <widget class="QLabel" name="minLabel">
         <property name="text">
@@ -332,21 +259,101 @@
        </widget>
       </item>
       <item>
-       <spacer name="horizontalSpacer">
+       <spacer name="verticalSpacer">
         <property name="orientation">
-         <enum>Qt::Horizontal</enum>
+         <enum>Qt::Vertical</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
-          <width>40</width>
-          <height>20</height>
+          <width>20</width>
+          <height>40</height>
          </size>
         </property>
        </spacer>
       </item>
      </layout>
+     <zorder>GenerateCurve</zorder>
+     <zorder>CurveSettings</zorder>
+     <zorder>CurveType</zorder>
+     <zorder>CurveMin</zorder>
+     <zorder>minLabel</zorder>
+     <zorder>CurveMax</zorder>
+     <zorder>maxLabel</zorder>
+     <zorder>CurveStep</zorder>
+     <zorder>stepLabel</zorder>
+     <zorder>verticalSpacer</zorder>
     </widget>
    </item>
+   <item row="0" column="1">
+    <widget class="MixerCurveWidget" name="CurveWidget" native="true">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+       <horstretch>5</horstretch>
+       <verstretch>5</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>50</width>
+       <height>50</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>1000</width>
+       <height>1000</height>
+      </size>
+     </property>
+     <property name="sizeIncrement">
+      <size>
+       <width>10</width>
+       <height>10</height>
+      </size>
+     </property>
+     <property name="baseSize">
+      <size>
+       <width>200</width>
+       <height>200</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <pointsize>7</pointsize>
+      </font>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="1">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="ResetCurve">
+       <property name="text">
+        <string>Reset</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="PopupCurve">
+       <property name="text">
+        <string>Advanced...</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
   </layout>
  </widget>
  <customwidgets>

From d612f67b8d909a0071fd28e574bbf4f306f878f5 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sat, 14 Jul 2012 11:50:17 -0700
Subject: [PATCH 043/543] more GUI changes and reorganizations

---
 .../openpilotgcs/src/plugins/config/input.ui  | 556 +++++++++---------
 .../openpilotgcs/src/plugins/config/output.ui | 448 ++++++++++++--
 .../src/plugins/config/outputchannelform.cpp  |  34 +-
 .../src/plugins/config/outputchannelform.ui   | 326 ++--------
 .../src/plugins/config/stabilization.ui       |  14 +-
 .../openpilotgcs/src/plugins/config/txpid.ui  |   8 +-
 6 files changed, 758 insertions(+), 628 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index ae1c13963..0533913fa 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -6,17 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>692</width>
-    <height>958</height>
+    <width>693</width>
+    <height>882</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_6">
-   <property name="spacing">
-    <number>12</number>
-   </property>
+  <layout class="QVBoxLayout" name="verticalLayout_13">
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -26,7 +23,7 @@
       <attribute name="title">
        <string>RC Input</string>
       </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_3">
+      <layout class="QVBoxLayout" name="verticalLayout_11">
        <property name="leftMargin">
         <number>12</number>
        </property>
@@ -49,183 +46,191 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>638</width>
-            <height>801</height>
+            <width>639</width>
+            <height>721</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout">
-           <item row="0" column="0">
-            <widget class="QStackedWidget" name="stackedWidget">
-             <property name="currentIndex">
-              <number>0</number>
+           <item row="1" column="0">
+            <widget class="QGroupBox" name="groupBox_4">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
              </property>
-             <widget class="QWidget" name="advancedPage">
-              <layout class="QVBoxLayout" name="verticalLayout_4">
-               <item>
-                <layout class="QVBoxLayout" name="channelSettings"/>
-               </item>
-               <item>
-                <spacer name="verticalSpacer_3">
-                 <property name="orientation">
-                  <enum>Qt::Vertical</enum>
-                 </property>
-                 <property name="sizeType">
-                  <enum>QSizePolicy::Preferred</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>20</width>
-                   <height>5</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-               <item>
-                <layout class="QGridLayout" name="gridLayout_3">
-                 <item row="0" column="0">
-                  <widget class="QLabel" name="labelDeadband">
-                   <property name="text">
-                    <string>Roll/Pitch/Yaw stick deadband</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="0" column="1">
-                  <widget class="QDoubleSpinBox" name="deadband">
-                   <property name="toolTip">
-                    <string>Stick deadband in percents of full range (0-10), zero to disable</string>
-                   </property>
-                   <property name="decimals">
-                    <number>1</number>
-                   </property>
-                   <property name="maximum">
-                    <double>10.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.100000000000000</double>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="0" column="3">
-                  <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>
-                </layout>
-               </item>
-               <item>
-                <spacer name="verticalSpacer_4">
-                 <property name="orientation">
-                  <enum>Qt::Vertical</enum>
-                 </property>
-                 <property name="sizeType">
-                  <enum>QSizePolicy::Preferred</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>20</width>
-                   <height>5</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-               <item>
-                <widget class="QPushButton" name="configurationWizard">
-                 <property name="text">
-                  <string>Start Configuration Wizard</string>
-                 </property>
+             <property name="title">
+              <string/>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_3">
+              <item>
+               <widget class="QPushButton" name="configurationWizard">
+                <property name="text">
+                 <string>Start Configuration Wizard</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QCheckBox" name="runCalibration">
+                <property name="text">
+                 <string>Run Calibration</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item row="2" column="0">
+            <widget class="QGroupBox" name="groupBox_5">
+             <property name="title">
+              <string/>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_6">
+              <item>
+               <widget class="QStackedWidget" name="stackedWidget">
+                <property name="currentIndex">
+                 <number>0</number>
+                </property>
+                <widget class="QWidget" name="advancedPage">
+                 <layout class="QVBoxLayout" name="verticalLayout_4">
+                  <item>
+                   <layout class="QVBoxLayout" name="channelSettings"/>
+                  </item>
+                  <item>
+                   <spacer name="verticalSpacer_3">
+                    <property name="orientation">
+                     <enum>Qt::Vertical</enum>
+                    </property>
+                    <property name="sizeType">
+                     <enum>QSizePolicy::Preferred</enum>
+                    </property>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>20</width>
+                      <height>5</height>
+                     </size>
+                    </property>
+                   </spacer>
+                  </item>
+                  <item>
+                   <layout class="QGridLayout" name="gridLayout_3">
+                    <item row="0" column="0">
+                     <widget class="QLabel" name="labelDeadband">
+                      <property name="text">
+                       <string>Roll/Pitch/Yaw stick deadband</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="0" column="1">
+                     <widget class="QDoubleSpinBox" name="deadband">
+                      <property name="toolTip">
+                       <string>Stick deadband in percents of full range (0-10), zero to disable</string>
+                      </property>
+                      <property name="decimals">
+                       <number>1</number>
+                      </property>
+                      <property name="maximum">
+                       <double>10.000000000000000</double>
+                      </property>
+                      <property name="singleStep">
+                       <double>0.100000000000000</double>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="0" column="3">
+                     <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>
+                   </layout>
+                  </item>
+                  <item>
+                   <spacer name="verticalSpacer_2">
+                    <property name="orientation">
+                     <enum>Qt::Vertical</enum>
+                    </property>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>20</width>
+                      <height>40</height>
+                     </size>
+                    </property>
+                   </spacer>
+                  </item>
+                 </layout>
                 </widget>
-               </item>
-               <item>
-                <widget class="QCheckBox" name="runCalibration">
-                 <property name="text">
-                  <string>Run Calibration</string>
-                 </property>
+                <widget class="QWidget" name="wizard">
+                 <layout class="QVBoxLayout" name="verticalLayout_5">
+                  <item>
+                   <widget class="QLabel" name="wzText">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>0</width>
+                      <height>90</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>TextLabel</string>
+                    </property>
+                    <property name="wordWrap">
+                     <bool>true</bool>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <layout class="QHBoxLayout" name="horizontalLayout_4">
+                    <item>
+                     <widget class="QGraphicsView" name="graphicsView"/>
+                    </item>
+                    <item>
+                     <layout class="QVBoxLayout" name="checkBoxesLayout"/>
+                    </item>
+                   </layout>
+                  </item>
+                  <item>
+                   <layout class="QHBoxLayout" name="horizontalLayout_3">
+                    <item>
+                     <widget class="QPushButton" name="wzBack">
+                      <property name="text">
+                       <string>Back</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item>
+                     <widget class="QPushButton" name="wzNext">
+                      <property name="text">
+                       <string>Next</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item>
+                     <widget class="QPushButton" name="wzCancel">
+                      <property name="text">
+                       <string>Cancel</string>
+                      </property>
+                     </widget>
+                    </item>
+                   </layout>
+                  </item>
+                 </layout>
                 </widget>
-               </item>
-               <item>
-                <spacer name="verticalSpacer_2">
-                 <property name="orientation">
-                  <enum>Qt::Vertical</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>20</width>
-                   <height>40</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-              </layout>
-             </widget>
-             <widget class="QWidget" name="wizard">
-              <layout class="QVBoxLayout" name="verticalLayout_5">
-               <item>
-                <widget class="QLabel" name="wzText">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="minimumSize">
-                  <size>
-                   <width>0</width>
-                   <height>90</height>
-                  </size>
-                 </property>
-                 <property name="text">
-                  <string>TextLabel</string>
-                 </property>
-                 <property name="wordWrap">
-                  <bool>true</bool>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <layout class="QHBoxLayout" name="horizontalLayout_4">
-                 <item>
-                  <widget class="QGraphicsView" name="graphicsView"/>
-                 </item>
-                 <item>
-                  <layout class="QVBoxLayout" name="checkBoxesLayout"/>
-                 </item>
-                </layout>
-               </item>
-               <item>
-                <layout class="QHBoxLayout" name="horizontalLayout_3">
-                 <item>
-                  <widget class="QPushButton" name="wzBack">
-                   <property name="text">
-                    <string>Back</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <widget class="QPushButton" name="wzNext">
-                   <property name="text">
-                    <string>Next</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <widget class="QPushButton" name="wzCancel">
-                   <property name="text">
-                    <string>Cancel</string>
-                   </property>
-                  </widget>
-                 </item>
-                </layout>
-               </item>
-              </layout>
-             </widget>
+               </widget>
+              </item>
+             </layout>
             </widget>
            </item>
           </layout>
@@ -261,8 +266,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>638</width>
-            <height>801</height>
+            <width>624</width>
+            <height>776</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_7">
@@ -712,7 +717,7 @@ margin:1px;</string>
       <attribute name="title">
        <string>Arming Settings</string>
       </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_7">
+      <layout class="QVBoxLayout" name="verticalLayout_12">
        <property name="leftMargin">
         <number>12</number>
        </property>
@@ -735,100 +740,109 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>638</width>
-            <height>801</height>
+            <width>639</width>
+            <height>721</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
            <item>
-            <layout class="QHBoxLayout" name="horizontalLayout">
-             <item>
-              <widget class="QLabel" name="label_17">
-               <property name="font">
-                <font>
-                 <weight>50</weight>
-                 <bold>false</bold>
-                </font>
-               </property>
-               <property name="text">
-                <string>Arm airframe using throttle off and:</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QComboBox" name="armControl">
-               <property name="focusPolicy">
-                <enum>Qt::StrongFocus</enum>
-               </property>
-               <property name="toolTip">
-                <string>Indicate the control used for arming the airframe, in addition to setting the throttle to its minimum position. In other terms &quot;Throttle Off&quot;.</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <spacer name="horizontalSpacer">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>40</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-            </layout>
-           </item>
-           <item>
-            <layout class="QHBoxLayout" name="horizontalLayout_2">
-             <item>
-              <widget class="QLabel" name="label_18">
-               <property name="text">
-                <string>Arming timeout:</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QSpinBox" name="armTimeout">
-               <property name="focusPolicy">
-                <enum>Qt::StrongFocus</enum>
-               </property>
-               <property name="toolTip">
-                <string>After the time indicated here, the frame go back to disarmed state.</string>
-               </property>
-               <property name="maximum">
-                <number>64</number>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_19">
-               <property name="text">
-                <string>seconds.</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <spacer name="horizontalSpacer_2">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>40</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </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>
+            <widget class="QGroupBox" name="groupBox_6">
+             <property name="title">
+              <string>Arming Settings</string>
              </property>
+             <layout class="QVBoxLayout" name="verticalLayout_7">
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout">
+                <item>
+                 <widget class="QLabel" name="label_17">
+                  <property name="font">
+                   <font>
+                    <weight>50</weight>
+                    <bold>false</bold>
+                   </font>
+                  </property>
+                  <property name="text">
+                   <string>Arm airframe using throttle off and:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QComboBox" name="armControl">
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
+                  </property>
+                  <property name="toolTip">
+                   <string>Indicate the control used for arming the airframe, in addition to setting the throttle to its minimum position. In other terms &quot;Throttle Off&quot;.</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_2">
+                <item>
+                 <widget class="QLabel" name="label_18">
+                  <property name="text">
+                   <string>Arming timeout:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QSpinBox" name="armTimeout">
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
+                  </property>
+                  <property name="toolTip">
+                   <string>After the time indicated here, the frame go back to disarmed state.</string>
+                  </property>
+                  <property name="maximum">
+                   <number>64</number>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QLabel" name="label_19">
+                  <property name="text">
+                   <string>seconds.</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_2">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </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>
+             </layout>
             </widget>
            </item>
            <item>
@@ -1001,8 +1015,6 @@ border-radius: 4;
   <tabstop>fmsSsPos3Yaw</tabstop>
   <tabstop>tabWidget</tabstop>
   <tabstop>deadband</tabstop>
-  <tabstop>configurationWizard</tabstop>
-  <tabstop>runCalibration</tabstop>
   <tabstop>graphicsView</tabstop>
   <tabstop>wzBack</tabstop>
   <tabstop>wzNext</tabstop>
diff --git a/ground/openpilotgcs/src/plugins/config/output.ui b/ground/openpilotgcs/src/plugins/config/output.ui
index b2e8c9ca2..dc12661b6 100644
--- a/ground/openpilotgcs/src/plugins/config/output.ui
+++ b/ground/openpilotgcs/src/plugins/config/output.ui
@@ -6,17 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>664</width>
-    <height>791</height>
+    <width>866</width>
+    <height>937</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_4">
-   <property name="spacing">
-    <number>12</number>
-   </property>
+  <layout class="QVBoxLayout" name="verticalLayout_5">
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="tabShape">
@@ -32,7 +29,7 @@
       <attribute name="title">
        <string>Output</string>
       </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_3">
+      <layout class="QVBoxLayout" name="verticalLayout_4">
        <property name="leftMargin">
         <number>12</number>
        </property>
@@ -55,13 +52,25 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>610</width>
-            <height>634</height>
+            <width>812</width>
+            <height>776</height>
            </rect>
           </property>
-          <layout class="QVBoxLayout" name="verticalLayout">
+          <layout class="QVBoxLayout" name="verticalLayout_3">
            <item>
             <widget class="QGroupBox" name="groupBox_2">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>78</height>
+              </size>
+             </property>
              <property name="title">
               <string/>
              </property>
@@ -430,57 +439,376 @@ Leave at 50Hz for fixed wing.</string>
             </widget>
            </item>
            <item>
-            <layout class="QVBoxLayout" name="channelLayout">
-             <property name="spacing">
-              <number>0</number>
+            <widget class="QGroupBox" name="groupBox_3">
+             <property name="title">
+              <string/>
              </property>
-             <property name="sizeConstraint">
-              <enum>QLayout::SetNoConstraint</enum>
-             </property>
-            </layout>
-           </item>
-           <item>
-            <layout class="QHBoxLayout" name="horizontalLayout_2">
-             <item>
-              <widget class="QCheckBox" name="spinningArmed">
-               <property name="minimumSize">
-                <size>
-                 <width>519</width>
-                 <height>0</height>
-                </size>
-               </property>
-               <property name="text">
-                <string>Motors spin at neutral output when armed and throttle below zero (be careful)</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <spacer name="horizontalSpacer_2">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>40</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </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>458</height>
-              </size>
-             </property>
-            </spacer>
+             <layout class="QVBoxLayout" name="verticalLayout">
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_3">
+                <item>
+                 <spacer name="horizontalSpacer_6">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeType">
+                   <enum>QSizePolicy::Fixed</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>14</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item>
+                 <widget class="QLabel" name="legend6">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>22</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="font">
+                   <font>
+                    <weight>75</weight>
+                    <italic>false</italic>
+                    <bold>true</bold>
+                   </font>
+                  </property>
+                  <property name="layoutDirection">
+                   <enum>Qt::LeftToRight</enum>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font:bold;
+margin:1px;</string>
+                  </property>
+                  <property name="text">
+                   <string>#</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignCenter</set>
+                  </property>
+                  <property name="margin">
+                   <number>0</number>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_7">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeType">
+                   <enum>QSizePolicy::Fixed</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>1</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item>
+                 <widget class="QLabel" name="legend0">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>104</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="font">
+                   <font>
+                    <weight>75</weight>
+                    <italic>false</italic>
+                    <bold>true</bold>
+                   </font>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font:bold;
+margin:1px;</string>
+                  </property>
+                  <property name="text">
+                   <string>Assignment</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QLabel" name="legend1">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>61</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="font">
+                   <font>
+                    <weight>75</weight>
+                    <italic>false</italic>
+                    <bold>true</bold>
+                   </font>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font:bold;
+margin:1px;</string>
+                  </property>
+                  <property name="text">
+                   <string>Min</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QLabel" name="legend2">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>185</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="font">
+                   <font>
+                    <weight>75</weight>
+                    <italic>false</italic>
+                    <bold>true</bold>
+                   </font>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font:bold;
+margin:1px;</string>
+                  </property>
+                  <property name="text">
+                   <string>Neutral (slowest for motor)</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_5">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeType">
+                   <enum>QSizePolicy::Fixed</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item>
+                 <widget class="QLabel" name="legend3">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>50</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="font">
+                   <font>
+                    <weight>75</weight>
+                    <italic>false</italic>
+                    <bold>true</bold>
+                   </font>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font:bold;
+margin:1px;</string>
+                  </property>
+                  <property name="text">
+                   <string>Max</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QLabel" name="legend4">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>40</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="font">
+                   <font>
+                    <weight>75</weight>
+                    <italic>false</italic>
+                    <bold>true</bold>
+                   </font>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font:bold;
+margin:1px;</string>
+                  </property>
+                  <property name="text">
+                   <string>Rev.</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QLabel" name="legend5">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>40</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="font">
+                   <font>
+                    <weight>75</weight>
+                    <italic>false</italic>
+                    <bold>true</bold>
+                   </font>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font:bold;
+margin:1px;</string>
+                  </property>
+                  <property name="text">
+                   <string>Link</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignCenter</set>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <layout class="QVBoxLayout" name="channelLayout">
+                <property name="spacing">
+                 <number>-1</number>
+                </property>
+                <property name="sizeConstraint">
+                 <enum>QLayout::SetDefaultConstraint</enum>
+                </property>
+               </layout>
+              </item>
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_2">
+                <item>
+                 <widget class="QCheckBox" name="spinningArmed">
+                  <property name="minimumSize">
+                   <size>
+                    <width>519</width>
+                    <height>0</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string>Motors spin at neutral output when armed and throttle below zero (be careful)</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_2">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </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>542</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+             </layout>
+            </widget>
            </item>
           </layout>
          </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp b/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
index f2d039edb..813c32a94 100644
--- a/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
+++ b/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
@@ -35,23 +35,23 @@ OutputChannelForm::OutputChannelForm(const int index, QWidget *parent, const boo
         m_inChannelTest(false)
 {
     ui.setupUi(this);
-    if(!showLegend)
-    {
-        // Remove legend
-        QGridLayout *grid_layout = dynamic_cast<QGridLayout*>(layout());
-        Q_ASSERT(grid_layout);
-        for (int col = 0; col < grid_layout->columnCount(); col++)
-        { // remove every item in first row
-            QLayoutItem *item = grid_layout->itemAtPosition(0, col);
-            if (!item) continue;
-            // get widget from layout item
-            QWidget *legend_widget = item->widget();
-            if (!legend_widget) continue;
-            // delete widget
-            grid_layout->removeWidget(legend_widget);
-            delete legend_widget;
-        }
-    }
+//    if(!showLegend)
+//    {
+//        // Remove legend
+//        QGridLayout *grid_layout = dynamic_cast<QGridLayout*>(layout());
+//        Q_ASSERT(grid_layout);
+//        for (int col = 0; col < grid_layout->columnCount(); col++)
+//        { // remove every item in first row
+//            QLayoutItem *item = grid_layout->itemAtPosition(0, col);
+//            if (!item) continue;
+//            // get widget from layout item
+//            QWidget *legend_widget = item->widget();
+//            if (!legend_widget) continue;
+//            // delete widget
+//            grid_layout->removeWidget(legend_widget);
+//            delete legend_widget;
+//        }
+//    }
 
     // The convention for OP is Channel 1 to Channel 10.
     ui.actuatorNumber->setText(QString("%1:").arg(m_index+1));
diff --git a/ground/openpilotgcs/src/plugins/config/outputchannelform.ui b/ground/openpilotgcs/src/plugins/config/outputchannelform.ui
index 9c2c62f47..512e1bc4b 100644
--- a/ground/openpilotgcs/src/plugins/config/outputchannelform.ui
+++ b/ground/openpilotgcs/src/plugins/config/outputchannelform.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>813</width>
+    <width>645</width>
     <height>58</height>
    </rect>
   </property>
@@ -20,53 +20,61 @@
    <property name="bottomMargin">
     <number>1</number>
    </property>
-   <item row="1" column="5">
-    <widget class="QLabel" name="actuatorValue">
+   <item row="0" column="6">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Minimum</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>5</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="0" column="4">
+    <widget class="QSlider" name="actuatorNeutral">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+      <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="maximum">
+      <number>9999</number>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="8">
+    <widget class="QSpinBox" name="actuatorMax">
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
      <property name="toolTip">
-      <string>Current value of slider.</string>
+      <string>Maximum PWM value, beware of not overdriving your servo.</string>
      </property>
-     <property name="text">
-      <string>0000</string>
+     <property name="maximum">
+      <number>9999</number>
      </property>
     </widget>
    </item>
-   <item row="0" column="10">
-    <widget class="QLabel" name="legend5">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>Link</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="1">
+   <item row="0" column="1">
     <widget class="QLabel" name="actuatorName">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@@ -89,42 +97,6 @@ margin:1px;</string>
     </widget>
    </item>
    <item row="0" column="0">
-    <widget class="QLabel" name="legend6">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="layoutDirection">
-      <enum>Qt::LeftToRight</enum>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>#</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-     <property name="margin">
-      <number>0</number>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="0">
     <widget class="QLabel" name="actuatorNumber">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@@ -152,7 +124,7 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="2">
+   <item row="0" column="2">
     <widget class="QSpinBox" name="actuatorMin">
      <property name="focusPolicy">
       <enum>Qt::StrongFocus</enum>
@@ -165,7 +137,7 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="9">
+   <item row="0" column="9">
     <widget class="QCheckBox" name="actuatorRev">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -187,67 +159,7 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="4">
-    <widget class="QLabel" name="legend2">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>Neutral (slowest for motor)</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="1">
-    <widget class="QLabel" name="legend0">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>Assignment</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="3">
+   <item row="0" column="3">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -263,67 +175,7 @@ margin:1px;</string>
      </property>
     </spacer>
    </item>
-   <item row="0" column="2">
-    <widget class="QLabel" name="legend1">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>Min</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="8">
-    <widget class="QLabel" name="legend3">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
-     </property>
-     <property name="text">
-      <string>Max</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="10">
+   <item row="0" column="10">
     <widget class="QCheckBox" name="actuatorLink">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -345,87 +197,19 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="6">
-    <spacer name="horizontalSpacer_2">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Minimum</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>5</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="0" column="9">
-    <widget class="QLabel" name="legend4">
+   <item row="0" column="5">
+    <widget class="QLabel" name="actuatorValue">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
+     <property name="toolTip">
+      <string>Current value of slider.</string>
      </property>
      <property name="text">
-      <string>Rev.</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="4">
-    <widget class="QSlider" name="actuatorNeutral">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>0</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-     <property name="maximum">
-      <number>9999</number>
-     </property>
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="8">
-    <widget class="QSpinBox" name="actuatorMax">
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-     <property name="toolTip">
-      <string>Maximum PWM value, beware of not overdriving your servo.</string>
-     </property>
-     <property name="maximum">
-      <number>9999</number>
+      <string>0000</string>
      </property>
     </widget>
    </item>
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 8e8fd71cd..f51be1530 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>786</width>
+    <width>757</width>
     <height>993</height>
    </rect>
   </property>
@@ -509,7 +509,7 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>732</width>
+            <width>703</width>
             <height>832</height>
            </rect>
           </property>
@@ -10587,7 +10587,7 @@ Attitude</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>717</width>
+            <width>470</width>
             <height>923</height>
            </rect>
           </property>
@@ -23648,7 +23648,7 @@ border-radius: 5;</string>
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>79</height>
+       <height>75</height>
       </size>
      </property>
      <property name="maximumSize">
@@ -24199,7 +24199,7 @@ border-radius: 5;</string>
           </property>
           <property name="minimumSize">
            <size>
-            <width>300</width>
+            <width>150</width>
             <height>20</height>
            </size>
           </property>
@@ -24315,14 +24315,14 @@ Useful if you have accidentally changed some settings.</string>
         <item row="1" column="0">
          <widget class="QCheckBox" name="realTimeUpdates_6">
           <property name="sizePolicy">
-           <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+           <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
             <horstretch>0</horstretch>
             <verstretch>0</verstretch>
            </sizepolicy>
           </property>
           <property name="minimumSize">
            <size>
-            <width>136</width>
+            <width>300</width>
             <height>20</height>
            </size>
           </property>
diff --git a/ground/openpilotgcs/src/plugins/config/txpid.ui b/ground/openpilotgcs/src/plugins/config/txpid.ui
index c10a16c6a..94ee7ae17 100644
--- a/ground/openpilotgcs/src/plugins/config/txpid.ui
+++ b/ground/openpilotgcs/src/plugins/config/txpid.ui
@@ -50,7 +50,7 @@
             <x>0</x>
             <y>0</y>
             <width>654</width>
-            <height>671</height>
+            <height>659</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
@@ -583,6 +583,12 @@ margin:1px;</string>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>75</height>
+      </size>
+     </property>
      <property name="maximumSize">
       <size>
        <width>16777215</width>

From 27b53bf092615771360e526f6ec48aca563a4dfe Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sat, 14 Jul 2012 21:26:38 -0700
Subject: [PATCH 044/543] deleted the commented lines, tried resizing the
 margins and I couldnt get it to look quite right, so I ditched it.

---
 .../src/plugins/config/camerastabilization.ui | 32 +++++++++++++++----
 .../src/plugins/config/outputchannelform.cpp  | 17 ----------
 2 files changed, 25 insertions(+), 24 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
index f935b6dcb..0f7b8f980 100644
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -17,6 +17,9 @@
    <property name="spacing">
     <number>12</number>
    </property>
+   <property name="margin">
+    <number>12</number>
+   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -33,13 +36,7 @@
        <property name="spacing">
         <number>12</number>
        </property>
-       <property name="leftMargin">
-        <number>12</number>
-       </property>
-       <property name="rightMargin">
-        <number>12</number>
-       </property>
-       <property name="bottomMargin">
+       <property name="margin">
         <number>12</number>
        </property>
        <item>
@@ -90,6 +87,9 @@
               <string/>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_2">
+              <property name="margin">
+               <number>12</number>
+              </property>
               <item>
                <widget class="QCheckBox" name="enableCameraStabilization">
                 <property name="focusPolicy">
@@ -131,6 +131,12 @@
               <bool>false</bool>
              </property>
              <layout class="QGridLayout" name="gridLayout_9">
+              <property name="leftMargin">
+               <number>12</number>
+              </property>
+              <property name="rightMargin">
+               <number>12</number>
+              </property>
               <item row="3" column="3">
                <widget class="QSpinBox" name="yawOutputRange">
                 <property name="focusPolicy">
@@ -345,6 +351,12 @@ margin:1px;</string>
               <string>Advanced Settings (Control)</string>
              </property>
              <layout class="QGridLayout" name="gridLayout_8">
+              <property name="leftMargin">
+               <number>12</number>
+              </property>
+              <property name="rightMargin">
+               <number>12</number>
+              </property>
               <item row="1" column="3">
                <widget class="QLabel" name="label_32">
                 <property name="styleSheet">
@@ -756,6 +768,9 @@ value.</string>
       <string>Messages</string>
      </property>
      <layout class="QHBoxLayout" name="horizontalLayout">
+      <property name="margin">
+       <number>12</number>
+      </property>
       <item>
        <widget class="QLabel" name="message">
         <property name="text">
@@ -772,6 +787,9 @@ value.</string>
       <string/>
      </property>
      <layout class="QVBoxLayout" name="verticalLayout_4">
+      <property name="margin">
+       <number>12</number>
+      </property>
       <item>
        <layout class="QVBoxLayout" name="verticalLayout">
         <item>
diff --git a/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp b/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
index 813c32a94..0aaa900ab 100644
--- a/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
+++ b/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
@@ -35,23 +35,6 @@ OutputChannelForm::OutputChannelForm(const int index, QWidget *parent, const boo
         m_inChannelTest(false)
 {
     ui.setupUi(this);
-//    if(!showLegend)
-//    {
-//        // Remove legend
-//        QGridLayout *grid_layout = dynamic_cast<QGridLayout*>(layout());
-//        Q_ASSERT(grid_layout);
-//        for (int col = 0; col < grid_layout->columnCount(); col++)
-//        { // remove every item in first row
-//            QLayoutItem *item = grid_layout->itemAtPosition(0, col);
-//            if (!item) continue;
-//            // get widget from layout item
-//            QWidget *legend_widget = item->widget();
-//            if (!legend_widget) continue;
-//            // delete widget
-//            grid_layout->removeWidget(legend_widget);
-//            delete legend_widget;
-//        }
-//    }
 
     // The convention for OP is Channel 1 to Channel 10.
     ui.actuatorNumber->setText(QString("%1:").arg(m_index+1));

From a1593968f1ee00dea2d9e593de2eeaef28e1115d Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Mon, 16 Jul 2012 13:20:11 +0100
Subject: [PATCH 045/543] GCS-Changes uploader device pictures from SVG to some
 very nice looking PNGs. TODO-PNG for PIPX

---
 .../src/plugins/uploader/devicewidget.cpp     | 42 ++++++++-----------
 .../src/plugins/uploader/devicewidget.h       |  2 +-
 .../plugins/uploader/runningdevicewidget.cpp  | 41 +++++++-----------
 .../plugins/uploader/runningdevicewidget.h    |  2 +-
 .../src/plugins/uploader/uploader.qrc         |  2 +
 5 files changed, 37 insertions(+), 52 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
index e3ca707b3..c22e548b0 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
@@ -31,7 +31,6 @@ deviceWidget::deviceWidget(QWidget *parent) :
 {
     myDevice = new Ui_deviceWidget();
     myDevice->setupUi(this);
-    devicePic = NULL; // Initialize pointer to null
 
     // Initialization of the Device icon display
     myDevice->verticalGroupBox_loaded->setVisible(false);
@@ -54,18 +53,14 @@ void deviceWidget::showEvent(QShowEvent *event)
     Q_UNUSED(event)
     // Thit fitInView method should only be called now, once the
     // widget is shown, otherwise it cannot compute its values and
-    // the result is usually a ahrsbargraph that is way too small.
-    if (devicePic)
-    {
-        myDevice->gVDevice->fitInView(devicePic,Qt::KeepAspectRatio);
-    }
+    // the result is usually a ahrsbargraph that is way too small
+    myDevice->gVDevice->fitInView(devicePic.rect(),Qt::KeepAspectRatio);
 }
 
 void deviceWidget::resizeEvent(QResizeEvent* event)
 {
     Q_UNUSED(event);
-    if (devicePic)
-        myDevice->gVDevice->fitInView(devicePic, Qt::KeepAspectRatio);
+    myDevice->gVDevice->fitInView(devicePic.rect(), Qt::KeepAspectRatio);
 }
 
 
@@ -92,31 +87,28 @@ void deviceWidget::populate()
     myDevice->lblDevName->setText(deviceDescriptorStruct::idToBoardName(id));
     myDevice->lblHWRev->setText(QString(tr("HW Revision: "))+QString::number(id & 0x00FF, 16));
 
-    devicePic = new QGraphicsSvgItem();
-    devicePic->setSharedRenderer(new QSvgRenderer());
     switch (id) {
     case 0x0101:
-        devicePic->renderer()->load(QString(":/uploader/images/deviceID-0101.svg"));
-        break;
-    case 0x0301:
-        devicePic->renderer()->load(QString(":/uploader/images/deviceID-0301.svg"));
-        break;
-    case 0x0401:
-        devicePic->renderer()->load(QString(":/uploader/images/deviceID-0401.svg"));
-        break;
-    case 0x0402:
-        devicePic->renderer()->load(QString(":/uploader/images/deviceID-0402.svg"));
+        devicePic.load("");//TODO
         break;
     case 0x0201:
-        devicePic->renderer()->load(QString(":/uploader/images/deviceID-0201.svg"));
+        devicePic.load("");//TODO
+        break;
+    case 0x0301:
+        devicePic.load("");//TODO
+        break;
+    case 0x0401:
+        devicePic.load(":/uploader/images/gcs-board-cc.png");
+        break;
+    case 0x0402:
+        devicePic.load(":/uploader/images/gcs-board-cc3d.png");
         break;
     default:
         break;
     }
-    devicePic->setElementId("device");
-    myDevice->gVDevice->scene()->addItem(devicePic);
-    myDevice->gVDevice->setSceneRect(devicePic->boundingRect());
-    myDevice->gVDevice->fitInView(devicePic,Qt::KeepAspectRatio);
+    myDevice->gVDevice->scene()->addPixmap(devicePic);
+    myDevice->gVDevice->setSceneRect(devicePic.rect());
+    myDevice->gVDevice->fitInView(devicePic.rect(),Qt::KeepAspectRatio);
 
     bool r = m_dfu->devices[deviceID].Readable;
     bool w = m_dfu->devices[deviceID].Writable;
diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.h b/ground/openpilotgcs/src/plugins/uploader/devicewidget.h
index 202023d50..d2eab8e28 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.h
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.h
@@ -64,7 +64,7 @@ private:
     DFUObject *m_dfu;
     QByteArray downloadedFirmware;
     QString filename;
-    QGraphicsSvgItem *devicePic;
+    QPixmap devicePic;
     QByteArray descriptionArray;
     void status(QString str, StatusIcon ic);
     bool populateBoardStructuredDescription(QByteArray arr);
diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
index 4bf17e615..354cc0702 100644
--- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
@@ -32,15 +32,10 @@ runningDeviceWidget::runningDeviceWidget(QWidget *parent) :
 {
     myDevice = new Ui_runningDeviceWidget();
     myDevice->setupUi(this);
-    devicePic = NULL; // Initialize pointer to null
 
     // Initialization of the Device icon display
     myDevice->devicePicture->setScene(new QGraphicsScene(this));
 
-    /*
-    QPixmap pix = QPixmap(QString(":uploader/images/view-refresh.svg"));
-    myDevice->statusIcon->setPixmap(pix);
-    */
 }
 
 
@@ -50,15 +45,13 @@ void runningDeviceWidget::showEvent(QShowEvent *event)
     // Thit fitInView method should only be called now, once the
     // widget is shown, otherwise it cannot compute its values and
     // the result is usually a ahrsbargraph that is way too small.
-    if (devicePic)
-       myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio);
+    myDevice->devicePicture->fitInView(devicePic.rect(),Qt::KeepAspectRatio);
 }
 
 void runningDeviceWidget::resizeEvent(QResizeEvent* event)
 {
     Q_UNUSED(event);
-    if (devicePic)
-        myDevice->devicePicture->fitInView(devicePic, Qt::KeepAspectRatio);
+    myDevice->devicePicture->fitInView(devicePic.rect(), Qt::KeepAspectRatio);
 }
 
 /**
@@ -79,31 +72,29 @@ void runningDeviceWidget::populate()
     // DeviceID tells us what sort of HW we have detected:
     // display a nice icon:
     myDevice->devicePicture->scene()->clear();
-    if (devicePic)
-        delete devicePic;
-    devicePic = new QGraphicsSvgItem();
-    devicePic->setSharedRenderer(new QSvgRenderer());
 
     switch (id) {
     case 0x0101:
-        devicePic->renderer()->load(QString(":/uploader/images/deviceID-0101.svg"));
-        break;
-    case 0x0301:
-        devicePic->renderer()->load(QString(":/uploader/images/deviceID-0301.svg"));
-        break;
-    case 0x0401:
-        devicePic->renderer()->load(QString(":/uploader/images/deviceID-0401.svg"));
+        devicePic.load("");//TODO
         break;
     case 0x0201:
-        devicePic->renderer()->load(QString(":/uploader/images/deviceID-0201.svg"));
+        devicePic.load("");//TODO
+        break;
+    case 0x0301:
+        devicePic.load("");//TODO
+        break;
+    case 0x0401:
+        devicePic.load(":/uploader/images/gcs-board-cc.png");
+        break;
+    case 0x0402:
+        devicePic.load(":/uploader/images/gcs-board-cc3d.png");
         break;
     default:
         break;
     }
-    devicePic->setElementId("device");
-    myDevice->devicePicture->scene()->addItem(devicePic);
-    myDevice->devicePicture->setSceneRect(devicePic->boundingRect());
-    myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio);
+    myDevice->devicePicture->scene()->addPixmap(devicePic);
+    myDevice->devicePicture->setSceneRect(devicePic.rect());
+    myDevice->devicePicture->fitInView(devicePic.rect(),Qt::KeepAspectRatio);
 
     QString serial = utilMngr->getBoardCPUSerial().toHex();
      myDevice->CPUSerial->setText(serial);
diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h
index 05dd7f0dc..58e9583c1 100644
--- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h
+++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h
@@ -54,7 +54,7 @@ public:
 private:
     Ui_runningDeviceWidget *myDevice;
     int deviceID;
-    QGraphicsSvgItem *devicePic;
+    QPixmap devicePic;
     //void status(QString str, StatusIcon ic);
 
 
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader.qrc b/ground/openpilotgcs/src/plugins/uploader/uploader.qrc
index 083eab94d..5cec90aac 100644
--- a/ground/openpilotgcs/src/plugins/uploader/uploader.qrc
+++ b/ground/openpilotgcs/src/plugins/uploader/uploader.qrc
@@ -13,5 +13,7 @@
         <file>images/warning.svg</file>
         <file>images/error.svg</file>
         <file>images/deviceID-0402.svg</file>
+        <file>images/gcs-board-cc.png</file>
+        <file>images/gcs-board-cc3d.png</file>
     </qresource>
 </RCC>

From faa7fafcbd6f96d670223b18f101881d7ffe1379 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Mon, 16 Jul 2012 13:08:12 -0700
Subject: [PATCH 046/543] MultiRotor Config, Bugfix: include TriYaw channel in
 getChannelDescriptions

---
 .../plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp  | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
index 0b952a0be..59ff087ce 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@@ -253,6 +253,8 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
         channelDesc[multi.VTOLMotorW-1] = QString("VTOLMotorW");
     if (multi.VTOLMotorE > 0 && multi.VTOLMotorE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
         channelDesc[multi.VTOLMotorE-1] = QString("VTOLMotorE");
+    if (multi.TRIYaw > 0 && multi.TRIYaw <= ConfigMultiRotorWidget::CHANNEL_NUMELEM)
+        channelDesc[multi.TRIYaw-1] = QString("Tri-Yaw");
 
     return channelDesc;
 }

From d8e685a226676956253e0187b935a6a66a54ed93 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Mon, 16 Jul 2012 13:30:36 -0700
Subject: [PATCH 047/543] MixerCurve, Tweek: adjust positive node text
 location.

---
 .../src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp        | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
index c7dfccf4f..f81d283d9 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
@@ -123,7 +123,7 @@ void Node::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWid
             painter->drawText(0,4,text);
         }
         else {
-            painter->drawText(-13, 4, text);
+            painter->drawText( (value() < 0) ? -13 : -11, 4, text);
         }
     }
 }

From ebe76e4ae65f7b4b94f705e7a418699936186494 Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Tue, 17 Jul 2012 01:24:22 +0200
Subject: [PATCH 048/543] OP-39 Added some pages and some functionality to the
 OP SetupWizard.

---
 .../plugins/coreplugin/connectionmanager.cpp  | 143 +++++------
 .../plugins/coreplugin/connectionmanager.h    |  32 ++-
 .../setupwizard/pages/abstractwizardpage.cpp  |  35 +++
 .../setupwizard/pages/abstractwizardpage.h    |  48 ++++
 .../setupwizard/pages/controllerpage.cpp      | 225 ++++++++++++++++++
 .../setupwizard/pages/controllerpage.h        |  67 ++++++
 .../setupwizard/pages/controllerpage.ui       | 163 +++++++++++++
 .../src/plugins/setupwizard/pages/endpage.cpp |  30 ++-
 .../src/plugins/setupwizard/pages/endpage.h   |  33 ++-
 .../src/plugins/setupwizard/pages/endpage.ui  |   2 +-
 .../setupwizard/pages/fixedwingpage.cpp       |  42 ++++
 .../plugins/setupwizard/pages/fixedwingpage.h |  49 ++++
 .../setupwizard/pages/fixedwingpage.ui        |  43 ++++
 .../plugins/setupwizard/pages/helipage.cpp    |  42 ++++
 .../src/plugins/setupwizard/pages/helipage.h  |  49 ++++
 .../src/plugins/setupwizard/pages/helipage.ui |  43 ++++
 .../plugins/setupwizard/pages/multipage.cpp   | 125 ++++++++++
 .../src/plugins/setupwizard/pages/multipage.h |  59 +++++
 .../plugins/setupwizard/pages/multipage.ui    | 146 ++++++++++++
 .../pages/notyetimplementedpage.cpp           |  42 ++++
 .../setupwizard/pages/notyetimplementedpage.h |  49 ++++
 .../pages/notyetimplementedpage.ui            |  43 ++++
 .../plugins/setupwizard/pages/startpage.cpp   |  30 ++-
 .../src/plugins/setupwizard/pages/startpage.h |  32 ++-
 .../plugins/setupwizard/pages/surfacepage.cpp |  42 ++++
 .../plugins/setupwizard/pages/surfacepage.h   |  49 ++++
 .../plugins/setupwizard/pages/surfacepage.ui  |  43 ++++
 .../plugins/setupwizard/pages/vehiclepage.cpp |  61 +++++
 .../plugins/setupwizard/pages/vehiclepage.h   |  50 ++++
 .../plugins/setupwizard/pages/vehiclepage.ui  | 168 +++++++++++++
 .../src/plugins/setupwizard/setupwizard.cpp   |  59 ++++-
 .../src/plugins/setupwizard/setupwizard.h     |  20 +-
 .../src/plugins/setupwizard/setupwizard.pro   |  36 ++-
 .../plugins/setupwizard/setupwizardplugin.cpp |   4 +-
 .../plugins/setupwizard/setupwizardplugin.h   |   4 +-
 .../plugins/setupwizard/wizardResources.qrc   |   3 +
 36 files changed, 2002 insertions(+), 109 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.h
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.h
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.ui
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.h
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.ui
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.h
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.ui
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.h
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.ui
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.h
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.ui
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.h
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.ui
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.h
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.ui
 create mode 100644 ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index f49d98c0e..5fa2ead50 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -44,15 +44,15 @@ namespace Core {
 
 
 ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidget *modeStack) :
-	QWidget(mainWindow),	// Pip
-	m_availableDevList(0),
+    QWidget(mainWindow),	// Pip
+    m_availableDevList(0),
     m_connectBtn(0),
-    m_ioDev(NULL),	
-	m_mainWindow(mainWindow)
+    m_ioDev(NULL),
+    m_mainWindow(mainWindow)
 {
- //   Q_UNUSED(mainWindow);
+    //   Q_UNUSED(mainWindow);
 
-/*    QVBoxLayout *top = new QVBoxLayout;
+    /*    QVBoxLayout *top = new QVBoxLayout;
     top->setSpacing(0);
     top->setMargin(0);*/
 
@@ -72,7 +72,7 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidge
     m_connectBtn->setEnabled(false);
     layout->addWidget(m_connectBtn);
 
-/*    Utils::StyledBar *bar = new Utils::StyledBar;
+    /*    Utils::StyledBar *bar = new Utils::StyledBar;
     bar->setLayout(layout);
 
     top->addWidget(bar);*/
@@ -81,33 +81,29 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidge
     //    modeStack->insertCornerWidget(modeStack->cornerWidgetCount()-1, this);
     modeStack->setCornerWidget(this, Qt::TopRightCorner);
 
-	QObject::connect(m_connectBtn, SIGNAL(pressed()), this, SLOT(onConnectPressed()));
+    QObject::connect(m_connectBtn, SIGNAL(pressed()), this, SLOT(onConnectPressed()));
 }
 
 ConnectionManager::~ConnectionManager()
 {
-	disconnectDevice();	// Pip
-	suspendPolling();	// Pip
+    disconnectDevice();	// Pip
+    suspendPolling();	// Pip
 }
 
 void ConnectionManager::init()
 {
     //register to the plugin manager so we can receive
     //new connection object from plugins
-	QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(objectAdded(QObject*)), this, SLOT(objectAdded(QObject*)));
-	QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(aboutToRemoveObject(QObject*)), this, SLOT(aboutToRemoveObject(QObject*)));
+    QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(objectAdded(QObject*)), this, SLOT(objectAdded(QObject*)));
+    QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(aboutToRemoveObject(QObject*)), this, SLOT(aboutToRemoveObject(QObject*)));
 }
 
 /**
 *   Method called when the user clicks the "Connect" button
 */
-bool ConnectionManager::connectDevice()
+bool ConnectionManager::connectDevice(devListItem device)
 {
-    devListItem connection_device = findDevice(m_availableDevList->itemData(m_availableDevList->currentIndex(),Qt::ToolTipRole).toString());
-    if (!connection_device.connection)
-        return false;
-
-    QIODevice *io_dev = connection_device.connection->openDevice(connection_device.Name);
+    QIODevice *io_dev = device.connection->openDevice(device.Name);
     if (!io_dev)
         return false;
 
@@ -115,23 +111,23 @@ bool ConnectionManager::connectDevice()
 
     // check if opening the device worked
     if (!io_dev->isOpen()) {
-        qDebug() << "Error: io_dev->isOpen() returned FALSE .. could not open connection to " << connection_device.devName
+        qDebug() << "Error: io_dev->isOpen() returned FALSE .. could not open connection to " << device.devName
                  << ": " << io_dev->errorString();
 
         // close the device
         // EDOUARD: why do we close if we could not open ???
         try {
-            connection_device.connection->closeDevice(connection_device.devName);
+            device.connection->closeDevice(device.devName);
         }
         catch (...) {	// handle exception
-            qDebug() << "Exception: connection_device.connection->closeDevice(" << connection_device.devName << ")";
+            qDebug() << "Exception: connection_device.connection->closeDevice(" << device.devName << ")";
         }
         return false;
     }
 
     // we appear to have connected to the device OK
     // remember the connection/device details
-    m_connectionDevice = connection_device;
+    m_connectionDevice = device;
     m_ioDev = io_dev;
 
     connect(m_connectionDevice.connection, SIGNAL(destroyed(QObject *)), this, SLOT(onConnectionDestroyed(QObject *)), Qt::QueuedConnection);
@@ -171,6 +167,8 @@ bool ConnectionManager::disconnectDevice()
     m_connectionDevice.connection = NULL;
     m_ioDev = NULL;
 
+    emit deviceDisconnected();
+
     m_connectBtn->setText("Connect");
     m_availableDevList->setEnabled(true);
 
@@ -184,7 +182,7 @@ void ConnectionManager::objectAdded(QObject *obj)
 {
     //Check if a plugin added a connection object to the pool
     IConnection *connection = Aggregation::query<IConnection>(obj);
-	if (!connection) return;
+    if (!connection) return;
 
     //qDebug() << "Connection object registered:" << connection->connectionName();
     //qDebug() << connection->availableDevices();
@@ -196,23 +194,23 @@ void ConnectionManager::objectAdded(QObject *obj)
     // to do things
     m_connectionsList.append(connection);
 
-	QObject::connect(connection, SIGNAL(availableDevChanged(IConnection *)), this, SLOT(devChanged(IConnection *)));
+    QObject::connect(connection, SIGNAL(availableDevChanged(IConnection *)), this, SLOT(devChanged(IConnection *)));
 }
 
 void ConnectionManager::aboutToRemoveObject(QObject *obj)
 {
     //Check if a plugin added a connection object to the pool
     IConnection *connection = Aggregation::query<IConnection>(obj);
-	if (!connection) return;
+    if (!connection) return;
 
-	if (m_connectionDevice.connection && m_connectionDevice.connection == connection)	// Pip
-	{	// we are currently using the one that is about to be removed
-		m_connectionDevice.connection = NULL;
-		m_ioDev = NULL;
-	}
+    if (m_connectionDevice.connection && m_connectionDevice.connection == connection)	// Pip
+    {	// we are currently using the one that is about to be removed
+        m_connectionDevice.connection = NULL;
+        m_ioDev = NULL;
+    }
 
-	if (m_connectionsList.contains(connection))
-		m_connectionsList.removeAt(m_connectionsList.indexOf(connection));
+    if (m_connectionsList.contains(connection))
+        m_connectionsList.removeAt(m_connectionsList.indexOf(connection));
 }
 
 
@@ -230,8 +228,11 @@ void ConnectionManager::onConnectPressed()
 {
     // Check if we have a ioDev already created:
     if (!m_ioDev)
-    {	// connecting
-        connectDevice();
+    {
+        // connecting to currently selected device
+        devListItem device = findDevice(m_availableDevList->itemData(m_availableDevList->currentIndex(), Qt::ToolTipRole).toString());
+        if (device.connection)
+            connectDevice(device);
     }
     else
     {	// disconnecting
@@ -244,9 +245,9 @@ void ConnectionManager::onConnectPressed()
 */
 devListItem ConnectionManager::findDevice(const QString &devName)
 {
-	foreach (devListItem d, m_devList)
+    foreach (devListItem d, m_devList)
     {
-                if (d.devName == devName)
+        if (d.devName == devName)
             return d;
     }
 
@@ -264,13 +265,13 @@ devListItem ConnectionManager::findDevice(const QString &devName)
 */
 void ConnectionManager::suspendPolling()
 {
-	foreach (IConnection *cnx, m_connectionsList)
-	{
+    foreach (IConnection *cnx, m_connectionsList)
+    {
         cnx->suspendPolling();
     }
 
-	m_connectBtn->setEnabled(false);
-	m_availableDevList->setEnabled(false);
+    m_connectBtn->setEnabled(false);
+    m_availableDevList->setEnabled(false);
 }
 
 /**
@@ -279,13 +280,13 @@ void ConnectionManager::suspendPolling()
 */
 void ConnectionManager::resumePolling()
 {
-	foreach (IConnection *cnx, m_connectionsList)
-	{
+    foreach (IConnection *cnx, m_connectionsList)
+    {
         cnx->resumePolling();
     }
 
-	m_connectBtn->setEnabled(true);
-	m_availableDevList->setEnabled(true);
+    m_connectBtn->setEnabled(true);
+    m_availableDevList->setEnabled(true);
 }
 
 /**
@@ -294,21 +295,21 @@ void ConnectionManager::resumePolling()
 */
 void ConnectionManager::unregisterAll(IConnection *connection)
 {
-	for (QLinkedList<devListItem>::iterator iter = m_devList.begin(); iter != m_devList.end(); )
-	{
-		if (iter->connection == connection)
-		{
-			if (m_connectionDevice.connection && m_connectionDevice.connection == connection)
-			{	// we are currently using the one we are about to erase
-                                //onConnectionClosed(m_connectionDevice.connection);
-                            disconnectDevice();
-			}
+    for (QLinkedList<devListItem>::iterator iter = m_devList.begin(); iter != m_devList.end(); )
+    {
+        if (iter->connection == connection)
+        {
+            if (m_connectionDevice.connection && m_connectionDevice.connection == connection)
+            {	// we are currently using the one we are about to erase
+                //onConnectionClosed(m_connectionDevice.connection);
+                disconnectDevice();
+            }
 
-			iter = m_devList.erase(iter);
-		}
-		else
-			++iter;
-	}
+            iter = m_devList.erase(iter);
+        }
+        else
+            ++iter;
+    }
 }
 
 /**
@@ -347,7 +348,7 @@ void ConnectionManager::devChanged(IConnection *connection)
     unregisterAll(connection);
 
     //and add them back in the list
-    QList <IConnection::device> availableDev = connection->availableDevices();
+    QList<IConnection::device> availableDev = connection->availableDevices();
     foreach (IConnection::device dev, availableDev)
     {
         QString cbName = connection->shortName() + ": " + dev.name;
@@ -355,32 +356,35 @@ void ConnectionManager::devChanged(IConnection *connection)
         registerDevice(connection,cbName,dev.name,disp);
     }
 
+    qDebug() << "# devices " << m_devList.count();
+    emit availableDevicesChanged(m_devList);
+
     //add all the list again to the combobox
-    foreach (devListItem d, m_devList)
+    foreach (devListItem device, m_devList)
     {
-        m_availableDevList->addItem(d.displayName);
-        m_availableDevList->setItemData(m_availableDevList->count()-1,(const QString)d.devName,Qt::ToolTipRole);
-        if(!m_ioDev && d.displayName.startsWith("USB"))
+        m_availableDevList->addItem(device.displayName);
+        m_availableDevList->setItemData(m_availableDevList->count() - 1, (const QString)device.devName,Qt::ToolTipRole);
+        if(!m_ioDev && device.displayName.startsWith("USB"))
         {
             if(m_mainWindow->generalSettings()->autoConnect() || m_mainWindow->generalSettings()->autoSelect())
-                m_availableDevList->setCurrentIndex(m_availableDevList->count()-1);
+                m_availableDevList->setCurrentIndex(m_availableDevList->count() - 1);
+
             if(m_mainWindow->generalSettings()->autoConnect())
             {
-                connectDevice();
-                qDebug()<<"ConnectionManager::devChanged autoconnected USB device";
+                connectDevice(device);
+                qDebug() << "ConnectionManager::devChanged autoconnected USB device";
             }
         }
     }
     if(m_ioDev)//if a device is connected make it the one selected on the dropbox
     {
-        for(int x=0;x<m_availableDevList->count();++x)
+        for(int x=0; x < m_availableDevList->count(); ++x)
         {
             if(m_connectionDevice.devName==m_availableDevList->itemData(x,Qt::ToolTipRole).toString())
                 m_availableDevList->setCurrentIndex(x);
         }
     }
 
-
     //disable connection button if the liNameif (m_availableDevList->count() > 0)
     if (m_availableDevList->count() > 0)
         m_connectBtn->setEnabled(true);
@@ -388,7 +392,7 @@ void ConnectionManager::devChanged(IConnection *connection)
         m_connectBtn->setEnabled(false);
 }
 
-}
+
 
 void Core::ConnectionManager::connectionsCallBack()
 {
@@ -398,4 +402,5 @@ void Core::ConnectionManager::connectionsCallBack()
     }
     connectionBackup.clear();
     disconnect(ExtensionSystem::PluginManager::instance(),SIGNAL(pluginsLoadEnded()),this,SLOT(connectionsCallBack()));
+}
 } //namespace Core
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 289e65590..4d57319ae 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -46,12 +46,12 @@ QT_END_NAMESPACE
 
 namespace Core {
 
-    class IConnection;
+class IConnection;
 
 namespace Internal {
-    class FancyTabWidget;
-    class FancyActionBar;
-    class MainWindow;
+class FancyTabWidget;
+class FancyActionBar;
+class MainWindow;
 } // namespace Internal
 
 
@@ -75,19 +75,28 @@ public:
     void init();
 
     QIODevice* getCurrentConnection() { return m_ioDev; }
-    devListItem getCurrentDevice() { return m_connectionDevice;}
+    devListItem getCurrentDevice() { return m_connectionDevice; }
+    devListItem findDevice(const QString &devName);
+
+    QLinkedList<devListItem> getAvailableDevices() { return m_devList; }
+
+    bool isConnected() { return m_ioDev != 0; }
+
+    bool connectDevice(devListItem device);
     bool disconnectDevice();
+
     void suspendPolling();
     void resumePolling();
 
 protected:
     void unregisterAll(IConnection *connection);
     void registerDevice(IConnection *conn, const QString &devN, const QString &name, const QString &disp);
-    devListItem findDevice(const QString &devName);
 
 signals:
     void deviceConnected(QIODevice *dev);
+    void deviceDisconnected();
     void deviceAboutToDisconnect();
+    void availableDevicesChanged(const QLinkedList<Core::devListItem> devices);
 
 private slots:
     void objectAdded(QObject *obj);
@@ -96,9 +105,9 @@ private slots:
     void onConnectPressed();
     void devChanged(IConnection *connection);
 
-//	void onConnectionClosed(QObject *obj);
-	void onConnectionDestroyed(QObject *obj);
-        void connectionsCallBack(); //used to call devChange after all the plugins are loaded
+    //	void onConnectionClosed(QObject *obj);
+    void onConnectionDestroyed(QObject *obj);
+    void connectionsCallBack(); //used to call devChange after all the plugins are loaded
 protected:
     QComboBox *m_availableDevList;
     QPushButton *m_connectBtn;
@@ -112,9 +121,8 @@ protected:
     QIODevice *m_ioDev;
 
 private:
-	bool connectDevice();
-        Internal::MainWindow *m_mainWindow;
-        QList <IConnection *> connectionBackup;
+    Internal::MainWindow *m_mainWindow;
+    QList <IConnection *> connectionBackup;
 
 };
 
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.cpp
new file mode 100644
index 000000000..31425fc34
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.cpp
@@ -0,0 +1,35 @@
+/**
+ ******************************************************************************
+ *
+ * @file       abstractwizardpage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup AbstractWizardPage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "abstractwizardpage.h"
+
+AbstractWizardPage::AbstractWizardPage(SetupWizard* wizard, QWidget *parent) :
+    QWizardPage(parent)
+{
+    m_wizard = wizard;
+    setFixedSize(600, 400);
+}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.h
new file mode 100644
index 000000000..072d619e7
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.h
@@ -0,0 +1,48 @@
+/**
+ ******************************************************************************
+ *
+ * @file       abstractwizardpage.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup AbstractWizardPage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef ABSTRACTWIZARDPAGE_H
+#define ABSTRACTWIZARDPAGE_H
+
+#include <QWizardPage>
+#include "setupwizard.h"
+
+class AbstractWizardPage : public QWizardPage
+{
+    Q_OBJECT
+protected:
+    explicit AbstractWizardPage(SetupWizard *wizard, QWidget *parent = 0);
+
+private:
+    SetupWizard *m_wizard;
+
+public:
+    SetupWizard* getWizard() { return m_wizard; }
+
+};
+
+#endif // ABSTRACTWIZARDPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp
new file mode 100644
index 000000000..7d66957d9
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp
@@ -0,0 +1,225 @@
+/**
+ ******************************************************************************
+ *
+ * @file       controllerpage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup ControllerPage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "controllerpage.h"
+#include "ui_controllerpage.h"
+#include "setupwizard.h"
+
+#include <extensionsystem/pluginmanager.h>
+#include <uavobjectutil/uavobjectutilmanager.h>
+
+ControllerPage::ControllerPage(SetupWizard *wizard, QWidget *parent) :
+    AbstractWizardPage(wizard, parent),
+    ui(new Ui::ControllerPage)
+{
+    ui->setupUi(this);
+
+    m_connectionManager = Core::ICore::instance()->connectionManager();
+    Q_ASSERT(m_connectionManager);
+    connect(m_connectionManager, SIGNAL(availableDevicesChanged(QLinkedList<Core::devListItem>)), this, SLOT(devicesChanged(QLinkedList<Core::devListItem>)));
+
+    connect(m_connectionManager, SIGNAL(deviceConnected(QIODevice*)), this, SLOT(connectionStatusChanged()));
+    connect(m_connectionManager, SIGNAL(deviceDisconnected()), this, SLOT(connectionStatusChanged()));
+
+    connect(ui->manualCB, SIGNAL(toggled(bool)), this, SLOT(identificationModeChanged()));
+    connect(ui->connectButton, SIGNAL(clicked()), this, SLOT(connectDisconnect()));
+
+    setupBoardTypes();
+    setupDeviceList();
+}
+
+ControllerPage::~ControllerPage()
+{
+    delete ui;
+}
+
+void ControllerPage::initializePage()
+{
+    if(anyControllerConnected()) {
+        SetupWizard::CONTROLLER_TYPE type = getControllerType();
+        setControllerType(type);
+    }
+    else {
+        setControllerType(SetupWizard::CONTROLLER_UNKNOWN);
+    }
+    emit completeChanged();
+}
+
+bool ControllerPage::isComplete() const
+{
+    return (ui->manualCB->isChecked() && ui->boardTypeCombo->currentIndex() > 0) ||
+            (!ui->manualCB->isChecked() && m_connectionManager->isConnected() && ui->boardTypeCombo->currentIndex() > 0);
+}
+
+bool ControllerPage::validatePage()
+{
+    getWizard()->setControllerType((SetupWizard::CONTROLLER_TYPE)ui->boardTypeCombo->itemData(ui->boardTypeCombo->currentIndex()).toInt());
+    return true;
+}
+
+bool ControllerPage::anyControllerConnected()
+{
+    return m_connectionManager->isConnected();
+}
+
+SetupWizard::CONTROLLER_TYPE ControllerPage::getControllerType()
+{
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
+    int id = utilMngr->getBoardModel();
+
+    switch (id) {
+    case 0x0301:
+        return SetupWizard::CONTROLLER_PIPX;
+    case 0x0401:
+        return SetupWizard::CONTROLLER_CC;
+    case 0x0402:
+        return SetupWizard::CONTROLLER_CC3D;
+    case 0x0901:
+        return SetupWizard::CONTROLLER_REVO;
+    default:
+        return SetupWizard::CONTROLLER_UNKNOWN;
+    }
+}
+
+void ControllerPage::setupDeviceList()
+{
+    devicesChanged(m_connectionManager->getAvailableDevices());
+    connectionStatusChanged();
+}
+
+void ControllerPage::setupBoardTypes()
+{
+    QVariant v(0);
+    ui->boardTypeCombo->addItem("<Unknown>", SetupWizard::CONTROLLER_UNKNOWN);
+    ui->boardTypeCombo->addItem("OpenPilot CopterControl (CC)", SetupWizard::CONTROLLER_CC);
+    ui->boardTypeCombo->addItem("OpenPilot CopterControl (CC3D)", SetupWizard::CONTROLLER_CC3D);
+    ui->boardTypeCombo->addItem("OpenPilot Revolution", SetupWizard::CONTROLLER_REVO);
+    ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(ui->boardTypeCombo->count() - 1, 0), v, Qt::UserRole - 1);
+    ui->boardTypeCombo->addItem("OP PipX Modem", SetupWizard::CONTROLLER_PIPX);
+    ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(ui->boardTypeCombo->count() - 1, 0), v, Qt::UserRole - 1);
+}
+
+void ControllerPage::setControllerType(SetupWizard::CONTROLLER_TYPE type)
+{
+    for(int i = 0; i < ui->boardTypeCombo->count(); ++i) {
+        if(ui->boardTypeCombo->itemData(i) == type) {
+            ui->boardTypeCombo->setCurrentIndex(i);
+            break;
+        }
+    }
+}
+
+void ControllerPage::devicesChanged(QLinkedList<Core::devListItem> devices)
+{
+    // Get the selected item before the update if any
+    QString currSelectedDeviceName = ui->deviceCombo->currentIndex() != -1 ?
+                ui->deviceCombo->itemData(ui->deviceCombo->currentIndex(), Qt::ToolTipRole).toString() : "";
+
+    // Clear the box
+    ui->deviceCombo->clear();
+
+    int indexOfSelectedItem = -1;
+    int i = 0;
+
+    // Loop and fill the combo with items from connectionmanager
+    foreach (Core::devListItem device, devices)
+    {
+        ui->deviceCombo->addItem(device.displayName);
+        QString deviceName = (const QString)device.devName;
+        ui->deviceCombo->setItemData(ui->deviceCombo->count() - 1, deviceName, Qt::ToolTipRole);
+        if(currSelectedDeviceName != "" && currSelectedDeviceName == deviceName) {
+            indexOfSelectedItem = i;
+        }
+        i++;
+    }
+
+    // Re select the item that was selected before if any
+    if(indexOfSelectedItem != -1) {
+        ui->deviceCombo->setCurrentIndex(indexOfSelectedItem);
+    }
+    connectionStatusChanged();
+}
+
+void ControllerPage::connectionStatusChanged()
+{
+    if(m_connectionManager->isConnected()) {
+        ui->deviceCombo->setEnabled(false);
+        ui->connectButton->setText(tr("Disconnect"));
+        ui->boardTypeCombo->setEnabled(false);
+        ui->manualCB->setEnabled(false);
+        QString connectedDeviceName = m_connectionManager->getCurrentDevice().devName;
+        for(int i = 0; i < ui->deviceCombo->count(); ++i) {
+            if(connectedDeviceName == ui->deviceCombo->itemData(i, Qt::ToolTipRole).toString()) {
+                ui->deviceCombo->setCurrentIndex(i);
+                break;
+            }
+        }
+
+        SetupWizard::CONTROLLER_TYPE type = getControllerType();
+        setControllerType(type);
+    }
+    else {
+        ui->deviceCombo->setEnabled(true);
+        ui->connectButton->setText(tr("Connect"));
+        ui->boardTypeCombo->setEnabled(false);
+        ui->manualCB->setEnabled(true);
+        ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(0, 0), QVariant(0), Qt::UserRole - 1);
+        setControllerType(SetupWizard::CONTROLLER_UNKNOWN);
+    }
+    emit completeChanged();
+}
+
+void ControllerPage::identificationModeChanged()
+{
+    if(ui->manualCB->isChecked()) {
+        ui->deviceCombo->setEnabled(false);
+        ui->boardTypeCombo->setEnabled(true);
+        ui->connectButton->setEnabled(false);
+        ui->boardTypeCombo->setCurrentIndex(1);
+        ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(0, 0), QVariant(0), Qt::UserRole - 1);
+    }
+    else {
+        ui->connectButton->setEnabled(ui->deviceCombo->count() > 0);
+        ui->deviceCombo->setEnabled(!m_connectionManager->isConnected());
+        ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(0, 0), QVariant(1), Qt::UserRole - 1);
+        ui->boardTypeCombo->setCurrentIndex(0);
+        ui->boardTypeCombo->setEnabled(false);
+    }
+    emit completeChanged();
+}
+
+void ControllerPage::connectDisconnect()
+{
+    if(m_connectionManager->isConnected()) {
+        m_connectionManager->disconnectDevice();
+    }
+    else {
+        m_connectionManager->connectDevice(m_connectionManager->findDevice(ui->deviceCombo->itemData(ui->deviceCombo->currentIndex(), Qt::ToolTipRole).toString()));
+    }
+    emit completeChanged();
+}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.h
new file mode 100644
index 000000000..b9b8ae111
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.h
@@ -0,0 +1,67 @@
+/**
+ ******************************************************************************
+ *
+ * @file       controllerpage.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup ControllerPage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef CONTROLLERPAGE_H
+#define CONTROLLERPAGE_H
+
+#include <coreplugin/icore.h>
+#include <coreplugin/connectionmanager.h>
+#include "setupwizard.h"
+#include "abstractwizardpage.h"
+
+namespace Ui {
+class ControllerPage;
+}
+
+class ControllerPage : public AbstractWizardPage
+{
+    Q_OBJECT
+    
+public:
+    explicit ControllerPage(SetupWizard *wizard, QWidget *parent = 0);
+    ~ControllerPage();
+    void initializePage();
+    bool isComplete() const;
+    bool validatePage();
+    
+private:
+    Ui::ControllerPage *ui;
+    bool anyControllerConnected();
+    SetupWizard::CONTROLLER_TYPE getControllerType();
+    void setupDeviceList();
+    void setupBoardTypes();
+    void setControllerType(SetupWizard::CONTROLLER_TYPE type);
+    Core::ConnectionManager *m_connectionManager;
+
+private slots:
+    void devicesChanged(QLinkedList<Core::devListItem> devices);
+    void connectionStatusChanged();
+    void identificationModeChanged();
+    void connectDisconnect();
+};
+
+#endif // CONTROLLERPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.ui
new file mode 100644
index 000000000..a949d6a1d
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.ui
@@ -0,0 +1,163 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ControllerPage</class>
+ <widget class="QWizardPage" name="ControllerPage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>600</width>
+    <height>400</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>WizardPage</string>
+  </property>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>20</y>
+     <width>550</width>
+     <height>241</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;OpenPilot board identification&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-size:8pt;&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-size:10pt;&quot;&gt;To continue we need to know what kind of OpenPilot board you want the wizard to create a configuration for. The wizard will try to automatically detect what type of board you have connected.&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-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-size:10pt;&quot;&gt;Please connect the board to a free usb port on your computer, or if a serial modem like BlueTooth, PipX or other is used, then power up the board and select the device to connect with from the list below. Then press Connect.&lt;/span&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-size:10pt;&quot;&gt;If the board already is connected and succesfully detected the board type will allready be displayed. You can disconnect and select another device if you need to detect another board.&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-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-size:10pt;&quot;&gt;If your board isnt detected or if you want to create a configuration for a board that is not connected. Then select the Manual selection option below and select the board type from the drop down menu.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+   </property>
+   <property name="textFormat">
+    <enum>Qt::AutoText</enum>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+   </property>
+   <property name="wordWrap">
+    <bool>true</bool>
+   </property>
+  </widget>
+  <widget class="QGroupBox" name="groupBox">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>270</y>
+     <width>560</width>
+     <height>110</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>8</pointsize>
+    </font>
+   </property>
+   <property name="title">
+    <string>OpenPilot board type</string>
+   </property>
+   <widget class="QComboBox" name="boardTypeCombo">
+    <property name="enabled">
+     <bool>false</bool>
+    </property>
+    <property name="geometry">
+     <rect>
+      <x>150</x>
+      <y>70</y>
+      <width>260</width>
+      <height>22</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QComboBox" name="deviceCombo">
+    <property name="geometry">
+     <rect>
+      <x>150</x>
+      <y>30</y>
+      <width>260</width>
+      <height>22</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="connectButton">
+    <property name="geometry">
+     <rect>
+      <x>434</x>
+      <y>70</y>
+      <width>111</width>
+      <height>23</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Connect</string>
+    </property>
+   </widget>
+   <widget class="QCheckBox" name="manualCB">
+    <property name="geometry">
+     <rect>
+      <x>441</x>
+      <y>33</y>
+      <width>101</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Manual selection</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_2">
+    <property name="geometry">
+     <rect>
+      <x>20</x>
+      <y>32</y>
+      <width>121</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <weight>75</weight>
+      <bold>true</bold>
+     </font>
+    </property>
+    <property name="text">
+     <string>Connection device:</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_3">
+    <property name="geometry">
+     <rect>
+      <x>20</x>
+      <y>72</y>
+      <width>131</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <weight>75</weight>
+      <bold>true</bold>
+     </font>
+    </property>
+    <property name="text">
+     <string>Detected board type:</string>
+    </property>
+   </widget>
+   <zorder>deviceCombo</zorder>
+   <zorder>connectButton</zorder>
+   <zorder>boardTypeCombo</zorder>
+   <zorder>manualCB</zorder>
+   <zorder>label_2</zorder>
+   <zorder>label_3</zorder>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
index 3270e23ff..dda55196e 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
@@ -1,8 +1,34 @@
+/**
+ ******************************************************************************
+ *
+ * @file       endpage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup Setup Wizard  Plugin
+ * @{
+ * @brief A Wizard to make the initial setup easy for everyone.
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 #include "endpage.h"
 #include "ui_endpage.h"
 
-EndPage::EndPage(QWidget *parent) :
-    QWizardPage(parent),
+EndPage::EndPage(SetupWizard *wizard, QWidget *parent) :
+    AbstractWizardPage(wizard, parent),
     ui(new Ui::EndPage)
 {
     setFinalPage(true);
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h
index e4179e677..afbeb6177 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h
@@ -1,18 +1,45 @@
+/**
+ ******************************************************************************
+ *
+ * @file       endpage.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 #ifndef ENDPAGE_H
 #define ENDPAGE_H
 
-#include <QWizardPage>
+#include "abstractwizardpage.h"
 
 namespace Ui {
 class EndPage;
 }
 
-class EndPage : public QWizardPage
+class EndPage : public AbstractWizardPage
 {
     Q_OBJECT
     
 public:
-    explicit EndPage(QWidget *parent = 0);
+    explicit EndPage(SetupWizard *wizard, QWidget *parent = 0);
     ~EndPage();
     
 private:
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui
index cc0a5c162..f72b2d718 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui
@@ -71,7 +71,7 @@ p, li { white-space: pre-wrap; }
     </rect>
    </property>
    <property name="text">
-    <string>Uppload configuration</string>
+    <string>Upload configuration</string>
    </property>
   </widget>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.cpp
new file mode 100644
index 000000000..7295cc8a3
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.cpp
@@ -0,0 +1,42 @@
+/**
+ ******************************************************************************
+ *
+ * @file       fixedwingpage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup FixedWingPage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "fixedwingpage.h"
+#include "ui_fixedwingpage.h"
+
+FixedWingPage::FixedWingPage(SetupWizard *wizard, QWidget *parent) :
+    AbstractWizardPage(wizard, parent),
+    ui(new Ui::FixedWingPage)
+{
+    ui->setupUi(this);
+    setFinalPage(true);
+}
+
+FixedWingPage::~FixedWingPage()
+{
+    delete ui;
+}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.h
new file mode 100644
index 000000000..697721a9e
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.h
@@ -0,0 +1,49 @@
+/**
+ ******************************************************************************
+ *
+ * @file       fixedwingpage.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup FixedWingPage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef FIXEDWINGPAGE_H
+#define FIXEDWINGPAGE_H
+
+#include "abstractwizardpage.h"
+
+namespace Ui {
+class FixedWingPage;
+}
+
+class FixedWingPage : public AbstractWizardPage
+{
+    Q_OBJECT
+    
+public:
+    explicit FixedWingPage(SetupWizard *wizard, QWidget *parent = 0);
+    ~FixedWingPage();
+    
+private:
+    Ui::FixedWingPage *ui;
+};
+
+#endif // FIXEDWINGPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.ui
new file mode 100644
index 000000000..0e4fde978
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.ui
@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>FixedWingPage</class>
+ <widget class="QWizardPage" name="FixedWingPage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>600</width>
+    <height>400</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>WizardPage</string>
+  </property>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>160</y>
+     <width>500</width>
+     <height>41</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;The fixed wing part the OpenPilot Setup Wizard is not yet implemented&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-size:8pt;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignHCenter|Qt::AlignTop</set>
+   </property>
+   <property name="wordWrap">
+    <bool>true</bool>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.cpp
new file mode 100644
index 000000000..93bfc3503
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.cpp
@@ -0,0 +1,42 @@
+/**
+ ******************************************************************************
+ *
+ * @file       helipage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup HeliPage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "helipage.h"
+#include "ui_helipage.h"
+
+HeliPage::HeliPage(SetupWizard *wizard, QWidget *parent) :
+    AbstractWizardPage(wizard, parent),
+    ui(new Ui::HeliPage)
+{
+    ui->setupUi(this);
+    setFinalPage(true);
+}
+
+HeliPage::~HeliPage()
+{
+    delete ui;
+}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.h
new file mode 100644
index 000000000..2b2b5b894
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.h
@@ -0,0 +1,49 @@
+/**
+ ******************************************************************************
+ *
+ * @file       helipage.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup HeliPage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef HELIPAGE_H
+#define HELIPAGE_H
+
+#include "abstractwizardpage.h"
+
+namespace Ui {
+class HeliPage;
+}
+
+class HeliPage : public AbstractWizardPage
+{
+    Q_OBJECT
+    
+public:
+    explicit HeliPage(SetupWizard *wizard, QWidget *parent = 0);
+    ~HeliPage();
+    
+private:
+    Ui::HeliPage *ui;
+};
+
+#endif // HELIPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.ui
new file mode 100644
index 000000000..c3c6efd11
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.ui
@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>HeliPage</class>
+ <widget class="QWizardPage" name="HeliPage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>600</width>
+    <height>400</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>WizardPage</string>
+  </property>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>160</y>
+     <width>500</width>
+     <height>41</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;The helicopter part the OpenPilot Setup Wizard is not yet implemented&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-size:8pt;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignHCenter|Qt::AlignTop</set>
+   </property>
+   <property name="wordWrap">
+    <bool>true</bool>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp
new file mode 100644
index 000000000..56ffa5fb0
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp
@@ -0,0 +1,125 @@
+/**
+ ******************************************************************************
+ *
+ * @file       multipage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup MultiPage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "multipage.h"
+#include "ui_multipage.h"
+#include "setupwizard.h"
+
+MultiPage::MultiPage(SetupWizard *wizard, QWidget *parent) :
+    AbstractWizardPage(wizard, parent),
+    ui(new Ui::MultiPage)
+{
+    ui->setupUi(this);    
+
+    QSvgRenderer *renderer = new QSvgRenderer();
+    renderer->load(QString(":/configgadget/images/multirotor-shapes.svg"));
+    multiPic = new QGraphicsSvgItem();
+    multiPic->setSharedRenderer(renderer);
+    QGraphicsScene *scene = new QGraphicsScene(this);
+    scene->addItem(multiPic);
+    ui->typeGraphicsView->setScene(scene);
+
+    setupMultiTypesCombo();
+
+    // Default to Quad X since it is the most common setup
+    ui->typeCombo->setCurrentIndex(1);
+    connect(ui->typeCombo, SIGNAL(currentIndexChanged(int)), this, SLOT(updateImageAndDescription()));
+}
+
+MultiPage::~MultiPage()
+{
+    delete ui;
+}
+
+void MultiPage::initializePage()
+{
+    updateImageAndDescription();
+}
+
+void MultiPage::setupMultiTypesCombo()
+{
+    ui->typeCombo->addItem("Tricopter", SetupWizard::MULTI_ROTOR_TRI_Y);
+    ui->typeCombo->addItem("Quadcopter X", SetupWizard::MULTI_ROTOR_QUAD_X);
+    ui->typeCombo->addItem("Quadcopter +", SetupWizard::MULTI_ROTOR_QUAD_PLUS);
+    ui->typeCombo->addItem("Hexacopter", SetupWizard::MULTI_ROTOR_HEXA);
+    ui->typeCombo->addItem("Hexacopter Coax", SetupWizard::MULTI_ROTOR_HEXA_COAX_Y);
+    ui->typeCombo->addItem("Hexacopter H", SetupWizard::MULTI_ROTOR_HEXA_H);
+    ui->typeCombo->addItem("Octocopter", SetupWizard::MULTI_ROTOR_OCTO);
+    ui->typeCombo->addItem("Octocopter Coax X", SetupWizard::MULTI_ROTOR_OCTO_COAX_X);
+    ui->typeCombo->addItem("Octocopter Coax +", SetupWizard::MULTI_ROTOR_OCTO_COAX_PLUS);
+    ui->typeCombo->addItem("Octocopter V", SetupWizard::MULTI_ROTOR_OCTO_V);
+}
+
+void MultiPage::updateImageAndDescription()
+{
+    SetupWizard::MULTI_ROTOR_SUB_TYPE type = (SetupWizard::MULTI_ROTOR_SUB_TYPE) ui->typeCombo->itemData(ui->typeCombo->currentIndex()).toInt();
+    QString elementId = "";
+    QString description = "Descriptive text with information about ";
+    description.append(ui->typeCombo->currentText());
+    description.append(" multirotors.");
+    switch(type)
+    {
+        case SetupWizard::MULTI_ROTOR_TRI_Y:
+            elementId = "tri";
+            break;
+        case SetupWizard::MULTI_ROTOR_QUAD_X:
+            elementId = "quad-x";
+            break;
+        case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
+            elementId = "quad-plus";
+            break;
+        case SetupWizard::MULTI_ROTOR_HEXA:
+            elementId = "quad-hexa";
+            break;
+        case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
+            elementId = "hexa-coax";
+            break;
+        case SetupWizard::MULTI_ROTOR_HEXA_H:
+            elementId = "quad-hexa-H";
+            break;
+        case SetupWizard::MULTI_ROTOR_OCTO:
+            elementId = "quad-octo";
+            break;
+        case SetupWizard::MULTI_ROTOR_OCTO_COAX_X:
+            elementId = "octo-coax-X";
+            break;
+        case SetupWizard::MULTI_ROTOR_OCTO_COAX_PLUS:
+            elementId = "octo-coax-P";
+            break;
+        case SetupWizard::MULTI_ROTOR_OCTO_V:
+            elementId = "quad-octo-v";
+            break;
+        default:
+            elementId = "";
+            break;
+    }
+    multiPic->setElementId(elementId);
+    ui->typeGraphicsView->setSceneRect(multiPic->boundingRect());
+    ui->typeGraphicsView->fitInView(multiPic, Qt::KeepAspectRatio);
+
+    ui->typeDescription->setText(description);
+}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.h
new file mode 100644
index 000000000..bc9f822ad
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.h
@@ -0,0 +1,59 @@
+/**
+ ******************************************************************************
+ *
+ * @file       multipage.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup MultiPage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef MULTIPAGE_H
+#define MULTIPAGE_H
+
+#include <QtSvg/QGraphicsSvgItem>
+#include <QtSvg/QSvgRenderer>
+
+#include "abstractwizardpage.h"
+
+namespace Ui {
+class MultiPage;
+}
+
+class MultiPage : public AbstractWizardPage
+{
+    Q_OBJECT
+    
+public:
+    explicit MultiPage(SetupWizard *wizard, QWidget *parent = 0);
+    ~MultiPage();
+
+    void initializePage();
+    
+private:
+    Ui::MultiPage *ui;
+    void setupMultiTypesCombo();
+    QGraphicsSvgItem *multiPic;
+
+private slots:
+    void updateImageAndDescription();
+};
+
+#endif // MULTIPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.ui
new file mode 100644
index 000000000..2c33fb4d5
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.ui
@@ -0,0 +1,146 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MultiPage</class>
+ <widget class="QWizardPage" name="MultiPage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>600</width>
+    <height>400</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>WizardPage</string>
+  </property>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>20</y>
+     <width>541</width>
+     <height>151</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;OpenPilot multirotor configuration&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-size:12pt; font-weight:600;&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-size:10pt;&quot;&gt;This part of the wizard will set up the OpenPilot controller for use with a flying platform with multiple rotors. The wizard supports the most common types of multirotors. Other variants of multirotors can be configured by using custom configuration options in the configuration plugin in GCS.&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-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-size:10pt;&quot;&gt;Please select the type of multirotor you want to create a configuration for below:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+   </property>
+   <property name="wordWrap">
+    <bool>true</bool>
+   </property>
+  </widget>
+  <widget class="QGroupBox" name="groupBox">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>180</y>
+     <width>561</width>
+     <height>200</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>10</pointsize>
+    </font>
+   </property>
+   <property name="title">
+    <string>Multirotor type selection</string>
+   </property>
+   <widget class="QLabel" name="label_2">
+    <property name="geometry">
+     <rect>
+      <x>20</x>
+      <y>32</y>
+      <width>121</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <weight>75</weight>
+      <bold>true</bold>
+     </font>
+    </property>
+    <property name="text">
+     <string>Multirotor type:</string>
+    </property>
+   </widget>
+   <widget class="QComboBox" name="typeCombo">
+    <property name="geometry">
+     <rect>
+      <x>150</x>
+      <y>30</y>
+      <width>220</width>
+      <height>22</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QGraphicsView" name="typeGraphicsView">
+    <property name="geometry">
+     <rect>
+      <x>390</x>
+      <y>30</y>
+      <width>150</width>
+      <height>150</height>
+     </rect>
+    </property>
+    <property name="sizePolicy">
+     <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+      <horstretch>0</horstretch>
+      <verstretch>0</verstretch>
+     </sizepolicy>
+    </property>
+    <property name="frameShape">
+     <enum>QFrame::NoFrame</enum>
+    </property>
+    <property name="lineWidth">
+     <number>0</number>
+    </property>
+    <property name="midLineWidth">
+     <number>0</number>
+    </property>
+    <property name="verticalScrollBarPolicy">
+     <enum>Qt::ScrollBarAlwaysOff</enum>
+    </property>
+    <property name="horizontalScrollBarPolicy">
+     <enum>Qt::ScrollBarAlwaysOff</enum>
+    </property>
+    <property name="interactive">
+     <bool>false</bool>
+    </property>
+   </widget>
+   <widget class="QTextEdit" name="typeDescription">
+    <property name="geometry">
+     <rect>
+      <x>20</x>
+      <y>69</y>
+      <width>351</width>
+      <height>111</height>
+     </rect>
+    </property>
+    <property name="verticalScrollBarPolicy">
+     <enum>Qt::ScrollBarAlwaysOn</enum>
+    </property>
+    <property name="horizontalScrollBarPolicy">
+     <enum>Qt::ScrollBarAlwaysOff</enum>
+    </property>
+    <property name="textInteractionFlags">
+     <set>Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
+    </property>
+   </widget>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.cpp
new file mode 100644
index 000000000..57a43fda8
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.cpp
@@ -0,0 +1,42 @@
+/**
+ ******************************************************************************
+ *
+ * @file       notyetimplementedpage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup NotYetImplementedPage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "notyetimplementedpage.h"
+#include "ui_notyetimplementedpage.h"
+
+NotYetImplementedPage::NotYetImplementedPage(SetupWizard *wizard, QWidget *parent) :
+    AbstractWizardPage(wizard, parent),
+    ui(new Ui::NotYetImplementedPage)
+{
+    ui->setupUi(this);
+    setFinalPage(true);
+}
+
+NotYetImplementedPage::~NotYetImplementedPage()
+{
+    delete ui;
+}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.h
new file mode 100644
index 000000000..4f323d9fc
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.h
@@ -0,0 +1,49 @@
+/**
+ ******************************************************************************
+ *
+ * @file       notyetimplementedpage.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup NotYetImplementedPage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef NOTYETIMPLEMENTEDPAGE_H
+#define NOTYETIMPLEMENTEDPAGE_H
+
+#include "abstractwizardpage.h"
+
+namespace Ui {
+class NotYetImplementedPage;
+}
+
+class NotYetImplementedPage : public AbstractWizardPage
+{
+    Q_OBJECT
+    
+public:
+    explicit NotYetImplementedPage(SetupWizard *wizard, QWidget *parent = 0);
+    ~NotYetImplementedPage();
+    
+private:
+    Ui::NotYetImplementedPage *ui;
+};
+
+#endif // NOTYETIMPLEMENTEDPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.ui
new file mode 100644
index 000000000..b5b54240d
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.ui
@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>NotYetImplementedPage</class>
+ <widget class="QWizardPage" name="NotYetImplementedPage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>600</width>
+    <height>400</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>WizardPage</string>
+  </property>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>190</y>
+     <width>501</width>
+     <height>31</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;This part the OpenPilot Setup Wizard is not yet implemented&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-size:8pt;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+   </property>
+   <property name="wordWrap">
+    <bool>true</bool>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp
index f36631bb0..46110a9e4 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp
@@ -1,8 +1,34 @@
+/**
+ ******************************************************************************
+ *
+ * @file       startpage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup Setup Wizard  Plugin
+ * @{
+ * @brief A Wizard to make the initial setup easy for everyone.
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 #include "startpage.h"
 #include "ui_startpage.h"
 
-StartPage::StartPage(QWidget *parent) :
-    QWizardPage(parent),
+StartPage::StartPage(SetupWizard *wizard, QWidget *parent) :
+    AbstractWizardPage(wizard, parent),
     ui(new Ui::StartPage)
 {
     ui->setupUi(this);
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h
index f6cf9b6cd..3e9e120cc 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h
@@ -1,18 +1,44 @@
+/**
+ ******************************************************************************
+ *
+ * @file       startpage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup Setup Wizard  Plugin
+ * @{
+ * @brief A Wizard to make the initial setup easy for everyone.
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 #ifndef STARTPAGE_H
 #define STARTPAGE_H
 
-#include <QWizardPage>
+#include "abstractwizardpage.h"
 
 namespace Ui {
 class StartPage;
 }
 
-class StartPage : public QWizardPage
+class StartPage : public AbstractWizardPage
 {
     Q_OBJECT
     
 public:
-    explicit StartPage(QWidget *parent = 0);
+    explicit StartPage(SetupWizard *wizard, QWidget *parent = 0);
     ~StartPage();
     
 private:
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.cpp
new file mode 100644
index 000000000..a28724f2f
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.cpp
@@ -0,0 +1,42 @@
+/**
+ ******************************************************************************
+ *
+ * @file       surfacepage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup SurfacePage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "surfacepage.h"
+#include "ui_surfacepage.h"
+
+SurfacePage::SurfacePage(SetupWizard *wizard, QWidget *parent) :
+    AbstractWizardPage(wizard, parent),
+    ui(new Ui::SurfacePage)
+{
+    ui->setupUi(this);
+    setFinalPage(true);
+}
+
+SurfacePage::~SurfacePage()
+{
+    delete ui;
+}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.h
new file mode 100644
index 000000000..593aa1fca
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.h
@@ -0,0 +1,49 @@
+/**
+ ******************************************************************************
+ *
+ * @file       surfacepage.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup SurfacePage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef SURFACEPAGE_H
+#define SURFACEPAGE_H
+
+#include "abstractwizardpage.h"
+
+namespace Ui {
+class SurfacePage;
+}
+
+class SurfacePage : public AbstractWizardPage
+{
+    Q_OBJECT
+    
+public:
+    explicit SurfacePage(SetupWizard *wizard, QWidget *parent = 0);
+    ~SurfacePage();
+    
+private:
+    Ui::SurfacePage *ui;
+};
+
+#endif // SURFACEPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.ui
new file mode 100644
index 000000000..988bc300a
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.ui
@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>SurfacePage</class>
+ <widget class="QWizardPage" name="SurfacePage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>600</width>
+    <height>400</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>WizardPage</string>
+  </property>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>160</y>
+     <width>500</width>
+     <height>41</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;The surface vehicle part the OpenPilot Setup Wizard is not yet implemented&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-size:8pt;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignHCenter|Qt::AlignTop</set>
+   </property>
+   <property name="wordWrap">
+    <bool>true</bool>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.cpp
new file mode 100644
index 000000000..a616a1194
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.cpp
@@ -0,0 +1,61 @@
+/**
+ ******************************************************************************
+ *
+ * @file       vehiclepage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup VehiclePage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "vehiclepage.h"
+#include "ui_vehiclepage.h"
+
+VehiclePage::VehiclePage(SetupWizard *wizard, QWidget *parent) :
+    AbstractWizardPage(wizard, parent),
+    ui(new Ui::VehiclePage)
+{
+    ui->setupUi(this);
+}
+
+VehiclePage::~VehiclePage()
+{
+    delete ui;
+}
+
+bool VehiclePage::validatePage()
+{
+    if(ui->multirotorButton->isChecked()) {
+        getWizard()->setVehicleType(SetupWizard::VEHICLE_MULTI);
+    }
+    else if(ui->fixedwingButton->isChecked()) {
+        getWizard()->setVehicleType(SetupWizard::VEHICLE_FIXEDWING);
+    }
+    else if(ui->heliButton->isChecked()) {
+        getWizard()->setVehicleType(SetupWizard::VEHICLE_HELI);
+    }
+    else if(ui->surfaceButton->isChecked()) {
+        getWizard()->setVehicleType(SetupWizard::VEHICLE_SURFACE);
+    }
+    else {
+        getWizard()->setVehicleType(SetupWizard::VEHICLE_UNKNOWN);
+    }
+    return true;
+}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.h
new file mode 100644
index 000000000..5e72a3d21
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.h
@@ -0,0 +1,50 @@
+/**
+ ******************************************************************************
+ *
+ * @file       vehiclepage.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup
+ * @{
+ * @addtogroup VehiclePage
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef VEHICLEPAGE_H
+#define VEHICLEPAGE_H
+
+#include "abstractwizardpage.h"
+
+namespace Ui {
+class VehiclePage;
+}
+
+class VehiclePage : public AbstractWizardPage
+{
+    Q_OBJECT
+    
+public:
+    explicit VehiclePage(SetupWizard *wizard, QWidget *parent = 0);
+    ~VehiclePage();
+    bool validatePage();
+
+private:
+    Ui::VehiclePage *ui;
+};
+
+#endif // VEHICLEPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.ui
new file mode 100644
index 000000000..fdc2d47d2
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.ui
@@ -0,0 +1,168 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>VehiclePage</class>
+ <widget class="QWizardPage" name="VehiclePage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>600</width>
+    <height>400</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>WizardPage</string>
+  </property>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>20</y>
+     <width>550</width>
+     <height>131</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;Vehicle type selection&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-size:12pt; font-weight:600;&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-size:10pt;&quot;&gt;To continue the wizard needs to know what type of vehicle that the OpenPilot controller board is going to be used with. This step is cruicial since most of the following configuration is unique per vehicle type.&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-size:8pt;&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-size:10pt;&quot;&gt;So go ahead and select the type of vehicle you want to create a configuration for.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+   </property>
+   <property name="wordWrap">
+    <bool>true</bool>
+   </property>
+  </widget>
+  <widget class="QGroupBox" name="groupBox">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>200</y>
+     <width>561</width>
+     <height>181</height>
+    </rect>
+   </property>
+   <property name="sizePolicy">
+    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+     <horstretch>0</horstretch>
+     <verstretch>0</verstretch>
+    </sizepolicy>
+   </property>
+   <property name="title">
+    <string>Supported vehicle types</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+   </property>
+   <widget class="QPushButton" name="multirotorButton">
+    <property name="geometry">
+     <rect>
+      <x>50</x>
+      <y>40</y>
+      <width>100</width>
+      <height>100</height>
+     </rect>
+    </property>
+    <property name="toolTip">
+     <string>Tricopter, Quadcopter, Hexacopter, Octocopter</string>
+    </property>
+    <property name="text">
+     <string>Multirotor</string>
+    </property>
+    <property name="checkable">
+     <bool>true</bool>
+    </property>
+    <property name="checked">
+     <bool>true</bool>
+    </property>
+    <property name="autoExclusive">
+     <bool>true</bool>
+    </property>
+    <property name="flat">
+     <bool>false</bool>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="fixedwingButton">
+    <property name="geometry">
+     <rect>
+      <x>170</x>
+      <y>40</y>
+      <width>100</width>
+      <height>100</height>
+     </rect>
+    </property>
+    <property name="toolTip">
+     <string>Airplane, Sloper, Jet</string>
+    </property>
+    <property name="text">
+     <string>Fixed wing</string>
+    </property>
+    <property name="checkable">
+     <bool>true</bool>
+    </property>
+    <property name="autoExclusive">
+     <bool>true</bool>
+    </property>
+    <property name="flat">
+     <bool>false</bool>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="heliButton">
+    <property name="geometry">
+     <rect>
+      <x>290</x>
+      <y>40</y>
+      <width>100</width>
+      <height>100</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Helicopter</string>
+    </property>
+    <property name="checkable">
+     <bool>true</bool>
+    </property>
+    <property name="autoExclusive">
+     <bool>true</bool>
+    </property>
+    <property name="flat">
+     <bool>false</bool>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="surfaceButton">
+    <property name="geometry">
+     <rect>
+      <x>410</x>
+      <y>40</y>
+      <width>100</width>
+      <height>100</height>
+     </rect>
+    </property>
+    <property name="toolTip">
+     <string>Car, Boat, U-Boat</string>
+    </property>
+    <property name="text">
+     <string>Surface</string>
+    </property>
+    <property name="checkable">
+     <bool>true</bool>
+    </property>
+    <property name="autoExclusive">
+     <bool>true</bool>
+    </property>
+    <property name="flat">
+     <bool>false</bool>
+    </property>
+   </widget>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
index 26a5e386a..f11762bf6 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
@@ -2,7 +2,7 @@
  ******************************************************************************
  *
  * @file       setupwizard.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup Setup Wizard  Plugin
@@ -28,27 +28,72 @@
 #include "setupwizard.h"
 #include "pages/startpage.h"
 #include "pages/endpage.h"
+#include "pages/controllerpage.h"
+#include "pages/vehiclepage.h"
+#include "pages/multipage.h"
+#include "pages/fixedwingpage.h"
+#include "pages/helipage.h"
+#include "pages/surfacepage.h"
+#include "pages/notyetimplementedpage.h"
 
 SetupWizard::SetupWizard(QWidget *parent) : QWizard(parent)
 {
     setWindowTitle("OpenPilot Setup Wizard");
+    m_controllerType = CONTROLLER_UNKNOWN;
+    m_vehicleType = VEHICLE_UNKNOWN;
     createPages();
 }
 
 int SetupWizard::nextId() const
 {
     switch (currentId()) {
-    case PAGE_START:
-        return PAGE_END;
-    default:
-        return -1;
+        case PAGE_START:
+            return PAGE_CONTROLLER;
+        case PAGE_CONTROLLER: {
+            switch(getControllerType())
+            {
+                case CONTROLLER_CC:
+                case CONTROLLER_CC3D:
+                    return PAGE_VEHICLES;
+                default:
+                    return PAGE_NOTYETIMPLEMENTED;
+            }
+        }
+        case PAGE_VEHICLES: {
+            switch(getVehicleType())
+            {
+                case VEHICLE_FIXEDWING:
+                    return PAGE_FIXEDWING;
+                case VEHICLE_HELI:
+                    return PAGE_HELI;
+                case VEHICLE_SURFACE:
+                    return PAGE_SURFACE;
+                case VEHICLE_MULTI:
+                    return PAGE_MULTI;
+                default:
+                    return PAGE_NOTYETIMPLEMENTED;
+            }
+        }
+        case PAGE_MULTI:
+            return PAGE_END;
+        case PAGE_NOTYETIMPLEMENTED:
+            return PAGE_END;
+        default:
+            return -1;
     }
 }
 
 void SetupWizard::createPages()
 {
-    setPage(PAGE_START, new StartPage());
-    setPage(PAGE_END, new EndPage());
+    setPage(PAGE_START, new StartPage(this));
+    setPage(PAGE_CONTROLLER, new ControllerPage(this));
+    setPage(PAGE_VEHICLES, new VehiclePage(this));
+    setPage(PAGE_MULTI, new MultiPage(this));
+    setPage(PAGE_FIXEDWING, new FixedWingPage(this));
+    setPage(PAGE_HELI, new HeliPage(this));
+    setPage(PAGE_SURFACE, new SurfacePage(this));
+    setPage(PAGE_NOTYETIMPLEMENTED, new NotYetImplementedPage(this));
+    setPage(PAGE_END, new EndPage(this));
 
     setStartId(PAGE_START);
 }
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
index 42f75556a..34b20dd81 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
@@ -2,7 +2,7 @@
  ******************************************************************************
  *
  * @file       setupwizard.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup Setup Wizard  Plugin
@@ -37,9 +37,25 @@ class SetupWizard : public QWizard
 public:
     SetupWizard(QWidget *parent = 0);
     int nextId() const;
+    enum CONTROLLER_TYPE {CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_PIPX};
+    enum VEHICLE_TYPE {VEHICLE_UNKNOWN, VEHICLE_MULTI, VEHICLE_FIXEDWING, VEHICLE_HELI, VEHICLE_SURFACE};
+    enum MULTI_ROTOR_SUB_TYPE {MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS,
+                               MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,
+                               MULTI_ROTOR_OCTO_V, MULTI_ROTOR_OCTO_COAX_X, MULTI_ROTOR_OCTO_COAX_PLUS};
+
+    void setControllerType(SetupWizard::CONTROLLER_TYPE type) { m_controllerType = type; }
+    SetupWizard::CONTROLLER_TYPE getControllerType() const { return m_controllerType; }
+
+    void setVehicleType(SetupWizard::VEHICLE_TYPE type) { m_vehicleType = type; }
+    SetupWizard::VEHICLE_TYPE getVehicleType() const { return m_vehicleType; }
+
 private:
-    enum {PAGE_START, PAGE_END};
+    enum {PAGE_START, PAGE_CONTROLLER, PAGE_VEHICLES, PAGE_MULTI, PAGE_FIXEDWING,
+          PAGE_HELI, PAGE_SURFACE, PAGE_NOTYETIMPLEMENTED, PAGE_END};
     void createPages();
+
+    CONTROLLER_TYPE m_controllerType;
+    VEHICLE_TYPE m_vehicleType;
 };
 
 #endif // SETUPWIZARD_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
index 20d13155d..98ece1c83 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
@@ -1,21 +1,49 @@
 
 TEMPLATE = lib 
 TARGET = SetupWizard 
- 
+QT += svg
+
 include(../../openpilotgcsplugin.pri) 
 include(../../plugins/coreplugin/coreplugin.pri) 
+include(../../plugins/uavobjectutil/uavobjectutil.pri)
  
 HEADERS += setupwizardplugin.h \ 
     setupwizard.h \
     pages/startpage.h \
-    pages/endpage.h
+    pages/endpage.h \
+    pages/controllerpage.h \
+    pages/vehiclepage.h \
+    pages/notyetimplementedpage.h \
+    pages/multipage.h \
+    pages/fixedwingpage.h \
+    pages/helipage.h \
+    pages/surfacepage.h \
+    pages/abstractwizardpage.h
 SOURCES += setupwizardplugin.cpp \ 
     setupwizard.cpp \
     pages/startpage.cpp \
-    pages/endpage.cpp
+    pages/endpage.cpp \
+    pages/controllerpage.cpp \
+    pages/vehiclepage.cpp \
+    pages/notyetimplementedpage.cpp \
+    pages/multipage.cpp \
+    pages/fixedwingpage.cpp \
+    pages/helipage.cpp \
+    pages/surfacepage.cpp \
+    pages/abstractwizardpage.cpp
  
 OTHER_FILES += SetupWizard.pluginspec
 
 FORMS += \
     pages/startpage.ui \
-    pages/endpage.ui
\ No newline at end of file
+    pages/endpage.ui \
+    pages/controllerpage.ui \
+    pages/vehiclepage.ui \
+    pages/notyetimplementedpage.ui \
+    pages/multipage.ui \
+    pages/fixedwingpage.ui \
+    pages/helipage.ui \
+    pages/surfacepage.ui
+
+RESOURCES += \
+    wizardResources.qrc
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
index a6dddbd4c..9f5b5c67b 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
@@ -1,8 +1,8 @@
 /**
  ******************************************************************************
  *
- * @file       donothingplugin.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @file       setupwizardplugin.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup SetupWizardPlugin
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
index 4caecbcd0..96ca9e038 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
@@ -1,8 +1,8 @@
 /**
  ******************************************************************************
  *
- * @file       donothingplugin.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @file       setupwizardplugin.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup SetupWizardPlugin
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc b/ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc
new file mode 100644
index 000000000..1358ce976
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc
@@ -0,0 +1,3 @@
+<RCC>
+    <qresource prefix="/images"/>
+</RCC>

From 719a556b784f33bd70a8eefa5f413064cef7bd42 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Tue, 17 Jul 2012 21:54:38 -0700
Subject: [PATCH 049/543] fixed the colos for all the forms so its not a
 topographic map greyscale look now, still converting the buttons all back to
 non style sheet

---
 .../src/plugins/config/airframe.ui            | 190 +++++++++++++--
 .../src/plugins/config/camerastabilization.ui |  85 ++++++-
 .../config/configstabilizationwidget.cpp      |   3 +-
 .../openpilotgcs/src/plugins/config/input.ui  | 229 ++++++++++++++++--
 .../openpilotgcs/src/plugins/config/output.ui |  77 +++++-
 .../src/plugins/config/stabilization.ui       | 210 +++++++++++++++-
 .../openpilotgcs/src/plugins/config/txpid.ui  |  77 +++++-
 7 files changed, 792 insertions(+), 79 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 0018812be..1221aae5d 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>828</width>
+    <width>839</width>
     <height>1007</height>
    </rect>
   </property>
@@ -28,10 +28,74 @@
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0">
        <property name="margin">
-        <number>12</number>
+        <number>0</number>
        </property>
        <item>
         <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
          <property name="frameShape">
           <enum>QFrame::NoFrame</enum>
          </property>
@@ -43,8 +107,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>782</width>
-            <height>835</height>
+            <width>809</width>
+            <height>874</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_12">
@@ -77,7 +141,7 @@
                </property>
                <property name="sizeHint" stdset="0">
                 <size>
-                 <width>40</width>
+                 <width>20</width>
                  <height>20</height>
                 </size>
                </property>
@@ -95,7 +159,7 @@
            <item>
             <widget class="QStackedWidget" name="airframesWidget">
              <property name="currentIndex">
-              <number>0</number>
+              <number>1</number>
              </property>
              <widget class="QWidget" name="fixedWing">
               <property name="enabled">
@@ -138,7 +202,7 @@
                      </property>
                      <property name="sizeHint" stdset="0">
                       <size>
-                       <width>40</width>
+                       <width>20</width>
                        <height>20</height>
                       </size>
                      </property>
@@ -642,9 +706,12 @@ margin:1px;</string>
                          <property name="orientation">
                           <enum>Qt::Horizontal</enum>
                          </property>
+                         <property name="sizeType">
+                          <enum>QSizePolicy::MinimumExpanding</enum>
+                         </property>
                          <property name="sizeHint" stdset="0">
                           <size>
-                           <width>40</width>
+                           <width>20</width>
                            <height>20</height>
                           </size>
                          </property>
@@ -888,8 +955,8 @@ margin:1px;</string>
                          </property>
                          <property name="minimumSize">
                           <size>
-                           <width>110</width>
-                           <height>110</height>
+                           <width>80</width>
+                           <height>80</height>
                           </size>
                          </property>
                          <property name="styleSheet">
@@ -912,9 +979,12 @@ margin:1px;</string>
                      <property name="orientation">
                       <enum>Qt::Horizontal</enum>
                      </property>
+                     <property name="sizeType">
+                      <enum>QSizePolicy::MinimumExpanding</enum>
+                     </property>
                      <property name="sizeHint" stdset="0">
                       <size>
-                       <width>40</width>
+                       <width>10</width>
                        <height>20</height>
                       </size>
                      </property>
@@ -922,6 +992,12 @@ margin:1px;</string>
                    </item>
                    <item>
                     <widget class="QGroupBox" name="groupBox_6">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
                      <property name="title">
                       <string>Throtte Curve</string>
                      </property>
@@ -952,8 +1028,8 @@ margin:1px;</string>
                         </property>
                         <property name="minimumSize">
                          <size>
-                          <width>120</width>
-                          <height>120</height>
+                          <width>80</width>
+                          <height>80</height>
                          </size>
                         </property>
                         <property name="styleSheet">
@@ -1339,9 +1415,12 @@ margin:1px;</string>
                      <property name="orientation">
                       <enum>Qt::Horizontal</enum>
                      </property>
+                     <property name="sizeType">
+                      <enum>QSizePolicy::MinimumExpanding</enum>
+                     </property>
                      <property name="sizeHint" stdset="0">
                       <size>
-                       <width>40</width>
+                       <width>20</width>
                        <height>20</height>
                       </size>
                      </property>
@@ -2513,17 +2592,75 @@ margin:1px;</string>
        <string>Advanced Settings</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_26">
-       <property name="leftMargin">
-        <number>12</number>
-       </property>
-       <property name="rightMargin">
-        <number>12</number>
-       </property>
-       <property name="bottomMargin">
-        <number>12</number>
+       <property name="margin">
+        <number>0</number>
        </property>
        <item>
         <widget class="QScrollArea" name="scrollArea_2">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
          <property name="frameShape">
           <enum>QFrame::NoFrame</enum>
          </property>
@@ -2535,8 +2672,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>249</width>
-            <height>303</height>
+            <width>809</width>
+            <height>874</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_25">
@@ -2883,9 +3020,12 @@ p, li { white-space: pre-wrap; }
           <property name="orientation">
            <enum>Qt::Horizontal</enum>
           </property>
+          <property name="sizeType">
+           <enum>QSizePolicy::MinimumExpanding</enum>
+          </property>
           <property name="sizeHint" stdset="0">
            <size>
-            <width>40</width>
+            <width>20</width>
             <height>20</height>
            </size>
           </property>
diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
index 0f7b8f980..b41aac015 100644
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -13,6 +13,9 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
+  <property name="autoFillBackground">
+   <bool>false</bool>
+  </property>
   <layout class="QVBoxLayout" name="verticalLayout_6">
    <property name="spacing">
     <number>12</number>
@@ -22,6 +25,9 @@
    </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
+     <property name="autoFillBackground">
+      <bool>false</bool>
+     </property>
      <property name="currentIndex">
       <number>0</number>
      </property>
@@ -29,6 +35,9 @@
       <enum>Qt::ElideMiddle</enum>
      </property>
      <widget class="QWidget" name="CameraStabilization">
+      <property name="autoFillBackground">
+       <bool>false</bool>
+      </property>
       <attribute name="title">
        <string>Camera Stabilization</string>
       </attribute>
@@ -37,10 +46,74 @@
         <number>12</number>
        </property>
        <property name="margin">
-        <number>12</number>
+        <number>0</number>
        </property>
        <item>
         <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
          <property name="autoFillBackground">
           <bool>false</bool>
          </property>
@@ -58,8 +131,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>766</width>
-            <height>622</height>
+            <width>790</width>
+            <height>646</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -764,6 +837,9 @@ value.</string>
    </item>
    <item>
     <widget class="QGroupBox" name="groupBox_3">
+     <property name="autoFillBackground">
+      <bool>false</bool>
+     </property>
      <property name="title">
       <string>Messages</string>
      </property>
@@ -783,6 +859,9 @@ value.</string>
    </item>
    <item>
     <widget class="QGroupBox" name="groupBox_2">
+     <property name="autoFillBackground">
+      <bool>false</bool>
+     </property>
      <property name="title">
       <string/>
      </property>
diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
index 0ee0875ab..319803ca8 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
@@ -44,7 +44,8 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     // To bring old style sheet back without adding it manually do this:
     // Alternatively apply a global stylesheet to the QGroupBox
     // setStyleSheet("QGroupBox {background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; }");
-    setStyleSheet("QPushButton {\nborder: 1px outset #999;\nborder-radius: 5;\nbackground-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));\n}\n\nQPushButton:pressed {\n\n    border-style: inset;\n	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));\n\n}\n\n\nQPushButton:hover  {\n	border: 1px outset #999;	\nborder-color: rgb(83, 83, 83);\nborder-radius: 4;\n}");
+    //setStyleSheet("QPushButton {\nborder: 1px outset #999;\nborder-radius: 5;\nbackground-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));\n}\n\nQPushButton:pressed {\n\n    border-style: inset;\n	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));\n\n}\n\n\nQPushButton:hover  {\n	border: 1px outset #999;	\nborder-color: rgb(83, 83, 83);\nborder-radius: 4;\n}");
+    //setStyleSheet("background-color: rgb(230, 230, 230);");
 
     autoLoadWidgets();
     realtimeUpdates=new QTimer(this);
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index 0533913fa..a6532ed53 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -24,17 +24,78 @@
        <string>RC Input</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_11">
-       <property name="leftMargin">
+       <property name="spacing">
         <number>12</number>
        </property>
-       <property name="rightMargin">
-        <number>12</number>
-       </property>
-       <property name="bottomMargin">
-        <number>12</number>
+       <property name="margin">
+        <number>0</number>
        </property>
        <item>
         <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
          <property name="frameShape">
           <enum>QFrame::NoFrame</enum>
          </property>
@@ -46,8 +107,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>639</width>
-            <height>721</height>
+            <width>663</width>
+            <height>745</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout">
@@ -244,17 +305,78 @@
        <string>Flight Mode Switch Settings</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_8">
-       <property name="leftMargin">
+       <property name="spacing">
         <number>12</number>
        </property>
-       <property name="rightMargin">
-        <number>12</number>
-       </property>
-       <property name="bottomMargin">
-        <number>12</number>
+       <property name="margin">
+        <number>0</number>
        </property>
        <item>
         <widget class="QScrollArea" name="scrollArea_3">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
          <property name="frameShape">
           <enum>QFrame::NoFrame</enum>
          </property>
@@ -266,7 +388,7 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>624</width>
+            <width>648</width>
             <height>776</height>
            </rect>
           </property>
@@ -718,17 +840,78 @@ margin:1px;</string>
        <string>Arming Settings</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_12">
-       <property name="leftMargin">
+       <property name="spacing">
         <number>12</number>
        </property>
-       <property name="rightMargin">
-        <number>12</number>
-       </property>
-       <property name="bottomMargin">
-        <number>12</number>
+       <property name="margin">
+        <number>0</number>
        </property>
        <item>
         <widget class="QScrollArea" name="scrollArea_2">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
          <property name="frameShape">
           <enum>QFrame::NoFrame</enum>
          </property>
@@ -740,8 +923,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>639</width>
-            <height>721</height>
+            <width>663</width>
+            <height>745</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
diff --git a/ground/openpilotgcs/src/plugins/config/output.ui b/ground/openpilotgcs/src/plugins/config/output.ui
index dc12661b6..a74281ab0 100644
--- a/ground/openpilotgcs/src/plugins/config/output.ui
+++ b/ground/openpilotgcs/src/plugins/config/output.ui
@@ -30,17 +30,78 @@
        <string>Output</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_4">
-       <property name="leftMargin">
+       <property name="spacing">
         <number>12</number>
        </property>
-       <property name="rightMargin">
-        <number>12</number>
-       </property>
-       <property name="bottomMargin">
-        <number>12</number>
+       <property name="margin">
+        <number>0</number>
        </property>
        <item>
         <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
          <property name="frameShape">
           <enum>QFrame::NoFrame</enum>
          </property>
@@ -52,8 +113,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>812</width>
-            <height>776</height>
+            <width>836</width>
+            <height>800</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index f51be1530..9aa5eb445 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>757</width>
+    <width>786</width>
     <height>993</height>
    </rect>
   </property>
@@ -493,8 +493,75 @@
        <property name="spacing">
         <number>12</number>
        </property>
+       <property name="margin">
+        <number>0</number>
+       </property>
        <item>
         <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
          <property name="frameShape">
           <enum>QFrame::NoFrame</enum>
          </property>
@@ -509,8 +576,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>703</width>
-            <height>832</height>
+            <width>756</width>
+            <height>856</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_8">
@@ -10574,8 +10641,75 @@ Attitude</string>
        <property name="spacing">
         <number>12</number>
        </property>
+       <property name="margin">
+        <number>0</number>
+       </property>
        <item>
         <widget class="QScrollArea" name="scrollArea_2">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
          <property name="frameShape">
           <enum>QFrame::NoFrame</enum>
          </property>
@@ -10587,7 +10721,7 @@ Attitude</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>470</width>
+            <width>741</width>
             <height>923</height>
            </rect>
           </property>
@@ -23648,7 +23782,7 @@ border-radius: 5;</string>
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>75</height>
+       <height>79</height>
       </size>
      </property>
      <property name="maximumSize">
@@ -24199,7 +24333,7 @@ border-radius: 5;</string>
           </property>
           <property name="minimumSize">
            <size>
-            <width>150</width>
+            <width>300</width>
             <height>20</height>
            </size>
           </property>
@@ -24239,7 +24373,25 @@ border-radius: 5;</string>
 Useful if you have accidentally changed some settings.</string>
           </property>
           <property name="styleSheet">
-           <string notr="true"/>
+           <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
           </property>
           <property name="text">
            <string>Reload Board Data</string>
@@ -24270,7 +24422,25 @@ Useful if you have accidentally changed some settings.</string>
            <string>Send settings to the board but do not save to the non-volatile memory</string>
           </property>
           <property name="styleSheet">
-           <string notr="true"/>
+           <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
           </property>
           <property name="text">
            <string>Apply</string>
@@ -24300,7 +24470,25 @@ Useful if you have accidentally changed some settings.</string>
            <string>Send settings to the board and save to the non-volatile memory</string>
           </property>
           <property name="styleSheet">
-           <string notr="true"/>
+           <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
           </property>
           <property name="text">
            <string>Save</string>
@@ -24315,14 +24503,14 @@ Useful if you have accidentally changed some settings.</string>
         <item row="1" column="0">
          <widget class="QCheckBox" name="realTimeUpdates_6">
           <property name="sizePolicy">
-           <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+           <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
             <horstretch>0</horstretch>
             <verstretch>0</verstretch>
            </sizepolicy>
           </property>
           <property name="minimumSize">
            <size>
-            <width>300</width>
+            <width>136</width>
             <height>20</height>
            </size>
           </property>
diff --git a/ground/openpilotgcs/src/plugins/config/txpid.ui b/ground/openpilotgcs/src/plugins/config/txpid.ui
index 94ee7ae17..45eb17a61 100644
--- a/ground/openpilotgcs/src/plugins/config/txpid.ui
+++ b/ground/openpilotgcs/src/plugins/config/txpid.ui
@@ -27,17 +27,78 @@
        <string>Tx PID</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_4">
-       <property name="leftMargin">
+       <property name="spacing">
         <number>12</number>
        </property>
-       <property name="rightMargin">
-        <number>12</number>
-       </property>
-       <property name="bottomMargin">
-        <number>12</number>
+       <property name="margin">
+        <number>0</number>
        </property>
        <item>
         <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
          <property name="frameShape">
           <enum>QFrame::NoFrame</enum>
          </property>
@@ -49,8 +110,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>654</width>
-            <height>659</height>
+            <width>678</width>
+            <height>683</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">

From ad260e98bbfb0a8799f638353c24adde8089688c Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Wed, 18 Jul 2012 12:10:54 +0100
Subject: [PATCH 050/543] GCS - Added PNGs, should have been part of previous
 commit.

---
 .../plugins/uploader/images/gcs-board-cc.png   | Bin 0 -> 242450 bytes
 .../plugins/uploader/images/gcs-board-cc3d.png | Bin 0 -> 250010 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/uploader/images/gcs-board-cc.png
 create mode 100644 ground/openpilotgcs/src/plugins/uploader/images/gcs-board-cc3d.png

diff --git a/ground/openpilotgcs/src/plugins/uploader/images/gcs-board-cc.png b/ground/openpilotgcs/src/plugins/uploader/images/gcs-board-cc.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4e77c025ae55fdd399254f01f7281e2d12ca328
GIT binary patch
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zf!pred4aV5{n=9vT9~p~;r&qNZnDdl-J1GU2N=hUPlYNZ$9{iz`anHHrA=-hI|p8h
z|Bh7%y2<G+5G}<P+9@fMUiwNHsG8OCL35`}sZ?*l_vL6oo!f(3_V3&Dx9#hTiZ2@u
z0IasT^wO(CEA^GD2%X_1njnkQgN_Hp4%%%qzJ*8QbFr70Z!OYA2m+C~|Dkj!b|U)H
z1BiS;V>qaq#YTQfZnLJRrUi8@R|UKV=_1tZjyHH6g&LmSw2?Tie_3GuE$UOAxplB}
zM0M<_d6jRcbcWn-q*Jjp%YZ^>1RGFJkV8Z}#!XHJL?{?Y{yi}N@(-n~qV1KFZ$fW0
zV3}gxb#<<SG5`sY@byD1AkmmAoH#W|l2dO-calYx5@72uaz0DpH24cx{^Kx8*#(=l
z4i-H5+_8qc3m-sDEYUBxAW<Z8Q`$+L`~LbeFJEl8RWN&tWgf<!xxC4YDWtDkISU7K
zRJQ;Bo;EKh>;_CmNG;v(l%jgO_Y*BU-S*1Cw})Ddcxzhd45&c(G1{O|qqb6W>gWtf
zTwg`s-B^jT{O^ZJ;!qT#Ji+l4$x{4-`XNtZi8~#6nU&9##&eMwN&l|>FBaflSY#nd
Y-CLOI-udw(3IDU9I9OaY_l^Jm0H^}E3jhEB

literal 0
HcmV?d00001


From 205e71e06e9e3b86ce457650d47ecd65ac8ecfbe Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Wed, 18 Jul 2012 12:41:13 +0100
Subject: [PATCH 051/543] GCS- Allow stylesheets to be loaded from files
 acording to OS. Use "linux.qss", "macos.qss" and "windows.qss" filenames and
 place them on the app directory.

---
 ground/openpilotgcs/src/app/main.cpp | 26 +++++++++++++++++++++++++-
 1 file changed, 25 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/app/main.cpp b/ground/openpilotgcs/src/app/main.cpp
index ec2191956..06825b450 100644
--- a/ground/openpilotgcs/src/app/main.cpp
+++ b/ground/openpilotgcs/src/app/main.cpp
@@ -229,6 +229,30 @@ static void overrideSettings(QSettings &settings, int argc, char **argv){
     settings.sync();
 }
 
+static inline void loadStyleSheet() {
+    /* Let's use QFile and point to a resource... */
+#ifdef Q_OS_MAC
+    QFile data(QCoreApplication::applicationDirPath()+"/macos.qss");
+#elif defined(Q_OS_LINUX)
+    QFile data(QCoreApplication::applicationDirPath()+"/linux.qss");
+#else
+    QFile data(QCoreApplication::applicationDirPath()+"/windows.qss");
+#endif
+    QString style;
+    /* ...to open the file */
+    if(data.open(QFile::ReadOnly)) {
+        /* QTextStream... */
+        QTextStream styleIn(&data);
+        /* ...read file to a string. */
+        style = styleIn.readAll();
+        data.close();
+        /* We'll use qApp macro to get the QApplication pointer
+         * and set the style sheet application wide. */
+        qApp->setStyleSheet(style);
+        qDebug()<<"Loaded stylesheet:"<<style;
+    }
+}
+
 int main(int argc, char **argv)
 {
 #ifdef Q_OS_MAC
@@ -336,12 +360,12 @@ int main(int argc, char **argv)
         printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
         return 0;
     }
-
     const bool isFirstInstance = !app.isRunning();
     if (!isFirstInstance && foundAppOptions.contains(QLatin1String(CLIENT_OPTION)))
         return sendArguments(app, pluginManager.arguments()) ? 0 : -1;
 
     pluginManager.loadPlugins();
+    loadStyleSheet();
     if (coreplugin->hasError()) {
         displayError(msgCoreLoadFailure(coreplugin->errorString()));
         return 1;

From bc5a1dd43bf92f40a8c0438b6a28dce9d68a24dc Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Fri, 6 Jul 2012 15:59:24 +0100
Subject: [PATCH 052/543] GCS - added an UDP UAVTalk mirror.

---
 .../plugins/coreplugin/generalsettings.cpp    | 35 +++++++++++--
 .../src/plugins/coreplugin/generalsettings.h  | 13 +++++
 .../src/plugins/coreplugin/generalsettings.ui | 14 ++++++
 .../src/plugins/uavtalk/uavtalk.cpp           | 49 ++++++++++++++++++-
 .../src/plugins/uavtalk/uavtalk.h             |  8 ++-
 .../src/plugins/uavtalk/uavtalk.pro           |  1 +
 6 files changed, 114 insertions(+), 6 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
index f0bc7bf4f..68e695730 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
@@ -39,6 +39,7 @@
 #include <QtCore/QSettings>
 
 #include "ui_generalsettings.h"
+#include <QKeyEvent>
 
 using namespace Utils;
 using namespace Core::Internal;
@@ -47,7 +48,8 @@ GeneralSettings::GeneralSettings():
     m_saveSettingsOnExit(true),
     m_dialog(0),
     m_autoConnect(true),
-    m_autoSelect(true)
+    m_autoSelect(true),
+    m_useUDPMirror(false)
 {
 }
 
@@ -107,18 +109,21 @@ void GeneralSettings::fillLanguageBox() const
     }
 }
 
-
 QWidget *GeneralSettings::createPage(QWidget *parent)
 {
     m_page = new Ui::GeneralSettings();
-    QWidget *w = new QWidget(parent);
+    globalSettingsWidget *w = new globalSettingsWidget(parent);
+    connect(w,SIGNAL(showHidden()),this,SLOT(showHidden()));
     m_page->setupUi(w);
+    m_page->labelUDP->setVisible(false);
+    m_page->cbUseUDPMirror->setVisible(false);
 
     fillLanguageBox();
     connect(m_page->checkAutoConnect,SIGNAL(stateChanged(int)),this,SLOT(slotAutoConnect(int)));
     m_page->checkBoxSaveOnExit->setChecked(m_saveSettingsOnExit);
     m_page->checkAutoConnect->setChecked(m_autoConnect);
     m_page->checkAutoSelect->setChecked(m_autoSelect);
+    m_page->cbUseUDPMirror->setChecked(m_useUDPMirror);
     m_page->colorButton->setColor(StyleHelper::baseColor());
 
     connect(m_page->resetButton, SIGNAL(clicked()),
@@ -135,6 +140,7 @@ void GeneralSettings::apply()
     StyleHelper::setBaseColor(m_page->colorButton->color());
 
     m_saveSettingsOnExit = m_page->checkBoxSaveOnExit->isChecked();
+    m_useUDPMirror=m_page->cbUseUDPMirror->isChecked();
     m_autoConnect = m_page->checkAutoConnect->isChecked();
     m_autoSelect = m_page->checkAutoSelect->isChecked();
 }
@@ -151,6 +157,7 @@ void GeneralSettings::readSettings(QSettings* qs)
     m_saveSettingsOnExit = qs->value(QLatin1String("SaveSettingsOnExit"),m_saveSettingsOnExit).toBool();
     m_autoConnect = qs->value(QLatin1String("AutoConnect"),m_autoConnect).toBool();
     m_autoSelect = qs->value(QLatin1String("AutoSelect"),m_autoSelect).toBool();
+    m_useUDPMirror = qs->value(QLatin1String("UDPMirror"),m_useUDPMirror).toBool();
     qs->endGroup();
 }
 
@@ -166,6 +173,7 @@ void GeneralSettings::saveSettings(QSettings* qs)
     qs->setValue(QLatin1String("SaveSettingsOnExit"), m_saveSettingsOnExit);
     qs->setValue(QLatin1String("AutoConnect"), m_autoConnect);
     qs->setValue(QLatin1String("AutoSelect"), m_autoSelect);
+    qs->setValue(QLatin1String("UDPMirror"), m_useUDPMirror);
     qs->endGroup();
 }
 
@@ -231,6 +239,11 @@ bool GeneralSettings::autoSelect() const
     return m_autoSelect;
 }
 
+bool GeneralSettings::useUDPMirror() const
+{
+    return m_useUDPMirror;
+}
+
 void GeneralSettings::slotAutoConnect(int value)
 {
     if (value==Qt::Checked)
@@ -238,3 +251,19 @@ void GeneralSettings::slotAutoConnect(int value)
     else
         m_page->checkAutoSelect->setEnabled(true);
 }
+
+void GeneralSettings::showHidden()
+{
+    m_page->labelUDP->setVisible(true);
+    m_page->cbUseUDPMirror->setVisible(true);
+}
+
+globalSettingsWidget::globalSettingsWidget(QWidget *parent):QWidget(parent){}
+
+void globalSettingsWidget::keyPressEvent(QKeyEvent *event)
+{
+    if(event->key()==Qt::Key_F7)
+    {
+        emit showHidden();
+    }
+}
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
index f70d7c9a9..8a458b947 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
@@ -58,6 +58,7 @@ public:
     bool saveSettingsOnExit() const;
     bool autoConnect() const;
     bool autoSelect() const;
+    bool useUDPMirror() const;
     void readSettings(QSettings* qs);
     void saveSettings(QSettings* qs);
 
@@ -68,6 +69,7 @@ private slots:
     void resetLanguage();
     void showHelpForExternalEditor();
     void slotAutoConnect(int);
+    void showHidden();
 
 private:
     void fillLanguageBox() const;
@@ -78,10 +80,21 @@ private:
     bool m_saveSettingsOnExit;
     bool m_autoConnect;
     bool m_autoSelect;
+    bool m_useUDPMirror;
     QPointer<QWidget> m_dialog;
     QList<QTextCodec *> m_codecs;
 
 };
+class globalSettingsWidget:public QWidget
+{
+    Q_OBJECT
+public:
+    globalSettingsWidget(QWidget * parent);
+protected:
+    void keyPressEvent(QKeyEvent *);
+signals:
+    void showHidden();
+};
 
 } // namespace Internal
 } // namespace Core
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
index 1be8020ce..fa3269c94 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
@@ -178,6 +178,20 @@
         </property>
        </widget>
       </item>
+      <item row="12" column="1">
+       <widget class="QCheckBox" name="cbUseUDPMirror">
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+      <item row="12" column="0">
+       <widget class="QLabel" name="labelUDP">
+        <property name="text">
+         <string>Use UDP Mirror</string>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
index e1aa5ecf6..5bb4d1939 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
@@ -27,7 +27,8 @@
 #include "uavtalk.h"
 #include <QtEndian>
 #include <QDebug>
-
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
 //#define UAVTALK_DEBUG
 #ifdef UAVTALK_DEBUG
   #include "qxtlogger.h"
@@ -75,6 +76,19 @@ UAVTalk::UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr)
     memset(&stats, 0, sizeof(ComStats));
 
     connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
+    useUDPMirror=settings->useUDPMirror();
+    qDebug()<<"USE UDP:::::::::::."<<useUDPMirror;
+    if(useUDPMirror)
+    {
+        udpSocketTx=new QUdpSocket(this);
+        udpSocketRx=new QUdpSocket(this);
+        udpSocketTx->bind(9000);
+        udpSocketRx->connectToHost(QHostAddress::LocalHost,9000);
+        connect(udpSocketTx,SIGNAL(readyRead()),this,SLOT(dummyUDPRead()));
+        connect(udpSocketRx,SIGNAL(readyRead()),this,SLOT(dummyUDPRead()));
+    }
 }
 
 UAVTalk::~UAVTalk()
@@ -119,6 +133,17 @@ void UAVTalk::processInputStream()
     }
 }
 
+void UAVTalk::dummyUDPRead()
+{
+    QUdpSocket *socket=qobject_cast<QUdpSocket*>(sender());
+    QByteArray junk;
+    while(socket->hasPendingDatagrams())
+    {
+        junk.resize(socket->pendingDatagramSize());
+        socket->readDatagram(junk.data(),junk.size());
+    }
+}
+
 /**
  * Request an update for the specified object, on success the object data would have been
  * updated by the GCS.
@@ -219,6 +244,9 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
 
     rxPacketLength++;   // update packet byte count
 
+    if(useUDPMirror)
+        rxDataArray.append(rxbyte);
+
     // Receive state machine
     switch (rxState)
     {
@@ -235,6 +263,12 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
 
             rxPacketLength = 1;
 
+            if(useUDPMirror)
+            {
+                rxDataArray.clear();
+                rxDataArray.append(rxbyte);
+            }
+
             rxState = STATE_TYPE;
             UAVTALK_QXTLOG_DEBUG("UAVTalk: Sync->Type");
             break;
@@ -446,6 +480,10 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
 
             mutex->lock();
                 receiveObject(rxType, rxObjId, rxInstId, rxBuffer, rxLength);
+                if(useUDPMirror)
+                {
+                    udpSocketTx->writeDatagram(rxDataArray,QHostAddress::LocalHost,udpSocketRx->localPort());
+                }
                 stats.rxObjectBytes += rxLength;
                 stats.rxObjects++;
             mutex->unlock();
@@ -476,7 +514,6 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
 bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8* data, qint32 length)
 {
     Q_UNUSED(length);
-
     UAVObject* obj = NULL;
     bool error = false;
     bool allInstances =  (instId == ALL_INSTANCES);
@@ -742,6 +779,10 @@ bool UAVTalk::transmitNack(quint32 objId)
     if (io && io->isWritable() && io->bytesToWrite() < TX_BUFFER_SIZE )
     {
         io->write((const char*)txBuffer, dataOffset+CHECKSUM_LENGTH);
+        if(useUDPMirror)
+        {
+            udpSocketRx->writeDatagram((const char*)txBuffer,dataOffset+CHECKSUM_LENGTH,QHostAddress::LocalHost,udpSocketTx->localPort());
+        }
     }
     else
     {
@@ -832,6 +873,10 @@ bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstance
     if (!io.isNull() && io->isWritable() && io->bytesToWrite() < TX_BUFFER_SIZE )
     {
         io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
+        if(useUDPMirror)
+        {
+            udpSocketRx->writeDatagram((const char*)txBuffer,dataOffset+length+CHECKSUM_LENGTH,QHostAddress::LocalHost,udpSocketTx->localPort());
+        }
     }
     else
     {
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
index 6f0bf2e8d..3d2c69d7b 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
@@ -35,6 +35,7 @@
 #include <QSemaphore>
 #include "uavobjectmanager.h"
 #include "uavtalk_global.h"
+#include <QtNetwork/QUdpSocket>
 
 class UAVTALK_EXPORT UAVTalk: public QObject
 {
@@ -65,6 +66,7 @@ signals:
 
 private slots:
     void processInputStream(void);
+    void dummyUDPRead();
 
 private:
 
@@ -122,6 +124,11 @@ private:
     RxStateType rxState;
     ComStats stats;
 
+    bool useUDPMirror;
+    QUdpSocket * udpSocketTx;
+    QUdpSocket * udpSocketRx;
+    QByteArray rxDataArray;
+
     // Methods
     bool objectTransaction(UAVObject* obj, quint8 type, bool allInstances);
     bool processInputByte(quint8 rxbyte);
@@ -134,7 +141,6 @@ private:
     bool transmitSingleObject(UAVObject* obj, quint8 type, bool allInstances);
     quint8 updateCRC(quint8 crc, const quint8 data);
     quint8 updateCRC(quint8 crc, const quint8* data, qint32 length);
-
 };
 
 #endif // UAVTALK_H
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.pro b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.pro
index 7fa575cf1..ca267a0ba 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.pro
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.pro
@@ -1,3 +1,4 @@
+QT += network
 TEMPLATE = lib
 TARGET = UAVTalk
 include(../../openpilotgcsplugin.pri)

From 41c0736b9bb5d95c2642cc117d8c1f3ac7fffd34 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Thu, 19 Jul 2012 13:22:36 +0100
Subject: [PATCH 053/543] GCS- Added Expert mode setting. To make it visible go
 to tools->options->general_settings and click one of the checkboxes to give
 focus to the form, then just press F7 and you will see hidden settings.

---
 .../src/plugins/config/config_cc_hw_widget.cpp   | 12 ++++++++++++
 .../src/plugins/coreplugin/generalsettings.cpp   | 16 +++++++++++++++-
 .../src/plugins/coreplugin/generalsettings.h     |  3 ++-
 .../src/plugins/coreplugin/generalsettings.ui    | 14 ++++++++++++++
 4 files changed, 43 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
index 97cfccd47..35a3f4c9a 100644
--- a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
@@ -36,6 +36,11 @@
 #include <QDesktopServices>
 #include <QUrl>
 
+////Added to allow expert mode
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
+////
+
 ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
     m_telemetry = new Ui_CC_HW_Widget();
@@ -43,6 +48,13 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
 
     m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
 
+////Added to allow expert mode
+    ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
+    if(!settings->useExpertMode())
+        m_telemetry->saveTelemetryToRAM->setVisible(false);
+//////////////////////////////////
+
     addApplySaveButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
     addUAVObjectToWidgetRelation("HwSettings","CC_FlexiPort",m_telemetry->cbFlexi);
     addUAVObjectToWidgetRelation("HwSettings","CC_MainPort",m_telemetry->cbTele);
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
index 68e695730..663f5e545 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
@@ -49,7 +49,8 @@ GeneralSettings::GeneralSettings():
     m_dialog(0),
     m_autoConnect(true),
     m_autoSelect(true),
-    m_useUDPMirror(false)
+    m_useUDPMirror(false),
+    m_useExpertMode(false)
 {
 }
 
@@ -117,6 +118,8 @@ QWidget *GeneralSettings::createPage(QWidget *parent)
     m_page->setupUi(w);
     m_page->labelUDP->setVisible(false);
     m_page->cbUseUDPMirror->setVisible(false);
+    m_page->labelExpert->setVisible(false);
+    m_page->cbExpertMode->setVisible(false);
 
     fillLanguageBox();
     connect(m_page->checkAutoConnect,SIGNAL(stateChanged(int)),this,SLOT(slotAutoConnect(int)));
@@ -124,6 +127,7 @@ QWidget *GeneralSettings::createPage(QWidget *parent)
     m_page->checkAutoConnect->setChecked(m_autoConnect);
     m_page->checkAutoSelect->setChecked(m_autoSelect);
     m_page->cbUseUDPMirror->setChecked(m_useUDPMirror);
+    m_page->cbExpertMode->setChecked(m_useExpertMode);
     m_page->colorButton->setColor(StyleHelper::baseColor());
 
     connect(m_page->resetButton, SIGNAL(clicked()),
@@ -141,6 +145,7 @@ void GeneralSettings::apply()
 
     m_saveSettingsOnExit = m_page->checkBoxSaveOnExit->isChecked();
     m_useUDPMirror=m_page->cbUseUDPMirror->isChecked();
+    m_useExpertMode=m_page->cbExpertMode->isChecked();
     m_autoConnect = m_page->checkAutoConnect->isChecked();
     m_autoSelect = m_page->checkAutoSelect->isChecked();
 }
@@ -158,6 +163,7 @@ void GeneralSettings::readSettings(QSettings* qs)
     m_autoConnect = qs->value(QLatin1String("AutoConnect"),m_autoConnect).toBool();
     m_autoSelect = qs->value(QLatin1String("AutoSelect"),m_autoSelect).toBool();
     m_useUDPMirror = qs->value(QLatin1String("UDPMirror"),m_useUDPMirror).toBool();
+    m_useExpertMode = qs->value(QLatin1String("ExpertMode"),m_useExpertMode).toBool();
     qs->endGroup();
 }
 
@@ -174,6 +180,7 @@ void GeneralSettings::saveSettings(QSettings* qs)
     qs->setValue(QLatin1String("AutoConnect"), m_autoConnect);
     qs->setValue(QLatin1String("AutoSelect"), m_autoSelect);
     qs->setValue(QLatin1String("UDPMirror"), m_useUDPMirror);
+    qs->setValue(QLatin1String("ExpertMode"), m_useExpertMode);
     qs->endGroup();
 }
 
@@ -244,6 +251,11 @@ bool GeneralSettings::useUDPMirror() const
     return m_useUDPMirror;
 }
 
+bool GeneralSettings::useExpertMode() const
+{
+    return m_useExpertMode;
+}
+
 void GeneralSettings::slotAutoConnect(int value)
 {
     if (value==Qt::Checked)
@@ -256,6 +268,8 @@ void GeneralSettings::showHidden()
 {
     m_page->labelUDP->setVisible(true);
     m_page->cbUseUDPMirror->setVisible(true);
+    m_page->labelExpert->setVisible(true);
+    m_page->cbExpertMode->setVisible(true);
 }
 
 globalSettingsWidget::globalSettingsWidget(QWidget *parent):QWidget(parent){}
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
index 8a458b947..6c77ab065 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
@@ -61,7 +61,7 @@ public:
     bool useUDPMirror() const;
     void readSettings(QSettings* qs);
     void saveSettings(QSettings* qs);
-
+    bool useExpertMode() const;
 signals:
 
 private slots:
@@ -81,6 +81,7 @@ private:
     bool m_autoConnect;
     bool m_autoSelect;
     bool m_useUDPMirror;
+    bool m_useExpertMode;
     QPointer<QWidget> m_dialog;
     QList<QTextCodec *> m_codecs;
 
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
index fa3269c94..9e3dd68df 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
@@ -192,6 +192,20 @@
         </property>
        </widget>
       </item>
+      <item row="13" column="0">
+       <widget class="QLabel" name="labelExpert">
+        <property name="text">
+         <string>Expert Mode</string>
+        </property>
+       </widget>
+      </item>
+      <item row="13" column="1">
+       <widget class="QCheckBox" name="cbExpertMode">
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
      </layout>
     </widget>
    </item>

From 2464fe9a2eedf77444e9fbb3394b9d696d45dbf4 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Fri, 20 Jul 2012 12:47:03 +0100
Subject: [PATCH 054/543] GCS-Make flight mode switch and accessory channels
 move acording to user command.

---
 .../src/plugins/config/configinputwidget.cpp  | 37 ++++++++++++++++++-
 .../src/plugins/config/configinputwidget.h    | 10 +++++
 2 files changed, 46 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index 7952b3d70..e9a4e6a6a 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -50,6 +50,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
     manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
     manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
+    flightStatusObj = FlightStatus::GetInstance(getObjectManager());
     receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager());
     m_config = new Ui_InputWidget();
     m_config->setupUi(this);
@@ -458,6 +459,9 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         break;
     case wizardIdentifyLimits:
     {
+        accessoryDesiredObj0 = AccessoryDesired::GetInstance(getObjectManager(),0);
+        accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(),1);
+        accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(),2);
         setTxMovement(nothing);
         m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
         fastMdata();
@@ -476,6 +480,8 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         }
         connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
         connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
     }
         break;
     case wizardIdentifyInverted:
@@ -503,8 +509,10 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         fastMdata();
         break;
     case wizardFinish:
-        dimOtherControls(true);
+        dimOtherControls(false);
         connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
         m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
                                              "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
         fastMdata();
@@ -572,6 +580,8 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
     case wizardIdentifyLimits:
         disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
         disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
         manualSettingsObj->setData(manualSettingsData);
         restoreMdata();
         setTxMovement(nothing);
@@ -595,6 +605,8 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
         dimOtherControls(false);
         setTxMovement(nothing);
         disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
         restoreMdata();
         break;
     default:
@@ -1060,6 +1072,11 @@ void ConfigInputWidget::moveSticks()
 {
     QTransform trans;
     manualCommandData=manualCommandObj->getData();
+    flightStatusData=flightStatusObj->getData();
+    accessoryDesiredData0=accessoryDesiredObj0->getData();
+    accessoryDesiredData1=accessoryDesiredObj1->getData();
+    accessoryDesiredData2=accessoryDesiredObj2->getData();
+
     if(transmitterMode==mode2)
     {
         trans=m_txLeftStickOrig;
@@ -1074,6 +1091,24 @@ void ConfigInputWidget::moveSticks()
         trans=m_txLeftStickOrig;
         m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
     }
+    if(flightStatusData.FlightMode==manualSettingsData.FlightModePosition[0])
+    {
+        m_txFlightMode->setElementId("flightModeLeft");
+        m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
+    }
+    else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[1])
+    {
+        m_txFlightMode->setElementId("flightModeCenter");
+        m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
+    }
+    else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[2])
+    {
+        m_txFlightMode->setElementId("flightModeRight");
+        m_txFlightMode->setTransform(m_txFlightModeROrig,false);
+    }
+    m_txAccess0->setTransform(QTransform(m_txAccess0Orig).translate(accessoryDesiredData0.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
+    m_txAccess1->setTransform(QTransform(m_txAccess1Orig).translate(accessoryDesiredData1.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
+    m_txAccess2->setTransform(QTransform(m_txAccess2Orig).translate(accessoryDesiredData2.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
 }
 
 void ConfigInputWidget::dimOtherControls(bool value)
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h
index 418fbdfee..bc27467ca 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h
@@ -43,6 +43,8 @@
 #include <QGraphicsView>
 #include <QtSvg/QSvgRenderer>
 #include <QtSvg/QGraphicsSvgItem>
+#include "flightstatus.h"
+#include "accessorydesired.h"
 
 class Ui_InputWidget;
 
@@ -91,6 +93,14 @@ private:
 
         ManualControlCommand * manualCommandObj;
         ManualControlCommand::DataFields manualCommandData;
+        FlightStatus * flightStatusObj;
+        FlightStatus::DataFields flightStatusData;
+        AccessoryDesired * accessoryDesiredObj0;
+        AccessoryDesired * accessoryDesiredObj1;
+        AccessoryDesired * accessoryDesiredObj2;
+        AccessoryDesired::DataFields accessoryDesiredData0;
+        AccessoryDesired::DataFields accessoryDesiredData1;
+        AccessoryDesired::DataFields accessoryDesiredData2;
         UAVObject::Metadata manualControlMdata;
         ManualControlSettings * manualSettingsObj;
         ManualControlSettings::DataFields manualSettingsData;

From ece35e702505641194e13d5f8b12e674ec30f7c3 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Fri, 20 Jul 2012 12:55:37 +0100
Subject: [PATCH 055/543] GCS-Added missing PipX PNG.

---
 .../src/plugins/uploader/devicewidget.cpp      |   2 +-
 .../src/plugins/uploader/images/pipx.png       | Bin 0 -> 184786 bytes
 .../plugins/uploader/runningdevicewidget.cpp   |   2 +-
 .../src/plugins/uploader/uploader.qrc          |   1 +
 4 files changed, 3 insertions(+), 2 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/uploader/images/pipx.png

diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
index c22e548b0..dec1fefb7 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
@@ -95,7 +95,7 @@ void deviceWidget::populate()
         devicePic.load("");//TODO
         break;
     case 0x0301:
-        devicePic.load("");//TODO
+        devicePic.load(":/uploader/images/pipx.png");
         break;
     case 0x0401:
         devicePic.load(":/uploader/images/gcs-board-cc.png");
diff --git a/ground/openpilotgcs/src/plugins/uploader/images/pipx.png b/ground/openpilotgcs/src/plugins/uploader/images/pipx.png
new file mode 100644
index 0000000000000000000000000000000000000000..47c8bb4e1885c159e5387238a2fc2ea8d9c84fcd
GIT binary patch
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zR9*|(ajkV=G3Ifh-v*SP%Y~YgN-6}HxJV%gN(DI*7;pgPb4n?xK7nVd9u6S(k1V59
z2e-sh{oG<20?}hyOQ#45xrx(b>#1un$t|85glf;}QA_<4TE%I}s|@XO{O45$0+cR(
zbPhq#bO1Cp$PIxV!KenN1djx!d?hGa<J`h02M$`Il<FcNm2+05>s}sLY9%_fk3|sl
zQkK#bm~wYKciD4GC<jt4&`Ity2dLN9M*&CyrL(<Qa~kD+FILPcg`nkiZXqD$(}6-@
z%FD`hQK>nMG>=q+Q4YA=eLr*+x}|mEV?au1*~(DvPzj{kd{geS=g=yD_go;|ClY;)
zMje1Cpmenz8^9ETmVIB#oXFa=AI+67p_H!xrCCVrYkD3EYSMz7QZPD~HtLuzd<l!1
z3tbCJ(t?&kueC^f&1DZD1&{(tS7-^r4FEw<s9i`cYphvQ<s3l?rW)k%d87oSDJZ4m
zIE0mSE$v#$eJ>$ZTLM%AOb(zNPBkEn{b|RA{s-p`C|!vq1cD$awQxoXOgUKcg!)p_
zV#))Ws17atRBn|08r!y^kTPT$%TS7_nDtY>$LEsf0%_{p0A>)NbVZFApcR7F-7aV=
z#l^ss&k>a1s0GkS3#pd&Nz0L%0@JbDuC)csq|!t2_d>3Gxs6*)Q_}-NmiM)RC}0~<
z3JtKDKoGRfHXsG2vNPpYQ+njqQTg0z=sZ$bOZNwvR5E?~EwzCKeJ(Ulbf~*N2bv-1
zsP`IHbb=rVI*fK%87?-jQ-ew^zo@oKQ_MPgo)*$IK~T&!o|<Q>fu{u693a)QG+^y^
z2v7<^5CkyY8%$$Rs?870v5v~+PGiTtRu9jvP?nmrnS#oYHC3i}($==m32Xw8LV!{T
zf*=5D5==v&n1W0VPIIH|4-sv@c6iMVd`ekOHP?O&Vq^Qvfla_D1So|d2wEwe?h2;#
zS|-BZ1w^N?a?>%u@x1q$yXsR2G*gz<T`i;lQ3y~9K@bEm-3d%J2n|7NEdOW-QlZ1Z
zX)N$56gi(0xu3Gi0!Sf1DFi_flntjtz%;fUuKMXhY3O<Ay&=y5q!6GKf*=SQ1xj}T
zQ|<j6Al(N{k+XESbI1vP3O%Mi10aO}r4R%`(CBbF1Uf_Ia$NuC0iLVxY$M>8Yb6~5
zqX1F}Pzpg11dRrzy8>sZ4!G^-0jnVp&4p0_DFi5mAP9m+htkltUEnmQE@&E1ngg3T
z@R?(wg`lYj%Zx%01kC_kBslW-Qg9)cGflw>AoYA9bO@B@!YTyK^8SFO6oMdVI@)Cg
zDEVH>JrC%dE|8`^w~u8M5DNiHAqaw?QK2*kOm_iL!0Pybd8qyEGfxyi3QbjT-$M`t
zO%!%wkf?nQu(4dQ-FI#%t_^4w_XI4Z5ClQf)voURp>;s>gjWD51So|d2!bXBrU21(
z!zq9iT7owC3LprA03#5t0SG$!bq-4@1VPZebZ9FmtgO?5OMoZ@D1{&hf&i@0D&ZD_
zjv=`3Aqav1D-eET2s*lu5(<JKXeH1BD=NSff~Kth3oroINMSnc7ozO|0000<MNUMn
GLSTX$%Y)DW

literal 0
HcmV?d00001

diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
index 354cc0702..40be848e7 100644
--- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
@@ -81,7 +81,7 @@ void runningDeviceWidget::populate()
         devicePic.load("");//TODO
         break;
     case 0x0301:
-        devicePic.load("");//TODO
+        devicePic.load(":/uploader/images/pipx.png");
         break;
     case 0x0401:
         devicePic.load(":/uploader/images/gcs-board-cc.png");
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader.qrc b/ground/openpilotgcs/src/plugins/uploader/uploader.qrc
index 5cec90aac..2c21df666 100644
--- a/ground/openpilotgcs/src/plugins/uploader/uploader.qrc
+++ b/ground/openpilotgcs/src/plugins/uploader/uploader.qrc
@@ -15,5 +15,6 @@
         <file>images/deviceID-0402.svg</file>
         <file>images/gcs-board-cc.png</file>
         <file>images/gcs-board-cc3d.png</file>
+        <file>images/pipx.png</file>
     </qresource>
 </RCC>

From 06e9fe0a283dbcbe6549b9eb1d155d1b3ea5549c Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sat, 21 Jul 2012 10:07:47 -0700
Subject: [PATCH 056/543] removed all the pushbutton stylesheets, fixed the
 scrollbar area colors, compacted UI a bit more for smaller screens, misc text
 changes

---
 .../src/plugins/config/airframe.ui            |  45 +-
 .../src/plugins/config/camerastabilization.ui | 320 ++++-----
 .../src/plugins/config/configoutputwidget.cpp |   3 +
 .../config/configstabilizationwidget.cpp      |  33 +-
 .../openpilotgcs/src/plugins/config/input.ui  |  43 +-
 .../openpilotgcs/src/plugins/config/output.ui | 127 ++--
 .../src/plugins/config/pipxtreme.ui           |   5 +-
 .../src/plugins/config/pro_hw_settings.ui     |   7 +-
 .../src/plugins/config/stabilization.ui       | 680 ++++++++----------
 .../openpilotgcs/src/plugins/config/txpid.ui  |  45 +-
 10 files changed, 519 insertions(+), 789 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 1221aae5d..85abfa7af 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -2977,7 +2977,7 @@ p, li { white-space: pre-wrap; }
 &lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
 &lt;tr&gt;
 &lt;td style=&quot;border: none;&quot;&gt;
-&lt;p align=&quot;center&quot; 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:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD IS DANGEROUS&lt;/span&gt;&lt;/p&gt;
+&lt;p align=&quot;center&quot; 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:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&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:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
 &lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
@@ -3015,6 +3015,9 @@ p, li { white-space: pre-wrap; }
      <layout class="QVBoxLayout" name="verticalLayout">
       <item>
        <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <property name="spacing">
+         <number>4</number>
+        </property>
         <item>
          <spacer name="horizontalSpacer">
           <property name="orientation">
@@ -3075,25 +3078,7 @@ p, li { white-space: pre-wrap; }
            <string>Send to board, but don't save permanently (flash or SD).</string>
           </property>
           <property name="styleSheet">
-           <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+           <string notr="true"/>
           </property>
           <property name="text">
            <string>Apply</string>
@@ -3112,25 +3097,7 @@ border-radius: 4;
            <string>Applies and Saves all settings to flash or SD depending on board.</string>
           </property>
           <property name="styleSheet">
-           <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+           <string notr="true"/>
           </property>
           <property name="text">
            <string>Save</string>
diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
index b41aac015..6b24feff8 100644
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -132,7 +132,7 @@
             <x>0</x>
             <y>0</y>
             <width>790</width>
-            <height>646</height>
+            <height>648</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -859,204 +859,148 @@ value.</string>
    </item>
    <item>
     <widget class="QGroupBox" name="groupBox_2">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>75</height>
+      </size>
+     </property>
      <property name="autoFillBackground">
       <bool>false</bool>
      </property>
      <property name="title">
       <string/>
      </property>
-     <layout class="QVBoxLayout" name="verticalLayout_4">
-      <property name="margin">
-       <number>12</number>
-      </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_3">
       <item>
-       <layout class="QVBoxLayout" name="verticalLayout">
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>425</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QPushButton" name="camerastabilizationHelp">
+        <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="font">
+         <font>
+          <kerning>true</kerning>
+         </font>
+        </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="shortcut">
+         <string>Ctrl+S</string>
+        </property>
+        <property name="default">
+         <bool>false</bool>
+        </property>
+        <property name="flat">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <property name="spacing">
+         <number>4</number>
+        </property>
         <item>
-         <layout class="QHBoxLayout" name="submitButtons">
-          <item>
-           <widget class="QFrame" name="frame">
-            <property name="frameShape">
-             <enum>QFrame::StyledPanel</enum>
-            </property>
-            <property name="frameShadow">
-             <enum>QFrame::Raised</enum>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <spacer name="horizontalSpacer">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>40</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
-           <widget class="QPushButton" name="camerastabilizationHelp">
-            <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="font">
-             <font>
-              <kerning>true</kerning>
-             </font>
-            </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="shortcut">
-             <string>Ctrl+S</string>
-            </property>
-            <property name="default">
-             <bool>false</bool>
-            </property>
-            <property name="flat">
-             <bool>true</bool>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QPushButton" name="camerastabilizationResetToDefaults">
-            <property name="minimumSize">
-             <size>
-              <width>130</width>
-              <height>28</height>
-             </size>
-            </property>
-            <property name="toolTip">
-             <string>Load default CameraStabilization settings except output channels
+         <widget class="QPushButton" name="camerastabilizationResetToDefaults">
+          <property name="minimumSize">
+           <size>
+            <width>140</width>
+            <height>28</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Load default CameraStabilization settings except output channels
 
 Loaded settings are not applied automatically. You have to click the
 Apply or Save button afterwards.</string>
-            </property>
-            <property name="styleSheet">
-             <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
-            </property>
-            <property name="text">
-             <string>Reset To Defaults</string>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QPushButton" name="camerastabilizationSaveRAM">
-            <property name="minimumSize">
-             <size>
-              <width>60</width>
-              <height>28</height>
-             </size>
-            </property>
-            <property name="toolTip">
-             <string>Send settings to the board but do not save to the non-volatile memory</string>
-            </property>
-            <property name="styleSheet">
-             <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
-            </property>
-            <property name="text">
-             <string>Apply</string>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QPushButton" name="camerastabilizationSaveSD">
-            <property name="minimumSize">
-             <size>
-              <width>60</width>
-              <height>28</height>
-             </size>
-            </property>
-            <property name="toolTip">
-             <string>Send settings to the board and save to the non-volatile memory</string>
-            </property>
-            <property name="styleSheet">
-             <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
-            </property>
-            <property name="text">
-             <string>Save</string>
-            </property>
-            <property name="checked">
-             <bool>false</bool>
-            </property>
-           </widget>
-          </item>
-         </layout>
+          </property>
+          <property name="styleSheet">
+           <string notr="true"/>
+          </property>
+          <property name="text">
+           <string>Reset To Defaults</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="camerastabilizationSaveRAM">
+          <property name="minimumSize">
+           <size>
+            <width>78</width>
+            <height>28</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Send settings to the board but do not save to the non-volatile memory</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true"/>
+          </property>
+          <property name="text">
+           <string>Apply</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="camerastabilizationSaveSD">
+          <property name="minimumSize">
+           <size>
+            <width>71</width>
+            <height>28</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Send settings to the board and save to the non-volatile memory</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true"/>
+          </property>
+          <property name="text">
+           <string>Save</string>
+          </property>
+          <property name="checked">
+           <bool>false</bool>
+          </property>
+         </widget>
         </item>
        </layout>
       </item>
diff --git a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
index 9b3e6e01b..6985e7561 100644
--- a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
@@ -47,13 +47,16 @@
 #include "systemsettings.h"
 #include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
 
+
 ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent),wasItMe(false)
 {
     m_config = new Ui_OutputWidget();
     m_config->setupUi(this);
 
+
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
 
+
     UAVSettingsImportExportFactory * importexportplugin =  pm->getObject<UAVSettingsImportExportFactory>();
     connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(stopTests()));
 
diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
index 319803ca8..a535914ac 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
@@ -41,11 +41,7 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     m_stabilization = new Ui_StabilizationWidget();
     m_stabilization->setupUi(this);
 
-    // To bring old style sheet back without adding it manually do this:
-    // Alternatively apply a global stylesheet to the QGroupBox
-    // setStyleSheet("QGroupBox {background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; }");
-    //setStyleSheet("QPushButton {\nborder: 1px outset #999;\nborder-radius: 5;\nbackground-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));\n}\n\nQPushButton:pressed {\n\n    border-style: inset;\n	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));\n\n}\n\n\nQPushButton:hover  {\n	border: 1px outset #999;	\nborder-color: rgb(83, 83, 83);\nborder-radius: 4;\n}");
-    //setStyleSheet("background-color: rgb(230, 230, 230);");
+    
 
     autoLoadWidgets();
     realtimeUpdates=new QTimer(this);
@@ -65,20 +61,18 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     // This is needed because new style tries to compact things as much as possible in grid
     // and on OSX the widget sizes of PushButtons is reported incorrectly:
     // https://bugreports.qt-project.org/browse/QTBUG-14591
-    m_stabilization->saveStabilizationToRAM_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-    m_stabilization->saveStabilizationToSD_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-    m_stabilization->stabilizationReloadBoardData_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-   // m_stabilization->saveStabilizationToRAM_7->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-   // m_stabilization->saveStabilizationToSD_7->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-    m_stabilization->pushButton_2->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-    m_stabilization->pushButton_3->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-    m_stabilization->pushButton_4->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-    m_stabilization->pushButton_19->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-    m_stabilization->pushButton_20->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-    m_stabilization->pushButton_21->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-    m_stabilization->pushButton_22->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-    m_stabilization->pushButton_23->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-    m_stabilization->pushButton_24->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+//    m_stabilization->saveStabilizationToRAM_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+//    m_stabilization->saveStabilizationToSD_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+//    m_stabilization->stabilizationReloadBoardData_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+//    m_stabilization->pushButton_2->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+//    m_stabilization->pushButton_3->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+//    m_stabilization->pushButton_4->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+//    m_stabilization->pushButton_19->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+//    m_stabilization->pushButton_20->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+//    m_stabilization->pushButton_21->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+//    m_stabilization->pushButton_22->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+//    m_stabilization->pushButton_23->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+//    m_stabilization->pushButton_24->setAttribute(Qt::WA_LayoutUsesWidgetRect);
 }
 
 
@@ -90,7 +84,6 @@ ConfigStabilizationWidget::~ConfigStabilizationWidget()
 void ConfigStabilizationWidget::realtimeUpdatesSlot(int value)
 {
     m_stabilization->realTimeUpdates_6->setCheckState((Qt::CheckState)value);
-    //m_stabilization->realTimeUpdates_7->setCheckState((Qt::CheckState)value);
     if(value==Qt::Checked && !realtimeUpdates->isActive())
         realtimeUpdates->start(300);
     else if(value==Qt::Unchecked)
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index a6532ed53..a811c6754 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -1057,6 +1057,9 @@ margin:1px;</string>
      <layout class="QVBoxLayout" name="verticalLayout">
       <item>
        <layout class="QHBoxLayout" name="horizontalLayout_5">
+        <property name="spacing">
+         <number>4</number>
+        </property>
         <item>
          <spacer name="horizontalSpacer_5">
           <property name="orientation">
@@ -1115,25 +1118,7 @@ margin:1px;</string>
 Be sure to set the Neutral position on all sliders before sending!</string>
           </property>
           <property name="styleSheet">
-           <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+           <string notr="true"/>
           </property>
           <property name="text">
            <string>Apply</string>
@@ -1153,25 +1138,7 @@ border-radius: 4;
 Applies and Saves all settings to SD</string>
           </property>
           <property name="styleSheet">
-           <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+           <string notr="true"/>
           </property>
           <property name="text">
            <string>Save</string>
diff --git a/ground/openpilotgcs/src/plugins/config/output.ui b/ground/openpilotgcs/src/plugins/config/output.ui
index a74281ab0..de33805a6 100644
--- a/ground/openpilotgcs/src/plugins/config/output.ui
+++ b/ground/openpilotgcs/src/plugins/config/output.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>866</width>
+    <width>811</width>
     <height>937</height>
    </rect>
   </property>
@@ -113,7 +113,7 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>836</width>
+            <width>781</width>
             <height>800</height>
            </rect>
           </property>
@@ -121,7 +121,7 @@
            <item>
             <widget class="QGroupBox" name="groupBox_2">
              <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+              <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
                <horstretch>0</horstretch>
                <verstretch>0</verstretch>
               </sizepolicy>
@@ -146,7 +146,7 @@
                 </property>
                 <property name="sizeHint" stdset="0">
                  <size>
-                  <width>25</width>
+                  <width>5</width>
                   <height>20</height>
                  </size>
                 </property>
@@ -230,7 +230,7 @@
                 </property>
                 <property name="sizeHint" stdset="0">
                  <size>
-                  <width>25</width>
+                  <width>5</width>
                   <height>20</height>
                  </size>
                 </property>
@@ -663,7 +663,7 @@ margin:1px;</string>
                   </property>
                   <property name="minimumSize">
                    <size>
-                    <width>185</width>
+                    <width>45</width>
                     <height>0</height>
                    </size>
                   </property>
@@ -682,7 +682,7 @@ font:bold;
 margin:1px;</string>
                   </property>
                   <property name="text">
-                   <string>Neutral (slowest for motor)</string>
+                   <string>Neutral</string>
                   </property>
                   <property name="alignment">
                    <set>Qt::AlignCenter</set>
@@ -871,6 +871,42 @@ margin:1px;</string>
              </layout>
             </widget>
            </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_4">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>60</height>
+              </size>
+             </property>
+             <property name="title">
+              <string/>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_6">
+              <item>
+               <widget class="QCheckBox" name="channelOutTest">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>105</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Move the servos using the sliders. Two important things:
+- Take extra care if the output is connected to an motor controller!
+- Will only work if the RC receiver is working (failsafe)</string>
+                </property>
+                <property name="text">
+                 <string>Test outputs</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
           </layout>
          </widget>
         </widget>
@@ -881,33 +917,27 @@ margin:1px;</string>
    </item>
    <item>
     <widget class="QGroupBox" name="groupBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>75</height>
+      </size>
+     </property>
      <property name="title">
       <string/>
      </property>
      <layout class="QVBoxLayout" name="verticalLayout_2">
       <item>
        <layout class="QHBoxLayout" name="horizontalLayout">
-        <item>
-         <widget class="QCheckBox" name="channelOutTest">
-          <property name="enabled">
-           <bool>true</bool>
-          </property>
-          <property name="minimumSize">
-           <size>
-            <width>105</width>
-            <height>0</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>Move the servos using the sliders. Two important things:
-- Take extra care if the output is connected to an motor controller!
-- Will only work if the RC receiver is working (failsafe)</string>
-          </property>
-          <property name="text">
-           <string>Test outputs</string>
-          </property>
-         </widget>
-        </item>
+        <property name="spacing">
+         <number>4</number>
+        </property>
         <item>
          <spacer name="horizontalSpacer">
           <property name="orientation">
@@ -972,25 +1002,7 @@ margin:1px;</string>
 Be sure to set the Neutral position on all sliders before sending!</string>
           </property>
           <property name="styleSheet">
-           <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+           <string notr="true"/>
           </property>
           <property name="text">
            <string>Apply</string>
@@ -1010,25 +1022,7 @@ border-radius: 4;
 Applies and Saves all settings to SD</string>
           </property>
           <property name="styleSheet">
-           <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+           <string notr="true"/>
           </property>
           <property name="text">
            <string>Save</string>
@@ -1043,7 +1037,6 @@ border-radius: 4;
   </layout>
  </widget>
  <tabstops>
-  <tabstop>channelOutTest</tabstop>
   <tabstop>saveRCOutputToRAM</tabstop>
   <tabstop>saveRCOutputToSD</tabstop>
  </tabstops>
diff --git a/ground/openpilotgcs/src/plugins/config/pipxtreme.ui b/ground/openpilotgcs/src/plugins/config/pipxtreme.ui
index 8a5c2dec4..557023855 100644
--- a/ground/openpilotgcs/src/plugins/config/pipxtreme.ui
+++ b/ground/openpilotgcs/src/plugins/config/pipxtreme.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>840</width>
-    <height>834</height>
+    <height>862</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -63,6 +63,9 @@
         </item>
         <item>
          <layout class="QHBoxLayout" name="submitButtons">
+          <property name="spacing">
+           <number>4</number>
+          </property>
           <item>
            <widget class="QFrame" name="frame">
             <property name="frameShape">
diff --git a/ground/openpilotgcs/src/plugins/config/pro_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/pro_hw_settings.ui
index 6e6751b87..4c782357c 100644
--- a/ground/openpilotgcs/src/plugins/config/pro_hw_settings.ui
+++ b/ground/openpilotgcs/src/plugins/config/pro_hw_settings.ui
@@ -29,9 +29,9 @@
          <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;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt;Set the serial speed of your onboard telemetry modem here. It is the speed between the OpenPilot board and the onboard modem, and could be different from the radio link speed.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans'; font-size:10pt;&quot;&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans'; font-size:10pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt;Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
         </property>
        </widget>
@@ -76,6 +76,9 @@ p, li { white-space: pre-wrap; }
       </item>
       <item>
        <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <property name="spacing">
+         <number>4</number>
+        </property>
         <item>
          <spacer name="horizontalSpacer">
           <property name="orientation">
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 9aa5eb445..57b250731 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -7,9 +7,21 @@
     <x>0</x>
     <y>0</y>
     <width>786</width>
-    <height>993</height>
+    <height>950</height>
    </rect>
   </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="MinimumExpanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>350</width>
+    <height>0</height>
+   </size>
+  </property>
   <property name="palette">
    <palette>
     <active>
@@ -450,7 +462,7 @@
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
@@ -498,6 +510,18 @@
        </property>
        <item>
         <widget class="QScrollArea" name="scrollArea">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>50</width>
+           <height>0</height>
+          </size>
+         </property>
          <property name="palette">
           <palette>
            <active>
@@ -577,12 +601,12 @@
             <x>0</x>
             <y>0</y>
             <width>756</width>
-            <height>856</height>
+            <height>817</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_8">
            <property name="spacing">
-            <number>12</number>
+            <number>-1</number>
            </property>
            <item>
             <layout class="QHBoxLayout" name="horizontalLayout_8">
@@ -644,8 +668,11 @@
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
              </property>
              <layout class="QGridLayout" name="gridLayout_16">
+              <property name="horizontalSpacing">
+               <number>-1</number>
+              </property>
               <item row="0" column="0">
-               <layout class="QHBoxLayout" name="horizontalLayout">
+               <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0,0">
                 <property name="spacing">
                  <number>4</number>
                 </property>
@@ -668,6 +695,22 @@
                   </property>
                  </widget>
                 </item>
+                <item>
+                 <spacer name="horizontalSpacer_3">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeType">
+                   <enum>QSizePolicy::MinimumExpanding</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
                 <item>
                  <widget class="QPushButton" name="pushButton_19">
                   <property name="sizePolicy">
@@ -679,7 +722,7 @@
                   <property name="minimumSize">
                    <size>
                     <width>51</width>
-                    <height>28</height>
+                    <height>25</height>
                    </size>
                   </property>
                   <property name="maximumSize">
@@ -695,25 +738,7 @@
                    <bool>false</bool>
                   </property>
                   <property name="styleSheet">
-                   <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+                   <string notr="true"/>
                   </property>
                   <property name="text">
                    <string>Wiki</string>
@@ -737,13 +762,13 @@ border-radius: 4;
                   <property name="minimumSize">
                    <size>
                     <width>81</width>
-                    <height>28</height>
+                    <height>25</height>
                    </size>
                   </property>
                   <property name="maximumSize">
                    <size>
-                    <width>81</width>
-                    <height>28</height>
+                    <width>16777215</width>
+                    <height>16777215</height>
                    </size>
                   </property>
                   <property name="toolTip">
@@ -753,25 +778,7 @@ border-radius: 4;
                    <bool>false</bool>
                   </property>
                   <property name="styleSheet">
-                   <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+                   <string notr="true"/>
                   </property>
                   <property name="text">
                    <string>Default</string>
@@ -4109,7 +4116,7 @@ value as the Kp.</string>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_3">
               <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_2">
+               <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,0,0,0">
                 <property name="spacing">
                  <number>4</number>
                 </property>
@@ -4132,6 +4139,22 @@ value as the Kp.</string>
                   </property>
                  </widget>
                 </item>
+                <item>
+                 <spacer name="horizontalSpacer_4">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeType">
+                   <enum>QSizePolicy::MinimumExpanding</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
                 <item>
                  <widget class="QPushButton" name="pushButton_21">
                   <property name="sizePolicy">
@@ -4143,32 +4166,14 @@ value as the Kp.</string>
                   <property name="minimumSize">
                    <size>
                     <width>51</width>
-                    <height>28</height>
+                    <height>25</height>
                    </size>
                   </property>
                   <property name="toolTip">
                    <string>Takes you to the online wiki page for Attitude settings</string>
                   </property>
                   <property name="styleSheet">
-                   <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+                   <string notr="true"/>
                   </property>
                   <property name="text">
                    <string>Wiki</string>
@@ -4192,32 +4197,14 @@ border-radius: 4;
                   <property name="minimumSize">
                    <size>
                     <width>81</width>
-                    <height>28</height>
+                    <height>25</height>
                    </size>
                   </property>
                   <property name="toolTip">
                    <string>Reset all values to GCS defaults</string>
                   </property>
                   <property name="styleSheet">
-                   <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+                   <string notr="true"/>
                   </property>
                   <property name="text">
                    <string>Default</string>
@@ -7493,7 +7480,7 @@ border-radius: 5;</string>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_4">
               <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_3">
+               <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,0,0">
                 <property name="spacing">
                  <number>4</number>
                 </property>
@@ -7503,12 +7490,12 @@ border-radius: 5;</string>
                    <enum>Qt::Horizontal</enum>
                   </property>
                   <property name="sizeType">
-                   <enum>QSizePolicy::Expanding</enum>
+                   <enum>QSizePolicy::MinimumExpanding</enum>
                   </property>
                   <property name="sizeHint" stdset="0">
                    <size>
-                    <width>474</width>
-                    <height>13</height>
+                    <width>40</width>
+                    <height>20</height>
                    </size>
                   </property>
                  </spacer>
@@ -7524,32 +7511,14 @@ border-radius: 5;</string>
                   <property name="minimumSize">
                    <size>
                     <width>51</width>
-                    <height>28</height>
+                    <height>25</height>
                    </size>
                   </property>
                   <property name="toolTip">
                    <string>Takes you to the online wiki page for Stick settings</string>
                   </property>
                   <property name="styleSheet">
-                   <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+                   <string notr="true"/>
                   </property>
                   <property name="text">
                    <string>Wiki</string>
@@ -7573,32 +7542,14 @@ border-radius: 4;
                   <property name="minimumSize">
                    <size>
                     <width>81</width>
-                    <height>28</height>
+                    <height>25</height>
                    </size>
                   </property>
                   <property name="toolTip">
                    <string>Reset all values to GCS defaults</string>
                   </property>
                   <property name="styleSheet">
-                   <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+                   <string notr="true"/>
                   </property>
                   <property name="text">
                    <string>Default</string>
@@ -10611,6 +10562,78 @@ Attitude</string>
              </layout>
             </widget>
            </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>80</height>
+              </size>
+             </property>
+             <property name="title">
+              <string/>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_11">
+              <item>
+               <widget class="QCheckBox" name="lowThrottleZeroIntegral_8">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>300</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>When the throttle is low, zero the intergral term to prevent intergral wind-up</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Zero the integral when throttle is low</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:StabilizationSettings</string>
+                  <string>fieldname:LowThrottleZeroIntegral</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QCheckBox" name="realTimeUpdates_6">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>136</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>If you check this, the GCS will udpate the stabilization factors
+automatically every 300ms, which will help for fast tuning.</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Update in real time</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
            <item>
             <spacer name="verticalSpacer_10">
              <property name="orientation">
@@ -10721,16 +10744,16 @@ Attitude</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>741</width>
-            <height>923</height>
+            <width>470</width>
+            <height>914</height>
            </rect>
           </property>
           <property name="autoFillBackground">
            <bool>true</bool>
           </property>
-          <layout class="QVBoxLayout" name="verticalLayout_11">
+          <layout class="QVBoxLayout" name="verticalLayout_9">
            <property name="spacing">
-            <number>12</number>
+            <number>-1</number>
            </property>
            <item>
             <layout class="QHBoxLayout" name="horizontalLayout_11">
@@ -10776,13 +10799,13 @@ Attitude</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>210</height>
+               <height>220</height>
               </size>
              </property>
              <property name="maximumSize">
               <size>
                <width>16777215</width>
-               <height>210</height>
+               <height>16777215</height>
               </size>
              </property>
              <property name="palette">
@@ -11312,7 +11335,7 @@ Attitude</string>
               <item>
                <layout class="QHBoxLayout" name="horizontalLayout_4">
                 <property name="spacing">
-                 <number>-1</number>
+                 <number>4</number>
                 </property>
                 <item>
                  <widget class="QCheckBox" name="checkBox_3">
@@ -11324,6 +11347,19 @@ Attitude</string>
                   </property>
                  </widget>
                 </item>
+                <item>
+                 <spacer name="horizontalSpacer_6">
+                  <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="pushButton_4">
                   <property name="sizePolicy">
@@ -11335,35 +11371,20 @@ Attitude</string>
                   <property name="minimumSize">
                    <size>
                     <width>81</width>
-                    <height>28</height>
+                    <height>25</height>
                    </size>
                   </property>
                   <property name="maximumSize">
                    <size>
-                    <width>81</width>
-                    <height>28</height>
+                    <width>16777215</width>
+                    <height>16777215</height>
                    </size>
                   </property>
+                  <property name="toolTip">
+                   <string>Reset all values to GCS defaults</string>
+                  </property>
                   <property name="styleSheet">
-                   <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+                   <string notr="true"/>
                   </property>
                   <property name="text">
                    <string>Default</string>
@@ -14269,13 +14290,13 @@ value as the Kp.</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>181</height>
+               <height>190</height>
               </size>
              </property>
              <property name="maximumSize">
               <size>
                <width>16777215</width>
-               <height>181</height>
+               <height>16777215</height>
               </size>
              </property>
              <property name="palette">
@@ -14820,6 +14841,19 @@ value as the Kp.</string>
                   </property>
                  </widget>
                 </item>
+                <item>
+                 <spacer name="horizontalSpacer_7">
+                  <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="pushButton_2">
                   <property name="sizePolicy">
@@ -14831,38 +14865,20 @@ value as the Kp.</string>
                   <property name="minimumSize">
                    <size>
                     <width>81</width>
-                    <height>28</height>
+                    <height>25</height>
                    </size>
                   </property>
                   <property name="maximumSize">
                    <size>
-                    <width>81</width>
-                    <height>28</height>
+                    <width>16777215</width>
+                    <height>16777215</height>
                    </size>
                   </property>
                   <property name="toolTip">
                    <string>Reset all values to GCS defaults</string>
                   </property>
                   <property name="styleSheet">
-                   <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+                   <string notr="true"/>
                   </property>
                   <property name="text">
                    <string>Default</string>
@@ -17579,7 +17595,7 @@ border-radius: 5;</string>
              <property name="maximumSize">
               <size>
                <width>16777215</width>
-               <height>211</height>
+               <height>16777215</height>
               </size>
              </property>
              <property name="palette">
@@ -18118,8 +18134,8 @@ border-radius: 5;</string>
                   </property>
                   <property name="sizeHint" stdset="0">
                    <size>
-                    <width>100</width>
-                    <height>10</height>
+                    <width>40</width>
+                    <height>20</height>
                    </size>
                   </property>
                  </spacer>
@@ -18135,38 +18151,20 @@ border-radius: 5;</string>
                   <property name="minimumSize">
                    <size>
                     <width>81</width>
-                    <height>28</height>
+                    <height>25</height>
                    </size>
                   </property>
                   <property name="maximumSize">
                    <size>
-                    <width>81</width>
-                    <height>28</height>
+                    <width>16777215</width>
+                    <height>16777215</height>
                    </size>
                   </property>
                   <property name="toolTip">
                    <string>Reset all values to GCS defaults</string>
                   </property>
                   <property name="styleSheet">
-                   <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+                   <string notr="true"/>
                   </property>
                   <property name="text">
                    <string>Default</string>
@@ -20867,33 +20865,37 @@ rate(deg/s)</string>
             </widget>
            </item>
            <item>
-            <widget class="QLabel" name="label_45">
-             <property name="minimumSize">
-              <size>
-               <width>180</width>
-               <height>16</height>
-              </size>
-             </property>
-             <property name="text">
-              <string>Sensor Tunning</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <spacer name="horizontalSpacer_41">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::Fixed</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>10</height>
-              </size>
-             </property>
-            </spacer>
+            <layout class="QHBoxLayout" name="horizontalLayout_16">
+             <item>
+              <spacer name="horizontalSpacer_41">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>10</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item>
+              <widget class="QLabel" name="label_45">
+               <property name="minimumSize">
+                <size>
+                 <width>180</width>
+                 <height>16</height>
+                </size>
+               </property>
+               <property name="text">
+                <string>Sensor Tunning</string>
+               </property>
+              </widget>
+             </item>
+            </layout>
            </item>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_23">
@@ -20906,7 +20908,7 @@ rate(deg/s)</string>
              <property name="maximumSize">
               <size>
                <width>16777215</width>
-               <height>125</height>
+               <height>16777215</height>
               </size>
              </property>
              <property name="palette">
@@ -21449,7 +21451,7 @@ rate(deg/s)</string>
                   <property name="sizeHint" stdset="0">
                    <size>
                     <width>459</width>
-                    <height>10</height>
+                    <height>20</height>
                    </size>
                   </property>
                  </spacer>
@@ -21465,38 +21467,20 @@ rate(deg/s)</string>
                   <property name="minimumSize">
                    <size>
                     <width>81</width>
-                    <height>28</height>
+                    <height>25</height>
                    </size>
                   </property>
                   <property name="maximumSize">
                    <size>
-                    <width>81</width>
-                    <height>28</height>
+                    <width>16777215</width>
+                    <height>16777215</height>
                    </size>
                   </property>
                   <property name="toolTip">
                    <string>Reset all values to GCS defaults</string>
                   </property>
                   <property name="styleSheet">
-                   <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+                   <string notr="true"/>
                   </property>
                   <property name="text">
                    <string>Default</string>
@@ -23774,7 +23758,7 @@ border-radius: 5;</string>
    <item>
     <widget class="QGroupBox" name="RateStabilizationGroup_21">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
@@ -23782,13 +23766,13 @@ border-radius: 5;</string>
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>79</height>
+       <height>75</height>
       </size>
      </property>
      <property name="maximumSize">
       <size>
        <width>16777215</width>
-       <height>79</height>
+       <height>75</height>
       </size>
      </property>
      <property name="palette">
@@ -24314,58 +24298,46 @@ border-radius: 5;</string>
      <property name="alignment">
       <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
      </property>
-     <layout class="QVBoxLayout" name="verticalLayout_9">
+     <layout class="QHBoxLayout" name="horizontalLayout_15">
       <property name="spacing">
-       <number>12</number>
-      </property>
-      <property name="topMargin">
-       <number>12</number>
+       <number>4</number>
       </property>
       <item>
-       <layout class="QGridLayout" name="gridLayout_5">
-        <item row="0" column="0">
-         <widget class="QCheckBox" name="lowThrottleZeroIntegral_8">
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_14">
+        <property name="spacing">
+         <number>4</number>
+        </property>
+        <item>
+         <widget class="QPushButton" name="stabilizationReloadBoardData_6">
           <property name="sizePolicy">
-           <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
             <horstretch>0</horstretch>
             <verstretch>0</verstretch>
            </sizepolicy>
           </property>
           <property name="minimumSize">
            <size>
-            <width>300</width>
-            <height>20</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>When the throttle is low, zero the intergral term to prevent intergral wind-up</string>
-          </property>
-          <property name="styleSheet">
-           <string notr="true"/>
-          </property>
-          <property name="text">
-           <string>Zero the integral when throttle is low</string>
-          </property>
-          <property name="objrelation" stdset="0">
-           <stringlist>
-            <string>objname:StabilizationSettings</string>
-            <string>fieldname:LowThrottleZeroIntegral</string>
-           </stringlist>
-          </property>
-         </widget>
-        </item>
-        <item row="0" column="1" rowspan="2">
-         <widget class="QPushButton" name="stabilizationReloadBoardData_6">
-          <property name="minimumSize">
-           <size>
-            <width>130</width>
-            <height>28</height>
+            <width>140</width>
+            <height>25</height>
            </size>
           </property>
           <property name="maximumSize">
            <size>
-            <width>130</width>
-            <height>28</height>
+            <width>16777215</width>
+            <height>16777215</height>
            </size>
           </property>
           <property name="toolTip">
@@ -24373,25 +24345,7 @@ border-radius: 5;</string>
 Useful if you have accidentally changed some settings.</string>
           </property>
           <property name="styleSheet">
-           <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+           <string notr="true"/>
           </property>
           <property name="text">
            <string>Reload Board Data</string>
@@ -24404,43 +24358,25 @@ border-radius: 4;
           </property>
          </widget>
         </item>
-        <item row="0" column="2" rowspan="2">
+        <item>
          <widget class="QPushButton" name="saveStabilizationToRAM_6">
           <property name="minimumSize">
            <size>
             <width>60</width>
-            <height>28</height>
+            <height>25</height>
            </size>
           </property>
           <property name="maximumSize">
            <size>
-            <width>60</width>
-            <height>28</height>
+            <width>16777215</width>
+            <height>16777215</height>
            </size>
           </property>
           <property name="toolTip">
            <string>Send settings to the board but do not save to the non-volatile memory</string>
           </property>
           <property name="styleSheet">
-           <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+           <string notr="true"/>
           </property>
           <property name="text">
            <string>Apply</string>
@@ -24452,43 +24388,25 @@ border-radius: 4;
           </property>
          </widget>
         </item>
-        <item row="0" column="3" rowspan="2">
+        <item>
          <widget class="QPushButton" name="saveStabilizationToSD_6">
           <property name="minimumSize">
            <size>
             <width>60</width>
-            <height>28</height>
+            <height>25</height>
            </size>
           </property>
           <property name="maximumSize">
            <size>
-            <width>60</width>
-            <height>28</height>
+            <width>16777215</width>
+            <height>16777215</height>
            </size>
           </property>
           <property name="toolTip">
            <string>Send settings to the board and save to the non-volatile memory</string>
           </property>
           <property name="styleSheet">
-           <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+           <string notr="true"/>
           </property>
           <property name="text">
            <string>Save</string>
@@ -24500,32 +24418,6 @@ border-radius: 4;
           </property>
          </widget>
         </item>
-        <item row="1" column="0">
-         <widget class="QCheckBox" name="realTimeUpdates_6">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="minimumSize">
-           <size>
-            <width>136</width>
-            <height>20</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>If you check this, the GCS will udpate the stabilization factors
-automatically every 300ms, which will help for fast tuning.</string>
-          </property>
-          <property name="styleSheet">
-           <string notr="true"/>
-          </property>
-          <property name="text">
-           <string>Update in real time</string>
-          </property>
-         </widget>
-        </item>
        </layout>
       </item>
      </layout>
@@ -24586,8 +24478,6 @@ automatically every 300ms, which will help for fast tuning.</string>
   <tabstop>spinBox_26</tabstop>
   <tabstop>horizontalSlider_96</tabstop>
   <tabstop>spinBox_27</tabstop>
-  <tabstop>lowThrottleZeroIntegral_8</tabstop>
-  <tabstop>realTimeUpdates_6</tabstop>
   <tabstop>stabilizationReloadBoardData_6</tabstop>
   <tabstop>saveStabilizationToRAM_6</tabstop>
   <tabstop>saveStabilizationToSD_6</tabstop>
diff --git a/ground/openpilotgcs/src/plugins/config/txpid.ui b/ground/openpilotgcs/src/plugins/config/txpid.ui
index 45eb17a61..e9acbec2d 100644
--- a/ground/openpilotgcs/src/plugins/config/txpid.ui
+++ b/ground/openpilotgcs/src/plugins/config/txpid.ui
@@ -623,7 +623,7 @@ margin:1px;</string>
    <item>
     <widget class="QGroupBox" name="groupBox_3">
      <property name="title">
-      <string>Messsages</string>
+      <string>Messages</string>
      </property>
      <layout class="QHBoxLayout" name="horizontalLayout">
       <item>
@@ -662,6 +662,9 @@ margin:1px;</string>
      <layout class="QVBoxLayout" name="verticalLayout">
       <item>
        <layout class="QHBoxLayout" name="submitButtons">
+        <property name="spacing">
+         <number>4</number>
+        </property>
         <item>
          <widget class="QFrame" name="frame">
           <property name="frameShape">
@@ -697,25 +700,7 @@ margin:1px;</string>
            <string>Send settings to the board but do not save to the non-volatile memory</string>
           </property>
           <property name="styleSheet">
-           <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+           <string notr="true"/>
           </property>
           <property name="text">
            <string>Apply</string>
@@ -734,25 +719,7 @@ border-radius: 4;
            <string>Send settings to the board and save to the non-volatile memory</string>
           </property>
           <property name="styleSheet">
-           <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
+           <string notr="true"/>
           </property>
           <property name="text">
            <string>Save</string>

From 1d1ef0dfcef56df72d39a2c89371bc3a3f817fcb Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sat, 21 Jul 2012 10:58:05 -0700
Subject: [PATCH 057/543] removed all the pushbutton stylesheets, hid all the
 apply buttons

---
 .../configcamerastabilizationwidget.cpp       |  7 +++++
 .../plugins/config/configccattitudewidget.cpp |  8 +++++-
 .../src/plugins/config/configinputwidget.cpp  | 10 +++++++
 .../src/plugins/config/configoutputwidget.cpp |  9 ++++--
 .../config/configstabilizationwidget.cpp      | 28 ++++++++-----------
 .../src/plugins/config/configtxpidwidget.cpp  |  7 +++++
 .../config/configvehicletypewidget.cpp        |  8 ++++++
 7 files changed, 58 insertions(+), 19 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
index 3e757de63..c15af11b2 100644
--- a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
@@ -33,12 +33,19 @@
 #include <QDebug>
 #include <QDesktopServices>
 #include <QUrl>
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
 
 ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
     // TODO: this widget should use the addUAVObjectToWidgetRelation()
     m_camerastabilization = new Ui_CameraStabilizationWidget();
     m_camerastabilization->setupUi(this);
+    
+    ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
+    if(!settings->useExpertMode())
+        m_camerastabilization->camerastabilizationSaveRAM->setVisible(false);
 
     QComboBox *outputs[3] = {
         m_camerastabilization->rollChannel,
diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
index 10064b835..044dd7770 100644
--- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
@@ -35,6 +35,8 @@
 #include <QUrl>
 #include "accels.h"
 #include "gyros.h"
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
 
 ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
         ConfigTaskWidget(parent),
@@ -43,7 +45,11 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
     ui->setupUi(this);
     connect(ui->zeroBias,SIGNAL(clicked()),this,SLOT(startAccelCalibration()));
 
-
+    ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
+    if(!settings->useExpertMode())
+        ui->applyButton->setVisible(false);
+    
     addApplySaveButtons(ui->applyButton,ui->saveButton);
     addUAVObject("AttitudeSettings");
 
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index 7952b3d70..769790c94 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -41,6 +41,9 @@
 #include <utils/stylehelper.h>
 #include <QMessageBox>
 
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
+
 #define ACCESS_MIN_MOVE -3
 #define ACCESS_MAX_MOVE 3
 #define STICK_MIN_MOVE -8
@@ -53,7 +56,14 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager());
     m_config = new Ui_InputWidget();
     m_config->setupUi(this);
+    
+    addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
 
+    ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
+    if(!settings->useExpertMode())
+        m_config->saveRCInputToRAM->setVisible(false);
+    
     addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
 
 	//Generate the rows of buttons in the input channel form GUI
diff --git a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
index 6985e7561..cb1918888 100644
--- a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
@@ -46,15 +46,20 @@
 #include "systemalarms.h"
 #include "systemsettings.h"
 #include "uavsettingsimportexport/uavsettingsimportexportfactory.h"
-
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
 
 ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent),wasItMe(false)
 {
     m_config = new Ui_OutputWidget();
     m_config->setupUi(this);
+    
+    ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
+    if(!settings->useExpertMode())
+        m_config->saveRCOutputToRAM->setVisible(false);
 
 
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
 
 
     UAVSettingsImportExportFactory * importexportplugin =  pm->getObject<UAVSettingsImportExportFactory>();
diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
index a535914ac..bc277a2c3 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
@@ -36,17 +36,27 @@
 #include <QUrl>
 #include <QList>
 
+
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
+
+
 ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
     m_stabilization = new Ui_StabilizationWidget();
     m_stabilization->setupUi(this);
 
+
+    ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
+    if(!settings->useExpertMode())
+        m_stabilization->saveStabilizationToRAM_6->setVisible(false);
+
     
 
     autoLoadWidgets();
     realtimeUpdates=new QTimer(this);
     connect(m_stabilization->realTimeUpdates_6,SIGNAL(stateChanged(int)),this,SLOT(realtimeUpdatesSlot(int)));
-    //connect(m_stabilization->realTimeUpdates_7,SIGNAL(stateChanged(int)),this,SLOT(realtimeUpdatesSlot(int)));
     connect(realtimeUpdates,SIGNAL(timeout()),this,SLOT(apply()));
 
     connect(m_stabilization->checkBox_7,SIGNAL(stateChanged(int)),this,SLOT(linkCheckBoxes(int)));
@@ -58,21 +68,7 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
 
     disableMouseWheelEvents();
 
-    // This is needed because new style tries to compact things as much as possible in grid
-    // and on OSX the widget sizes of PushButtons is reported incorrectly:
-    // https://bugreports.qt-project.org/browse/QTBUG-14591
-//    m_stabilization->saveStabilizationToRAM_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-//    m_stabilization->saveStabilizationToSD_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-//    m_stabilization->stabilizationReloadBoardData_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-//    m_stabilization->pushButton_2->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-//    m_stabilization->pushButton_3->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-//    m_stabilization->pushButton_4->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-//    m_stabilization->pushButton_19->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-//    m_stabilization->pushButton_20->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-//    m_stabilization->pushButton_21->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-//    m_stabilization->pushButton_22->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-//    m_stabilization->pushButton_23->setAttribute(Qt::WA_LayoutUsesWidgetRect);
-//    m_stabilization->pushButton_24->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+
 }
 
 
diff --git a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp
index 30c87bd78..6c6ac1c9a 100644
--- a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp
@@ -28,11 +28,18 @@
 #include "configtxpidwidget.h"
 #include "txpidsettings.h"
 #include "hwsettings.h"
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
 
 ConfigTxPIDWidget::ConfigTxPIDWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
     m_txpid = new Ui_TxPIDWidget();
     m_txpid->setupUi(this);
+    
+    ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
+    if(!settings->useExpertMode())
+        m_txpid->Apply->setVisible(false);
 
     addApplySaveButtons(m_txpid->Apply, m_txpid->Save);
 
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 1a765a381..5c91204b4 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -41,6 +41,9 @@
 #include "systemsettings.h"
 #include "mixersettings.h"
 #include "actuatorsettings.h"
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
+
 
 /**
   Helper delegate for the custom mixer editor table.
@@ -97,6 +100,11 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
 {
     m_aircraft = new Ui_AircraftWidget();
     m_aircraft->setupUi(this);
+    
+    ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
+    if(!settings->useExpertMode())
+        m_aircraft->saveAircraftToRAM->setVisible(false);
 
     addApplySaveButtons(m_aircraft->saveAircraftToRAM,m_aircraft->saveAircraftToSD);
 

From a53158bec180534e2139d0afcf047dc135f522d7 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sat, 21 Jul 2012 11:26:37 -0700
Subject: [PATCH 058/543] removed all the pushbutton stylesheets, hid all the
 apply buttons, applied same design ideas to the HW and the attitude forms

---
 .../src/plugins/config/airframe.ui            |  12 +
 .../src/plugins/config/camerastabilization.ui |  12 +
 .../src/plugins/config/cc_hw_settings.ui      | 569 +++++++++++-------
 .../src/plugins/config/ccattitude.ui          | 544 ++++++++++-------
 4 files changed, 718 insertions(+), 419 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 85abfa7af..e3bb54aa9 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -3009,6 +3009,18 @@ p, li { white-space: pre-wrap; }
    </item>
    <item>
     <widget class="QGroupBox" name="groupBox_8">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>75</height>
+      </size>
+     </property>
      <property name="title">
       <string/>
      </property>
diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
index 6b24feff8..116bab28a 100644
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -837,6 +837,18 @@ value.</string>
    </item>
    <item>
     <widget class="QGroupBox" name="groupBox_3">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>50</height>
+      </size>
+     </property>
      <property name="autoFillBackground">
       <bool>false</bool>
      </property>
diff --git a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
index e64800124..3c9540105 100644
--- a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
+++ b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
@@ -6,210 +6,347 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>517</width>
-    <height>487</height>
+    <width>691</width>
+    <height>849</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
+  <layout class="QVBoxLayout" name="verticalLayout_2">
+   <property name="spacing">
+    <number>12</number>
+   </property>
    <item>
-    <widget class="QFrame" name="frame">
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
      </property>
-     <property name="frameShadow">
-      <enum>QFrame::Raised</enum>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>HW settings</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <property name="margin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>661</width>
+            <height>652</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout">
+           <item>
+            <layout class="QGridLayout" name="gridLayout">
+             <item row="1" column="1" rowspan="5" colspan="3">
+              <widget class="QLabel" name="label_2">
+               <property name="text">
+                <string/>
+               </property>
+               <property name="scaledContents">
+                <bool>true</bool>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="0">
+              <widget class="QComboBox" name="cbFlexi"/>
+             </item>
+             <item row="4" column="0">
+              <widget class="QComboBox" name="cbTele"/>
+             </item>
+             <item row="3" column="0">
+              <widget class="QLabel" name="label_3">
+               <property name="text">
+                <string>MainPort</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="5" column="0">
+              <widget class="QLabel" name="label_4">
+               <property name="text">
+                <string/>
+               </property>
+              </widget>
+             </item>
+             <item row="1" column="0">
+              <widget class="QLabel" name="label_5">
+               <property name="text">
+                <string>FlexiPort</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="1" column="5">
+              <spacer name="horizontalSpacer_2">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>40</width>
+                 <height>20</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="1" column="4">
+              <widget class="QLabel" name="label_8">
+               <property name="text">
+                <string>USB HID Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="4">
+              <widget class="QComboBox" name="cbUsbHid"/>
+             </item>
+             <item row="3" column="4">
+              <widget class="QLabel" name="label_9">
+               <property name="text">
+                <string>USB VCP Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="4" column="4">
+              <widget class="QComboBox" name="cbUsbVcp"/>
+             </item>
+             <item row="0" column="1">
+              <widget class="QLabel" name="label_7">
+               <property name="text">
+                <string>RcvrPort</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="2">
+              <widget class="QComboBox" name="cbRcvr"/>
+             </item>
+            </layout>
+           </item>
+           <item>
+            <layout class="QHBoxLayout" name="horizontalLayout">
+             <item>
+              <layout class="QGridLayout" name="gridLayout_2">
+               <item row="0" column="0">
+                <widget class="QLabel" name="telemetrySpeedLabel">
+                 <property name="text">
+                  <string>Telemetry speed:</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="0">
+                <widget class="QLabel" name="GpsSpeedLabel">
+                 <property name="minimumSize">
+                  <size>
+                   <width>55</width>
+                   <height>0</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>GPS speed:</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="0">
+                <widget class="QLabel" name="ComUsbBridgeSpeedLabel">
+                 <property name="minimumSize">
+                  <size>
+                   <width>55</width>
+                   <height>0</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>ComUsbBridge speed:</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="0" column="1">
+                <widget class="QComboBox" name="telemetrySpeed">
+                 <property name="toolTip">
+                  <string>Select the speed here.</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="1">
+                <widget class="QComboBox" name="gpsSpeed">
+                 <property name="toolTip">
+                  <string>Select the speed here.</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="1">
+                <widget class="QComboBox" name="comUsbBridgeSpeed">
+                 <property name="toolTip">
+                  <string>Select the speed here.</string>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+             <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>
+            </layout>
+           </item>
+           <item>
+            <spacer name="verticalSpacer">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>328</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_6">
+             <property name="font">
+              <font>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="text">
+              <string>Changes on this page only take effect after board reset or power cycle</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+             <property name="wordWrap">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
      </property>
-     <layout class="QVBoxLayout" name="verticalLayout_2">
-      <item>
-       <layout class="QGridLayout" name="gridLayout">
-        <item row="1" column="1" rowspan="5" colspan="3">
-         <widget class="QLabel" name="label_2">
-          <property name="text">
-           <string/>
-          </property>
-          <property name="scaledContents">
-           <bool>true</bool>
-          </property>
-         </widget>
-        </item>
-        <item row="2" column="0">
-         <widget class="QComboBox" name="cbFlexi"/>
-        </item>
-        <item row="4" column="0">
-         <widget class="QComboBox" name="cbTele"/>
-        </item>
-        <item row="3" column="0">
-         <widget class="QLabel" name="label_3">
-          <property name="text">
-           <string>MainPort</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
-          </property>
-         </widget>
-        </item>
-        <item row="5" column="0">
-         <widget class="QLabel" name="label_4">
-          <property name="text">
-           <string/>
-          </property>
-         </widget>
-        </item>
-        <item row="1" column="0">
-         <widget class="QLabel" name="label_5">
-          <property name="text">
-           <string>FlexiPort</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
-          </property>
-         </widget>
-        </item>
-        <item row="1" column="5">
-         <spacer name="horizontalSpacer_2">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item row="1" column="4">
-         <widget class="QLabel" name="label_8">
-          <property name="text">
-           <string>USB HID Port</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
-          </property>
-         </widget>
-        </item>
-        <item row="2" column="4">
-         <widget class="QComboBox" name="cbUsbHid"/>
-        </item>
-        <item row="3" column="4">
-         <widget class="QLabel" name="label_9">
-          <property name="text">
-           <string>USB VCP Port</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
-          </property>
-         </widget>
-        </item>
-        <item row="4" column="4">
-         <widget class="QComboBox" name="cbUsbVcp"/>
-        </item>
-        <item row="0" column="1">
-         <widget class="QLabel" name="label_7">
-          <property name="text">
-           <string>RcvrPort</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-          </property>
-         </widget>
-        </item>
-        <item row="0" column="2">
-         <widget class="QComboBox" name="cbRcvr"/>
-        </item>
-       </layout>
-      </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout">
-        <item>
-         <layout class="QGridLayout" name="gridLayout_2">
-          <item row="0" column="0">
-           <widget class="QLabel" name="telemetrySpeedLabel">
-            <property name="text">
-             <string>Telemetry speed:</string>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="GpsSpeedLabel">
-            <property name="minimumSize">
-             <size>
-              <width>55</width>
-              <height>0</height>
-             </size>
-            </property>
-            <property name="text">
-             <string>GPS speed:</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="ComUsbBridgeSpeedLabel">
-            <property name="minimumSize">
-             <size>
-              <width>55</width>
-              <height>0</height>
-             </size>
-            </property>
-            <property name="text">
-             <string>ComUsbBridge speed:</string>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="1">
-           <widget class="QComboBox" name="telemetrySpeed">
-            <property name="toolTip">
-             <string>Select the speed here.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="1">
-           <widget class="QComboBox" name="gpsSpeed">
-            <property name="toolTip">
-             <string>Select the speed here.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QComboBox" name="comUsbBridgeSpeed">
-            <property name="toolTip">
-             <string>Select the speed here.</string>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </item>
-        <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>
-       </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>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>50</height>
+      </size>
+     </property>
+     <property name="title">
+      <string>Problems</string>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_3">
       <item>
        <widget class="QLabel" name="problems">
         <property name="font">
@@ -229,24 +366,32 @@
         </property>
        </widget>
       </item>
-      <item>
-       <widget class="QLabel" name="label_6">
-        <property name="font">
-         <font>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>Changes on this page only take effect after board reset or power cycle</string>
-        </property>
-        <property name="wordWrap">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>75</height>
+      </size>
+     </property>
+     <property name="title">
+      <string/>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_4">
       <item>
        <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <property name="spacing">
+         <number>4</number>
+        </property>
         <item>
          <spacer name="horizontalSpacer">
           <property name="orientation">
diff --git a/ground/openpilotgcs/src/plugins/config/ccattitude.ui b/ground/openpilotgcs/src/plugins/config/ccattitude.ui
index 49a7ab649..c3585866b 100644
--- a/ground/openpilotgcs/src/plugins/config/ccattitude.ui
+++ b/ground/openpilotgcs/src/plugins/config/ccattitude.ui
@@ -6,226 +6,356 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>455</width>
-    <height>428</height>
+    <width>606</width>
+    <height>576</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_2">
-   <item row="0" column="0">
-    <widget class="QGroupBox" name="groupBox">
-     <property name="title">
-      <string>Rotate virtual attitude relative to board</string>
+  <layout class="QVBoxLayout" name="verticalLayout_5">
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
      </property>
-     <layout class="QGridLayout" name="gridLayout">
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_2">
-        <property name="text">
-         <string>Roll</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QSpinBox" name="rollBias">
-        <property name="minimum">
-         <number>-180</number>
-        </property>
-        <property name="maximum">
-         <number>180</number>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QLabel" name="label_3">
-        <property name="text">
-         <string>Pitch</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QSpinBox" name="pitchBias">
-        <property name="minimum">
-         <number>-90</number>
-        </property>
-        <property name="maximum">
-         <number>90</number>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="2">
-       <widget class="QLabel" name="label_4">
-        <property name="text">
-         <string>Yaw</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="2">
-       <widget class="QSpinBox" name="yawBias">
-        <property name="minimum">
-         <number>-180</number>
-        </property>
-        <property name="maximum">
-         <number>180</number>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="1" column="0">
-    <widget class="QGroupBox" name="groupBox_2">
-     <property name="title">
-      <string>Calibration</string>
-     </property>
-     <layout class="QVBoxLayout" name="verticalLayout_2">
-      <item>
-       <widget class="QLabel" name="label">
-        <property name="text">
-         <string>Place aircraft very flat, and then click level to compute the accelerometer and gyro bias</string>
-        </property>
-        <property name="wordWrap">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="zeroBias">
-        <property name="toolTip">
-         <string>Launch horizontal calibration.</string>
-        </property>
-        <property name="text">
-         <string>Level</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QProgressBar" name="zeroBiasProgress">
-        <property name="value">
-         <number>0</number>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <spacer name="verticalSpacer">
-        <property name="orientation">
-         <enum>Qt::Vertical</enum>
-        </property>
-        <property name="sizeType">
-         <enum>QSizePolicy::Fixed</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>0</width>
-          <height>10</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
-      <item>
-       <widget class="QCheckBox" name="zeroGyroBiasOnArming">
-        <property name="toolTip">
-         <string>If enabled, a fast recalibration of gyro zero point will be done
+     <widget class="QWidget" name="Attitude">
+      <attribute name="title">
+       <string>Attitude</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <property name="margin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>576</width>
+            <height>439</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout">
+           <item>
+            <widget class="QGroupBox" name="groupBox">
+             <property name="title">
+              <string>Rotate virtual attitude relative to board</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout">
+              <item row="0" column="0">
+               <widget class="QLabel" name="label_2">
+                <property name="text">
+                 <string>Roll</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QSpinBox" name="rollBias">
+                <property name="minimum">
+                 <number>-180</number>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_3">
+                <property name="text">
+                 <string>Pitch</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QSpinBox" name="pitchBias">
+                <property name="minimum">
+                 <number>-90</number>
+                </property>
+                <property name="maximum">
+                 <number>90</number>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="2">
+               <widget class="QLabel" name="label_4">
+                <property name="text">
+                 <string>Yaw</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QSpinBox" name="yawBias">
+                <property name="minimum">
+                 <number>-180</number>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_2">
+             <property name="title">
+              <string>Calibration</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_2">
+              <item>
+               <widget class="QLabel" name="label">
+                <property name="text">
+                 <string>Place aircraft very flat, and then click level to compute the accelerometer and gyro bias</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QPushButton" name="zeroBias">
+                <property name="toolTip">
+                 <string>Launch horizontal calibration.</string>
+                </property>
+                <property name="text">
+                 <string>Level</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QProgressBar" name="zeroBiasProgress">
+                <property name="value">
+                 <number>0</number>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <spacer name="verticalSpacer">
+                <property name="orientation">
+                 <enum>Qt::Vertical</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Fixed</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>0</width>
+                  <height>10</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item>
+               <widget class="QCheckBox" name="zeroGyroBiasOnArming">
+                <property name="toolTip">
+                 <string>If enabled, a fast recalibration of gyro zero point will be done
 whenever the frame is armed. Do not move the airframe while
 arming it in that case!</string>
+                </property>
+                <property name="text">
+                 <string>Zero gyros while arming aircraft</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>91</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox_3">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>75</height>
+      </size>
+     </property>
+     <property name="title">
+      <string/>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_4">
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <property name="spacing">
+         <number>4</number>
         </property>
-        <property name="text">
-         <string>Zero gyros while arming aircraft</string>
-        </property>
-       </widget>
+        <item>
+         <spacer name="horizontalSpacer">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <widget class="QPushButton" name="ccAttitudeHelp">
+          <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="applyButton">
+          <property name="text">
+           <string>Apply</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="saveButton">
+          <property name="toolTip">
+           <string>Click to permanently save the accel bias in the CopterControl Flash.</string>
+          </property>
+          <property name="text">
+           <string>Save</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
       </item>
      </layout>
     </widget>
    </item>
-   <item row="2" column="0">
-    <spacer name="verticalSpacer_2">
-     <property name="orientation">
-      <enum>Qt::Vertical</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>20</width>
-       <height>40</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="3" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <item>
-      <spacer name="horizontalSpacer">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="ccAttitudeHelp">
-       <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="applyButton">
-       <property name="text">
-        <string>Apply</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="saveButton">
-       <property name="toolTip">
-        <string>Click to permanently save the accel bias in the CopterControl Flash.</string>
-       </property>
-       <property name="text">
-        <string>Save</string>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
   </layout>
  </widget>
  <resources>

From 54dae87017e02496dbd496dcae26d8a6e980acdb Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sat, 21 Jul 2012 12:28:55 -0700
Subject: [PATCH 059/543] fixed the hw settings apply button autofill, removed
 commented lines from the config_cc_hw_widget.cpp file

---
 .../src/plugins/config/cc_hw_settings.ui      | 77 +++++++++++++++++--
 .../plugins/config/config_cc_hw_widget.cpp    |  8 +-
 2 files changed, 72 insertions(+), 13 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
index 3c9540105..e9c3d7aaf 100644
--- a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
+++ b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
@@ -6,17 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>691</width>
-    <height>849</height>
+    <width>592</width>
+    <height>763</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_2">
-   <property name="spacing">
-    <number>12</number>
-   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -110,8 +107,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>661</width>
-            <height>652</height>
+            <width>547</width>
+            <height>651</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -445,12 +442,76 @@
         </item>
         <item>
          <widget class="QPushButton" name="saveTelemetryToRAM">
+          <property name="palette">
+           <palette>
+            <active>
+             <colorrole role="Base">
+              <brush brushstyle="SolidPattern">
+               <color alpha="0">
+                <red>255</red>
+                <green>255</green>
+                <blue>255</blue>
+               </color>
+              </brush>
+             </colorrole>
+             <colorrole role="Window">
+              <brush brushstyle="SolidPattern">
+               <color alpha="255">
+                <red>232</red>
+                <green>232</green>
+                <blue>232</blue>
+               </color>
+              </brush>
+             </colorrole>
+            </active>
+            <inactive>
+             <colorrole role="Base">
+              <brush brushstyle="SolidPattern">
+               <color alpha="0">
+                <red>255</red>
+                <green>255</green>
+                <blue>255</blue>
+               </color>
+              </brush>
+             </colorrole>
+             <colorrole role="Window">
+              <brush brushstyle="SolidPattern">
+               <color alpha="255">
+                <red>232</red>
+                <green>232</green>
+                <blue>232</blue>
+               </color>
+              </brush>
+             </colorrole>
+            </inactive>
+            <disabled>
+             <colorrole role="Base">
+              <brush brushstyle="SolidPattern">
+               <color alpha="255">
+                <red>232</red>
+                <green>232</green>
+                <blue>232</blue>
+               </color>
+              </brush>
+             </colorrole>
+             <colorrole role="Window">
+              <brush brushstyle="SolidPattern">
+               <color alpha="255">
+                <red>232</red>
+                <green>232</green>
+                <blue>232</blue>
+               </color>
+              </brush>
+             </colorrole>
+            </disabled>
+           </palette>
+          </property>
           <property name="toolTip">
            <string>Send to OpenPilot but don't write in SD.
 Beware of not locking yourself out!</string>
           </property>
           <property name="autoFillBackground">
-           <bool>true</bool>
+           <bool>false</bool>
           </property>
           <property name="styleSheet">
            <string notr="true"/>
diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
index 35a3f4c9a..f9dc84350 100644
--- a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
@@ -35,11 +35,9 @@
 #include <QtGui/QPushButton>
 #include <QDesktopServices>
 #include <QUrl>
-
-////Added to allow expert mode
 #include <extensionsystem/pluginmanager.h>
 #include <coreplugin/generalsettings.h>
-////
+
 
 ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
@@ -48,12 +46,12 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
 
     m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
 
-////Added to allow expert mode
+
     ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
     Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
     if(!settings->useExpertMode())
         m_telemetry->saveTelemetryToRAM->setVisible(false);
-//////////////////////////////////
+
 
     addApplySaveButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
     addUAVObjectToWidgetRelation("HwSettings","CC_FlexiPort",m_telemetry->cbFlexi);

From 6ee34931ac7cdfaeff81a176bea159160d17dc54 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dima@dima-desktop.(none)>
Date: Mon, 23 Jul 2012 12:21:34 +1000
Subject: [PATCH 060/543] Expose SVG elements geometry to QML side

This allows to reuse the existing svg file like pfd.svg
without manually positioning individual svg element.
---
 .../plugins/qmlview/qmlviewgadgetwidget.cpp   | 16 ++--
 .../src/plugins/qmlview/svgimageprovider.cpp  | 74 ++++++++++++++-----
 .../src/plugins/qmlview/svgimageprovider.h    |  8 +-
 3 files changed, 73 insertions(+), 25 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetwidget.cpp
index cc4efe78d..a4c8f4f43 100644
--- a/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetwidget.cpp
@@ -31,15 +31,11 @@
 #include "uavobjectmanager.h"
 #include "uavobject.h"
 
-#include <utils/stylehelper.h>
-#include <utils/cachedsvgitem.h>
-#include <iostream>
 #include <QDebug>
-#include <QPainter>
+#include <QSvgRenderer>
 #include <QtOpenGL/QGLWidget>
 #include <QtCore/qfileinfo.h>
 #include <QtCore/qdir.h>
-#include <cmath>
 
 #include <QtDeclarative/qdeclarativeengine.h>
 #include <QtDeclarative/qdeclarativecontext.h>
@@ -69,6 +65,8 @@ QmlViewGadgetWidget::QmlViewGadgetWidget(QWidget *parent) :
         else
             qWarning() << "Failed to load object" << objectName;
     }
+
+    engine()->rootContext()->setContextProperty("qmlWidget", this);
 }
 
 QmlViewGadgetWidget::~QmlViewGadgetWidget()
@@ -80,8 +78,12 @@ void QmlViewGadgetWidget::setQmlFile(QString fn)
     m_fn = fn;
 
     engine()->removeImageProvider("svg");
-    engine()->addImageProvider("svg",
-              new SvgImageProvider(fn));
+    SvgImageProvider *svgProvider = new SvgImageProvider(fn);
+    engine()->addImageProvider("svg", svgProvider);
+
+    //it's necessary to allow qml side to query svg element position
+    engine()->rootContext()->setContextProperty("svgRenderer", svgProvider);
+    engine()->setBaseUrl(QUrl::fromLocalFile(fn));
 
     qDebug() << Q_FUNC_INFO << fn;
     setSource(QUrl::fromLocalFile(fn));
diff --git a/ground/openpilotgcs/src/plugins/qmlview/svgimageprovider.cpp b/ground/openpilotgcs/src/plugins/qmlview/svgimageprovider.cpp
index f44658090..e0f571369 100644
--- a/ground/openpilotgcs/src/plugins/qmlview/svgimageprovider.cpp
+++ b/ground/openpilotgcs/src/plugins/qmlview/svgimageprovider.cpp
@@ -31,6 +31,7 @@
 #include <QUrl>
 
 SvgImageProvider::SvgImageProvider(const QString &basePath):
+    QObject(),
     QDeclarativeImageProvider(QDeclarativeImageProvider::Image),
     m_basePath(basePath)
 {
@@ -41,6 +42,30 @@ SvgImageProvider::~SvgImageProvider()
     qDeleteAll(m_renderers);
 }
 
+QSvgRenderer *SvgImageProvider::loadRenderer(const QString &svgFile)
+{
+    QSvgRenderer *renderer = m_renderers.value(svgFile);
+    if (!renderer) {
+        renderer = new QSvgRenderer(svgFile);
+
+        QString fn = QUrl::fromLocalFile(m_basePath).resolved(svgFile).toLocalFile();
+
+        //convert path to be relative to base
+        if (!renderer->isValid())
+            renderer->load(fn);
+
+        if (!renderer->isValid()) {
+            qWarning() << "Failed to load svg file:" << svgFile << fn;
+            delete renderer;
+            return 0;
+        }
+
+        m_renderers.insert(svgFile, renderer);
+    }
+
+    return renderer;
+}
+
 /**
   requestedSize is realted to the whole svg file, not to specific element
   */
@@ -58,23 +83,9 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
     if (size)
         *size = QSize();
 
-    QSvgRenderer *renderer = m_renderers.value(svgFile);
-    if (!renderer) {
-        renderer = new QSvgRenderer(svgFile);
-
-        QString fn = QUrl::fromLocalFile(m_basePath).resolved(svgFile).toLocalFile();
-
-        //convert path to be relative to base
-        if (!renderer->isValid())
-            renderer->load(fn);
-
-        if (!renderer->isValid()) {
-            qWarning() << "Failed to load svg file:" << svgFile << fn;
-            return QImage();
-        }
-
-        m_renderers.insert(svgFile, renderer);
-    }
+    QSvgRenderer *renderer = loadRenderer(svgFile);
+    if (!renderer)
+        return QImage();
 
     qreal xScale = 1.0;
     qreal yScale = 1.0;
@@ -128,3 +139,32 @@ QPixmap SvgImageProvider::requestPixmap(const QString &id, QSize *size, const QS
 {
     return QPixmap::fromImage(requestImage(id, size, requestedSize));
 }
+
+/*!
+  \fn SvgImageProvider::scaledElementBounds(const QString &svgFile, const QString &element)
+
+  Returns the bound of \a element in logical coordinates,
+  scalled to the default size of svg document (so the bounds of whole doc would be (0,0,1,1) ).
+*/
+QRectF SvgImageProvider::scaledElementBounds(const QString &svgFile, const QString &elementName)
+{
+    QSvgRenderer *renderer = loadRenderer(svgFile);
+
+    if (!renderer)
+        return QRectF();
+
+    if (!renderer->elementExists(elementName)) {
+        qWarning() << "invalid element:" << elementName << "of" << svgFile;
+        return QRectF();
+    }
+
+    QRectF elementBounds = renderer->boundsOnElement(elementName);
+    QMatrix matrix = renderer->matrixForElement(elementName);
+    elementBounds = matrix.mapRect(elementBounds);
+
+    QSize docSize = renderer->defaultSize();
+    return QRectF(elementBounds.x()/docSize.width(),
+                  elementBounds.y()/docSize.height(),
+                  elementBounds.width()/docSize.width(),
+                  elementBounds.height()/docSize.height());
+}
diff --git a/ground/openpilotgcs/src/plugins/qmlview/svgimageprovider.h b/ground/openpilotgcs/src/plugins/qmlview/svgimageprovider.h
index 1bcc20cee..50fd0f7bb 100644
--- a/ground/openpilotgcs/src/plugins/qmlview/svgimageprovider.h
+++ b/ground/openpilotgcs/src/plugins/qmlview/svgimageprovider.h
@@ -28,19 +28,25 @@
 #ifndef SVGIMAGEPROVIDER_H_
 #define SVGIMAGEPROVIDER_H_
 
+#include <QObject>
 #include <QtDeclarative/qdeclarativeimageprovider.h>
 #include <QSvgRenderer>
 #include <QMap>
 
-class SvgImageProvider : public QDeclarativeImageProvider
+class SvgImageProvider : public QObject, public QDeclarativeImageProvider
 {
+    Q_OBJECT
 public:
     SvgImageProvider(const QString &basePath);
    ~SvgImageProvider();
 
+    QSvgRenderer *loadRenderer(const QString &svgFile);
+
     QImage requestImage(const QString &id, QSize *size, const QSize& requestedSize);
     QPixmap requestPixmap(const QString &id, QSize *size, const QSize& requestedSize);
 
+    Q_INVOKABLE QRectF scaledElementBounds(const QString &svgFile, const QString &elementName);
+
 private:
     QMap<QString, QSvgRenderer*> m_renderers;
     QString m_basePath;

From 69eb685d7ba0af6c9b732bd5ad620cde46bbaa49 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dima@dima-desktop.(none)>
Date: Mon, 23 Jul 2012 15:36:53 +1000
Subject: [PATCH 061/543] Moved svgimageprovider from qmlview plugin to utils
 lib

To be reused by other qml based plugins.
---
 .../qmlview => libs/utils}/svgimageprovider.cpp      |  0
 .../qmlview => libs/utils}/svgimageprovider.h        |  0
 ground/openpilotgcs/src/libs/utils/utils.pro         | 12 +++++++++---
 ground/openpilotgcs/src/plugins/qmlview/qmlview.pro  |  7 +++----
 .../src/plugins/qmlview/qmlviewgadgetwidget.cpp      |  1 +
 .../src/plugins/qmlview/qmlviewgadgetwidget.h        |  1 -
 6 files changed, 13 insertions(+), 8 deletions(-)
 rename ground/openpilotgcs/src/{plugins/qmlview => libs/utils}/svgimageprovider.cpp (100%)
 rename ground/openpilotgcs/src/{plugins/qmlview => libs/utils}/svgimageprovider.h (100%)

diff --git a/ground/openpilotgcs/src/plugins/qmlview/svgimageprovider.cpp b/ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp
similarity index 100%
rename from ground/openpilotgcs/src/plugins/qmlview/svgimageprovider.cpp
rename to ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp
diff --git a/ground/openpilotgcs/src/plugins/qmlview/svgimageprovider.h b/ground/openpilotgcs/src/libs/utils/svgimageprovider.h
similarity index 100%
rename from ground/openpilotgcs/src/plugins/qmlview/svgimageprovider.h
rename to ground/openpilotgcs/src/libs/utils/svgimageprovider.h
diff --git a/ground/openpilotgcs/src/libs/utils/utils.pro b/ground/openpilotgcs/src/libs/utils/utils.pro
index 003497b4d..e7390ad77 100644
--- a/ground/openpilotgcs/src/libs/utils/utils.pro
+++ b/ground/openpilotgcs/src/libs/utils/utils.pro
@@ -5,7 +5,8 @@ QT += gui \
     network \
     xml \
     svg \
-    opengl
+    opengl \
+    declarative
 
 DEFINES += QTCREATOR_UTILS_LIB
 
@@ -51,7 +52,9 @@ SOURCES += reloadpromptutils.cpp \
     mytabbedstackwidget.cpp \
     mytabwidget.cpp \
     mylistwidget.cpp \
-    cachedsvgitem.cpp
+    cachedsvgitem.cpp \
+    svgimageprovider.cpp
+
 SOURCES += xmlconfig.cpp
 
 win32 {
@@ -106,7 +109,10 @@ HEADERS += utils_global.h \
     mytabbedstackwidget.h \
     mytabwidget.h \
     mylistwidget.h \
-    cachedsvgitem.h
+    cachedsvgitem.h \
+    svgimageprovider.h
+
+
 HEADERS += xmlconfig.h
 
 FORMS += filewizardpage.ui \
diff --git a/ground/openpilotgcs/src/plugins/qmlview/qmlview.pro b/ground/openpilotgcs/src/plugins/qmlview/qmlview.pro
index 5b2817e6d..c2897f3a0 100644
--- a/ground/openpilotgcs/src/plugins/qmlview/qmlview.pro
+++ b/ground/openpilotgcs/src/plugins/qmlview/qmlview.pro
@@ -14,8 +14,8 @@ HEADERS += \
     qmlviewgadgetwidget.h \
     qmlviewgadgetfactory.h \
     qmlviewgadgetconfiguration.h \
-    qmlviewgadgetoptionspage.h \
-    svgimageprovider.h
+    qmlviewgadgetoptionspage.h
+
 
 SOURCES += \
     qmlviewplugin.cpp \
@@ -23,8 +23,7 @@ SOURCES += \
     qmlviewgadgetfactory.cpp \
     qmlviewgadgetwidget.cpp \
     qmlviewgadgetconfiguration.cpp \
-    qmlviewgadgetoptionspage.cpp \
-    svgimageprovider.cpp
+    qmlviewgadgetoptionspage.cpp
 
 OTHER_FILES += QMLView.pluginspec
 
diff --git a/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetwidget.cpp
index a4c8f4f43..26e03b0e8 100644
--- a/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetwidget.cpp
@@ -30,6 +30,7 @@
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
 #include "uavobject.h"
+#include "utils/svgimageprovider.h"
 
 #include <QDebug>
 #include <QSvgRenderer>
diff --git a/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetwidget.h b/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetwidget.h
index d0af0533b..d3019de36 100644
--- a/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetwidget.h
@@ -29,7 +29,6 @@
 #define QMLVIEWGADGETWIDGET_H_
 
 #include "qmlviewgadgetconfiguration.h"
-#include "svgimageprovider.h"
 
 #include <QtDeclarative/qdeclarativeview.h>
 

From f95bd8bc1bd43ffc2322535d129346a6b727a52b Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dima@dima-desktop.(none)>
Date: Mon, 23 Jul 2012 17:19:24 +1000
Subject: [PATCH 062/543] Initial implementation of QML based PFD widget

It uses the same pfd.svg file as original PFD widget;
depends on osgearth for terrain rendering
---
 .../pfd/default/AltitudeScale.qml             |  83 +++++
 .../share/openpilotgcs/pfd/default/Pfd.qml    | 120 +++++++
 .../pfd/default/PfdIndicators.qml             |  70 ++++
 .../openpilotgcs/pfd/default/SpeedScale.qml   |  91 +++++
 .../share/openpilotgcs/pfd/default/srtm.earth |  26 ++
 .../openpilotgcs/pfd/default/yahoo_srtm.earth |  26 ++
 .../src/plugins/coreplugin/OpenPilotGCS.xml   |  24 ++
 .../src/plugins/pfdqml/PfdQml.pluginspec      |  12 +
 .../src/plugins/pfdqml/osgearth.cpp           | 311 ++++++++++++++++++
 .../src/plugins/pfdqml/osgearth.h             | 117 +++++++
 .../src/plugins/pfdqml/pfdqml.pro             |  35 ++
 .../plugins/pfdqml/pfdqml_dependencies.pri    |   1 +
 .../src/plugins/pfdqml/pfdqmlgadget.cpp       |  44 +++
 .../src/plugins/pfdqml/pfdqmlgadget.h         |  45 +++
 .../pfdqml/pfdqmlgadgetconfiguration.cpp      |  67 ++++
 .../pfdqml/pfdqmlgadgetconfiguration.h        |  48 +++
 .../plugins/pfdqml/pfdqmlgadgetfactory.cpp    |  49 +++
 .../src/plugins/pfdqml/pfdqmlgadgetfactory.h  |  41 +++
 .../pfdqml/pfdqmlgadgetoptionspage.cpp        |  77 +++++
 .../plugins/pfdqml/pfdqmlgadgetoptionspage.h  |  54 +++
 .../plugins/pfdqml/pfdqmlgadgetoptionspage.ui | 135 ++++++++
 .../src/plugins/pfdqml/pfdqmlgadgetwidget.cpp | 106 ++++++
 .../src/plugins/pfdqml/pfdqmlgadgetwidget.h   |  51 +++
 .../src/plugins/pfdqml/pfdqmlplugin.cpp       |  55 ++++
 .../src/plugins/pfdqml/pfdqmlplugin.h         |  36 ++
 ground/openpilotgcs/src/plugins/plugins.pro   |   7 +-
 26 files changed, 1730 insertions(+), 1 deletion(-)
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/pfd/default/srtm.earth
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/pfd/default/yahoo_srtm.earth
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/PfdQml.pluginspec
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/osgearth.h
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqml_dependencies.pri
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.h
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetfactory.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetfactory.h
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.h
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlplugin.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlplugin.h

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml
new file mode 100644
index 000000000..6e5b608f7
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml
@@ -0,0 +1,83 @@
+import Qt 4.7
+
+Item {
+    id: sceneItem
+    property variant sourceSize
+
+    Image {
+        id: altitude_bg
+        source: "image://svg/pfd.svg!altitude-bg"
+        sourceSize: sceneItem.sourceSize
+        clip: true
+
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "altitude-bg")
+
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+
+        Image {
+            id: altitude_scale
+
+            source: "image://svg/pfd.svg!altitude-scale"
+            sourceSize: sceneItem.sourceSize
+
+            anchors.verticalCenter: parent.verticalCenter
+            // The altitude scale represents 30 meters,
+            // move it in 0..5m range
+            anchors.verticalCenterOffset: -height/30 * (PositionActual.Down-Math.floor(PositionActual.Down/5)*5)
+            anchors.left: parent.left
+
+            property int topNumber: 15-Math.floor(PositionActual.Down/5)*5
+
+            // Altitude numbers
+            Column {
+                Repeater {
+                    model: 7
+                    Item {
+                        height: altitude_scale.height / 6
+                        width: altitude_bg.width
+
+                        Text {
+                            text: altitude_scale.topNumber - index*5
+                            color: "white"
+                            font.pixelSize: parent.height / 4
+                            font.family: "Arial"
+
+                            anchors.horizontalCenter: parent.horizontalCenter
+                            anchors.verticalCenter: parent.top
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+
+    Image {
+        id: altitude_window
+        clip: true
+
+        source: "image://svg/pfd.svg!altitude-window"
+        sourceSize: sceneItem.sourceSize
+
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "altitude-window")
+
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+
+        Text {
+            id: altitude_text
+            text: Math.floor(-PositionActual.Down).toFixed()
+            color: "white"
+            font {
+                family: "Arial"
+                pixelSize: parent.height * 0.6
+            }
+            anchors.centerIn: parent
+        }
+    }
+}
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
new file mode 100644
index 000000000..517aa5b6a
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -0,0 +1,120 @@
+import Qt 4.7
+import "."
+import org.OpenPilot 1.0
+//import "/home/dima/work/RC/OsgEarthQml-build-desktop-Qt_4_8_1_in_PATH__System__Debug"
+
+Rectangle {
+    color: "#666666"
+
+    Image {
+        id: background
+        source: "image://svg/pfd.svg!background"
+
+        fillMode: Image.PreserveAspectFit
+        anchors.fill: parent
+
+        sourceSize.width: width
+        sourceSize.height: height
+
+        Item {
+            id: sceneItem
+            width: parent.paintedWidth
+            height: parent.paintedHeight
+            anchors.centerIn: parent
+            clip: true
+
+            Image {
+                id: world
+                source: "image://svg/pfd.svg!world"
+                sourceSize: background.sourceSize
+                smooth: true
+                visible: !qmlWidget.terrainEnabled
+
+                transform: [
+                    Translate {
+                        id: pitchTranslate
+                        x: (world.parent.width - world.width)/2
+                        y: (world.parent.height - world.height)/2 + AttitudeActual.Pitch*world.parent.height/94
+                    },
+                    Rotation {
+                        angle: -AttitudeActual.Roll
+                        origin.x : world.parent.width/2
+                        origin.y : world.parent.height/2
+                    }
+                ]
+            }
+
+            OsgEarth {
+                id: earthView
+
+                anchors.fill: parent
+                sceneFile: qmlWidget.earthFile
+                visible: qmlWidget.terrainEnabled
+
+                fieldOfView: 90
+
+                yaw: AttitudeActual.Yaw
+                pitch: AttitudeActual.Pitch
+                roll: AttitudeActual.Roll
+
+
+                latitude: -27.935474
+                longitude: 153.187147
+                altitude: 3000
+                //altitude: PositionActual.Down
+            }
+
+            Image {
+                id: rollscale
+                source: "image://svg/pfd.svg!rollscale"
+                sourceSize: background.sourceSize
+                smooth: true
+
+                transformOrigin: Item.Center
+                rotation: -AttitudeActual.Roll
+            }
+
+            Image {
+                id: foreground
+                source: "image://svg/pfd.svg!foreground"
+                sourceSize: background.sourceSize
+                anchors.centerIn: parent
+            }
+
+            Image {
+                id: compass
+                source: "image://svg/pfd.svg!compass"
+                sourceSize: background.sourceSize
+                clip: true
+
+                y: 12
+                anchors.horizontalCenter: parent.horizontalCenter
+
+                Image {
+                    id: compass_band
+                    source: "image://svg/pfd.svg!compass-band"
+                    sourceSize: background.sourceSize
+
+                    anchors.centerIn: parent
+                    //the band is 540 degrees wide
+                    anchors.horizontalCenterOffset: -1*AttitudeActual.Yaw/540*width
+                }
+            }
+
+            SpeedScale {
+                anchors.fill: parent
+                sourceSize: background.sourceSize
+            }
+
+            AltitudeScale {
+                anchors.fill: parent
+                sourceSize: background.sourceSize
+            }
+
+            PfdIndicators {
+                anchors.fill: parent
+                sourceSize: background.sourceSize
+            }
+        }
+    }
+}
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml
new file mode 100644
index 000000000..d520dcf00
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml
@@ -0,0 +1,70 @@
+import Qt 4.7
+
+Item {
+    id: sceneItem
+    property variant sourceSize
+
+    //telemetry status arrow
+    Image {
+        id: telemetry_status
+        source: "image://svg/pfd.svg!gcstelemetry-"+statusName
+        sourceSize: sceneItem.sourceSize
+
+        property string statusName : ["Disconnected","HandshakeReq","HandshakeAck","Connected"][GCSTelemetryStats.Status]
+
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gcstelemetry-Disconnected")
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+    }
+
+    //telemetry rate text
+    Text {
+        id: telemetry_rate
+        text: GCSTelemetryStats.TxDataRate.toFixed()+"/"+GCSTelemetryStats.RxDataRate.toFixed()
+        color: "white"
+        font.family: "Arial"
+        font.pixelSize: telemetry_status.height * 0.75
+
+        anchors.top: telemetry_status.bottom
+        anchors.horizontalCenter: telemetry_status.horizontalCenter
+    }
+
+    Text {
+        id: gps_text
+        text: "GPS: " + GPSPosition.Satellites + "\nPDP: " + GPSPosition.PDOP
+        color: "white"
+        font.family: "Arial"
+        font.pixelSize: telemetry_status.height * 0.75
+
+        visible: GPSPosition.Satellites > 0
+
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gps-txt")
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
+    }
+
+    Text {
+        id: battery_text
+
+        text: FlightBatteryState.Voltage.toFixed(2)+" V\n" +
+              FlightBatteryState.Current.toFixed(2)+" A\n" +
+              FlightBatteryState.ConsumedEnergy.toFixed()+" mAh"
+
+
+        color: "white"
+        font.family: "Arial"
+
+        //I think it should be pixel size,
+        //but making it more consistent with C++ version instead
+        font.pointSize: scaledBounds.height * sceneItem.height
+
+        visible: FlightBatteryState.Voltage > 0 || FlightBatteryState.Current > 0
+
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "battery-txt")
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
+
+    }
+}
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml
new file mode 100644
index 000000000..ddc82b571
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml
@@ -0,0 +1,91 @@
+import Qt 4.7
+
+Item {
+    id: sceneItem
+    property variant sourceSize
+    property real groundSpeed : 3.6 * Math.sqrt(Math.pow(VelocityActual.North,2)+
+                                                Math.pow(VelocityActual.East,2))
+
+    Image {
+        id: speed_bg
+        source: "image://svg/pfd.svg!speed-bg"
+        sourceSize: sceneItem.sourceSize
+        clip: true
+
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "speed-bg")
+
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+
+        Image {
+            id: speed_scale
+
+            source: "image://svg/pfd.svg!speed-scale"
+            sourceSize: sceneItem.sourceSize
+
+            anchors.verticalCenter: parent.verticalCenter
+            // The speed scale represents 30 meters,
+            // move it in 0..5m range
+            anchors.verticalCenterOffset: height/30 * (sceneItem.groundSpeed-Math.floor(sceneItem.groundSpeed/5)*5)
+            anchors.right: parent.right
+
+            property int topNumber: Math.floor(sceneItem.groundSpeed/5)*5+15
+
+            // speed numbers
+            Column {
+                width: speed_bg.width
+                anchors.right: speed_scale.right
+
+                Repeater {
+                    model: 7
+                    Item {
+                        height: speed_scale.height / 6
+                        width: speed_bg.width
+
+                        Text {
+                            //don't show negative numbers
+                            text: speed_scale.topNumber - index*5
+                            color: "white"
+                            visible: speed_scale.topNumber - index*5 >= 0
+
+                            font.pixelSize: parent.height / 4
+                            font.family: "Arial"
+
+                            anchors.horizontalCenter: parent.horizontalCenter
+                            anchors.verticalCenter: parent.top
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+
+    Image {
+        id: speed_window
+        clip: true
+
+        source: "image://svg/pfd.svg!speed-window"
+        sourceSize: sceneItem.sourceSize
+
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "speed-window")
+
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+
+        Text {
+            id: speed_text
+            text: Math.round(sceneItem.groundSpeed).toFixed()
+            color: "white"
+            font {
+                family: "Arial"
+                pixelSize: parent.height * 0.6
+            }
+            anchors.centerIn: parent
+        }
+    }
+}
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/srtm.earth b/ground/openpilotgcs/share/openpilotgcs/pfd/default/srtm.earth
new file mode 100644
index 000000000..bd17c7eb0
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/srtm.earth
@@ -0,0 +1,26 @@
+<!--
+osgEarth Sample - SRTM global elevation
+
+This sample demonstrates the use of a global SRTM TMS data source for world-wide elevation.
+The heightfield is draped with the NASA Blue Marble imagery.
+-->
+
+<map name="srtm sample" type="globe" version="2">
+
+  <image name="pelican nasa blue marble" driver="tms">
+    <url>http://demo.pelicanmapping.com/rmweb/data/bluemarble-tms/tms.xml</url>
+  </image>
+  
+  <heightfield name="pelican srtm" driver="tms">
+    <url>http://demo.pelicanmapping.com/rmweb/data/srtm30_plus_tms/tms.xml</url>
+  </heightfield>
+  
+  <options>
+      <lighting>true</lighting>
+      <terrain>
+          <vertical_scale>1</vertical_scale>
+          <loading_policy mode="sequential"/>
+      </terrain>
+  </options>
+  
+</map>
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/yahoo_srtm.earth b/ground/openpilotgcs/share/openpilotgcs/pfd/default/yahoo_srtm.earth
new file mode 100644
index 000000000..1033290b5
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/yahoo_srtm.earth
@@ -0,0 +1,26 @@
+<!--
+osgEarth Sample - SRTM global elevation
+
+This sample demonstrates the use of a global SRTM TMS data source for world-wide elevation.
+The heightfield is draped with the NASA Blue Marble imagery.
+-->
+
+<map name="srtm sample" type="globe" version="2">
+
+  <image name="yahoo aerial" driver="yahoo">
+          <dataset>satellite</dataset>
+  </image>
+
+  <heightfield name="pelican srtm" driver="tms">
+    <url>http://demo.pelicanmapping.com/rmweb/data/srtm30_plus_tms/tms.xml</url>
+  </heightfield>
+  
+  <options>
+      <lighting>false</lighting>
+      <terrain>
+          <vertical_scale>2</vertical_scale>
+          <loading_policy mode="sequential"/>
+      </terrain>
+  </options>
+  
+</map>
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
index d61dba982..ac8ac26cc 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
@@ -1691,6 +1691,30 @@
         </data>
       </smooth>
     </PFDGadget>
+    <PfdQmlGadget>
+      <NoTerrain>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <terrainEnabled>false</terrainEnabled>
+          <qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
+          <earthFile>%%DATAPATH%%pfd/default/srtm.earth</earthFile>
+        </data>
+      </NoTerrain>
+      <Terrain>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <terrainEnabled>true</terrainEnabled>
+          <qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
+          <earthFile>%%DATAPATH%%pfd/default/srtm.earth</earthFile>
+        </data>
+      </Terrain>
+    </PfdQmlGadget>
     <QmlViewGadget>
       <default>
         <configInfo>
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/PfdQml.pluginspec b/ground/openpilotgcs/src/plugins/pfdqml/PfdQml.pluginspec
new file mode 100644
index 000000000..563bacefd
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/PfdQml.pluginspec
@@ -0,0 +1,12 @@
+<plugin name="PfdQml" version="1.0.0" compatVersion="1.0.0">
+    <vendor>The OpenPilot Project</vendor>
+    <copyright>(C) 2010 Edouard Lafargue</copyright>
+    <copyright>(C) 2012 Dmytro Poplavskiy</copyright>
+    <license>The GNU Public License (GPL) Version 3</license>
+    <description>QML based PFD widget</description>
+    <url>http://www.openpilot.org</url>
+    <dependencyList>
+        <dependency name="Core" version="1.0.0"/>
+        <dependency name="UAVObjects" version="1.0.0"/>
+    </dependencyList>
+</plugin>    
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp b/ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp
new file mode 100644
index 000000000..b4e8ac53e
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp
@@ -0,0 +1,311 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "osgearth.h"
+
+#include <QtCore/qfileinfo.h>
+#include <QtDeclarative/qdeclarative.h>
+#include <QtDeclarative/qdeclarativeview.h>
+#include <QtDeclarative/qdeclarativeengine.h>
+#include <QtGui/qpainter.h>
+#include <QtGui/qvector3d.h>
+#include <QtOpenGL/qglframebufferobject.h>
+
+#include <osg/MatrixTransform>
+#include <osg/AutoTransform>
+#include <osg/Camera>
+#include <osg/TexMat>
+#include <osg/TextureRectangle>
+#include <osg/Texture2D>
+#include <osgViewer/ViewerEventHandlers>
+#include <osgDB/ReadFile>
+#include <osgEarthUtil/EarthManipulator>
+#include <osgEarthUtil/ObjectPlacer>
+#include <osgEarth/Map>
+
+#include <QtCore/qtimer.h>
+
+OsgEarthItem::OsgEarthItem(QDeclarativeItem *parent):
+    QDeclarativeItem(parent),
+    m_fbo(0),
+    m_currentSize(640, 480),
+    m_roll(0.0),
+    m_pitch(0.0),
+    m_yaw(0.0),
+    m_latitude(-28.5),
+    m_longitude(153.0),
+    m_altitude(400.0),
+    m_fieldOfView(90.0),
+    m_sceneFile(QLatin1String("/usr/share/osgearth/maps/srtm.earth")),
+    m_cameraDirty(false)
+{
+    setSize(m_currentSize);
+    setFlag(ItemHasNoContents, false);
+}
+
+OsgEarthItem::~OsgEarthItem()
+{
+}
+
+void OsgEarthItem::geometryChanged(const QRectF &newGeometry, const QRectF &oldGeometry)
+{
+    Q_UNUSED(oldGeometry);
+    Q_UNUSED(newGeometry);
+
+    //Dynamic gyometry changes are not supported yet,
+    //terrain is rendered to fixed geompetry and scalled for now
+
+    /*
+    qDebug() << Q_FUNC_INFO << newGeometry;
+
+    int w = qRound(newGeometry.width());
+    int h = qRound(newGeometry.height());
+
+    if (m_currentSize != QSize(w,h) && m_gw.get()) {
+        m_currentSize = QSize(w,h);
+
+        m_gw->getEventQueue()->windowResize(0,0,w,h);
+        m_gw->resized(0,0,w,h);
+
+        osg::Camera *camera = m_viewer->getCamera();
+        camera->setViewport(new osg::Viewport(0,0,w,h));
+        camera->setProjectionMatrixAsPerspective(m_fieldOfView, qreal(w)/h, 1.0f, 10000.0f);
+    }
+    */
+}
+
+void OsgEarthItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *style, QWidget *widget)
+{
+    Q_UNUSED(painter);
+    Q_UNUSED(style);
+    QGLWidget *glWidget = qobject_cast<QGLWidget*>(widget);
+
+    if (!m_glWidget) {
+        //make a shared gl widget to avoid
+        //osg rendering to mess with qpainter state
+        m_glWidget = new QGLWidget(widget, glWidget);
+        m_glWidget.data()->setAttribute(Qt::WA_PaintOutsidePaintEvent);
+    }
+
+    if (!m_viewer.get())
+        QMetaObject::invokeMethod(this, "initScene", Qt::QueuedConnection);
+
+    if (glWidget && m_fbo)
+        glWidget->drawTexture(boundingRect(), m_fbo->texture());
+}
+
+void OsgEarthItem::markCameraDirty()
+{
+    m_cameraDirty = true;
+    QMetaObject::invokeMethod(this, "updateFBO", Qt::QueuedConnection);
+}
+
+void OsgEarthItem::updateFBO()
+{
+    if (!m_cameraDirty || !m_viewer.get() || m_glWidget.isNull())
+        return;
+
+    m_cameraDirty = false;
+    m_glWidget.data()->makeCurrent();
+
+    if (m_fbo && m_fbo->size() != m_currentSize) {
+        delete m_fbo;
+        m_fbo = 0;
+    }
+
+    if (!m_fbo) {
+        m_fbo = new QGLFramebufferObject(m_currentSize, QGLFramebufferObject::CombinedDepthStencil);
+        QPainter p(m_fbo);
+        p.fillRect(0,0,m_currentSize.width(), m_currentSize.height(), Qt::gray);
+    }
+
+    //To find a camera view matrix, find placer matrixes for two points
+    //onr at requested coords and another latitude shifted by 0.01 deg
+    osgEarth::Util::ObjectPlacer placer(m_viewer->getSceneData());
+
+    osg::Matrixd positionMatrix;
+    placer.createPlacerMatrix(m_latitude, m_longitude, m_altitude, positionMatrix);
+    osg::Matrixd positionMatrix2;
+    placer.createPlacerMatrix(m_latitude+0.01, m_longitude, m_altitude, positionMatrix2);
+
+    osg::Vec3d eye(0.0f, 0.0f, 0.0f);
+    osg::Vec3d viewVector(0.0f, 0.0f, 0.0f);
+    osg::Vec3d upVector(0.0f, 0.0f, 1.0f);
+
+    eye = positionMatrix.preMult(eye);
+    upVector = positionMatrix.preMult(upVector);
+    upVector.normalize();
+    viewVector = positionMatrix2.preMult(viewVector) - eye;
+    viewVector.normalize();
+    viewVector *= 10.0;
+
+    //TODO: clarify the correct rotation order,
+    //currently assuming yaw, pitch, roll
+    osg::Quat q;
+    q.makeRotate(-m_yaw*M_PI/180.0, upVector);
+    upVector = q * upVector;
+    viewVector = q * viewVector;
+
+    osg::Vec3d side = viewVector ^ upVector;
+    q.makeRotate(m_pitch*M_PI/180.0, side);
+    upVector = q * upVector;
+    viewVector = q * viewVector;
+
+    q.makeRotate(m_roll*M_PI/180.0, viewVector);
+    upVector = q * upVector;
+    viewVector = q * viewVector;
+
+    osg::Vec3d center = eye + viewVector;
+
+//    qDebug() << "e " << eye.x() << eye.y() << eye.z();
+//    qDebug() << "c " << center.x() << center.y() << center.z();
+//    qDebug() << "up" << upVector.x() << upVector.y() << upVector.z();
+
+    m_viewer->getCamera()->setViewMatrixAsLookAt(osg::Vec3d(eye.x(), eye.y(), eye.z()),
+                                                 osg::Vec3d(center.x(), center.y(), center.z()),
+                                                 osg::Vec3d(upVector.x(), upVector.y(), upVector.z()));
+
+    {
+        QPainter fboPainter(m_fbo);
+        fboPainter.beginNativePainting();
+        m_viewer->frame();
+        fboPainter.endNativePainting();
+    }
+    m_glWidget.data()->doneCurrent();
+
+    update();
+}
+
+void OsgEarthItem::setRoll(qreal arg)
+{
+    if (!qFuzzyCompare(m_roll, arg)) {
+        m_roll = arg;
+        markCameraDirty();
+        emit rollChanged(arg);
+    }
+}
+
+void OsgEarthItem::setPitch(qreal arg)
+{
+    if (!qFuzzyCompare(m_pitch, arg)) {
+        m_pitch = arg;
+        markCameraDirty();
+        emit pitchChanged(arg);
+    }
+}
+
+void OsgEarthItem::setYaw(qreal arg)
+{
+    if (!qFuzzyCompare(m_yaw, arg)) {
+        m_yaw = arg;
+        markCameraDirty();
+        emit yawChanged(arg);
+    }
+}
+
+void OsgEarthItem::setLatitude(double arg)
+{
+    //not sure qFuzzyCompare is accurate enough for geo coordinates
+    if (m_latitude != arg) {
+        m_latitude = arg;
+        emit latitudeChanged(arg);
+    }
+}
+
+void OsgEarthItem::setLongitude(double arg)
+{
+    if (m_longitude != arg) {
+        m_longitude = arg;
+        emit longitudeChanged(arg);
+    }
+}
+
+void OsgEarthItem::setAltitude(double arg)
+{
+    if (!qFuzzyCompare(m_altitude,arg)) {
+        m_altitude = arg;
+        emit altitudeChanged(arg);
+    }
+}
+
+//! Camera vertical field of view in degrees
+void OsgEarthItem::setFieldOfView(qreal arg)
+{
+    if (!qFuzzyCompare(m_fieldOfView,arg)) {
+        m_fieldOfView = arg;
+        emit fieldOfViewChanged(arg);
+
+        if (m_viewer.get()) {
+            m_viewer->getCamera()->setProjectionMatrixAsPerspective(
+                        m_fieldOfView,
+                        qreal(m_currentSize.width())/m_currentSize.height(),
+                        1.0f, 10000.0f);
+        }
+
+        markCameraDirty();
+    }
+}
+
+void OsgEarthItem::setSceneFile(QString arg)
+{
+    if (m_sceneFile != arg) {
+        m_sceneFile = arg;
+        emit sceneFileChanged(arg);
+    }
+}
+
+
+void OsgEarthItem::initScene()
+{
+    if (m_viewer.get())
+        return;
+
+    int w = m_currentSize.width();
+    int h = m_currentSize.height();
+
+    QString sceneFile = m_sceneFile;
+
+    //try to resolve the relative scene file name:
+    if (!QFileInfo(sceneFile).exists()) {
+        QDeclarativeView *view = qobject_cast<QDeclarativeView*>(scene()->views().first());
+
+        if (view) {
+            QUrl baseUrl = view->engine()->baseUrl();
+            sceneFile = baseUrl.resolved(sceneFile).toLocalFile();
+        }
+    }
+
+    m_model = osgDB::readNodeFile(sceneFile.toStdString());
+
+    m_gw = new osgViewer::GraphicsWindowEmbedded(0,0,w,h);
+
+    m_viewer = new osgViewer::Viewer();
+    m_viewer->setThreadingModel(osgViewer::Viewer::SingleThreaded);
+    m_viewer->setSceneData(m_model);
+    m_viewer->getDatabasePager()->setDoPreCompile(true);
+
+    osg::Camera *camera = m_viewer->getCamera();
+    camera->setViewport(new osg::Viewport(0,0,w,h));
+    camera->setGraphicsContext(m_gw);
+    camera->setClearMask(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
+
+    // configure the near/far so we don't clip things that are up close
+    camera->setNearFarRatio(0.00002);
+    camera->setProjectionMatrixAsPerspective(m_fieldOfView, qreal(w)/h, 1.0f, 10000.0f);
+
+    markCameraDirty();
+}
+
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/osgearth.h b/ground/openpilotgcs/src/plugins/pfdqml/osgearth.h
new file mode 100644
index 000000000..6a1095a07
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/osgearth.h
@@ -0,0 +1,117 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef OSGEARTH_H
+#define OSGEARTH_H
+
+#include <osgViewer/Viewer>
+
+#include <QtDeclarative/QDeclarativeItem>
+#include <osgQt/GraphicsWindowQt>
+
+class QGLFramebufferObject;
+class QGLWidget;
+
+class OsgEarthItem : public QDeclarativeItem
+{
+    Q_OBJECT
+    Q_DISABLE_COPY(OsgEarthItem)
+
+    Q_PROPERTY(QString sceneFile READ sceneFile WRITE setSceneFile NOTIFY sceneFileChanged)
+    Q_PROPERTY(qreal fieldOfView READ fieldOfView WRITE setFieldOfView NOTIFY fieldOfViewChanged)
+
+    Q_PROPERTY(qreal roll READ roll WRITE setRoll NOTIFY rollChanged)
+    Q_PROPERTY(qreal pitch READ pitch WRITE setPitch NOTIFY pitchChanged)
+    Q_PROPERTY(qreal yaw READ yaw WRITE setYaw NOTIFY yawChanged)
+
+    Q_PROPERTY(double latitude READ latitude WRITE setLatitude NOTIFY latitudeChanged)
+    Q_PROPERTY(double longitude READ longitude WRITE setLongitude NOTIFY longitudeChanged)
+    Q_PROPERTY(double altitude READ altitude WRITE setAltitude NOTIFY altitudeChanged)
+
+public:
+    OsgEarthItem(QDeclarativeItem *parent = 0);
+    ~OsgEarthItem();
+
+    QString sceneFile() const { return m_sceneFile; }
+    qreal fieldOfView() const { return m_fieldOfView; }
+
+    qreal roll() const { return m_roll; }
+    qreal pitch() const { return m_pitch; }
+    qreal yaw() const { return m_yaw; }
+
+    double latitude() const { return m_latitude; }
+    double longitude() const { return m_longitude; }
+    double altitude() const { return m_altitude; }
+
+protected:
+    void geometryChanged(const QRectF &newGeometry, const QRectF &oldGeometry);
+    void paint(QPainter *painter, const QStyleOptionGraphicsItem *style, QWidget *widget);
+
+public slots:
+    void setSceneFile(QString arg);
+    void setFieldOfView(qreal arg);
+
+    void setRoll(qreal arg);
+    void setPitch(qreal arg);
+    void setYaw(qreal arg);
+
+    void setLatitude(double arg);
+    void setLongitude(double arg);
+    void setAltitude(double arg);
+
+signals:
+    void rollChanged(qreal arg);
+    void pitchChanged(qreal arg);
+    void yawChanged(qreal arg);
+
+    void latitudeChanged(double arg);
+    void longitudeChanged(double arg);
+    void altitudeChanged(double arg);
+
+    void sceneFileChanged(QString arg);
+    void fieldOfViewChanged(qreal arg);
+
+private slots:
+    void markCameraDirty();
+    void updateFBO();
+    void initScene();
+
+private:
+    osg::ref_ptr<osgViewer::Viewer> m_viewer;
+    osg::ref_ptr<osgViewer::GraphicsWindowEmbedded> m_gw;
+    osg::ref_ptr<osg::Node> m_model;
+    QWeakPointer<QGLWidget> m_glWidget;
+    QGLFramebufferObject *m_fbo;
+    QSize m_currentSize;
+
+    qreal m_roll;
+    qreal m_pitch;
+    qreal m_yaw;
+
+    double m_latitude;
+    double m_longitude;
+    double m_altitude;
+
+    qreal m_fieldOfView;
+    QString m_sceneFile;
+
+    bool m_cameraDirty;
+};
+
+QML_DECLARE_TYPE(OsgEarthItem)
+
+#endif // OSGEARTH_H
+
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro b/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro
new file mode 100644
index 000000000..7064f8a0c
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro
@@ -0,0 +1,35 @@
+TEMPLATE = lib
+TARGET = PfdQml
+QT += svg
+QT += opengl
+QT += declarative
+
+include(../../openpilotgcsplugin.pri)
+include(../../plugins/coreplugin/coreplugin.pri)
+include(pfdqml_dependencies.pri)
+
+LIBS += -losg -losgUtil -losgViewer -losgQt -losgDB -lOpenThreads -losgGA
+LIBS += -losgEarth -losgEarthFeatures -losgEarthUtil
+
+HEADERS += \
+    pfdqmlplugin.h \
+    pfdqmlgadget.h \
+    pfdqmlgadgetwidget.h \
+    pfdqmlgadgetfactory.h \
+    pfdqmlgadgetconfiguration.h \
+    pfdqmlgadgetoptionspage.h \
+    osgearth.h
+
+SOURCES += \
+    pfdqmlplugin.cpp \
+    pfdqmlgadget.cpp \
+    pfdqmlgadgetfactory.cpp \
+    pfdqmlgadgetwidget.cpp \
+    pfdqmlgadgetconfiguration.cpp \
+    pfdqmlgadgetoptionspage.cpp \
+    osgearth.cpp
+
+OTHER_FILES += PfdQml.pluginspec
+
+FORMS += pfdqmlgadgetoptionspage.ui
+
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqml_dependencies.pri b/ground/openpilotgcs/src/plugins/pfdqml/pfdqml_dependencies.pri
new file mode 100644
index 000000000..9aae5fbc0
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqml_dependencies.pri
@@ -0,0 +1 @@
+include(../../plugins/uavobjects/uavobjects.pri)
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
new file mode 100644
index 000000000..48661a581
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
@@ -0,0 +1,44 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "pfdqmlgadget.h"
+#include "pfdqmlgadgetwidget.h"
+#include "pfdqmlgadgetconfiguration.h"
+
+PfdQmlGadget::PfdQmlGadget(QString classId, PfdQmlGadgetWidget *widget, QWidget *parent) :
+        IUAVGadget(classId, parent),
+        m_widget(widget)
+{
+}
+
+PfdQmlGadget::~PfdQmlGadget()
+{
+    delete m_widget;
+}
+
+/*
+  This is called when a configuration is loaded, and updates the plugin's settings.
+  Careful: the plugin is already drawn before the loadConfiguration method is called the
+  first time, so you have to be careful not to assume all the plugin values are initialized
+  the first time you use them
+ */
+void PfdQmlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
+{
+    PfdQmlGadgetConfiguration *m = qobject_cast<PfdQmlGadgetConfiguration*>(config);
+    m_widget->setQmlFile(m->qmlFile());
+    m_widget->setEarthFile(m->earthFile());
+    m_widget->setTerrainEnabled(m->terrainEnabled());
+}
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.h b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.h
new file mode 100644
index 000000000..073e1f326
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.h
@@ -0,0 +1,45 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PFDQMLGADGET_H_
+#define PFDQMLQMLGADGET_H_
+
+#include <coreplugin/iuavgadget.h>
+#include "pfdqmlgadgetwidget.h"
+
+class IUAVGadget;
+class QWidget;
+class QString;
+class PfdQmlGadgetWidget;
+
+using namespace Core;
+
+class PfdQmlGadget : public Core::IUAVGadget
+{
+    Q_OBJECT
+public:
+    PfdQmlGadget(QString classId, PfdQmlGadgetWidget *widget, QWidget *parent = 0);
+    ~PfdQmlGadget();
+
+    QWidget *widget() { return m_widget; }
+    void loadConfiguration(IUAVGadgetConfiguration* config);
+
+private:
+    PfdQmlGadgetWidget *m_widget;
+};
+
+
+#endif // PFDQMLQMLGADGET_H_
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp
new file mode 100644
index 000000000..56926917e
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp
@@ -0,0 +1,67 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "pfdqmlgadgetconfiguration.h"
+#include "utils/pathutils.h"
+
+/**
+ * Loads a saved configuration or defaults if non exist.
+ *
+ */
+PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(QString classId, QSettings *qSettings, QObject *parent) :
+    IUAVGadgetConfiguration(classId, parent),
+    m_qmlFile("Unknown"),
+    m_earthFile("Unknown"),
+    m_terrainEnabled(true)
+{
+    //if a saved configuration exists load it
+    if(qSettings != 0) {
+        m_qmlFile = qSettings->value("qmlFile").toString();
+        m_qmlFile=Utils::PathUtils().InsertDataPath(m_qmlFile);
+
+        m_earthFile = qSettings->value("earthFile").toString();
+        m_earthFile=Utils::PathUtils().InsertDataPath(m_earthFile);
+
+        m_terrainEnabled = qSettings->value("terrainEnabled").toBool();
+    }
+}
+
+/**
+ * Clones a configuration.
+ *
+ */
+IUAVGadgetConfiguration *PfdQmlGadgetConfiguration::clone()
+{
+    PfdQmlGadgetConfiguration *m = new PfdQmlGadgetConfiguration(this->classId());
+    m->m_qmlFile = m_qmlFile;
+    m->m_earthFile = m_earthFile;
+    m->m_terrainEnabled = m_terrainEnabled;
+
+    return m;
+}
+
+/**
+ * Saves a configuration.
+ *
+ */
+void PfdQmlGadgetConfiguration::saveConfig(QSettings* qSettings) const {
+    QString qmlFile = Utils::PathUtils().RemoveDataPath(m_qmlFile);
+    qSettings->setValue("qmlFile", qmlFile);
+    QString earthFile = Utils::PathUtils().RemoveDataPath(m_earthFile);
+    qSettings->setValue("earthFile", earthFile);
+
+    qSettings->setValue("terrainEnabled", m_terrainEnabled);
+}
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h
new file mode 100644
index 000000000..c9986173b
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h
@@ -0,0 +1,48 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PFDQMLGADGETCONFIGURATION_H
+#define PFDQMLGADGETCONFIGURATION_H
+
+#include <coreplugin/iuavgadgetconfiguration.h>
+
+using namespace Core;
+
+class PfdQmlGadgetConfiguration : public IUAVGadgetConfiguration
+{
+Q_OBJECT
+public:
+    explicit PfdQmlGadgetConfiguration(QString classId, QSettings* qSettings = 0, QObject *parent = 0);
+
+    void setQmlFile(const QString &fileName) { m_qmlFile=fileName; }
+    void setEarthFile(const QString &fileName) { m_earthFile=fileName; }
+    void setTerrainEnabled(bool flag) { m_terrainEnabled = flag; }
+
+    //get dial configuration functions
+    QString qmlFile() const { return m_qmlFile; }
+    QString earthFile() const { return m_earthFile; }
+    bool terrainEnabled() const { return m_terrainEnabled; }
+
+    void saveConfig(QSettings* settings) const;
+    IUAVGadgetConfiguration *clone();
+
+private:
+    QString m_qmlFile; // The name of the dial's SVG source file
+    QString m_earthFile; // The name of osgearth terrain file
+    bool m_terrainEnabled;
+};
+
+#endif // PfdQmlGADGETCONFIGURATION_H
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetfactory.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetfactory.cpp
new file mode 100644
index 000000000..9616c4796
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetfactory.cpp
@@ -0,0 +1,49 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "pfdqmlgadgetfactory.h"
+#include "pfdqmlgadgetwidget.h"
+#include "pfdqmlgadget.h"
+#include "pfdqmlgadgetconfiguration.h"
+#include "pfdqmlgadgetoptionspage.h"
+#include <coreplugin/iuavgadget.h>
+
+PfdQmlGadgetFactory::PfdQmlGadgetFactory(QObject *parent) :
+        IUAVGadgetFactory(QString("PfdQmlGadget"),
+                          tr("PFD (qml)"),
+                          parent)
+{
+}
+
+PfdQmlGadgetFactory::~PfdQmlGadgetFactory()
+{
+}
+
+Core::IUAVGadget* PfdQmlGadgetFactory::createGadget(QWidget *parent)
+{
+    PfdQmlGadgetWidget* gadgetWidget = new PfdQmlGadgetWidget(parent);
+    return new PfdQmlGadget(QString("PfdQmlGadget"), gadgetWidget, parent);
+}
+
+IUAVGadgetConfiguration *PfdQmlGadgetFactory::createConfiguration(QSettings *qSettings)
+{
+    return new PfdQmlGadgetConfiguration(QString("PfdQmlGadget"), qSettings);
+}
+
+IOptionsPage *PfdQmlGadgetFactory::createOptionsPage(IUAVGadgetConfiguration *config)
+{
+    return new PfdQmlGadgetOptionsPage(qobject_cast<PfdQmlGadgetConfiguration*>(config));
+}
+
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetfactory.h b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetfactory.h
new file mode 100644
index 000000000..950124010
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetfactory.h
@@ -0,0 +1,41 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PFDQMLGADGETFACTORY_H_
+#define PFDQMLGADGETFACTORY_H_
+
+#include <coreplugin/iuavgadgetfactory.h>
+
+namespace Core {
+class IUAVGadget;
+class IUAVGadgetFactory;
+}
+
+using namespace Core;
+
+class PfdQmlGadgetFactory : public IUAVGadgetFactory
+{
+    Q_OBJECT
+public:
+    PfdQmlGadgetFactory(QObject *parent = 0);
+    ~PfdQmlGadgetFactory();
+
+    Core::IUAVGadget *createGadget(QWidget *parent);
+    IUAVGadgetConfiguration *createConfiguration(QSettings *qSettings);
+    IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
+};
+
+#endif // PfdQmlGADGETFACTORY_H_
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
new file mode 100644
index 000000000..01ee89c96
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
@@ -0,0 +1,77 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "pfdqmlgadgetoptionspage.h"
+#include "pfdqmlgadgetconfiguration.h"
+#include "ui_pfdqmlgadgetoptionspage.h"
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjectmanager.h"
+#include "uavdataobject.h"
+
+
+#include <QFileDialog>
+#include <QtAlgorithms>
+#include <QStringList>
+
+PfdQmlGadgetOptionsPage::PfdQmlGadgetOptionsPage(PfdQmlGadgetConfiguration *config, QObject *parent) :
+        IOptionsPage(parent),
+        m_config(config)
+{
+}
+
+//creates options page widget (uses the UI file)
+QWidget *PfdQmlGadgetOptionsPage::createPage(QWidget *parent)
+{
+
+    options_page = new Ui::PfdQmlGadgetOptionsPage();
+    //main widget
+    QWidget *optionsPageWidget = new QWidget;
+    //main layout
+    options_page->setupUi(optionsPageWidget);
+
+    // Restore the contents from the settings:
+    options_page->qmlSourceFile->setExpectedKind(Utils::PathChooser::File);
+    options_page->qmlSourceFile->setPromptDialogFilter(tr("QML file (*.qml)"));
+    options_page->qmlSourceFile->setPromptDialogTitle(tr("Choose QML file"));
+    options_page->qmlSourceFile->setPath(m_config->qmlFile());
+
+    // Restore the contents from the settings:
+    options_page->earthFile->setExpectedKind(Utils::PathChooser::File);
+    options_page->earthFile->setPromptDialogFilter(tr("OsgEarth (*.earth)"));
+    options_page->earthFile->setPromptDialogTitle(tr("Choose OsgEarth terrain file"));
+    options_page->earthFile->setPath(m_config->earthFile());
+
+    options_page->showTerrain->setChecked(m_config->terrainEnabled());
+
+    return optionsPageWidget;
+}
+
+/**
+ * Called when the user presses apply or OK.
+ *
+ * Saves the current values
+ *
+ */
+void PfdQmlGadgetOptionsPage::apply()
+{
+    m_config->setQmlFile(options_page->qmlSourceFile->path());
+    m_config->setEarthFile(options_page->earthFile->path());
+    m_config->setTerrainEnabled(options_page->showTerrain->isChecked());
+}
+
+void PfdQmlGadgetOptionsPage::finish()
+{
+}
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.h b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.h
new file mode 100644
index 000000000..8797275a6
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.h
@@ -0,0 +1,54 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PFDQMLGADGETOPTIONSPAGE_H
+#define PFDQMLGADGETOPTIONSPAGE_H
+
+#include "coreplugin/dialogs/ioptionspage.h"
+#include "QString"
+#include <QStringList>
+#include <QDebug>
+
+namespace Core {
+class IUAVGadgetConfiguration;
+}
+
+class PfdQmlGadgetConfiguration;
+
+namespace Ui {
+    class PfdQmlGadgetOptionsPage;
+}
+
+using namespace Core;
+
+class PfdQmlGadgetOptionsPage : public IOptionsPage
+{
+Q_OBJECT
+public:
+    explicit PfdQmlGadgetOptionsPage(PfdQmlGadgetConfiguration *config, QObject *parent = 0);
+
+    QWidget *createPage(QWidget *parent);
+    void apply();
+    void finish();
+
+private:
+    Ui::PfdQmlGadgetOptionsPage *options_page;
+    PfdQmlGadgetConfiguration *m_config;
+
+private slots:
+};
+
+#endif // PfdQmlGADGETOPTIONSPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui
new file mode 100644
index 000000000..dd8d03e4f
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui
@@ -0,0 +1,135 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PfdQmlGadgetOptionsPage</class>
+ <widget class="QWidget" name="PfdQmlGadgetOptionsPage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>441</width>
+    <height>339</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0">
+     <property name="spacing">
+      <number>10</number>
+     </property>
+     <property name="sizeConstraint">
+      <enum>QLayout::SetMaximumSize</enum>
+     </property>
+     <property name="bottomMargin">
+      <number>10</number>
+     </property>
+     <item>
+      <widget class="QLabel" name="label">
+       <property name="text">
+        <string>QML file: </string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="Utils::PathChooser" name="qmlSourceFile" native="true">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="1" column="0">
+    <widget class="Line" name="line">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <widget class="QCheckBox" name="showTerrain">
+       <property name="enabled">
+        <bool>true</bool>
+       </property>
+       <property name="text">
+        <string>Show terrain</string>
+       </property>
+       <property name="checked">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="3" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,0">
+     <property name="spacing">
+      <number>10</number>
+     </property>
+     <property name="sizeConstraint">
+      <enum>QLayout::SetMaximumSize</enum>
+     </property>
+     <property name="bottomMargin">
+      <number>10</number>
+     </property>
+     <item>
+      <widget class="QLabel" name="label_2">
+       <property name="text">
+        <string>OsgEarth file:</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="Utils::PathChooser" name="earthFile" native="true">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="4" column="0">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::MinimumExpanding</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>Utils::PathChooser</class>
+   <extends>QWidget</extends>
+   <header>utils/pathchooser.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
new file mode 100644
index 000000000..ac2d7ada2
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
@@ -0,0 +1,106 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "pfdqmlgadgetwidget.h"
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjectmanager.h"
+#include "uavobject.h"
+#include "utils/svgimageprovider.h"
+#include "osgearth.h"
+
+#include <QDebug>
+#include <QSvgRenderer>
+#include <QtOpenGL/QGLWidget>
+#include <QtCore/qfileinfo.h>
+#include <QtCore/qdir.h>
+
+#include <QtDeclarative/qdeclarativeengine.h>
+#include <QtDeclarative/qdeclarativecontext.h>
+#include <QtDeclarative/qdeclarativeengine.h>
+
+PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWidget *parent) :
+    QDeclarativeView(parent)
+{
+    setMinimumSize(64,64);
+    setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
+    setResizeMode(SizeRootObjectToView);
+
+    setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
+
+    QStringList objectsToExport;
+    objectsToExport << "VelocityActual" <<
+                       "PositionActual" <<
+                       "AttitudeActual" <<
+                       "GPSPosition" <<
+                       "GCSTelemetryStats" <<
+                       "FlightBatteryState";
+
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+
+    foreach (const QString &objectName, objectsToExport) {
+        UAVObject* object = objManager->getObject(objectName);
+        if (object)
+            engine()->rootContext()->setContextProperty(objectName, object);
+        else
+            qWarning() << "Failed to load object" << objectName;
+    }
+
+    //to expose settings values
+    engine()->rootContext()->setContextProperty("qmlWidget", this);
+
+    qmlRegisterType<OsgEarthItem>("org.OpenPilot", 1, 0, "OsgEarth");
+}
+
+PfdQmlGadgetWidget::~PfdQmlGadgetWidget()
+{
+}
+
+void PfdQmlGadgetWidget::setQmlFile(QString fn)
+{
+    m_qmlFileName = fn;
+
+    engine()->removeImageProvider("svg");
+    SvgImageProvider *svgProvider = new SvgImageProvider(fn);
+    engine()->addImageProvider("svg", svgProvider);
+
+    //it's necessary to allow qml side to query svg element position
+    engine()->rootContext()->setContextProperty("svgRenderer", svgProvider);
+    engine()->setBaseUrl(QUrl::fromLocalFile(fn));
+
+    qDebug() << Q_FUNC_INFO << fn;
+    setSource(QUrl::fromLocalFile(fn));
+
+    foreach(const QDeclarativeError &error, errors()) {
+        qDebug() << error.description();
+    }
+}
+
+void PfdQmlGadgetWidget::setEarthFile(QString arg)
+{
+    if (m_earthFile != arg) {
+        m_earthFile = arg;
+        emit earthFileChanged(arg);
+    }
+}
+
+void PfdQmlGadgetWidget::setTerrainEnabled(bool arg)
+{
+    if (m_terrainEnabled != arg) {
+        m_terrainEnabled = arg;
+        emit terrainEnabledChanged(arg);
+    }
+}
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h
new file mode 100644
index 000000000..6e0f8b35f
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h
@@ -0,0 +1,51 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PFDQMLGADGETWIDGET_H_
+#define PFDQMLGADGETWIDGET_H_
+
+#include "pfdqmlgadgetconfiguration.h"
+#include <QtDeclarative/qdeclarativeview.h>
+
+class PfdQmlGadgetWidget : public QDeclarativeView
+{
+    Q_OBJECT
+    Q_PROPERTY(QString earthFile READ earthFile WRITE setEarthFile NOTIFY earthFileChanged)
+    Q_PROPERTY(bool terrainEnabled READ terrainEnabled WRITE setTerrainEnabled NOTIFY terrainEnabledChanged)
+
+public:
+    PfdQmlGadgetWidget(QWidget *parent = 0);
+   ~PfdQmlGadgetWidget();
+    void setQmlFile(QString fn);
+
+    QString earthFile() const { return m_earthFile; }
+    bool terrainEnabled() const { return m_terrainEnabled; }
+
+public slots:
+    void setEarthFile(QString arg);
+    void setTerrainEnabled(bool arg);
+
+signals:
+    void earthFileChanged(QString arg);
+    void terrainEnabledChanged(bool arg);
+
+private:
+    QString m_qmlFileName;
+    QString m_earthFile;
+    bool m_terrainEnabled;
+};
+
+#endif /* PFDQMLGADGETWIDGET_H_ */
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlplugin.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlplugin.cpp
new file mode 100644
index 000000000..f7d40a24d
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlplugin.cpp
@@ -0,0 +1,55 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "pfdqmlplugin.h"
+#include "pfdqmlgadgetfactory.h"
+#include <QDebug>
+#include <QtPlugin>
+#include <QStringList>
+#include <extensionsystem/pluginmanager.h>
+
+
+PfdQmlPlugin::PfdQmlPlugin()
+{
+   // Do nothing
+}
+
+PfdQmlPlugin::~PfdQmlPlugin()
+{
+   // Do nothing
+}
+
+bool PfdQmlPlugin::initialize(const QStringList& args, QString *errMsg)
+{
+   Q_UNUSED(args);
+   Q_UNUSED(errMsg);
+   mf = new PfdQmlGadgetFactory(this);
+   addAutoReleasedObject(mf);
+
+   return true;
+}
+
+void PfdQmlPlugin::extensionsInitialized()
+{
+   // Do nothing
+}
+
+void PfdQmlPlugin::shutdown()
+{
+   // Do nothing
+}
+Q_EXPORT_PLUGIN(PfdQmlPlugin)
+
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlplugin.h b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlplugin.h
new file mode 100644
index 000000000..e1ef1a122
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlplugin.h
@@ -0,0 +1,36 @@
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PFDQMLPLUGIN_H_
+#define PFDQMLPLUGIN_H_
+
+#include <extensionsystem/iplugin.h>
+
+class PfdQmlGadgetFactory;
+
+class PfdQmlPlugin : public ExtensionSystem::IPlugin
+{
+public:
+   PfdQmlPlugin();
+   ~PfdQmlPlugin();
+
+   void extensionsInitialized();
+   bool initialize(const QStringList &arguments, QString *errorString);
+   void shutdown();
+private:
+   PfdQmlGadgetFactory *mf;
+};
+#endif /* PFDQMLPLUGIN_H_ */
diff --git a/ground/openpilotgcs/src/plugins/plugins.pro b/ground/openpilotgcs/src/plugins/plugins.pro
index 154335e3a..63fd4c297 100644
--- a/ground/openpilotgcs/src/plugins/plugins.pro
+++ b/ground/openpilotgcs/src/plugins/plugins.pro
@@ -128,12 +128,17 @@ plugin_pfd.depends = plugin_coreplugin
 plugin_pfd.depends += plugin_uavobjects
 SUBDIRS += plugin_pfd
 
-# Primary Flight Display (PFD) gadget
+# QML viewer gadget
 plugin_qmlview.subdir = qmlview
 plugin_qmlview.depends = plugin_coreplugin
 plugin_qmlview.depends += plugin_uavobjects
 SUBDIRS += plugin_qmlview
 
+# Primary Flight Display (PFD) gadget, QML version
+plugin_pfdqml.subdir = pfdqml
+plugin_pfdqml.depends = plugin_coreplugin
+plugin_pfdqml.depends += plugin_uavobjects
+SUBDIRS += plugin_pfdqml
 
 #IP connection plugin
 plugin_ipconnection.subdir = ipconnection

From 717b0d4561a06df9f9282a71aca78878d49c5c44 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Tue, 24 Jul 2012 22:10:17 +0100
Subject: [PATCH 063/543] Revert "OP-39 Added some pages and some functionality
 to the OP SetupWizard."

This reverts commit ebe76e4ae65f7b4b94f705e7a418699936186494.
---
 .../plugins/coreplugin/connectionmanager.cpp  | 143 ++++++-----
 .../plugins/coreplugin/connectionmanager.h    |  32 +--
 .../setupwizard/pages/abstractwizardpage.cpp  |  35 ---
 .../setupwizard/pages/abstractwizardpage.h    |  48 ----
 .../setupwizard/pages/controllerpage.cpp      | 225 ------------------
 .../setupwizard/pages/controllerpage.h        |  67 ------
 .../setupwizard/pages/controllerpage.ui       | 163 -------------
 .../src/plugins/setupwizard/pages/endpage.cpp |  30 +--
 .../src/plugins/setupwizard/pages/endpage.h   |  33 +--
 .../src/plugins/setupwizard/pages/endpage.ui  |   2 +-
 .../setupwizard/pages/fixedwingpage.cpp       |  42 ----
 .../plugins/setupwizard/pages/fixedwingpage.h |  49 ----
 .../setupwizard/pages/fixedwingpage.ui        |  43 ----
 .../plugins/setupwizard/pages/helipage.cpp    |  42 ----
 .../src/plugins/setupwizard/pages/helipage.h  |  49 ----
 .../src/plugins/setupwizard/pages/helipage.ui |  43 ----
 .../plugins/setupwizard/pages/multipage.cpp   | 125 ----------
 .../src/plugins/setupwizard/pages/multipage.h |  59 -----
 .../plugins/setupwizard/pages/multipage.ui    | 146 ------------
 .../pages/notyetimplementedpage.cpp           |  42 ----
 .../setupwizard/pages/notyetimplementedpage.h |  49 ----
 .../pages/notyetimplementedpage.ui            |  43 ----
 .../plugins/setupwizard/pages/startpage.cpp   |  30 +--
 .../src/plugins/setupwizard/pages/startpage.h |  32 +--
 .../plugins/setupwizard/pages/surfacepage.cpp |  42 ----
 .../plugins/setupwizard/pages/surfacepage.h   |  49 ----
 .../plugins/setupwizard/pages/surfacepage.ui  |  43 ----
 .../plugins/setupwizard/pages/vehiclepage.cpp |  61 -----
 .../plugins/setupwizard/pages/vehiclepage.h   |  50 ----
 .../plugins/setupwizard/pages/vehiclepage.ui  | 168 -------------
 .../src/plugins/setupwizard/setupwizard.cpp   |  59 +----
 .../src/plugins/setupwizard/setupwizard.h     |  20 +-
 .../src/plugins/setupwizard/setupwizard.pro   |  36 +--
 .../plugins/setupwizard/setupwizardplugin.cpp |   4 +-
 .../plugins/setupwizard/setupwizardplugin.h   |   4 +-
 .../plugins/setupwizard/wizardResources.qrc   |   3 -
 36 files changed, 109 insertions(+), 2002 deletions(-)
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.cpp
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.h
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.h
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.ui
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.cpp
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.h
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.ui
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.cpp
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.h
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.ui
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.h
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.ui
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.cpp
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.h
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.ui
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.cpp
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.h
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.ui
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.cpp
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.h
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.ui
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index 5fa2ead50..f49d98c0e 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -44,15 +44,15 @@ namespace Core {
 
 
 ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidget *modeStack) :
-    QWidget(mainWindow),	// Pip
-    m_availableDevList(0),
+	QWidget(mainWindow),	// Pip
+	m_availableDevList(0),
     m_connectBtn(0),
-    m_ioDev(NULL),
-    m_mainWindow(mainWindow)
+    m_ioDev(NULL),	
+	m_mainWindow(mainWindow)
 {
-    //   Q_UNUSED(mainWindow);
+ //   Q_UNUSED(mainWindow);
 
-    /*    QVBoxLayout *top = new QVBoxLayout;
+/*    QVBoxLayout *top = new QVBoxLayout;
     top->setSpacing(0);
     top->setMargin(0);*/
 
@@ -72,7 +72,7 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidge
     m_connectBtn->setEnabled(false);
     layout->addWidget(m_connectBtn);
 
-    /*    Utils::StyledBar *bar = new Utils::StyledBar;
+/*    Utils::StyledBar *bar = new Utils::StyledBar;
     bar->setLayout(layout);
 
     top->addWidget(bar);*/
@@ -81,29 +81,33 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidge
     //    modeStack->insertCornerWidget(modeStack->cornerWidgetCount()-1, this);
     modeStack->setCornerWidget(this, Qt::TopRightCorner);
 
-    QObject::connect(m_connectBtn, SIGNAL(pressed()), this, SLOT(onConnectPressed()));
+	QObject::connect(m_connectBtn, SIGNAL(pressed()), this, SLOT(onConnectPressed()));
 }
 
 ConnectionManager::~ConnectionManager()
 {
-    disconnectDevice();	// Pip
-    suspendPolling();	// Pip
+	disconnectDevice();	// Pip
+	suspendPolling();	// Pip
 }
 
 void ConnectionManager::init()
 {
     //register to the plugin manager so we can receive
     //new connection object from plugins
-    QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(objectAdded(QObject*)), this, SLOT(objectAdded(QObject*)));
-    QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(aboutToRemoveObject(QObject*)), this, SLOT(aboutToRemoveObject(QObject*)));
+	QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(objectAdded(QObject*)), this, SLOT(objectAdded(QObject*)));
+	QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(aboutToRemoveObject(QObject*)), this, SLOT(aboutToRemoveObject(QObject*)));
 }
 
 /**
 *   Method called when the user clicks the "Connect" button
 */
-bool ConnectionManager::connectDevice(devListItem device)
+bool ConnectionManager::connectDevice()
 {
-    QIODevice *io_dev = device.connection->openDevice(device.Name);
+    devListItem connection_device = findDevice(m_availableDevList->itemData(m_availableDevList->currentIndex(),Qt::ToolTipRole).toString());
+    if (!connection_device.connection)
+        return false;
+
+    QIODevice *io_dev = connection_device.connection->openDevice(connection_device.Name);
     if (!io_dev)
         return false;
 
@@ -111,23 +115,23 @@ bool ConnectionManager::connectDevice(devListItem device)
 
     // check if opening the device worked
     if (!io_dev->isOpen()) {
-        qDebug() << "Error: io_dev->isOpen() returned FALSE .. could not open connection to " << device.devName
+        qDebug() << "Error: io_dev->isOpen() returned FALSE .. could not open connection to " << connection_device.devName
                  << ": " << io_dev->errorString();
 
         // close the device
         // EDOUARD: why do we close if we could not open ???
         try {
-            device.connection->closeDevice(device.devName);
+            connection_device.connection->closeDevice(connection_device.devName);
         }
         catch (...) {	// handle exception
-            qDebug() << "Exception: connection_device.connection->closeDevice(" << device.devName << ")";
+            qDebug() << "Exception: connection_device.connection->closeDevice(" << connection_device.devName << ")";
         }
         return false;
     }
 
     // we appear to have connected to the device OK
     // remember the connection/device details
-    m_connectionDevice = device;
+    m_connectionDevice = connection_device;
     m_ioDev = io_dev;
 
     connect(m_connectionDevice.connection, SIGNAL(destroyed(QObject *)), this, SLOT(onConnectionDestroyed(QObject *)), Qt::QueuedConnection);
@@ -167,8 +171,6 @@ bool ConnectionManager::disconnectDevice()
     m_connectionDevice.connection = NULL;
     m_ioDev = NULL;
 
-    emit deviceDisconnected();
-
     m_connectBtn->setText("Connect");
     m_availableDevList->setEnabled(true);
 
@@ -182,7 +184,7 @@ void ConnectionManager::objectAdded(QObject *obj)
 {
     //Check if a plugin added a connection object to the pool
     IConnection *connection = Aggregation::query<IConnection>(obj);
-    if (!connection) return;
+	if (!connection) return;
 
     //qDebug() << "Connection object registered:" << connection->connectionName();
     //qDebug() << connection->availableDevices();
@@ -194,23 +196,23 @@ void ConnectionManager::objectAdded(QObject *obj)
     // to do things
     m_connectionsList.append(connection);
 
-    QObject::connect(connection, SIGNAL(availableDevChanged(IConnection *)), this, SLOT(devChanged(IConnection *)));
+	QObject::connect(connection, SIGNAL(availableDevChanged(IConnection *)), this, SLOT(devChanged(IConnection *)));
 }
 
 void ConnectionManager::aboutToRemoveObject(QObject *obj)
 {
     //Check if a plugin added a connection object to the pool
     IConnection *connection = Aggregation::query<IConnection>(obj);
-    if (!connection) return;
+	if (!connection) return;
 
-    if (m_connectionDevice.connection && m_connectionDevice.connection == connection)	// Pip
-    {	// we are currently using the one that is about to be removed
-        m_connectionDevice.connection = NULL;
-        m_ioDev = NULL;
-    }
+	if (m_connectionDevice.connection && m_connectionDevice.connection == connection)	// Pip
+	{	// we are currently using the one that is about to be removed
+		m_connectionDevice.connection = NULL;
+		m_ioDev = NULL;
+	}
 
-    if (m_connectionsList.contains(connection))
-        m_connectionsList.removeAt(m_connectionsList.indexOf(connection));
+	if (m_connectionsList.contains(connection))
+		m_connectionsList.removeAt(m_connectionsList.indexOf(connection));
 }
 
 
@@ -228,11 +230,8 @@ void ConnectionManager::onConnectPressed()
 {
     // Check if we have a ioDev already created:
     if (!m_ioDev)
-    {
-        // connecting to currently selected device
-        devListItem device = findDevice(m_availableDevList->itemData(m_availableDevList->currentIndex(), Qt::ToolTipRole).toString());
-        if (device.connection)
-            connectDevice(device);
+    {	// connecting
+        connectDevice();
     }
     else
     {	// disconnecting
@@ -245,9 +244,9 @@ void ConnectionManager::onConnectPressed()
 */
 devListItem ConnectionManager::findDevice(const QString &devName)
 {
-    foreach (devListItem d, m_devList)
+	foreach (devListItem d, m_devList)
     {
-        if (d.devName == devName)
+                if (d.devName == devName)
             return d;
     }
 
@@ -265,13 +264,13 @@ devListItem ConnectionManager::findDevice(const QString &devName)
 */
 void ConnectionManager::suspendPolling()
 {
-    foreach (IConnection *cnx, m_connectionsList)
-    {
+	foreach (IConnection *cnx, m_connectionsList)
+	{
         cnx->suspendPolling();
     }
 
-    m_connectBtn->setEnabled(false);
-    m_availableDevList->setEnabled(false);
+	m_connectBtn->setEnabled(false);
+	m_availableDevList->setEnabled(false);
 }
 
 /**
@@ -280,13 +279,13 @@ void ConnectionManager::suspendPolling()
 */
 void ConnectionManager::resumePolling()
 {
-    foreach (IConnection *cnx, m_connectionsList)
-    {
+	foreach (IConnection *cnx, m_connectionsList)
+	{
         cnx->resumePolling();
     }
 
-    m_connectBtn->setEnabled(true);
-    m_availableDevList->setEnabled(true);
+	m_connectBtn->setEnabled(true);
+	m_availableDevList->setEnabled(true);
 }
 
 /**
@@ -295,21 +294,21 @@ void ConnectionManager::resumePolling()
 */
 void ConnectionManager::unregisterAll(IConnection *connection)
 {
-    for (QLinkedList<devListItem>::iterator iter = m_devList.begin(); iter != m_devList.end(); )
-    {
-        if (iter->connection == connection)
-        {
-            if (m_connectionDevice.connection && m_connectionDevice.connection == connection)
-            {	// we are currently using the one we are about to erase
-                //onConnectionClosed(m_connectionDevice.connection);
-                disconnectDevice();
-            }
+	for (QLinkedList<devListItem>::iterator iter = m_devList.begin(); iter != m_devList.end(); )
+	{
+		if (iter->connection == connection)
+		{
+			if (m_connectionDevice.connection && m_connectionDevice.connection == connection)
+			{	// we are currently using the one we are about to erase
+                                //onConnectionClosed(m_connectionDevice.connection);
+                            disconnectDevice();
+			}
 
-            iter = m_devList.erase(iter);
-        }
-        else
-            ++iter;
-    }
+			iter = m_devList.erase(iter);
+		}
+		else
+			++iter;
+	}
 }
 
 /**
@@ -348,7 +347,7 @@ void ConnectionManager::devChanged(IConnection *connection)
     unregisterAll(connection);
 
     //and add them back in the list
-    QList<IConnection::device> availableDev = connection->availableDevices();
+    QList <IConnection::device> availableDev = connection->availableDevices();
     foreach (IConnection::device dev, availableDev)
     {
         QString cbName = connection->shortName() + ": " + dev.name;
@@ -356,35 +355,32 @@ void ConnectionManager::devChanged(IConnection *connection)
         registerDevice(connection,cbName,dev.name,disp);
     }
 
-    qDebug() << "# devices " << m_devList.count();
-    emit availableDevicesChanged(m_devList);
-
     //add all the list again to the combobox
-    foreach (devListItem device, m_devList)
+    foreach (devListItem d, m_devList)
     {
-        m_availableDevList->addItem(device.displayName);
-        m_availableDevList->setItemData(m_availableDevList->count() - 1, (const QString)device.devName,Qt::ToolTipRole);
-        if(!m_ioDev && device.displayName.startsWith("USB"))
+        m_availableDevList->addItem(d.displayName);
+        m_availableDevList->setItemData(m_availableDevList->count()-1,(const QString)d.devName,Qt::ToolTipRole);
+        if(!m_ioDev && d.displayName.startsWith("USB"))
         {
             if(m_mainWindow->generalSettings()->autoConnect() || m_mainWindow->generalSettings()->autoSelect())
-                m_availableDevList->setCurrentIndex(m_availableDevList->count() - 1);
-
+                m_availableDevList->setCurrentIndex(m_availableDevList->count()-1);
             if(m_mainWindow->generalSettings()->autoConnect())
             {
-                connectDevice(device);
-                qDebug() << "ConnectionManager::devChanged autoconnected USB device";
+                connectDevice();
+                qDebug()<<"ConnectionManager::devChanged autoconnected USB device";
             }
         }
     }
     if(m_ioDev)//if a device is connected make it the one selected on the dropbox
     {
-        for(int x=0; x < m_availableDevList->count(); ++x)
+        for(int x=0;x<m_availableDevList->count();++x)
         {
             if(m_connectionDevice.devName==m_availableDevList->itemData(x,Qt::ToolTipRole).toString())
                 m_availableDevList->setCurrentIndex(x);
         }
     }
 
+
     //disable connection button if the liNameif (m_availableDevList->count() > 0)
     if (m_availableDevList->count() > 0)
         m_connectBtn->setEnabled(true);
@@ -392,7 +388,7 @@ void ConnectionManager::devChanged(IConnection *connection)
         m_connectBtn->setEnabled(false);
 }
 
-
+}
 
 void Core::ConnectionManager::connectionsCallBack()
 {
@@ -402,5 +398,4 @@ void Core::ConnectionManager::connectionsCallBack()
     }
     connectionBackup.clear();
     disconnect(ExtensionSystem::PluginManager::instance(),SIGNAL(pluginsLoadEnded()),this,SLOT(connectionsCallBack()));
-}
 } //namespace Core
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 4d57319ae..289e65590 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -46,12 +46,12 @@ QT_END_NAMESPACE
 
 namespace Core {
 
-class IConnection;
+    class IConnection;
 
 namespace Internal {
-class FancyTabWidget;
-class FancyActionBar;
-class MainWindow;
+    class FancyTabWidget;
+    class FancyActionBar;
+    class MainWindow;
 } // namespace Internal
 
 
@@ -75,28 +75,19 @@ public:
     void init();
 
     QIODevice* getCurrentConnection() { return m_ioDev; }
-    devListItem getCurrentDevice() { return m_connectionDevice; }
-    devListItem findDevice(const QString &devName);
-
-    QLinkedList<devListItem> getAvailableDevices() { return m_devList; }
-
-    bool isConnected() { return m_ioDev != 0; }
-
-    bool connectDevice(devListItem device);
+    devListItem getCurrentDevice() { return m_connectionDevice;}
     bool disconnectDevice();
-
     void suspendPolling();
     void resumePolling();
 
 protected:
     void unregisterAll(IConnection *connection);
     void registerDevice(IConnection *conn, const QString &devN, const QString &name, const QString &disp);
+    devListItem findDevice(const QString &devName);
 
 signals:
     void deviceConnected(QIODevice *dev);
-    void deviceDisconnected();
     void deviceAboutToDisconnect();
-    void availableDevicesChanged(const QLinkedList<Core::devListItem> devices);
 
 private slots:
     void objectAdded(QObject *obj);
@@ -105,9 +96,9 @@ private slots:
     void onConnectPressed();
     void devChanged(IConnection *connection);
 
-    //	void onConnectionClosed(QObject *obj);
-    void onConnectionDestroyed(QObject *obj);
-    void connectionsCallBack(); //used to call devChange after all the plugins are loaded
+//	void onConnectionClosed(QObject *obj);
+	void onConnectionDestroyed(QObject *obj);
+        void connectionsCallBack(); //used to call devChange after all the plugins are loaded
 protected:
     QComboBox *m_availableDevList;
     QPushButton *m_connectBtn;
@@ -121,8 +112,9 @@ protected:
     QIODevice *m_ioDev;
 
 private:
-    Internal::MainWindow *m_mainWindow;
-    QList <IConnection *> connectionBackup;
+	bool connectDevice();
+        Internal::MainWindow *m_mainWindow;
+        QList <IConnection *> connectionBackup;
 
 };
 
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.cpp
deleted file mode 100644
index 31425fc34..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.cpp
+++ /dev/null
@@ -1,35 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       abstractwizardpage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup AbstractWizardPage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "abstractwizardpage.h"
-
-AbstractWizardPage::AbstractWizardPage(SetupWizard* wizard, QWidget *parent) :
-    QWizardPage(parent)
-{
-    m_wizard = wizard;
-    setFixedSize(600, 400);
-}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.h
deleted file mode 100644
index 072d619e7..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/abstractwizardpage.h
+++ /dev/null
@@ -1,48 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       abstractwizardpage.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup AbstractWizardPage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef ABSTRACTWIZARDPAGE_H
-#define ABSTRACTWIZARDPAGE_H
-
-#include <QWizardPage>
-#include "setupwizard.h"
-
-class AbstractWizardPage : public QWizardPage
-{
-    Q_OBJECT
-protected:
-    explicit AbstractWizardPage(SetupWizard *wizard, QWidget *parent = 0);
-
-private:
-    SetupWizard *m_wizard;
-
-public:
-    SetupWizard* getWizard() { return m_wizard; }
-
-};
-
-#endif // ABSTRACTWIZARDPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp
deleted file mode 100644
index 7d66957d9..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp
+++ /dev/null
@@ -1,225 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       controllerpage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup ControllerPage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "controllerpage.h"
-#include "ui_controllerpage.h"
-#include "setupwizard.h"
-
-#include <extensionsystem/pluginmanager.h>
-#include <uavobjectutil/uavobjectutilmanager.h>
-
-ControllerPage::ControllerPage(SetupWizard *wizard, QWidget *parent) :
-    AbstractWizardPage(wizard, parent),
-    ui(new Ui::ControllerPage)
-{
-    ui->setupUi(this);
-
-    m_connectionManager = Core::ICore::instance()->connectionManager();
-    Q_ASSERT(m_connectionManager);
-    connect(m_connectionManager, SIGNAL(availableDevicesChanged(QLinkedList<Core::devListItem>)), this, SLOT(devicesChanged(QLinkedList<Core::devListItem>)));
-
-    connect(m_connectionManager, SIGNAL(deviceConnected(QIODevice*)), this, SLOT(connectionStatusChanged()));
-    connect(m_connectionManager, SIGNAL(deviceDisconnected()), this, SLOT(connectionStatusChanged()));
-
-    connect(ui->manualCB, SIGNAL(toggled(bool)), this, SLOT(identificationModeChanged()));
-    connect(ui->connectButton, SIGNAL(clicked()), this, SLOT(connectDisconnect()));
-
-    setupBoardTypes();
-    setupDeviceList();
-}
-
-ControllerPage::~ControllerPage()
-{
-    delete ui;
-}
-
-void ControllerPage::initializePage()
-{
-    if(anyControllerConnected()) {
-        SetupWizard::CONTROLLER_TYPE type = getControllerType();
-        setControllerType(type);
-    }
-    else {
-        setControllerType(SetupWizard::CONTROLLER_UNKNOWN);
-    }
-    emit completeChanged();
-}
-
-bool ControllerPage::isComplete() const
-{
-    return (ui->manualCB->isChecked() && ui->boardTypeCombo->currentIndex() > 0) ||
-            (!ui->manualCB->isChecked() && m_connectionManager->isConnected() && ui->boardTypeCombo->currentIndex() > 0);
-}
-
-bool ControllerPage::validatePage()
-{
-    getWizard()->setControllerType((SetupWizard::CONTROLLER_TYPE)ui->boardTypeCombo->itemData(ui->boardTypeCombo->currentIndex()).toInt());
-    return true;
-}
-
-bool ControllerPage::anyControllerConnected()
-{
-    return m_connectionManager->isConnected();
-}
-
-SetupWizard::CONTROLLER_TYPE ControllerPage::getControllerType()
-{
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>();
-    int id = utilMngr->getBoardModel();
-
-    switch (id) {
-    case 0x0301:
-        return SetupWizard::CONTROLLER_PIPX;
-    case 0x0401:
-        return SetupWizard::CONTROLLER_CC;
-    case 0x0402:
-        return SetupWizard::CONTROLLER_CC3D;
-    case 0x0901:
-        return SetupWizard::CONTROLLER_REVO;
-    default:
-        return SetupWizard::CONTROLLER_UNKNOWN;
-    }
-}
-
-void ControllerPage::setupDeviceList()
-{
-    devicesChanged(m_connectionManager->getAvailableDevices());
-    connectionStatusChanged();
-}
-
-void ControllerPage::setupBoardTypes()
-{
-    QVariant v(0);
-    ui->boardTypeCombo->addItem("<Unknown>", SetupWizard::CONTROLLER_UNKNOWN);
-    ui->boardTypeCombo->addItem("OpenPilot CopterControl (CC)", SetupWizard::CONTROLLER_CC);
-    ui->boardTypeCombo->addItem("OpenPilot CopterControl (CC3D)", SetupWizard::CONTROLLER_CC3D);
-    ui->boardTypeCombo->addItem("OpenPilot Revolution", SetupWizard::CONTROLLER_REVO);
-    ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(ui->boardTypeCombo->count() - 1, 0), v, Qt::UserRole - 1);
-    ui->boardTypeCombo->addItem("OP PipX Modem", SetupWizard::CONTROLLER_PIPX);
-    ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(ui->boardTypeCombo->count() - 1, 0), v, Qt::UserRole - 1);
-}
-
-void ControllerPage::setControllerType(SetupWizard::CONTROLLER_TYPE type)
-{
-    for(int i = 0; i < ui->boardTypeCombo->count(); ++i) {
-        if(ui->boardTypeCombo->itemData(i) == type) {
-            ui->boardTypeCombo->setCurrentIndex(i);
-            break;
-        }
-    }
-}
-
-void ControllerPage::devicesChanged(QLinkedList<Core::devListItem> devices)
-{
-    // Get the selected item before the update if any
-    QString currSelectedDeviceName = ui->deviceCombo->currentIndex() != -1 ?
-                ui->deviceCombo->itemData(ui->deviceCombo->currentIndex(), Qt::ToolTipRole).toString() : "";
-
-    // Clear the box
-    ui->deviceCombo->clear();
-
-    int indexOfSelectedItem = -1;
-    int i = 0;
-
-    // Loop and fill the combo with items from connectionmanager
-    foreach (Core::devListItem device, devices)
-    {
-        ui->deviceCombo->addItem(device.displayName);
-        QString deviceName = (const QString)device.devName;
-        ui->deviceCombo->setItemData(ui->deviceCombo->count() - 1, deviceName, Qt::ToolTipRole);
-        if(currSelectedDeviceName != "" && currSelectedDeviceName == deviceName) {
-            indexOfSelectedItem = i;
-        }
-        i++;
-    }
-
-    // Re select the item that was selected before if any
-    if(indexOfSelectedItem != -1) {
-        ui->deviceCombo->setCurrentIndex(indexOfSelectedItem);
-    }
-    connectionStatusChanged();
-}
-
-void ControllerPage::connectionStatusChanged()
-{
-    if(m_connectionManager->isConnected()) {
-        ui->deviceCombo->setEnabled(false);
-        ui->connectButton->setText(tr("Disconnect"));
-        ui->boardTypeCombo->setEnabled(false);
-        ui->manualCB->setEnabled(false);
-        QString connectedDeviceName = m_connectionManager->getCurrentDevice().devName;
-        for(int i = 0; i < ui->deviceCombo->count(); ++i) {
-            if(connectedDeviceName == ui->deviceCombo->itemData(i, Qt::ToolTipRole).toString()) {
-                ui->deviceCombo->setCurrentIndex(i);
-                break;
-            }
-        }
-
-        SetupWizard::CONTROLLER_TYPE type = getControllerType();
-        setControllerType(type);
-    }
-    else {
-        ui->deviceCombo->setEnabled(true);
-        ui->connectButton->setText(tr("Connect"));
-        ui->boardTypeCombo->setEnabled(false);
-        ui->manualCB->setEnabled(true);
-        ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(0, 0), QVariant(0), Qt::UserRole - 1);
-        setControllerType(SetupWizard::CONTROLLER_UNKNOWN);
-    }
-    emit completeChanged();
-}
-
-void ControllerPage::identificationModeChanged()
-{
-    if(ui->manualCB->isChecked()) {
-        ui->deviceCombo->setEnabled(false);
-        ui->boardTypeCombo->setEnabled(true);
-        ui->connectButton->setEnabled(false);
-        ui->boardTypeCombo->setCurrentIndex(1);
-        ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(0, 0), QVariant(0), Qt::UserRole - 1);
-    }
-    else {
-        ui->connectButton->setEnabled(ui->deviceCombo->count() > 0);
-        ui->deviceCombo->setEnabled(!m_connectionManager->isConnected());
-        ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(0, 0), QVariant(1), Qt::UserRole - 1);
-        ui->boardTypeCombo->setCurrentIndex(0);
-        ui->boardTypeCombo->setEnabled(false);
-    }
-    emit completeChanged();
-}
-
-void ControllerPage::connectDisconnect()
-{
-    if(m_connectionManager->isConnected()) {
-        m_connectionManager->disconnectDevice();
-    }
-    else {
-        m_connectionManager->connectDevice(m_connectionManager->findDevice(ui->deviceCombo->itemData(ui->deviceCombo->currentIndex(), Qt::ToolTipRole).toString()));
-    }
-    emit completeChanged();
-}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.h
deleted file mode 100644
index b9b8ae111..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       controllerpage.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup ControllerPage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef CONTROLLERPAGE_H
-#define CONTROLLERPAGE_H
-
-#include <coreplugin/icore.h>
-#include <coreplugin/connectionmanager.h>
-#include "setupwizard.h"
-#include "abstractwizardpage.h"
-
-namespace Ui {
-class ControllerPage;
-}
-
-class ControllerPage : public AbstractWizardPage
-{
-    Q_OBJECT
-    
-public:
-    explicit ControllerPage(SetupWizard *wizard, QWidget *parent = 0);
-    ~ControllerPage();
-    void initializePage();
-    bool isComplete() const;
-    bool validatePage();
-    
-private:
-    Ui::ControllerPage *ui;
-    bool anyControllerConnected();
-    SetupWizard::CONTROLLER_TYPE getControllerType();
-    void setupDeviceList();
-    void setupBoardTypes();
-    void setControllerType(SetupWizard::CONTROLLER_TYPE type);
-    Core::ConnectionManager *m_connectionManager;
-
-private slots:
-    void devicesChanged(QLinkedList<Core::devListItem> devices);
-    void connectionStatusChanged();
-    void identificationModeChanged();
-    void connectDisconnect();
-};
-
-#endif // CONTROLLERPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.ui
deleted file mode 100644
index a949d6a1d..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.ui
+++ /dev/null
@@ -1,163 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>ControllerPage</class>
- <widget class="QWizardPage" name="ControllerPage">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>600</width>
-    <height>400</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>WizardPage</string>
-  </property>
-  <widget class="QLabel" name="label">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>20</y>
-     <width>550</width>
-     <height>241</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;OpenPilot board identification&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-size:8pt;&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-size:10pt;&quot;&gt;To continue we need to know what kind of OpenPilot board you want the wizard to create a configuration for. The wizard will try to automatically detect what type of board you have connected.&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-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-size:10pt;&quot;&gt;Please connect the board to a free usb port on your computer, or if a serial modem like BlueTooth, PipX or other is used, then power up the board and select the device to connect with from the list below. Then press Connect.&lt;/span&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-size:10pt;&quot;&gt;If the board already is connected and succesfully detected the board type will allready be displayed. You can disconnect and select another device if you need to detect another board.&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-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-size:10pt;&quot;&gt;If your board isnt detected or if you want to create a configuration for a board that is not connected. Then select the Manual selection option below and select the board type from the drop down menu.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-   </property>
-   <property name="textFormat">
-    <enum>Qt::AutoText</enum>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-   </property>
-   <property name="wordWrap">
-    <bool>true</bool>
-   </property>
-  </widget>
-  <widget class="QGroupBox" name="groupBox">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>270</y>
-     <width>560</width>
-     <height>110</height>
-    </rect>
-   </property>
-   <property name="font">
-    <font>
-     <pointsize>8</pointsize>
-    </font>
-   </property>
-   <property name="title">
-    <string>OpenPilot board type</string>
-   </property>
-   <widget class="QComboBox" name="boardTypeCombo">
-    <property name="enabled">
-     <bool>false</bool>
-    </property>
-    <property name="geometry">
-     <rect>
-      <x>150</x>
-      <y>70</y>
-      <width>260</width>
-      <height>22</height>
-     </rect>
-    </property>
-   </widget>
-   <widget class="QComboBox" name="deviceCombo">
-    <property name="geometry">
-     <rect>
-      <x>150</x>
-      <y>30</y>
-      <width>260</width>
-      <height>22</height>
-     </rect>
-    </property>
-   </widget>
-   <widget class="QPushButton" name="connectButton">
-    <property name="geometry">
-     <rect>
-      <x>434</x>
-      <y>70</y>
-      <width>111</width>
-      <height>23</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>Connect</string>
-    </property>
-   </widget>
-   <widget class="QCheckBox" name="manualCB">
-    <property name="geometry">
-     <rect>
-      <x>441</x>
-      <y>33</y>
-      <width>101</width>
-      <height>17</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>Manual selection</string>
-    </property>
-   </widget>
-   <widget class="QLabel" name="label_2">
-    <property name="geometry">
-     <rect>
-      <x>20</x>
-      <y>32</y>
-      <width>121</width>
-      <height>16</height>
-     </rect>
-    </property>
-    <property name="font">
-     <font>
-      <weight>75</weight>
-      <bold>true</bold>
-     </font>
-    </property>
-    <property name="text">
-     <string>Connection device:</string>
-    </property>
-   </widget>
-   <widget class="QLabel" name="label_3">
-    <property name="geometry">
-     <rect>
-      <x>20</x>
-      <y>72</y>
-      <width>131</width>
-      <height>16</height>
-     </rect>
-    </property>
-    <property name="font">
-     <font>
-      <weight>75</weight>
-      <bold>true</bold>
-     </font>
-    </property>
-    <property name="text">
-     <string>Detected board type:</string>
-    </property>
-   </widget>
-   <zorder>deviceCombo</zorder>
-   <zorder>connectButton</zorder>
-   <zorder>boardTypeCombo</zorder>
-   <zorder>manualCB</zorder>
-   <zorder>label_2</zorder>
-   <zorder>label_3</zorder>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
index dda55196e..3270e23ff 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
@@ -1,34 +1,8 @@
-/**
- ******************************************************************************
- *
- * @file       endpage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup Setup Wizard  Plugin
- * @{
- * @brief A Wizard to make the initial setup easy for everyone.
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
 #include "endpage.h"
 #include "ui_endpage.h"
 
-EndPage::EndPage(SetupWizard *wizard, QWidget *parent) :
-    AbstractWizardPage(wizard, parent),
+EndPage::EndPage(QWidget *parent) :
+    QWizardPage(parent),
     ui(new Ui::EndPage)
 {
     setFinalPage(true);
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h
index afbeb6177..e4179e677 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h
@@ -1,45 +1,18 @@
-/**
- ******************************************************************************
- *
- * @file       endpage.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
 #ifndef ENDPAGE_H
 #define ENDPAGE_H
 
-#include "abstractwizardpage.h"
+#include <QWizardPage>
 
 namespace Ui {
 class EndPage;
 }
 
-class EndPage : public AbstractWizardPage
+class EndPage : public QWizardPage
 {
     Q_OBJECT
     
 public:
-    explicit EndPage(SetupWizard *wizard, QWidget *parent = 0);
+    explicit EndPage(QWidget *parent = 0);
     ~EndPage();
     
 private:
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui
index f72b2d718..cc0a5c162 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui
@@ -71,7 +71,7 @@ p, li { white-space: pre-wrap; }
     </rect>
    </property>
    <property name="text">
-    <string>Upload configuration</string>
+    <string>Uppload configuration</string>
    </property>
   </widget>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.cpp
deleted file mode 100644
index 7295cc8a3..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       fixedwingpage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup FixedWingPage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "fixedwingpage.h"
-#include "ui_fixedwingpage.h"
-
-FixedWingPage::FixedWingPage(SetupWizard *wizard, QWidget *parent) :
-    AbstractWizardPage(wizard, parent),
-    ui(new Ui::FixedWingPage)
-{
-    ui->setupUi(this);
-    setFinalPage(true);
-}
-
-FixedWingPage::~FixedWingPage()
-{
-    delete ui;
-}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.h
deleted file mode 100644
index 697721a9e..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       fixedwingpage.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup FixedWingPage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef FIXEDWINGPAGE_H
-#define FIXEDWINGPAGE_H
-
-#include "abstractwizardpage.h"
-
-namespace Ui {
-class FixedWingPage;
-}
-
-class FixedWingPage : public AbstractWizardPage
-{
-    Q_OBJECT
-    
-public:
-    explicit FixedWingPage(SetupWizard *wizard, QWidget *parent = 0);
-    ~FixedWingPage();
-    
-private:
-    Ui::FixedWingPage *ui;
-};
-
-#endif // FIXEDWINGPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.ui
deleted file mode 100644
index 0e4fde978..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/fixedwingpage.ui
+++ /dev/null
@@ -1,43 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>FixedWingPage</class>
- <widget class="QWizardPage" name="FixedWingPage">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>600</width>
-    <height>400</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>WizardPage</string>
-  </property>
-  <widget class="QLabel" name="label_2">
-   <property name="geometry">
-    <rect>
-     <x>50</x>
-     <y>160</y>
-     <width>500</width>
-     <height>41</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;The fixed wing part the OpenPilot Setup Wizard is not yet implemented&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-size:8pt;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignHCenter|Qt::AlignTop</set>
-   </property>
-   <property name="wordWrap">
-    <bool>true</bool>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.cpp
deleted file mode 100644
index 93bfc3503..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       helipage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup HeliPage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "helipage.h"
-#include "ui_helipage.h"
-
-HeliPage::HeliPage(SetupWizard *wizard, QWidget *parent) :
-    AbstractWizardPage(wizard, parent),
-    ui(new Ui::HeliPage)
-{
-    ui->setupUi(this);
-    setFinalPage(true);
-}
-
-HeliPage::~HeliPage()
-{
-    delete ui;
-}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.h
deleted file mode 100644
index 2b2b5b894..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       helipage.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup HeliPage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef HELIPAGE_H
-#define HELIPAGE_H
-
-#include "abstractwizardpage.h"
-
-namespace Ui {
-class HeliPage;
-}
-
-class HeliPage : public AbstractWizardPage
-{
-    Q_OBJECT
-    
-public:
-    explicit HeliPage(SetupWizard *wizard, QWidget *parent = 0);
-    ~HeliPage();
-    
-private:
-    Ui::HeliPage *ui;
-};
-
-#endif // HELIPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.ui
deleted file mode 100644
index c3c6efd11..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/helipage.ui
+++ /dev/null
@@ -1,43 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>HeliPage</class>
- <widget class="QWizardPage" name="HeliPage">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>600</width>
-    <height>400</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>WizardPage</string>
-  </property>
-  <widget class="QLabel" name="label_2">
-   <property name="geometry">
-    <rect>
-     <x>50</x>
-     <y>160</y>
-     <width>500</width>
-     <height>41</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;The helicopter part the OpenPilot Setup Wizard is not yet implemented&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-size:8pt;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignHCenter|Qt::AlignTop</set>
-   </property>
-   <property name="wordWrap">
-    <bool>true</bool>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp
deleted file mode 100644
index 56ffa5fb0..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.cpp
+++ /dev/null
@@ -1,125 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       multipage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup MultiPage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "multipage.h"
-#include "ui_multipage.h"
-#include "setupwizard.h"
-
-MultiPage::MultiPage(SetupWizard *wizard, QWidget *parent) :
-    AbstractWizardPage(wizard, parent),
-    ui(new Ui::MultiPage)
-{
-    ui->setupUi(this);    
-
-    QSvgRenderer *renderer = new QSvgRenderer();
-    renderer->load(QString(":/configgadget/images/multirotor-shapes.svg"));
-    multiPic = new QGraphicsSvgItem();
-    multiPic->setSharedRenderer(renderer);
-    QGraphicsScene *scene = new QGraphicsScene(this);
-    scene->addItem(multiPic);
-    ui->typeGraphicsView->setScene(scene);
-
-    setupMultiTypesCombo();
-
-    // Default to Quad X since it is the most common setup
-    ui->typeCombo->setCurrentIndex(1);
-    connect(ui->typeCombo, SIGNAL(currentIndexChanged(int)), this, SLOT(updateImageAndDescription()));
-}
-
-MultiPage::~MultiPage()
-{
-    delete ui;
-}
-
-void MultiPage::initializePage()
-{
-    updateImageAndDescription();
-}
-
-void MultiPage::setupMultiTypesCombo()
-{
-    ui->typeCombo->addItem("Tricopter", SetupWizard::MULTI_ROTOR_TRI_Y);
-    ui->typeCombo->addItem("Quadcopter X", SetupWizard::MULTI_ROTOR_QUAD_X);
-    ui->typeCombo->addItem("Quadcopter +", SetupWizard::MULTI_ROTOR_QUAD_PLUS);
-    ui->typeCombo->addItem("Hexacopter", SetupWizard::MULTI_ROTOR_HEXA);
-    ui->typeCombo->addItem("Hexacopter Coax", SetupWizard::MULTI_ROTOR_HEXA_COAX_Y);
-    ui->typeCombo->addItem("Hexacopter H", SetupWizard::MULTI_ROTOR_HEXA_H);
-    ui->typeCombo->addItem("Octocopter", SetupWizard::MULTI_ROTOR_OCTO);
-    ui->typeCombo->addItem("Octocopter Coax X", SetupWizard::MULTI_ROTOR_OCTO_COAX_X);
-    ui->typeCombo->addItem("Octocopter Coax +", SetupWizard::MULTI_ROTOR_OCTO_COAX_PLUS);
-    ui->typeCombo->addItem("Octocopter V", SetupWizard::MULTI_ROTOR_OCTO_V);
-}
-
-void MultiPage::updateImageAndDescription()
-{
-    SetupWizard::MULTI_ROTOR_SUB_TYPE type = (SetupWizard::MULTI_ROTOR_SUB_TYPE) ui->typeCombo->itemData(ui->typeCombo->currentIndex()).toInt();
-    QString elementId = "";
-    QString description = "Descriptive text with information about ";
-    description.append(ui->typeCombo->currentText());
-    description.append(" multirotors.");
-    switch(type)
-    {
-        case SetupWizard::MULTI_ROTOR_TRI_Y:
-            elementId = "tri";
-            break;
-        case SetupWizard::MULTI_ROTOR_QUAD_X:
-            elementId = "quad-x";
-            break;
-        case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
-            elementId = "quad-plus";
-            break;
-        case SetupWizard::MULTI_ROTOR_HEXA:
-            elementId = "quad-hexa";
-            break;
-        case SetupWizard::MULTI_ROTOR_HEXA_COAX_Y:
-            elementId = "hexa-coax";
-            break;
-        case SetupWizard::MULTI_ROTOR_HEXA_H:
-            elementId = "quad-hexa-H";
-            break;
-        case SetupWizard::MULTI_ROTOR_OCTO:
-            elementId = "quad-octo";
-            break;
-        case SetupWizard::MULTI_ROTOR_OCTO_COAX_X:
-            elementId = "octo-coax-X";
-            break;
-        case SetupWizard::MULTI_ROTOR_OCTO_COAX_PLUS:
-            elementId = "octo-coax-P";
-            break;
-        case SetupWizard::MULTI_ROTOR_OCTO_V:
-            elementId = "quad-octo-v";
-            break;
-        default:
-            elementId = "";
-            break;
-    }
-    multiPic->setElementId(elementId);
-    ui->typeGraphicsView->setSceneRect(multiPic->boundingRect());
-    ui->typeGraphicsView->fitInView(multiPic, Qt::KeepAspectRatio);
-
-    ui->typeDescription->setText(description);
-}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.h
deleted file mode 100644
index bc9f822ad..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       multipage.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup MultiPage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef MULTIPAGE_H
-#define MULTIPAGE_H
-
-#include <QtSvg/QGraphicsSvgItem>
-#include <QtSvg/QSvgRenderer>
-
-#include "abstractwizardpage.h"
-
-namespace Ui {
-class MultiPage;
-}
-
-class MultiPage : public AbstractWizardPage
-{
-    Q_OBJECT
-    
-public:
-    explicit MultiPage(SetupWizard *wizard, QWidget *parent = 0);
-    ~MultiPage();
-
-    void initializePage();
-    
-private:
-    Ui::MultiPage *ui;
-    void setupMultiTypesCombo();
-    QGraphicsSvgItem *multiPic;
-
-private slots:
-    void updateImageAndDescription();
-};
-
-#endif // MULTIPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.ui
deleted file mode 100644
index 2c33fb4d5..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/multipage.ui
+++ /dev/null
@@ -1,146 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>MultiPage</class>
- <widget class="QWizardPage" name="MultiPage">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>600</width>
-    <height>400</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>WizardPage</string>
-  </property>
-  <widget class="QLabel" name="label">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>20</y>
-     <width>541</width>
-     <height>151</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;OpenPilot multirotor configuration&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-size:12pt; font-weight:600;&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-size:10pt;&quot;&gt;This part of the wizard will set up the OpenPilot controller for use with a flying platform with multiple rotors. The wizard supports the most common types of multirotors. Other variants of multirotors can be configured by using custom configuration options in the configuration plugin in GCS.&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-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-size:10pt;&quot;&gt;Please select the type of multirotor you want to create a configuration for below:&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-   </property>
-   <property name="wordWrap">
-    <bool>true</bool>
-   </property>
-  </widget>
-  <widget class="QGroupBox" name="groupBox">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>180</y>
-     <width>561</width>
-     <height>200</height>
-    </rect>
-   </property>
-   <property name="font">
-    <font>
-     <pointsize>10</pointsize>
-    </font>
-   </property>
-   <property name="title">
-    <string>Multirotor type selection</string>
-   </property>
-   <widget class="QLabel" name="label_2">
-    <property name="geometry">
-     <rect>
-      <x>20</x>
-      <y>32</y>
-      <width>121</width>
-      <height>16</height>
-     </rect>
-    </property>
-    <property name="font">
-     <font>
-      <weight>75</weight>
-      <bold>true</bold>
-     </font>
-    </property>
-    <property name="text">
-     <string>Multirotor type:</string>
-    </property>
-   </widget>
-   <widget class="QComboBox" name="typeCombo">
-    <property name="geometry">
-     <rect>
-      <x>150</x>
-      <y>30</y>
-      <width>220</width>
-      <height>22</height>
-     </rect>
-    </property>
-   </widget>
-   <widget class="QGraphicsView" name="typeGraphicsView">
-    <property name="geometry">
-     <rect>
-      <x>390</x>
-      <y>30</y>
-      <width>150</width>
-      <height>150</height>
-     </rect>
-    </property>
-    <property name="sizePolicy">
-     <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
-      <horstretch>0</horstretch>
-      <verstretch>0</verstretch>
-     </sizepolicy>
-    </property>
-    <property name="frameShape">
-     <enum>QFrame::NoFrame</enum>
-    </property>
-    <property name="lineWidth">
-     <number>0</number>
-    </property>
-    <property name="midLineWidth">
-     <number>0</number>
-    </property>
-    <property name="verticalScrollBarPolicy">
-     <enum>Qt::ScrollBarAlwaysOff</enum>
-    </property>
-    <property name="horizontalScrollBarPolicy">
-     <enum>Qt::ScrollBarAlwaysOff</enum>
-    </property>
-    <property name="interactive">
-     <bool>false</bool>
-    </property>
-   </widget>
-   <widget class="QTextEdit" name="typeDescription">
-    <property name="geometry">
-     <rect>
-      <x>20</x>
-      <y>69</y>
-      <width>351</width>
-      <height>111</height>
-     </rect>
-    </property>
-    <property name="verticalScrollBarPolicy">
-     <enum>Qt::ScrollBarAlwaysOn</enum>
-    </property>
-    <property name="horizontalScrollBarPolicy">
-     <enum>Qt::ScrollBarAlwaysOff</enum>
-    </property>
-    <property name="textInteractionFlags">
-     <set>Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
-    </property>
-   </widget>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.cpp
deleted file mode 100644
index 57a43fda8..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       notyetimplementedpage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup NotYetImplementedPage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "notyetimplementedpage.h"
-#include "ui_notyetimplementedpage.h"
-
-NotYetImplementedPage::NotYetImplementedPage(SetupWizard *wizard, QWidget *parent) :
-    AbstractWizardPage(wizard, parent),
-    ui(new Ui::NotYetImplementedPage)
-{
-    ui->setupUi(this);
-    setFinalPage(true);
-}
-
-NotYetImplementedPage::~NotYetImplementedPage()
-{
-    delete ui;
-}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.h
deleted file mode 100644
index 4f323d9fc..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       notyetimplementedpage.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup NotYetImplementedPage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef NOTYETIMPLEMENTEDPAGE_H
-#define NOTYETIMPLEMENTEDPAGE_H
-
-#include "abstractwizardpage.h"
-
-namespace Ui {
-class NotYetImplementedPage;
-}
-
-class NotYetImplementedPage : public AbstractWizardPage
-{
-    Q_OBJECT
-    
-public:
-    explicit NotYetImplementedPage(SetupWizard *wizard, QWidget *parent = 0);
-    ~NotYetImplementedPage();
-    
-private:
-    Ui::NotYetImplementedPage *ui;
-};
-
-#endif // NOTYETIMPLEMENTEDPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.ui
deleted file mode 100644
index b5b54240d..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/notyetimplementedpage.ui
+++ /dev/null
@@ -1,43 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>NotYetImplementedPage</class>
- <widget class="QWizardPage" name="NotYetImplementedPage">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>600</width>
-    <height>400</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>WizardPage</string>
-  </property>
-  <widget class="QLabel" name="label_2">
-   <property name="geometry">
-    <rect>
-     <x>50</x>
-     <y>190</y>
-     <width>501</width>
-     <height>31</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;This part the OpenPilot Setup Wizard is not yet implemented&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-size:8pt;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-   </property>
-   <property name="wordWrap">
-    <bool>true</bool>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp
index 46110a9e4..f36631bb0 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp
@@ -1,34 +1,8 @@
-/**
- ******************************************************************************
- *
- * @file       startpage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup Setup Wizard  Plugin
- * @{
- * @brief A Wizard to make the initial setup easy for everyone.
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
 #include "startpage.h"
 #include "ui_startpage.h"
 
-StartPage::StartPage(SetupWizard *wizard, QWidget *parent) :
-    AbstractWizardPage(wizard, parent),
+StartPage::StartPage(QWidget *parent) :
+    QWizardPage(parent),
     ui(new Ui::StartPage)
 {
     ui->setupUi(this);
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h
index 3e9e120cc..f6cf9b6cd 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h
@@ -1,44 +1,18 @@
-/**
- ******************************************************************************
- *
- * @file       startpage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup Setup Wizard  Plugin
- * @{
- * @brief A Wizard to make the initial setup easy for everyone.
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
 #ifndef STARTPAGE_H
 #define STARTPAGE_H
 
-#include "abstractwizardpage.h"
+#include <QWizardPage>
 
 namespace Ui {
 class StartPage;
 }
 
-class StartPage : public AbstractWizardPage
+class StartPage : public QWizardPage
 {
     Q_OBJECT
     
 public:
-    explicit StartPage(SetupWizard *wizard, QWidget *parent = 0);
+    explicit StartPage(QWidget *parent = 0);
     ~StartPage();
     
 private:
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.cpp
deleted file mode 100644
index a28724f2f..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       surfacepage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup SurfacePage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "surfacepage.h"
-#include "ui_surfacepage.h"
-
-SurfacePage::SurfacePage(SetupWizard *wizard, QWidget *parent) :
-    AbstractWizardPage(wizard, parent),
-    ui(new Ui::SurfacePage)
-{
-    ui->setupUi(this);
-    setFinalPage(true);
-}
-
-SurfacePage::~SurfacePage()
-{
-    delete ui;
-}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.h
deleted file mode 100644
index 593aa1fca..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       surfacepage.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup SurfacePage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef SURFACEPAGE_H
-#define SURFACEPAGE_H
-
-#include "abstractwizardpage.h"
-
-namespace Ui {
-class SurfacePage;
-}
-
-class SurfacePage : public AbstractWizardPage
-{
-    Q_OBJECT
-    
-public:
-    explicit SurfacePage(SetupWizard *wizard, QWidget *parent = 0);
-    ~SurfacePage();
-    
-private:
-    Ui::SurfacePage *ui;
-};
-
-#endif // SURFACEPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.ui
deleted file mode 100644
index 988bc300a..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/surfacepage.ui
+++ /dev/null
@@ -1,43 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>SurfacePage</class>
- <widget class="QWizardPage" name="SurfacePage">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>600</width>
-    <height>400</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>WizardPage</string>
-  </property>
-  <widget class="QLabel" name="label_2">
-   <property name="geometry">
-    <rect>
-     <x>50</x>
-     <y>160</y>
-     <width>500</width>
-     <height>41</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;The surface vehicle part the OpenPilot Setup Wizard is not yet implemented&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-size:8pt;&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignHCenter|Qt::AlignTop</set>
-   </property>
-   <property name="wordWrap">
-    <bool>true</bool>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.cpp
deleted file mode 100644
index a616a1194..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.cpp
+++ /dev/null
@@ -1,61 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       vehiclepage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup VehiclePage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "vehiclepage.h"
-#include "ui_vehiclepage.h"
-
-VehiclePage::VehiclePage(SetupWizard *wizard, QWidget *parent) :
-    AbstractWizardPage(wizard, parent),
-    ui(new Ui::VehiclePage)
-{
-    ui->setupUi(this);
-}
-
-VehiclePage::~VehiclePage()
-{
-    delete ui;
-}
-
-bool VehiclePage::validatePage()
-{
-    if(ui->multirotorButton->isChecked()) {
-        getWizard()->setVehicleType(SetupWizard::VEHICLE_MULTI);
-    }
-    else if(ui->fixedwingButton->isChecked()) {
-        getWizard()->setVehicleType(SetupWizard::VEHICLE_FIXEDWING);
-    }
-    else if(ui->heliButton->isChecked()) {
-        getWizard()->setVehicleType(SetupWizard::VEHICLE_HELI);
-    }
-    else if(ui->surfaceButton->isChecked()) {
-        getWizard()->setVehicleType(SetupWizard::VEHICLE_SURFACE);
-    }
-    else {
-        getWizard()->setVehicleType(SetupWizard::VEHICLE_UNKNOWN);
-    }
-    return true;
-}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.h
deleted file mode 100644
index 5e72a3d21..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       vehiclepage.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @addtogroup
- * @{
- * @addtogroup VehiclePage
- * @{
- * @brief
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef VEHICLEPAGE_H
-#define VEHICLEPAGE_H
-
-#include "abstractwizardpage.h"
-
-namespace Ui {
-class VehiclePage;
-}
-
-class VehiclePage : public AbstractWizardPage
-{
-    Q_OBJECT
-    
-public:
-    explicit VehiclePage(SetupWizard *wizard, QWidget *parent = 0);
-    ~VehiclePage();
-    bool validatePage();
-
-private:
-    Ui::VehiclePage *ui;
-};
-
-#endif // VEHICLEPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.ui
deleted file mode 100644
index fdc2d47d2..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/vehiclepage.ui
+++ /dev/null
@@ -1,168 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>VehiclePage</class>
- <widget class="QWizardPage" name="VehiclePage">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>600</width>
-    <height>400</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>WizardPage</string>
-  </property>
-  <widget class="QLabel" name="label_2">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>20</y>
-     <width>550</width>
-     <height>131</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;Vehicle type selection&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-size:12pt; font-weight:600;&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-size:10pt;&quot;&gt;To continue the wizard needs to know what type of vehicle that the OpenPilot controller board is going to be used with. This step is cruicial since most of the following configuration is unique per vehicle type.&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-size:8pt;&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-size:10pt;&quot;&gt;So go ahead and select the type of vehicle you want to create a configuration for.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-   </property>
-   <property name="wordWrap">
-    <bool>true</bool>
-   </property>
-  </widget>
-  <widget class="QGroupBox" name="groupBox">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>200</y>
-     <width>561</width>
-     <height>181</height>
-    </rect>
-   </property>
-   <property name="sizePolicy">
-    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-     <horstretch>0</horstretch>
-     <verstretch>0</verstretch>
-    </sizepolicy>
-   </property>
-   <property name="title">
-    <string>Supported vehicle types</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-   </property>
-   <widget class="QPushButton" name="multirotorButton">
-    <property name="geometry">
-     <rect>
-      <x>50</x>
-      <y>40</y>
-      <width>100</width>
-      <height>100</height>
-     </rect>
-    </property>
-    <property name="toolTip">
-     <string>Tricopter, Quadcopter, Hexacopter, Octocopter</string>
-    </property>
-    <property name="text">
-     <string>Multirotor</string>
-    </property>
-    <property name="checkable">
-     <bool>true</bool>
-    </property>
-    <property name="checked">
-     <bool>true</bool>
-    </property>
-    <property name="autoExclusive">
-     <bool>true</bool>
-    </property>
-    <property name="flat">
-     <bool>false</bool>
-    </property>
-   </widget>
-   <widget class="QPushButton" name="fixedwingButton">
-    <property name="geometry">
-     <rect>
-      <x>170</x>
-      <y>40</y>
-      <width>100</width>
-      <height>100</height>
-     </rect>
-    </property>
-    <property name="toolTip">
-     <string>Airplane, Sloper, Jet</string>
-    </property>
-    <property name="text">
-     <string>Fixed wing</string>
-    </property>
-    <property name="checkable">
-     <bool>true</bool>
-    </property>
-    <property name="autoExclusive">
-     <bool>true</bool>
-    </property>
-    <property name="flat">
-     <bool>false</bool>
-    </property>
-   </widget>
-   <widget class="QPushButton" name="heliButton">
-    <property name="geometry">
-     <rect>
-      <x>290</x>
-      <y>40</y>
-      <width>100</width>
-      <height>100</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>Helicopter</string>
-    </property>
-    <property name="checkable">
-     <bool>true</bool>
-    </property>
-    <property name="autoExclusive">
-     <bool>true</bool>
-    </property>
-    <property name="flat">
-     <bool>false</bool>
-    </property>
-   </widget>
-   <widget class="QPushButton" name="surfaceButton">
-    <property name="geometry">
-     <rect>
-      <x>410</x>
-      <y>40</y>
-      <width>100</width>
-      <height>100</height>
-     </rect>
-    </property>
-    <property name="toolTip">
-     <string>Car, Boat, U-Boat</string>
-    </property>
-    <property name="text">
-     <string>Surface</string>
-    </property>
-    <property name="checkable">
-     <bool>true</bool>
-    </property>
-    <property name="autoExclusive">
-     <bool>true</bool>
-    </property>
-    <property name="flat">
-     <bool>false</bool>
-    </property>
-   </widget>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
index f11762bf6..26a5e386a 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
@@ -2,7 +2,7 @@
  ******************************************************************************
  *
  * @file       setupwizard.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup Setup Wizard  Plugin
@@ -28,72 +28,27 @@
 #include "setupwizard.h"
 #include "pages/startpage.h"
 #include "pages/endpage.h"
-#include "pages/controllerpage.h"
-#include "pages/vehiclepage.h"
-#include "pages/multipage.h"
-#include "pages/fixedwingpage.h"
-#include "pages/helipage.h"
-#include "pages/surfacepage.h"
-#include "pages/notyetimplementedpage.h"
 
 SetupWizard::SetupWizard(QWidget *parent) : QWizard(parent)
 {
     setWindowTitle("OpenPilot Setup Wizard");
-    m_controllerType = CONTROLLER_UNKNOWN;
-    m_vehicleType = VEHICLE_UNKNOWN;
     createPages();
 }
 
 int SetupWizard::nextId() const
 {
     switch (currentId()) {
-        case PAGE_START:
-            return PAGE_CONTROLLER;
-        case PAGE_CONTROLLER: {
-            switch(getControllerType())
-            {
-                case CONTROLLER_CC:
-                case CONTROLLER_CC3D:
-                    return PAGE_VEHICLES;
-                default:
-                    return PAGE_NOTYETIMPLEMENTED;
-            }
-        }
-        case PAGE_VEHICLES: {
-            switch(getVehicleType())
-            {
-                case VEHICLE_FIXEDWING:
-                    return PAGE_FIXEDWING;
-                case VEHICLE_HELI:
-                    return PAGE_HELI;
-                case VEHICLE_SURFACE:
-                    return PAGE_SURFACE;
-                case VEHICLE_MULTI:
-                    return PAGE_MULTI;
-                default:
-                    return PAGE_NOTYETIMPLEMENTED;
-            }
-        }
-        case PAGE_MULTI:
-            return PAGE_END;
-        case PAGE_NOTYETIMPLEMENTED:
-            return PAGE_END;
-        default:
-            return -1;
+    case PAGE_START:
+        return PAGE_END;
+    default:
+        return -1;
     }
 }
 
 void SetupWizard::createPages()
 {
-    setPage(PAGE_START, new StartPage(this));
-    setPage(PAGE_CONTROLLER, new ControllerPage(this));
-    setPage(PAGE_VEHICLES, new VehiclePage(this));
-    setPage(PAGE_MULTI, new MultiPage(this));
-    setPage(PAGE_FIXEDWING, new FixedWingPage(this));
-    setPage(PAGE_HELI, new HeliPage(this));
-    setPage(PAGE_SURFACE, new SurfacePage(this));
-    setPage(PAGE_NOTYETIMPLEMENTED, new NotYetImplementedPage(this));
-    setPage(PAGE_END, new EndPage(this));
+    setPage(PAGE_START, new StartPage());
+    setPage(PAGE_END, new EndPage());
 
     setStartId(PAGE_START);
 }
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
index 34b20dd81..42f75556a 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
@@ -2,7 +2,7 @@
  ******************************************************************************
  *
  * @file       setupwizard.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup Setup Wizard  Plugin
@@ -37,25 +37,9 @@ class SetupWizard : public QWizard
 public:
     SetupWizard(QWidget *parent = 0);
     int nextId() const;
-    enum CONTROLLER_TYPE {CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_PIPX};
-    enum VEHICLE_TYPE {VEHICLE_UNKNOWN, VEHICLE_MULTI, VEHICLE_FIXEDWING, VEHICLE_HELI, VEHICLE_SURFACE};
-    enum MULTI_ROTOR_SUB_TYPE {MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS,
-                               MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,
-                               MULTI_ROTOR_OCTO_V, MULTI_ROTOR_OCTO_COAX_X, MULTI_ROTOR_OCTO_COAX_PLUS};
-
-    void setControllerType(SetupWizard::CONTROLLER_TYPE type) { m_controllerType = type; }
-    SetupWizard::CONTROLLER_TYPE getControllerType() const { return m_controllerType; }
-
-    void setVehicleType(SetupWizard::VEHICLE_TYPE type) { m_vehicleType = type; }
-    SetupWizard::VEHICLE_TYPE getVehicleType() const { return m_vehicleType; }
-
 private:
-    enum {PAGE_START, PAGE_CONTROLLER, PAGE_VEHICLES, PAGE_MULTI, PAGE_FIXEDWING,
-          PAGE_HELI, PAGE_SURFACE, PAGE_NOTYETIMPLEMENTED, PAGE_END};
+    enum {PAGE_START, PAGE_END};
     void createPages();
-
-    CONTROLLER_TYPE m_controllerType;
-    VEHICLE_TYPE m_vehicleType;
 };
 
 #endif // SETUPWIZARD_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
index 98ece1c83..20d13155d 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
@@ -1,49 +1,21 @@
 
 TEMPLATE = lib 
 TARGET = SetupWizard 
-QT += svg
-
+ 
 include(../../openpilotgcsplugin.pri) 
 include(../../plugins/coreplugin/coreplugin.pri) 
-include(../../plugins/uavobjectutil/uavobjectutil.pri)
  
 HEADERS += setupwizardplugin.h \ 
     setupwizard.h \
     pages/startpage.h \
-    pages/endpage.h \
-    pages/controllerpage.h \
-    pages/vehiclepage.h \
-    pages/notyetimplementedpage.h \
-    pages/multipage.h \
-    pages/fixedwingpage.h \
-    pages/helipage.h \
-    pages/surfacepage.h \
-    pages/abstractwizardpage.h
+    pages/endpage.h
 SOURCES += setupwizardplugin.cpp \ 
     setupwizard.cpp \
     pages/startpage.cpp \
-    pages/endpage.cpp \
-    pages/controllerpage.cpp \
-    pages/vehiclepage.cpp \
-    pages/notyetimplementedpage.cpp \
-    pages/multipage.cpp \
-    pages/fixedwingpage.cpp \
-    pages/helipage.cpp \
-    pages/surfacepage.cpp \
-    pages/abstractwizardpage.cpp
+    pages/endpage.cpp
  
 OTHER_FILES += SetupWizard.pluginspec
 
 FORMS += \
     pages/startpage.ui \
-    pages/endpage.ui \
-    pages/controllerpage.ui \
-    pages/vehiclepage.ui \
-    pages/notyetimplementedpage.ui \
-    pages/multipage.ui \
-    pages/fixedwingpage.ui \
-    pages/helipage.ui \
-    pages/surfacepage.ui
-
-RESOURCES += \
-    wizardResources.qrc
+    pages/endpage.ui
\ No newline at end of file
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
index 9f5b5c67b..a6dddbd4c 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
@@ -1,8 +1,8 @@
 /**
  ******************************************************************************
  *
- * @file       setupwizardplugin.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @file       donothingplugin.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup SetupWizardPlugin
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
index 96ca9e038..4caecbcd0 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
@@ -1,8 +1,8 @@
 /**
  ******************************************************************************
  *
- * @file       setupwizardplugin.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @file       donothingplugin.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup SetupWizardPlugin
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc b/ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc
deleted file mode 100644
index 1358ce976..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc
+++ /dev/null
@@ -1,3 +0,0 @@
-<RCC>
-    <qresource prefix="/images"/>
-</RCC>

From 82dc7e595756b27539435b86ce6d35731a8f1058 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Tue, 24 Jul 2012 22:32:08 +0100
Subject: [PATCH 064/543] Revert "OP-39 Initial commit. Created new sub project
 to plugins project."

This reverts commit 532fc3071a9fb850bdb97f0b030937f835f38d34.

Conflicts:

	ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
	ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
	ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
	ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
	ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
---
 ground/openpilotgcs/src/plugins/plugins.pro   |  7 --
 .../setupwizard/SetupWizard.pluginspec        | 10 ---
 .../src/plugins/setupwizard/setupwizard.cpp   | 54 ------------
 .../src/plugins/setupwizard/setupwizard.h     | 45 ----------
 .../src/plugins/setupwizard/setupwizard.pro   | 21 -----
 .../plugins/setupwizard/setupwizardplugin.cpp | 85 -------------------
 .../plugins/setupwizard/setupwizardplugin.h   | 50 -----------
 7 files changed, 272 deletions(-)
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/SetupWizard.pluginspec
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h

diff --git a/ground/openpilotgcs/src/plugins/plugins.pro b/ground/openpilotgcs/src/plugins/plugins.pro
index c2c7c922b..154335e3a 100644
--- a/ground/openpilotgcs/src/plugins/plugins.pro
+++ b/ground/openpilotgcs/src/plugins/plugins.pro
@@ -210,13 +210,6 @@ plugin_uavobjectwidgetutils.depends += plugin_uavobjects
 plugin_uavobjectwidgetutils.depends += plugin_uavsettingsimportexport
 SUBDIRS += plugin_uavobjectwidgetutils
 
-# Setup Wizard plugin
-plugin_setupwizard.subdir = setupwizard
-plugin_setupwizard.depends = plugin_coreplugin
-plugin_setupwizard.depends += plugin_uavobjects
-plugin_setupwizard.depends += plugin_uavsettingsimportexport
-SUBDIRS += plugin_setupwizard
-
 # Junsi Powerlog plugin
 #plugin_powerlog.subdir = powerlog
 #plugin_powerlog.depends = plugin_coreplugin
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/SetupWizard.pluginspec b/ground/openpilotgcs/src/plugins/setupwizard/SetupWizard.pluginspec
deleted file mode 100644
index 4425b290e..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/SetupWizard.pluginspec
+++ /dev/null
@@ -1,10 +0,0 @@
-<plugin name="SetupWizard" version="1.0.0" compatVersion="1.0.0">
-    <vendor>The OpenPilot Project</vendor>
-    <copyright>(C) 2012 OpenPilot Project</copyright>
-    <license>The GNU Public License (GPL) Version 3</license>
-    <description>A plugin that provides a setup wizard for easy initial setup of airframes.</description>
-    <url>http://www.openpilot.org</url>
-    <dependencyList>
-        <dependency name="Core" version="1.0.0"/>
-    </dependencyList>
-</plugin>    
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
deleted file mode 100644
index 26a5e386a..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
+++ /dev/null
@@ -1,54 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       setupwizard.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup Setup Wizard  Plugin
- * @{
- * @brief A Wizard to make the initial setup easy for everyone.
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "setupwizard.h"
-#include "pages/startpage.h"
-#include "pages/endpage.h"
-
-SetupWizard::SetupWizard(QWidget *parent) : QWizard(parent)
-{
-    setWindowTitle("OpenPilot Setup Wizard");
-    createPages();
-}
-
-int SetupWizard::nextId() const
-{
-    switch (currentId()) {
-    case PAGE_START:
-        return PAGE_END;
-    default:
-        return -1;
-    }
-}
-
-void SetupWizard::createPages()
-{
-    setPage(PAGE_START, new StartPage());
-    setPage(PAGE_END, new EndPage());
-
-    setStartId(PAGE_START);
-}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
deleted file mode 100644
index 42f75556a..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       setupwizard.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup Setup Wizard  Plugin
- * @{
- * @brief A Wizards to make the initial setup easy for everyone.
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef SETUPWIZARD_H
-#define SETUPWIZARD_H
-
-#include <QWizard>
-
-class SetupWizard : public QWizard
-{
-    Q_OBJECT
-
-public:
-    SetupWizard(QWidget *parent = 0);
-    int nextId() const;
-private:
-    enum {PAGE_START, PAGE_END};
-    void createPages();
-};
-
-#endif // SETUPWIZARD_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
deleted file mode 100644
index 20d13155d..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
+++ /dev/null
@@ -1,21 +0,0 @@
-
-TEMPLATE = lib 
-TARGET = SetupWizard 
- 
-include(../../openpilotgcsplugin.pri) 
-include(../../plugins/coreplugin/coreplugin.pri) 
- 
-HEADERS += setupwizardplugin.h \ 
-    setupwizard.h \
-    pages/startpage.h \
-    pages/endpage.h
-SOURCES += setupwizardplugin.cpp \ 
-    setupwizard.cpp \
-    pages/startpage.cpp \
-    pages/endpage.cpp
- 
-OTHER_FILES += SetupWizard.pluginspec
-
-FORMS += \
-    pages/startpage.ui \
-    pages/endpage.ui
\ No newline at end of file
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
deleted file mode 100644
index a6dddbd4c..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
+++ /dev/null
@@ -1,85 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       donothingplugin.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup SetupWizardPlugin
- * @{
- * @brief A Setup Wizard Plugin
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#include "setupwizardplugin.h"
-
-#include <QDebug>
-#include <QtPlugin>
-#include <QStringList>
-#include <extensionsystem/pluginmanager.h>
-
-#include <coreplugin/coreconstants.h>
-#include <coreplugin/actionmanager/actionmanager.h>
-#include <coreplugin/icore.h>
-#include <QKeySequence>
-
-SetupWizardPlugin::SetupWizardPlugin()
-{
-   // Do nothing
-}
-
-SetupWizardPlugin::~SetupWizardPlugin()
-{
-}
-
-bool SetupWizardPlugin::initialize(const QStringList& args, QString *errMsg)
-{
-    Q_UNUSED(args);
-    Q_UNUSED(errMsg);
-
-    // Add Menu entry
-    Core::ActionManager* am = Core::ICore::instance()->actionManager();
-    Core::ActionContainer* ac = am->actionContainer(Core::Constants::M_TOOLS);
-
-    Core::Command* cmd = am->registerAction(new QAction(this),
-                                            "SetupWizardPlugin.ShowSetupWizard",
-                                            QList<int>() <<
-                                            Core::Constants::C_GLOBAL_ID);
-    cmd->setDefaultKeySequence(QKeySequence("Ctrl+W"));
-    cmd->action()->setText(tr("OpenPilot Setup Wizard"));
-
-    ac->menu()->addSeparator();
-    ac->appendGroup("Wizard");
-    ac->addAction(cmd, "Wizard");
-
-    connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(showSetupWizard()));
-    return true;
-}
-
-void SetupWizardPlugin::extensionsInitialized()
-{
-}
-
-void SetupWizardPlugin::shutdown()
-{
-}
-
-void SetupWizardPlugin::showSetupWizard()
-{
-    SetupWizard().exec();
-}
-
-Q_EXPORT_PLUGIN(SetupWizardPlugin)
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h b/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
deleted file mode 100644
index 4caecbcd0..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       donothingplugin.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup SetupWizardPlugin
- * @{
- * @brief A Setup Wizard Plugin
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#ifndef SETUPWIZARDPLUGIN_H
-#define SETUPWIZARDPLUGIN_H
-
-#include <extensionsystem/iplugin.h>
-#include <QWizard>
-#include "setupwizard.h"
-
-class SetupWizardPlugin : public ExtensionSystem::IPlugin
-{
-    Q_OBJECT
-public:
-   SetupWizardPlugin();
-   ~SetupWizardPlugin();
-
-   void extensionsInitialized();
-   bool initialize(const QStringList & arguments, QString * errorString);
-   void shutdown();
-
-private slots:
-   void showSetupWizard();
-
-};
-
-#endif // SETUPWIZARDPLUGIN_H

From 8c4806fa14ae22ebbda31385ff651a61f50c8df8 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Tue, 24 Jul 2012 22:32:54 +0100
Subject: [PATCH 065/543] Revert "OP-39 Start and End pages added. Placeholder
 text added."

This reverts commit 559be15142c5d6ef425b855aeee673a181ad023f.

Conflicts:

	ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
	ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
	ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
	ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.cpp
	ground/openpilotgcs/src/plugins/setupwizard/setupwizardplugin.h
---
 .../src/plugins/setupwizard/pages/endpage.cpp | 15 ----
 .../src/plugins/setupwizard/pages/endpage.h   | 22 -----
 .../src/plugins/setupwizard/pages/endpage.ui  | 80 -------------------
 .../plugins/setupwizard/pages/startpage.cpp   | 14 ----
 .../src/plugins/setupwizard/pages/startpage.h | 22 -----
 .../plugins/setupwizard/pages/startpage.ui    | 56 -------------
 6 files changed, 209 deletions(-)
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h
 delete mode 100644 ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.ui

diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
deleted file mode 100644
index 3270e23ff..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#include "endpage.h"
-#include "ui_endpage.h"
-
-EndPage::EndPage(QWidget *parent) :
-    QWizardPage(parent),
-    ui(new Ui::EndPage)
-{
-    setFinalPage(true);
-    ui->setupUi(this);
-}
-
-EndPage::~EndPage()
-{
-    delete ui;
-}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h
deleted file mode 100644
index e4179e677..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#ifndef ENDPAGE_H
-#define ENDPAGE_H
-
-#include <QWizardPage>
-
-namespace Ui {
-class EndPage;
-}
-
-class EndPage : public QWizardPage
-{
-    Q_OBJECT
-    
-public:
-    explicit EndPage(QWidget *parent = 0);
-    ~EndPage();
-    
-private:
-    Ui::EndPage *ui;
-};
-
-#endif // ENDPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui
deleted file mode 100644
index cc0a5c162..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/endpage.ui
+++ /dev/null
@@ -1,80 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>EndPage</class>
- <widget class="QWizardPage" name="EndPage">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>600</width>
-    <height>400</height>
-   </rect>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>600</width>
-    <height>400</height>
-   </size>
-  </property>
-  <property name="windowTitle">
-   <string>WizardPage</string>
-  </property>
-  <widget class="QLabel" name="label_2">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>20</y>
-     <width>550</width>
-     <height>141</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;Setup complete&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-size:8pt;&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-size:10pt;&quot;&gt;The wizard have now gathered enough information to create a baseline configuration for your OpenPilot controller board to use with your vehicle.&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-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-size:10pt;&quot;&gt;You now have two choices:&lt;/span&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-size:10pt;&quot;&gt;- Upload configuration directly to the currently connected OpenPilot controller board.&lt;/span&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-size:10pt;&quot;&gt;- Save the configuration to a file for later uploading using the configuration import plugin in GCS.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-   </property>
-   <property name="wordWrap">
-    <bool>true</bool>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="saveButton">
-   <property name="geometry">
-    <rect>
-     <x>420</x>
-     <y>290</y>
-     <width>125</width>
-     <height>23</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Save configuration...</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="uploadButton">
-   <property name="geometry">
-    <rect>
-     <x>420</x>
-     <y>340</y>
-     <width>125</width>
-     <height>23</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Uppload configuration</string>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp
deleted file mode 100644
index f36631bb0..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.cpp
+++ /dev/null
@@ -1,14 +0,0 @@
-#include "startpage.h"
-#include "ui_startpage.h"
-
-StartPage::StartPage(QWidget *parent) :
-    QWizardPage(parent),
-    ui(new Ui::StartPage)
-{
-    ui->setupUi(this);
-}
-
-StartPage::~StartPage()
-{
-    delete ui;
-}
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h
deleted file mode 100644
index f6cf9b6cd..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#ifndef STARTPAGE_H
-#define STARTPAGE_H
-
-#include <QWizardPage>
-
-namespace Ui {
-class StartPage;
-}
-
-class StartPage : public QWizardPage
-{
-    Q_OBJECT
-    
-public:
-    explicit StartPage(QWidget *parent = 0);
-    ~StartPage();
-    
-private:
-    Ui::StartPage *ui;
-};
-
-#endif // STARTPAGE_H
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.ui b/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.ui
deleted file mode 100644
index 0f656f35c..000000000
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/startpage.ui
+++ /dev/null
@@ -1,56 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>StartPage</class>
- <widget class="QWizardPage" name="StartPage">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>640</width>
-    <height>400</height>
-   </rect>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>640</width>
-    <height>400</height>
-   </size>
-  </property>
-  <property name="windowTitle">
-   <string>WizardPage</string>
-  </property>
-  <widget class="QLabel" name="label_2">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>20</y>
-     <width>550</width>
-     <height>350</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:'MS Shell Dlg 2'; font-size:8.25pt; 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:12pt; font-weight:600;&quot;&gt;Welcome to the OpenPilot Setup Wizard&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-size:8pt;&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-size:10pt;&quot;&gt;This wizard will guide you through the basic steps of setting up your OpenPilot controller board. The following pages contains simple questions about your vehicle and its characteristics. &lt;/span&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-size:10pt;&quot;&gt;From the information &lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;gathered&lt;/span&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt; the wizard will create a baseline configuration that should be good enough for you to get a quick start using your OpenPilot product.&lt;/span&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-size:10pt;&quot;&gt;The baseline configuration can, if desired, be uploaded to the OpenPilot Controller board at the end of this wizard.&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-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-size:10pt;&quot;&gt;This wizard does not contain the full range of settings available in the GCS Config plugin. All configuration parameters can be changed at later by using the GCS Config plugin.&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-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-size:10pt;&quot;&gt;Ok, lets start the configuration by clicking on the 'Next' button below.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-   </property>
-   <property name="wordWrap">
-    <bool>true</bool>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>

From 48b3cf71011427fd1e05d82dfcd06fcb0fd76d86 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Tue, 24 Jul 2012 23:46:21 -0700
Subject: [PATCH 066/543] fixed the airframe form so it scrolls AND has the
 shiny new popups

---
 .../src/plugins/config/airframe.ui            | 5462 +++++++++--------
 1 file changed, 2889 insertions(+), 2573 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 16b0172a3..a9de06541 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>939</width>
-    <height>657</height>
+    <width>833</width>
+    <height>852</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
+  <layout class="QVBoxLayout" name="verticalLayout_12">
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -23,551 +23,193 @@
       <attribute name="title">
        <string>Mixer Settings</string>
       </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,0,0">
+      <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0">
        <property name="margin">
-        <number>5</number>
+        <number>12</number>
        </property>
        <item>
-        <layout class="QHBoxLayout" name="horizontalLayout">
-         <item>
-          <widget class="QLabel" name="label">
-           <property name="font">
-            <font>
-             <weight>75</weight>
-             <bold>true</bold>
-            </font>
-           </property>
-           <property name="text">
-            <string>Vehicle type:</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QComboBox" name="aircraftType">
-           <property name="toolTip">
-            <string>Select aircraft type here</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <spacer name="horizontalSpacer_2">
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>40</width>
-             <height>20</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
-        </layout>
-       </item>
-       <item>
-        <widget class="Line" name="line">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
          </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QStackedWidget" name="airframesWidget">
-         <property name="currentIndex">
-          <number>0</number>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>0</height>
+          </size>
          </property>
-         <widget class="QWidget" name="fixedWing">
-          <property name="enabled">
-           <bool>true</bool>
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>779</width>
+            <height>691</height>
+           </rect>
           </property>
-          <property name="autoFillBackground">
-           <bool>false</bool>
-          </property>
-          <layout class="QVBoxLayout" name="verticalLayout_3" stretch="0">
-           <item>
-            <layout class="QVBoxLayout" name="verticalLayout_6">
+          <layout class="QGridLayout" name="gridLayout_2">
+           <item row="0" column="0">
+            <layout class="QHBoxLayout" name="horizontalLayout">
+             <property name="sizeConstraint">
+              <enum>QLayout::SetFixedSize</enum>
+             </property>
              <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_3">
-               <item>
-                <widget class="QLabel" name="label_5">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="font">
-                  <font>
-                   <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-                 <property name="text">
-                  <string>Airplane type:</string>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QComboBox" name="fixedWingType"/>
-               </item>
-               <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>
-              </layout>
+              <widget class="QLabel" name="label">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="text">
+                <string>Vehicle type:</string>
+               </property>
+              </widget>
              </item>
              <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_23"/>
+              <widget class="QComboBox" name="aircraftType">
+               <property name="toolTip">
+                <string>Select aircraft type here</string>
+               </property>
+              </widget>
              </item>
              <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_4">
-               <item>
-                <widget class="QGroupBox" name="groupBox_2">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="minimumSize">
-                  <size>
-                   <width>230</width>
-                   <height>100</height>
-                  </size>
-                 </property>
-                 <property name="title">
-                  <string>Output Channel Assignments</string>
-                 </property>
-                 <layout class="QFormLayout" name="formLayout_3">
-                  <item row="1" column="0">
-                   <widget class="QLabel" name="fwEngineLabel">
-                    <property name="text">
-                     <string>Engine</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="1" column="1">
-                   <widget class="QComboBox" name="fwEngineChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the engine</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="2" column="0">
-                   <widget class="QLabel" name="fwAileron1Label">
-                    <property name="minimumSize">
-                     <size>
-                      <width>60</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Aileron 1</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="2" column="1">
-                   <widget class="QComboBox" name="fwAileron1ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the first aileron (or elevon)</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="3" column="0">
-                   <widget class="QLabel" name="fwAileron2Label">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>60</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Aileron 2</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="3" column="1">
-                   <widget class="QComboBox" name="fwAileron2ChannelBox">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="toolTip">
-                     <string>Select output channel for the second aileron (or elevon)</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="4" column="0">
-                   <widget class="QLabel" name="fwElevator1Label">
-                    <property name="minimumSize">
-                     <size>
-                      <width>67</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Elevator 1</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="4" column="1">
-                   <widget class="QComboBox" name="fwElevator1ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the first elevator</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="5" column="0">
-                   <widget class="QLabel" name="fwElevator2Label">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>67</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Elevator 2</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="5" column="1">
-                   <widget class="QComboBox" name="fwElevator2ChannelBox">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="toolTip">
-                     <string>Select output channel for a secondary elevator</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="6" column="0">
-                   <widget class="QLabel" name="fwRudder1Label">
-                    <property name="text">
-                     <string>Rudder 1</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="6" column="1">
-                   <widget class="QComboBox" name="fwRudder1ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the first rudder</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="7" column="0">
-                   <widget class="QLabel" name="fwRudder2Label">
-                    <property name="text">
-                     <string>Rudder 2</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="7" column="1">
-                   <widget class="QComboBox" name="fwRudder2ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for a secondary rudder</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="0" column="1">
-                   <spacer name="verticalSpacer_2">
-                    <property name="orientation">
-                     <enum>Qt::Vertical</enum>
-                    </property>
-                    <property name="sizeHint" stdset="0">
-                     <size>
-                      <width>20</width>
-                      <height>20</height>
-                     </size>
-                    </property>
-                   </spacer>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-               <item>
-                <widget class="QGroupBox" name="elevonMixBox">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="title">
-                  <string>Elevon Mix</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_13">
-                  <item>
-                   <spacer name="verticalSpacer_3">
-                    <property name="orientation">
-                     <enum>Qt::Vertical</enum>
-                    </property>
-                    <property name="sizeType">
-                     <enum>QSizePolicy::Fixed</enum>
-                    </property>
-                    <property name="sizeHint" stdset="0">
-                     <size>
-                      <width>0</width>
-                      <height>20</height>
-                     </size>
-                    </property>
-                   </spacer>
-                  </item>
-                  <item>
-                   <layout class="QHBoxLayout" name="horizontalLayout_8">
-                    <item>
-                     <layout class="QVBoxLayout" name="verticalLayout_14">
-                      <item>
-                       <widget class="QLabel" name="elevonLabel1">
-                        <property name="minimumSize">
-                         <size>
-                          <width>65</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="styleSheet">
-                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                        </property>
-                        <property name="text">
-                         <string>Rudder %</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QSlider" name="elevonSlider1">
-                        <property name="sizePolicy">
-                         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-                          <horstretch>0</horstretch>
-                          <verstretch>0</verstretch>
-                         </sizepolicy>
-                        </property>
-                        <property name="maximum">
-                         <number>100</number>
-                        </property>
-                        <property name="value">
-                         <number>50</number>
-                        </property>
-                        <property name="orientation">
-                         <enum>Qt::Vertical</enum>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QLabel" name="elevonSliderLabel1">
-                        <property name="text">
-                         <string>50</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                     </layout>
-                    </item>
-                    <item>
-                     <layout class="QVBoxLayout" name="verticalLayout_15">
-                      <item>
-                       <widget class="QLabel" name="elevonLabel2">
-                        <property name="minimumSize">
-                         <size>
-                          <width>50</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="styleSheet">
-                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                        </property>
-                        <property name="text">
-                         <string>Pitch %</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QSlider" name="elevonSlider2">
-                        <property name="sizePolicy">
-                         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-                          <horstretch>0</horstretch>
-                          <verstretch>0</verstretch>
-                         </sizepolicy>
-                        </property>
-                        <property name="maximum">
-                         <number>100</number>
-                        </property>
-                        <property name="value">
-                         <number>50</number>
-                        </property>
-                        <property name="orientation">
-                         <enum>Qt::Vertical</enum>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QLabel" name="elevonSliderLabel2">
-                        <property name="text">
-                         <string>50</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                     </layout>
-                    </item>
-                   </layout>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-               <item>
-                <spacer name="horizontalSpacer_4">
-                 <property name="orientation">
-                  <enum>Qt::Horizontal</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>40</width>
-                   <height>20</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-               <item>
-                <widget class="QGroupBox" name="groupBox_3">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                   <horstretch>0</horstretch>
-                   <verstretch>100</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="title">
-                  <string>Throttle Curve</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_16">
-                  <item>
-                   <widget class="MixerCurve" name="fixedWingThrottle" native="true">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-                      <horstretch>1</horstretch>
-                      <verstretch>1</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>0</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="maximumSize">
-                     <size>
-                      <width>500</width>
-                      <height>500</height>
-                     </size>
-                    </property>
-                    <property name="sizeIncrement">
-                     <size>
-                      <width>10</width>
-                      <height>10</height>
-                     </size>
-                    </property>
-                    <property name="baseSize">
-                     <size>
-                      <width>300</width>
-                      <height>350</height>
-                     </size>
-                    </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-              </layout>
-             </item>
-             <item>
-              <spacer name="verticalSpacer">
+              <spacer name="horizontalSpacer_2">
                <property name="orientation">
-                <enum>Qt::Vertical</enum>
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Expanding</enum>
                </property>
                <property name="sizeHint" stdset="0">
                 <size>
-                 <width>20</width>
-                 <height>40</height>
+                 <width>2</width>
+                 <height>20</height>
                 </size>
                </property>
               </spacer>
              </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_13">
-               <item>
-                <spacer name="horizontalSpacer_11">
-                 <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="QLabel" name="fwStatusLabel">
-                 <property name="font">
-                  <font>
-                   <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-                 <property name="text">
-                  <string>Mixer OK</string>
-                 </property>
-                </widget>
-               </item>
-              </layout>
-             </item>
             </layout>
            </item>
-          </layout>
-         </widget>
-         <widget class="QWidget" name="multiRotor">
-          <layout class="QVBoxLayout" name="verticalLayout_4" stretch="1">
-           <item>
-            <layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0">
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0">
+           <item row="3" column="0">
+            <widget class="QStackedWidget" name="airframesWidget">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>775</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="currentIndex">
+              <number>1</number>
+             </property>
+             <widget class="QWidget" name="fixedWing">
+              <property name="enabled">
+               <bool>true</bool>
+              </property>
+              <property name="autoFillBackground">
+               <bool>false</bool>
+              </property>
+              <layout class="QVBoxLayout" name="verticalLayout_3" stretch="0">
                <item>
-                <layout class="QVBoxLayout" name="verticalLayout_24">
+                <layout class="QVBoxLayout" name="verticalLayout_6">
                  <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_5">
+                  <layout class="QHBoxLayout" name="horizontalLayout_3">
                    <item>
-                    <widget class="QLabel" name="label_15">
+                    <widget class="QLabel" name="label_5">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
                      <property name="font">
                       <font>
                        <weight>75</weight>
@@ -575,19 +217,15 @@ margin:1px;</string>
                       </font>
                      </property>
                      <property name="text">
-                      <string>Frame type:</string>
+                      <string>Airplane type:</string>
                      </property>
                     </widget>
                    </item>
                    <item>
-                    <widget class="QComboBox" name="multirotorFrameType">
-                     <property name="toolTip">
-                      <string>Select the Multirotor frame type here.</string>
-                     </property>
-                    </widget>
+                    <widget class="QComboBox" name="fixedWingType"/>
                    </item>
                    <item>
-                    <spacer name="horizontalSpacer_5">
+                    <spacer name="horizontalSpacer_3">
                      <property name="orientation">
                       <enum>Qt::Horizontal</enum>
                      </property>
@@ -602,13 +240,448 @@ margin:1px;</string>
                   </layout>
                  </item>
                  <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_22">
+                  <layout class="QHBoxLayout" name="horizontalLayout_23"/>
+                 </item>
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_4">
                    <item>
-                    <layout class="QVBoxLayout" name="verticalLayout_20">
+                    <widget class="QGroupBox" name="groupBox_2">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="minimumSize">
+                      <size>
+                       <width>230</width>
+                       <height>100</height>
+                      </size>
+                     </property>
+                     <property name="title">
+                      <string>Output Channel Assignments</string>
+                     </property>
+                     <layout class="QFormLayout" name="formLayout_3">
+                      <item row="1" column="0">
+                       <widget class="QLabel" name="fwEngineLabel">
+                        <property name="text">
+                         <string>Engine</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="1">
+                       <widget class="QComboBox" name="fwEngineChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the engine</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="0">
+                       <widget class="QLabel" name="fwAileron1Label">
+                        <property name="minimumSize">
+                         <size>
+                          <width>60</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Aileron 1</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="1">
+                       <widget class="QComboBox" name="fwAileron1ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the first aileron (or elevon)</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="0">
+                       <widget class="QLabel" name="fwAileron2Label">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>60</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Aileron 2</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="1">
+                       <widget class="QComboBox" name="fwAileron2ChannelBox">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="toolTip">
+                         <string>Select output channel for the second aileron (or elevon)</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="4" column="0">
+                       <widget class="QLabel" name="fwElevator1Label">
+                        <property name="minimumSize">
+                         <size>
+                          <width>67</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Elevator 1</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="4" column="1">
+                       <widget class="QComboBox" name="fwElevator1ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the first elevator</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="5" column="0">
+                       <widget class="QLabel" name="fwElevator2Label">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>67</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Elevator 2</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="5" column="1">
+                       <widget class="QComboBox" name="fwElevator2ChannelBox">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="toolTip">
+                         <string>Select output channel for a secondary elevator</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="6" column="0">
+                       <widget class="QLabel" name="fwRudder1Label">
+                        <property name="text">
+                         <string>Rudder 1</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="6" column="1">
+                       <widget class="QComboBox" name="fwRudder1ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the first rudder</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="7" column="0">
+                       <widget class="QLabel" name="fwRudder2Label">
+                        <property name="text">
+                         <string>Rudder 2</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="7" column="1">
+                       <widget class="QComboBox" name="fwRudder2ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for a secondary rudder</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="0" column="1">
+                       <spacer name="verticalSpacer_2">
+                        <property name="orientation">
+                         <enum>Qt::Vertical</enum>
+                        </property>
+                        <property name="sizeHint" stdset="0">
+                         <size>
+                          <width>20</width>
+                          <height>20</height>
+                         </size>
+                        </property>
+                       </spacer>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                   <item>
+                    <widget class="QGroupBox" name="elevonMixBox">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="title">
+                      <string>Elevon Mix</string>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_13">
+                      <item>
+                       <spacer name="verticalSpacer_3">
+                        <property name="orientation">
+                         <enum>Qt::Vertical</enum>
+                        </property>
+                        <property name="sizeType">
+                         <enum>QSizePolicy::Fixed</enum>
+                        </property>
+                        <property name="sizeHint" stdset="0">
+                         <size>
+                          <width>0</width>
+                          <height>20</height>
+                         </size>
+                        </property>
+                       </spacer>
+                      </item>
+                      <item>
+                       <layout class="QHBoxLayout" name="horizontalLayout_8">
+                        <item>
+                         <layout class="QVBoxLayout" name="verticalLayout_14">
+                          <item>
+                           <widget class="QLabel" name="elevonLabel1">
+                            <property name="minimumSize">
+                             <size>
+                              <width>65</width>
+                              <height>0</height>
+                             </size>
+                            </property>
+                            <property name="styleSheet">
+                             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                            </property>
+                            <property name="text">
+                             <string>Rudder %</string>
+                            </property>
+                            <property name="alignment">
+                             <set>Qt::AlignCenter</set>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QSlider" name="elevonSlider1">
+                            <property name="sizePolicy">
+                             <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+                              <horstretch>0</horstretch>
+                              <verstretch>0</verstretch>
+                             </sizepolicy>
+                            </property>
+                            <property name="maximum">
+                             <number>100</number>
+                            </property>
+                            <property name="value">
+                             <number>50</number>
+                            </property>
+                            <property name="orientation">
+                             <enum>Qt::Vertical</enum>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QLabel" name="elevonSliderLabel1">
+                            <property name="text">
+                             <string>50</string>
+                            </property>
+                            <property name="alignment">
+                             <set>Qt::AlignCenter</set>
+                            </property>
+                           </widget>
+                          </item>
+                         </layout>
+                        </item>
+                        <item>
+                         <layout class="QVBoxLayout" name="verticalLayout_15">
+                          <item>
+                           <widget class="QLabel" name="elevonLabel2">
+                            <property name="minimumSize">
+                             <size>
+                              <width>50</width>
+                              <height>0</height>
+                             </size>
+                            </property>
+                            <property name="styleSheet">
+                             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                            </property>
+                            <property name="text">
+                             <string>Pitch %</string>
+                            </property>
+                            <property name="alignment">
+                             <set>Qt::AlignCenter</set>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QSlider" name="elevonSlider2">
+                            <property name="sizePolicy">
+                             <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+                              <horstretch>0</horstretch>
+                              <verstretch>0</verstretch>
+                             </sizepolicy>
+                            </property>
+                            <property name="maximum">
+                             <number>100</number>
+                            </property>
+                            <property name="value">
+                             <number>50</number>
+                            </property>
+                            <property name="orientation">
+                             <enum>Qt::Vertical</enum>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QLabel" name="elevonSliderLabel2">
+                            <property name="text">
+                             <string>50</string>
+                            </property>
+                            <property name="alignment">
+                             <set>Qt::AlignCenter</set>
+                            </property>
+                           </widget>
+                          </item>
+                         </layout>
+                        </item>
+                       </layout>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                   <item>
+                    <spacer name="horizontalSpacer_4">
+                     <property name="orientation">
+                      <enum>Qt::Horizontal</enum>
+                     </property>
+                     <property name="sizeHint" stdset="0">
+                      <size>
+                       <width>40</width>
+                       <height>20</height>
+                      </size>
+                     </property>
+                    </spacer>
+                   </item>
+                   <item>
+                    <widget class="QGroupBox" name="groupBox_3">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                       <horstretch>0</horstretch>
+                       <verstretch>100</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="title">
+                      <string>Throttle Curve</string>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_16">
+                      <item>
+                       <widget class="MixerCurve" name="fixedWingThrottle" native="true">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+                          <horstretch>1</horstretch>
+                          <verstretch>1</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>500</width>
+                          <height>500</height>
+                         </size>
+                        </property>
+                        <property name="sizeIncrement">
+                         <size>
+                          <width>10</width>
+                          <height>10</height>
+                         </size>
+                        </property>
+                        <property name="baseSize">
+                         <size>
+                          <width>300</width>
+                          <height>350</height>
+                         </size>
+                        </property>
+                       </widget>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                  </layout>
+                 </item>
+                 <item>
+                  <spacer name="verticalSpacer">
+                   <property name="orientation">
+                    <enum>Qt::Vertical</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>40</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_13">
+                   <item>
+                    <spacer name="horizontalSpacer_11">
+                     <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="QLabel" name="fwStatusLabel">
+                     <property name="font">
+                      <font>
+                       <weight>75</weight>
+                       <bold>true</bold>
+                      </font>
+                     </property>
+                     <property name="text">
+                      <string>Mixer OK</string>
+                     </property>
+                    </widget>
+                   </item>
+                  </layout>
+                 </item>
+                </layout>
+               </item>
+              </layout>
+             </widget>
+             <widget class="QWidget" name="multiRotor">
+              <layout class="QVBoxLayout" name="verticalLayout_4" stretch="1">
+               <item>
+                <layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0">
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0">
+                   <item>
+                    <layout class="QVBoxLayout" name="verticalLayout_24">
                      <item>
-                      <layout class="QHBoxLayout" name="horizontalLayout_25">
+                      <layout class="QHBoxLayout" name="horizontalLayout_5">
                        <item>
-                        <widget class="QLabel" name="label_4">
+                        <widget class="QLabel" name="label_15">
                          <property name="font">
                           <font>
                            <weight>75</weight>
@@ -616,12 +689,19 @@ margin:1px;</string>
                           </font>
                          </property>
                          <property name="text">
-                          <string>Mix Level</string>
+                          <string>Frame type:</string>
                          </property>
                         </widget>
                        </item>
                        <item>
-                        <spacer name="horizontalSpacer_17">
+                        <widget class="QComboBox" name="multirotorFrameType">
+                         <property name="toolTip">
+                          <string>Select the Multirotor frame type here.</string>
+                         </property>
+                        </widget>
+                       </item>
+                       <item>
+                        <spacer name="horizontalSpacer_5">
                          <property name="orientation">
                           <enum>Qt::Horizontal</enum>
                          </property>
@@ -636,279 +716,703 @@ margin:1px;</string>
                       </layout>
                      </item>
                      <item>
-                      <layout class="QHBoxLayout" name="horizontalLayout_19">
+                      <layout class="QHBoxLayout" name="horizontalLayout_22">
                        <item>
-                        <layout class="QVBoxLayout" name="verticalLayout_22">
+                        <layout class="QVBoxLayout" name="verticalLayout_20">
                          <item>
-                          <widget class="QLabel" name="mrRollMixValue">
-                           <property name="minimumSize">
-                            <size>
-                             <width>30</width>
-                             <height>0</height>
-                            </size>
-                           </property>
-                           <property name="text">
-                            <string>100</string>
-                           </property>
-                           <property name="alignment">
-                            <set>Qt::AlignCenter</set>
-                           </property>
-                          </widget>
+                          <layout class="QHBoxLayout" name="horizontalLayout_25">
+                           <item>
+                            <widget class="QLabel" name="label_4">
+                             <property name="font">
+                              <font>
+                               <weight>75</weight>
+                               <bold>true</bold>
+                              </font>
+                             </property>
+                             <property name="text">
+                              <string>Mix Level</string>
+                             </property>
+                            </widget>
+                           </item>
+                           <item>
+                            <spacer name="horizontalSpacer_17">
+                             <property name="orientation">
+                              <enum>Qt::Horizontal</enum>
+                             </property>
+                             <property name="sizeHint" stdset="0">
+                              <size>
+                               <width>40</width>
+                               <height>20</height>
+                              </size>
+                             </property>
+                            </spacer>
+                           </item>
+                          </layout>
                          </item>
                          <item>
-                          <widget class="QSlider" name="mrRollMixLevel">
-                           <property name="minimumSize">
-                            <size>
-                             <width>35</width>
-                             <height>0</height>
-                            </size>
-                           </property>
-                           <property name="toolTip">
-                            <string>Weight of Roll mixing in percent.
+                          <layout class="QHBoxLayout" name="horizontalLayout_19">
+                           <item>
+                            <layout class="QVBoxLayout" name="verticalLayout_22">
+                             <item>
+                              <widget class="QLabel" name="mrRollMixValue">
+                               <property name="minimumSize">
+                                <size>
+                                 <width>30</width>
+                                 <height>0</height>
+                                </size>
+                               </property>
+                               <property name="text">
+                                <string>100</string>
+                               </property>
+                               <property name="alignment">
+                                <set>Qt::AlignCenter</set>
+                               </property>
+                              </widget>
+                             </item>
+                             <item>
+                              <widget class="QSlider" name="mrRollMixLevel">
+                               <property name="minimumSize">
+                                <size>
+                                 <width>35</width>
+                                 <height>0</height>
+                                </size>
+                               </property>
+                               <property name="toolTip">
+                                <string>Weight of Roll mixing in percent.
 Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
-                           </property>
-                           <property name="maximum">
-                            <number>100</number>
-                           </property>
-                           <property name="value">
-                            <number>100</number>
-                           </property>
-                           <property name="orientation">
-                            <enum>Qt::Vertical</enum>
-                           </property>
-                          </widget>
-                         </item>
-                         <item>
-                          <widget class="QLabel" name="label_42">
-                           <property name="styleSheet">
-                            <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                               </property>
+                               <property name="maximum">
+                                <number>100</number>
+                               </property>
+                               <property name="value">
+                                <number>100</number>
+                               </property>
+                               <property name="orientation">
+                                <enum>Qt::Vertical</enum>
+                               </property>
+                              </widget>
+                             </item>
+                             <item>
+                              <widget class="QLabel" name="label_42">
+                               <property name="styleSheet">
+                                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-                           </property>
-                           <property name="text">
-                            <string>R</string>
-                           </property>
-                           <property name="alignment">
-                            <set>Qt::AlignCenter</set>
-                           </property>
-                          </widget>
-                         </item>
-                        </layout>
-                       </item>
-                       <item>
-                        <layout class="QVBoxLayout" name="verticalLayout_23">
-                         <item>
-                          <widget class="QLabel" name="mrPitchMixValue">
-                           <property name="minimumSize">
-                            <size>
-                             <width>0</width>
-                             <height>0</height>
-                            </size>
-                           </property>
-                           <property name="text">
-                            <string>100</string>
-                           </property>
-                           <property name="alignment">
-                            <set>Qt::AlignCenter</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item>
-                          <widget class="QSlider" name="mrPitchMixLevel">
-                           <property name="minimumSize">
-                            <size>
-                             <width>35</width>
-                             <height>0</height>
-                            </size>
-                           </property>
-                           <property name="toolTip">
-                            <string>Weight of Pitch mixing in percent.
+                               </property>
+                               <property name="text">
+                                <string>R</string>
+                               </property>
+                               <property name="alignment">
+                                <set>Qt::AlignCenter</set>
+                               </property>
+                              </widget>
+                             </item>
+                            </layout>
+                           </item>
+                           <item>
+                            <layout class="QVBoxLayout" name="verticalLayout_23">
+                             <item>
+                              <widget class="QLabel" name="mrPitchMixValue">
+                               <property name="minimumSize">
+                                <size>
+                                 <width>0</width>
+                                 <height>0</height>
+                                </size>
+                               </property>
+                               <property name="text">
+                                <string>100</string>
+                               </property>
+                               <property name="alignment">
+                                <set>Qt::AlignCenter</set>
+                               </property>
+                              </widget>
+                             </item>
+                             <item>
+                              <widget class="QSlider" name="mrPitchMixLevel">
+                               <property name="minimumSize">
+                                <size>
+                                 <width>35</width>
+                                 <height>0</height>
+                                </size>
+                               </property>
+                               <property name="toolTip">
+                                <string>Weight of Pitch mixing in percent.
 Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
-                           </property>
-                           <property name="maximum">
-                            <number>100</number>
-                           </property>
-                           <property name="value">
-                            <number>100</number>
-                           </property>
-                           <property name="orientation">
-                            <enum>Qt::Vertical</enum>
-                           </property>
-                          </widget>
-                         </item>
-                         <item>
-                          <widget class="QLabel" name="label_40">
-                           <property name="styleSheet">
-                            <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                               </property>
+                               <property name="maximum">
+                                <number>100</number>
+                               </property>
+                               <property name="value">
+                                <number>100</number>
+                               </property>
+                               <property name="orientation">
+                                <enum>Qt::Vertical</enum>
+                               </property>
+                              </widget>
+                             </item>
+                             <item>
+                              <widget class="QLabel" name="label_40">
+                               <property name="styleSheet">
+                                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-                           </property>
-                           <property name="text">
-                            <string>P</string>
-                           </property>
-                           <property name="alignment">
-                            <set>Qt::AlignCenter</set>
-                           </property>
-                          </widget>
-                         </item>
-                        </layout>
-                       </item>
-                       <item>
-                        <layout class="QVBoxLayout" name="verticalLayout_21">
-                         <item>
-                          <widget class="QLabel" name="mrYawMixValue">
-                           <property name="minimumSize">
-                            <size>
-                             <width>0</width>
-                             <height>0</height>
-                            </size>
-                           </property>
-                           <property name="text">
-                            <string>50</string>
-                           </property>
-                           <property name="alignment">
-                            <set>Qt::AlignCenter</set>
-                           </property>
-                          </widget>
-                         </item>
-                         <item>
-                          <widget class="QSlider" name="mrYawMixLevel">
-                           <property name="minimumSize">
-                            <size>
-                             <width>40</width>
-                             <height>0</height>
-                            </size>
-                           </property>
-                           <property name="toolTip">
-                            <string>Weight of Yaw mixing in percent.
+                               </property>
+                               <property name="text">
+                                <string>P</string>
+                               </property>
+                               <property name="alignment">
+                                <set>Qt::AlignCenter</set>
+                               </property>
+                              </widget>
+                             </item>
+                            </layout>
+                           </item>
+                           <item>
+                            <layout class="QVBoxLayout" name="verticalLayout_21">
+                             <item>
+                              <widget class="QLabel" name="mrYawMixValue">
+                               <property name="minimumSize">
+                                <size>
+                                 <width>0</width>
+                                 <height>0</height>
+                                </size>
+                               </property>
+                               <property name="text">
+                                <string>50</string>
+                               </property>
+                               <property name="alignment">
+                                <set>Qt::AlignCenter</set>
+                               </property>
+                              </widget>
+                             </item>
+                             <item>
+                              <widget class="QSlider" name="mrYawMixLevel">
+                               <property name="minimumSize">
+                                <size>
+                                 <width>40</width>
+                                 <height>0</height>
+                                </size>
+                               </property>
+                               <property name="toolTip">
+                                <string>Weight of Yaw mixing in percent.
 Typical value is 50% for + or X configuration on quads.</string>
-                           </property>
-                           <property name="minimum">
-                            <number>-100</number>
-                           </property>
-                           <property name="maximum">
-                            <number>100</number>
-                           </property>
-                           <property name="value">
-                            <number>50</number>
-                           </property>
-                           <property name="orientation">
-                            <enum>Qt::Vertical</enum>
-                           </property>
-                          </widget>
-                         </item>
-                         <item>
-                          <widget class="QLabel" name="label_6">
-                           <property name="autoFillBackground">
-                            <bool>false</bool>
-                           </property>
-                           <property name="styleSheet">
-                            <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                               </property>
+                               <property name="minimum">
+                                <number>-100</number>
+                               </property>
+                               <property name="maximum">
+                                <number>100</number>
+                               </property>
+                               <property name="value">
+                                <number>50</number>
+                               </property>
+                               <property name="orientation">
+                                <enum>Qt::Vertical</enum>
+                               </property>
+                              </widget>
+                             </item>
+                             <item>
+                              <widget class="QLabel" name="label_6">
+                               <property name="autoFillBackground">
+                                <bool>false</bool>
+                               </property>
+                               <property name="styleSheet">
+                                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-                           </property>
-                           <property name="text">
-                            <string>Y</string>
-                           </property>
-                           <property name="alignment">
-                            <set>Qt::AlignCenter</set>
-                           </property>
-                          </widget>
+                               </property>
+                               <property name="text">
+                                <string>Y</string>
+                               </property>
+                               <property name="alignment">
+                                <set>Qt::AlignCenter</set>
+                               </property>
+                              </widget>
+                             </item>
+                            </layout>
+                           </item>
+                          </layout>
                          </item>
                         </layout>
                        </item>
+                       <item>
+                        <widget class="QGraphicsView" name="quadShape">
+                         <property name="sizePolicy">
+                          <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+                           <horstretch>0</horstretch>
+                           <verstretch>0</verstretch>
+                          </sizepolicy>
+                         </property>
+                         <property name="minimumSize">
+                          <size>
+                           <width>80</width>
+                           <height>80</height>
+                          </size>
+                         </property>
+                         <property name="styleSheet">
+                          <string notr="true">background:transparent</string>
+                         </property>
+                         <property name="frameShape">
+                          <enum>QFrame::NoFrame</enum>
+                         </property>
+                         <property name="frameShadow">
+                          <enum>QFrame::Plain</enum>
+                         </property>
+                        </widget>
+                       </item>
                       </layout>
                      </item>
                     </layout>
                    </item>
                    <item>
-                    <widget class="QGraphicsView" name="quadShape">
+                    <widget class="QGroupBox" name="groupBox_6">
                      <property name="sizePolicy">
-                      <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                      <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
                        <horstretch>0</horstretch>
                        <verstretch>0</verstretch>
                       </sizepolicy>
                      </property>
                      <property name="minimumSize">
                       <size>
-                       <width>110</width>
-                       <height>110</height>
+                       <width>300</width>
+                       <height>300</height>
                       </size>
                      </property>
-                     <property name="styleSheet">
-                      <string notr="true">background:transparent</string>
-                     </property>
-                     <property name="frameShape">
-                      <enum>QFrame::NoFrame</enum>
-                     </property>
-                     <property name="frameShadow">
-                      <enum>QFrame::Plain</enum>
+                     <property name="title">
+                      <string>Throttle Curve</string>
                      </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_9">
+                      <item>
+                       <widget class="MixerCurve" name="multiThrottleCurve" native="true">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="sizeIncrement">
+                         <size>
+                          <width>10</width>
+                          <height>10</height>
+                         </size>
+                        </property>
+                        <property name="baseSize">
+                         <size>
+                          <width>300</width>
+                          <height>350</height>
+                         </size>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background:transparent</string>
+                        </property>
+                        <zorder></zorder>
+                       </widget>
+                      </item>
+                     </layout>
                     </widget>
                    </item>
                   </layout>
                  </item>
-                </layout>
-               </item>
-               <item>
-                <widget class="QGroupBox" name="groupBox_6">
-                 <property name="title">
-                  <string>Throttle Curve</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_9">
-                  <item>
-                   <widget class="MixerCurve" name="multiThrottleCurve" native="true">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>0</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="sizeIncrement">
-                     <size>
-                      <width>10</width>
-                      <height>10</height>
-                     </size>
-                    </property>
-                    <property name="baseSize">
-                     <size>
-                      <width>300</width>
-                      <height>350</height>
-                     </size>
-                    </property>
-                    <property name="styleSheet">
-                     <string notr="true">background:transparent</string>
-                    </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-              </layout>
-             </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_6" stretch="1,3">
-               <property name="spacing">
-                <number>10</number>
-               </property>
-               <item>
-                <layout class="QVBoxLayout" name="verticalLayout_10">
                  <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_26">
+                  <layout class="QHBoxLayout" name="horizontalLayout_6" stretch="1,0,3">
+                   <property name="spacing">
+                    <number>10</number>
+                   </property>
                    <item>
-                    <widget class="QLabel" name="label_23">
+                    <layout class="QVBoxLayout" name="verticalLayout_10">
+                     <item>
+                      <layout class="QHBoxLayout" name="horizontalLayout_26">
+                       <item>
+                        <widget class="QLabel" name="label_23">
+                         <property name="font">
+                          <font>
+                           <weight>75</weight>
+                           <bold>true</bold>
+                          </font>
+                         </property>
+                         <property name="text">
+                          <string>Tricopter Yaw</string>
+                         </property>
+                        </widget>
+                       </item>
+                       <item>
+                        <spacer name="horizontalSpacer_18">
+                         <property name="orientation">
+                          <enum>Qt::Horizontal</enum>
+                         </property>
+                         <property name="sizeType">
+                          <enum>QSizePolicy::Preferred</enum>
+                         </property>
+                         <property name="sizeHint" stdset="0">
+                          <size>
+                           <width>40</width>
+                           <height>20</height>
+                          </size>
+                         </property>
+                        </spacer>
+                       </item>
+                      </layout>
+                     </item>
+                     <item>
+                      <widget class="QLabel" name="label_2">
+                       <property name="styleSheet">
+                        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                       </property>
+                       <property name="text">
+                        <string>channel:</string>
+                       </property>
+                      </widget>
+                     </item>
+                     <item>
+                      <widget class="QComboBox" name="triYawChannelBox">
+                       <property name="enabled">
+                        <bool>false</bool>
+                       </property>
+                       <property name="sizePolicy">
+                        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                         <horstretch>0</horstretch>
+                         <verstretch>0</verstretch>
+                        </sizepolicy>
+                       </property>
+                       <property name="minimumSize">
+                        <size>
+                         <width>40</width>
+                         <height>0</height>
+                        </size>
+                       </property>
+                      </widget>
+                     </item>
+                     <item>
+                      <spacer name="verticalSpacer_4">
+                       <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>
+                    <spacer name="horizontalSpacer_9">
+                     <property name="orientation">
+                      <enum>Qt::Horizontal</enum>
+                     </property>
+                     <property name="sizeHint" stdset="0">
+                      <size>
+                       <width>10</width>
+                       <height>20</height>
+                      </size>
+                     </property>
+                    </spacer>
+                   </item>
+                   <item>
+                    <widget class="QGroupBox" name="groupBox">
+                     <property name="title">
+                      <string>Motor output channels</string>
+                     </property>
+                     <layout class="QHBoxLayout" name="horizontalLayout_10">
+                      <property name="spacing">
+                       <number>1</number>
+                      </property>
+                      <property name="margin">
+                       <number>1</number>
+                      </property>
+                      <item>
+                       <layout class="QFormLayout" name="formLayout_2">
+                        <property name="sizeConstraint">
+                         <enum>QLayout::SetMaximumSize</enum>
+                        </property>
+                        <property name="fieldGrowthPolicy">
+                         <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+                        </property>
+                        <property name="verticalSpacing">
+                         <number>3</number>
+                        </property>
+                        <item row="1" column="0">
+                         <widget class="QLabel" name="MotorOutputLabel1">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>1</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="1" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox1">
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="2" column="0">
+                         <widget class="QLabel" name="label_8">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>2</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="2" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox2">
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="3" column="0">
+                         <widget class="QLabel" name="label_9">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>3</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="3" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox3">
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="4" column="0">
+                         <widget class="QLabel" name="label_10">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>4</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="4" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox4">
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="0" column="1">
+                         <spacer name="verticalSpacer_8">
+                          <property name="orientation">
+                           <enum>Qt::Vertical</enum>
+                          </property>
+                          <property name="sizeType">
+                           <enum>QSizePolicy::Fixed</enum>
+                          </property>
+                          <property name="sizeHint" stdset="0">
+                           <size>
+                            <width>0</width>
+                            <height>20</height>
+                           </size>
+                          </property>
+                         </spacer>
+                        </item>
+                       </layout>
+                      </item>
+                      <item>
+                       <layout class="QFormLayout" name="formLayout_4">
+                        <property name="sizeConstraint">
+                         <enum>QLayout::SetMaximumSize</enum>
+                        </property>
+                        <property name="fieldGrowthPolicy">
+                         <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+                        </property>
+                        <property name="verticalSpacing">
+                         <number>3</number>
+                        </property>
+                        <item row="1" column="0">
+                         <widget class="QLabel" name="label_11">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>5</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="1" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox5">
+                          <property name="enabled">
+                           <bool>false</bool>
+                          </property>
+                          <property name="sizePolicy">
+                           <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                            <horstretch>0</horstretch>
+                            <verstretch>0</verstretch>
+                           </sizepolicy>
+                          </property>
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="2" column="0">
+                         <widget class="QLabel" name="label_12">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>6</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="2" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox6">
+                          <property name="enabled">
+                           <bool>false</bool>
+                          </property>
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="3" column="0">
+                         <widget class="QLabel" name="label_16">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>7</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="3" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox7">
+                          <property name="enabled">
+                           <bool>false</bool>
+                          </property>
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="4" column="0">
+                         <widget class="QLabel" name="label_17">
+                          <property name="styleSheet">
+                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                          </property>
+                          <property name="text">
+                           <string>8</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="4" column="1">
+                         <widget class="QComboBox" name="multiMotorChannelBox8">
+                          <property name="enabled">
+                           <bool>false</bool>
+                          </property>
+                          <property name="toolTip">
+                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                          </property>
+                         </widget>
+                        </item>
+                        <item row="0" column="1">
+                         <spacer name="verticalSpacer_9">
+                          <property name="orientation">
+                           <enum>Qt::Vertical</enum>
+                          </property>
+                          <property name="sizeType">
+                           <enum>QSizePolicy::Fixed</enum>
+                          </property>
+                          <property name="sizeHint" stdset="0">
+                           <size>
+                            <width>20</width>
+                            <height>20</height>
+                           </size>
+                          </property>
+                         </spacer>
+                        </item>
+                       </layout>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                  </layout>
+                 </item>
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_20">
+                   <item>
+                    <spacer name="horizontalSpacer_12">
+                     <property name="orientation">
+                      <enum>Qt::Horizontal</enum>
+                     </property>
+                     <property name="sizeType">
+                      <enum>QSizePolicy::Expanding</enum>
+                     </property>
+                     <property name="sizeHint" stdset="0">
+                      <size>
+                       <width>40</width>
+                       <height>20</height>
+                      </size>
+                     </property>
+                    </spacer>
+                   </item>
+                   <item>
+                    <widget class="QLabel" name="mrStatusLabel">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
                      <property name="font">
                       <font>
                        <weight>75</weight>
@@ -916,12 +1420,72 @@ margin:1px;</string>
                       </font>
                      </property>
                      <property name="text">
-                      <string>Tricopter Yaw</string>
+                      <string>Mixer OK</string>
+                     </property>
+                    </widget>
+                   </item>
+                  </layout>
+                 </item>
+                </layout>
+               </item>
+              </layout>
+             </widget>
+             <widget class="QWidget" name="ccpmHeli">
+              <layout class="QVBoxLayout" name="verticalLayout_5" stretch="1">
+               <property name="spacing">
+                <number>0</number>
+               </property>
+               <property name="margin">
+                <number>0</number>
+               </property>
+               <item>
+                <layout class="QVBoxLayout" name="verticalLayout_19">
+                 <property name="spacing">
+                  <number>0</number>
+                 </property>
+                 <item>
+                  <widget class="ConfigCcpmWidget" name="widget_3" native="true"/>
+                 </item>
+                </layout>
+               </item>
+              </layout>
+             </widget>
+             <widget class="QWidget" name="groundVehicle">
+              <property name="enabled">
+               <bool>true</bool>
+              </property>
+              <property name="autoFillBackground">
+               <bool>false</bool>
+              </property>
+              <layout class="QVBoxLayout" name="verticalLayout_31" stretch="0">
+               <item>
+                <layout class="QVBoxLayout" name="verticalLayout_61">
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_31">
+                   <item>
+                    <widget class="QLabel" name="label_51">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="font">
+                      <font>
+                       <weight>75</weight>
+                       <bold>true</bold>
+                      </font>
+                     </property>
+                     <property name="text">
+                      <string>Vehicle type:</string>
                      </property>
                     </widget>
                    </item>
                    <item>
-                    <spacer name="horizontalSpacer_18">
+                    <widget class="QComboBox" name="groundVehicleType"/>
+                   </item>
+                   <item>
+                    <spacer name="horizontalSpacer_31">
                      <property name="orientation">
                       <enum>Qt::Horizontal</enum>
                      </property>
@@ -936,40 +1500,402 @@ margin:1px;</string>
                   </layout>
                  </item>
                  <item>
-                  <widget class="QLabel" name="label_2">
-                   <property name="styleSheet">
-                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                   </property>
-                   <property name="text">
-                    <string>channel:</string>
-                   </property>
-                  </widget>
+                  <layout class="QHBoxLayout" name="horizontalLayout_33">
+                   <item>
+                    <widget class="QLabel" name="label_7">
+                     <property name="font">
+                      <font>
+                       <weight>75</weight>
+                       <bold>true</bold>
+                      </font>
+                     </property>
+                     <property name="text">
+                      <string>Channel Assignment</string>
+                     </property>
+                    </widget>
+                   </item>
+                   <item>
+                    <spacer name="horizontalSpacer_15">
+                     <property name="orientation">
+                      <enum>Qt::Horizontal</enum>
+                     </property>
+                     <property name="sizeHint" stdset="0">
+                      <size>
+                       <width>40</width>
+                       <height>20</height>
+                      </size>
+                     </property>
+                    </spacer>
+                   </item>
+                  </layout>
                  </item>
                  <item>
-                  <widget class="QComboBox" name="triYawChannelBox">
-                   <property name="enabled">
-                    <bool>false</bool>
-                   </property>
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>40</width>
-                     <height>0</height>
-                    </size>
-                   </property>
-                  </widget>
+                  <layout class="QHBoxLayout" name="horizontalLayout_41">
+                   <item>
+                    <widget class="QGroupBox" name="groupBox_7">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="minimumSize">
+                      <size>
+                       <width>0</width>
+                       <height>100</height>
+                      </size>
+                     </property>
+                     <property name="title">
+                      <string>Output channel asignmets</string>
+                     </property>
+                     <layout class="QFormLayout" name="formLayout_5">
+                      <item row="0" column="0">
+                       <widget class="QLabel" name="gvEngineLabel">
+                        <property name="minimumSize">
+                         <size>
+                          <width>77</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Engine</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="0" column="1">
+                       <widget class="QComboBox" name="gvEngineChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the engine</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="0">
+                       <widget class="QLabel" name="gvAileron1Label">
+                        <property name="minimumSize">
+                         <size>
+                          <width>60</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Aileron 1</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="1">
+                       <widget class="QComboBox" name="gvAileron1ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the first aileron (or elevon)</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="0">
+                       <widget class="QLabel" name="gvAileron2Label">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>60</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Aileron 2</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="1">
+                       <widget class="QComboBox" name="gvAileron2ChannelBox">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="toolTip">
+                         <string>Select output channel for the second aileron (or elevon)</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="0">
+                       <widget class="QLabel" name="gvMotor1Label">
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Motor</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="1">
+                       <widget class="QComboBox" name="gvMotor1ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the first motor</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="4" column="0">
+                       <widget class="QLabel" name="gvMotor2Label">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>47</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="text">
+                         <string>Motor 2</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="4" column="1">
+                       <widget class="QComboBox" name="gvMotor2ChannelBox">
+                        <property name="enabled">
+                         <bool>false</bool>
+                        </property>
+                        <property name="toolTip">
+                         <string>Select output channel for a second motor</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="5" column="0">
+                       <widget class="QLabel" name="gvSteering1Label">
+                        <property name="text">
+                         <string>Front Steering</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="5" column="1">
+                       <widget class="QComboBox" name="gvSteering1ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for the first steering actuator</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="6" column="0">
+                       <widget class="QLabel" name="gvSteering2Label">
+                        <property name="text">
+                         <string>Rear Steering</string>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="6" column="1">
+                       <widget class="QComboBox" name="gvSteering2ChannelBox">
+                        <property name="toolTip">
+                         <string>Select output channel for a second steering actuator</string>
+                        </property>
+                       </widget>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                   <item>
+                    <widget class="QGroupBox" name="differentialSteeringMixBox">
+                     <property name="enabled">
+                      <bool>true</bool>
+                     </property>
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="title">
+                      <string>Differential Steering Mix</string>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_33">
+                      <item>
+                       <layout class="QHBoxLayout" name="horizontalLayout_30">
+                        <item>
+                         <layout class="QVBoxLayout" name="verticalLayout_34">
+                          <item>
+                           <widget class="QLabel" name="differentialSteeringLabel1">
+                            <property name="minimumSize">
+                             <size>
+                              <width>65</width>
+                              <height>0</height>
+                             </size>
+                            </property>
+                            <property name="text">
+                             <string>Left %</string>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QSlider" name="differentialSteeringSlider1">
+                            <property name="maximum">
+                             <number>100</number>
+                            </property>
+                            <property name="value">
+                             <number>50</number>
+                            </property>
+                            <property name="orientation">
+                             <enum>Qt::Vertical</enum>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QLabel" name="gvDiffSteering1Label">
+                            <property name="text">
+                             <string>50</string>
+                            </property>
+                           </widget>
+                          </item>
+                         </layout>
+                        </item>
+                        <item>
+                         <layout class="QVBoxLayout" name="verticalLayout_35">
+                          <item>
+                           <widget class="QLabel" name="differentialSteeringLabel2">
+                            <property name="minimumSize">
+                             <size>
+                              <width>50</width>
+                              <height>0</height>
+                             </size>
+                            </property>
+                            <property name="text">
+                             <string>Right %</string>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QSlider" name="differentialSteeringSlider2">
+                            <property name="maximum">
+                             <number>100</number>
+                            </property>
+                            <property name="value">
+                             <number>50</number>
+                            </property>
+                            <property name="orientation">
+                             <enum>Qt::Vertical</enum>
+                            </property>
+                           </widget>
+                          </item>
+                          <item>
+                           <widget class="QLabel" name="gvDiffSteering2Label">
+                            <property name="text">
+                             <string>50</string>
+                            </property>
+                           </widget>
+                          </item>
+                         </layout>
+                        </item>
+                       </layout>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                   <item>
+                    <widget class="QGroupBox" name="gvThrottleCurve1GroupBox">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                       <horstretch>0</horstretch>
+                       <verstretch>100</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="title">
+                      <string>Front throttle curve</string>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_36">
+                      <item>
+                       <widget class="MixerCurve" name="groundVehicleThrottle1" native="true">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>500</width>
+                          <height>500</height>
+                         </size>
+                        </property>
+                        <property name="sizeIncrement">
+                         <size>
+                          <width>10</width>
+                          <height>10</height>
+                         </size>
+                        </property>
+                        <property name="baseSize">
+                         <size>
+                          <width>300</width>
+                          <height>350</height>
+                         </size>
+                        </property>
+                       </widget>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                   <item>
+                    <widget class="QGroupBox" name="gvThrottleCurve2GroupBox">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="title">
+                      <string>Rear throttle curve</string>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_37">
+                      <item>
+                       <widget class="MixerCurve" name="groundVehicleThrottle2" native="true">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                          <horstretch>0</horstretch>
+                          <verstretch>0</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>500</width>
+                          <height>500</height>
+                         </size>
+                        </property>
+                        <property name="sizeIncrement">
+                         <size>
+                          <width>10</width>
+                          <height>10</height>
+                         </size>
+                        </property>
+                        <property name="baseSize">
+                         <size>
+                          <width>300</width>
+                          <height>350</height>
+                         </size>
+                        </property>
+                       </widget>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                  </layout>
                  </item>
                  <item>
-                  <spacer name="verticalSpacer_4">
+                  <spacer name="verticalSpacer_1">
                    <property name="orientation">
                     <enum>Qt::Vertical</enum>
                    </property>
@@ -981,1488 +1907,760 @@ margin:1px;</string>
                    </property>
                   </spacer>
                  </item>
+                 <item>
+                  <layout class="QHBoxLayout" name="horizontalLayout_28">
+                   <item>
+                    <spacer name="horizontalSpacer_21">
+                     <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="QLabel" name="gvStatusLabel">
+                     <property name="font">
+                      <font>
+                       <weight>75</weight>
+                       <bold>true</bold>
+                      </font>
+                     </property>
+                     <property name="text">
+                      <string>Mixer OK</string>
+                     </property>
+                    </widget>
+                   </item>
+                  </layout>
+                 </item>
                 </layout>
                </item>
-               <item>
-                <widget class="QGroupBox" name="groupBox">
-                 <property name="title">
-                  <string>Motor output channels</string>
-                 </property>
-                 <layout class="QHBoxLayout" name="horizontalLayout_10">
-                  <property name="spacing">
-                   <number>1</number>
-                  </property>
-                  <property name="margin">
-                   <number>1</number>
-                  </property>
-                  <item>
-                   <layout class="QFormLayout" name="formLayout_2">
-                    <property name="fieldGrowthPolicy">
-                     <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
-                    </property>
-                    <property name="verticalSpacing">
-                     <number>3</number>
-                    </property>
-                    <item row="1" column="0">
-                     <widget class="QLabel" name="MotorOutputLabel1">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>1</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox1">
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="0">
-                     <widget class="QLabel" name="label_8">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>2</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox2">
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="0">
-                     <widget class="QLabel" name="label_9">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>3</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox3">
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="4" column="0">
-                     <widget class="QLabel" name="label_10">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>4</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="4" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox4">
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="0" column="1">
-                     <spacer name="verticalSpacer_8">
-                      <property name="orientation">
-                       <enum>Qt::Vertical</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>0</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                   </layout>
-                  </item>
-                  <item>
-                   <layout class="QFormLayout" name="formLayout_4">
-                    <property name="fieldGrowthPolicy">
-                     <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
-                    </property>
-                    <property name="verticalSpacing">
-                     <number>3</number>
-                    </property>
-                    <item row="1" column="0">
-                     <widget class="QLabel" name="label_11">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>5</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox5">
-                      <property name="enabled">
-                       <bool>false</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="0">
-                     <widget class="QLabel" name="label_12">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>6</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="2" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox6">
-                      <property name="enabled">
-                       <bool>false</bool>
-                      </property>
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="0">
-                     <widget class="QLabel" name="label_16">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>7</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="3" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox7">
-                      <property name="enabled">
-                       <bool>false</bool>
-                      </property>
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="4" column="0">
-                     <widget class="QLabel" name="label_17">
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                      </property>
-                      <property name="text">
-                       <string>8</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="4" column="1">
-                     <widget class="QComboBox" name="multiMotorChannelBox8">
-                      <property name="enabled">
-                       <bool>false</bool>
-                      </property>
-                      <property name="toolTip">
-                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="0" column="1">
-                     <spacer name="verticalSpacer_9">
-                      <property name="orientation">
-                       <enum>Qt::Vertical</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>20</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                   </layout>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
               </layout>
-             </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_20">
+             </widget>
+             <widget class="QWidget" name="custom">
+              <layout class="QHBoxLayout" name="horizontalLayout_15">
                <item>
-                <spacer name="horizontalSpacer_12">
-                 <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="QLabel" name="mrStatusLabel">
-                 <property name="font">
-                  <font>
-                   <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-                 <property name="text">
-                  <string>Mixer OK</string>
-                 </property>
-                </widget>
-               </item>
-              </layout>
-             </item>
-            </layout>
-           </item>
-          </layout>
-         </widget>
-         <widget class="QWidget" name="ccpmHeli">
-          <layout class="QVBoxLayout" name="verticalLayout_5" stretch="1">
-           <property name="spacing">
-            <number>0</number>
-           </property>
-           <property name="margin">
-            <number>0</number>
-           </property>
-           <item>
-            <layout class="QVBoxLayout" name="verticalLayout_19">
-             <property name="spacing">
-              <number>0</number>
-             </property>
-             <item>
-              <widget class="ConfigCcpmWidget" name="widget_3" native="true"/>
-             </item>
-            </layout>
-           </item>
-          </layout>
-         </widget>
-         <widget class="QWidget" name="groundVehicle">
-          <property name="enabled">
-           <bool>true</bool>
-          </property>
-          <property name="autoFillBackground">
-           <bool>false</bool>
-          </property>
-          <layout class="QVBoxLayout" name="verticalLayout_31" stretch="0">
-           <item>
-            <layout class="QVBoxLayout" name="verticalLayout_61">
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_31">
-               <item>
-                <widget class="QLabel" name="label_51">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="font">
-                  <font>
-                   <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-                 <property name="text">
-                  <string>Vehicle type:</string>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QComboBox" name="groundVehicleType"/>
-               </item>
-               <item>
-                <spacer name="horizontalSpacer_31">
-                 <property name="orientation">
-                  <enum>Qt::Horizontal</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>40</width>
-                   <height>20</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-              </layout>
-             </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_33">
-               <item>
-                <widget class="QLabel" name="label_7">
-                 <property name="font">
-                  <font>
-                   <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-                 <property name="text">
-                  <string>Channel Assignment</string>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <spacer name="horizontalSpacer_15">
-                 <property name="orientation">
-                  <enum>Qt::Horizontal</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>40</width>
-                   <height>20</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-              </layout>
-             </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_41">
-               <item>
-                <widget class="QGroupBox" name="groupBox_7">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="minimumSize">
-                  <size>
-                   <width>0</width>
-                   <height>100</height>
-                  </size>
-                 </property>
-                 <property name="title">
-                  <string>Output channel asignmets</string>
-                 </property>
-                 <layout class="QFormLayout" name="formLayout_5">
-                  <item row="0" column="0">
-                   <widget class="QLabel" name="gvEngineLabel">
-                    <property name="minimumSize">
-                     <size>
-                      <width>77</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Engine</string>
-                    </property>
-                    <property name="alignment">
-                     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="0" column="1">
-                   <widget class="QComboBox" name="gvEngineChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the engine</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="1" column="0">
-                   <widget class="QLabel" name="gvAileron1Label">
-                    <property name="minimumSize">
-                     <size>
-                      <width>60</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Aileron 1</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="1" column="1">
-                   <widget class="QComboBox" name="gvAileron1ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the first aileron (or elevon)</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="2" column="0">
-                   <widget class="QLabel" name="gvAileron2Label">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>60</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Aileron 2</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="2" column="1">
-                   <widget class="QComboBox" name="gvAileron2ChannelBox">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="toolTip">
-                     <string>Select output channel for the second aileron (or elevon)</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="3" column="0">
-                   <widget class="QLabel" name="gvMotor1Label">
-                    <property name="minimumSize">
-                     <size>
-                      <width>0</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Motor</string>
-                    </property>
-                    <property name="alignment">
-                     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="3" column="1">
-                   <widget class="QComboBox" name="gvMotor1ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the first motor</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="4" column="0">
-                   <widget class="QLabel" name="gvMotor2Label">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>47</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                    <property name="text">
-                     <string>Motor 2</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="4" column="1">
-                   <widget class="QComboBox" name="gvMotor2ChannelBox">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="toolTip">
-                     <string>Select output channel for a second motor</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="5" column="0">
-                   <widget class="QLabel" name="gvSteering1Label">
-                    <property name="text">
-                     <string>Front Steering</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="5" column="1">
-                   <widget class="QComboBox" name="gvSteering1ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for the first steering actuator</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="6" column="0">
-                   <widget class="QLabel" name="gvSteering2Label">
-                    <property name="text">
-                     <string>Rear Steering</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item row="6" column="1">
-                   <widget class="QComboBox" name="gvSteering2ChannelBox">
-                    <property name="toolTip">
-                     <string>Select output channel for a second steering actuator</string>
-                    </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-               <item>
-                <widget class="QGroupBox" name="differentialSteeringMixBox">
-                 <property name="enabled">
-                  <bool>true</bool>
-                 </property>
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="title">
-                  <string>Differential Steering Mix</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_33">
-                  <item>
-                   <layout class="QHBoxLayout" name="horizontalLayout_30">
-                    <item>
-                     <layout class="QVBoxLayout" name="verticalLayout_34">
+                <layout class="QGridLayout" name="gridLayout">
+                 <item row="0" column="0">
+                  <layout class="QHBoxLayout" name="horizontalLayout_14">
+                   <item>
+                    <widget class="QGroupBox" name="groupBox_4">
+                     <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                       <horstretch>0</horstretch>
+                       <verstretch>0</verstretch>
+                      </sizepolicy>
+                     </property>
+                     <property name="title">
+                      <string>Curve 1</string>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_7">
                       <item>
-                       <widget class="QLabel" name="differentialSteeringLabel1">
-                        <property name="minimumSize">
-                         <size>
-                          <width>65</width>
-                          <height>0</height>
-                         </size>
+                       <widget class="MixerCurve" name="customThrottle1Curve" native="true">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                          <horstretch>1</horstretch>
+                          <verstretch>1</verstretch>
+                         </sizepolicy>
                         </property>
-                        <property name="text">
-                         <string>Left %</string>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QSlider" name="differentialSteeringSlider1">
-                        <property name="maximum">
-                         <number>100</number>
-                        </property>
-                        <property name="value">
-                         <number>50</number>
-                        </property>
-                        <property name="orientation">
-                         <enum>Qt::Vertical</enum>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QLabel" name="gvDiffSteering1Label">
-                        <property name="text">
-                         <string>50</string>
-                        </property>
-                       </widget>
-                      </item>
-                     </layout>
-                    </item>
-                    <item>
-                     <layout class="QVBoxLayout" name="verticalLayout_35">
-                      <item>
-                       <widget class="QLabel" name="differentialSteeringLabel2">
                         <property name="minimumSize">
                          <size>
                           <width>50</width>
-                          <height>0</height>
+                          <height>50</height>
                          </size>
                         </property>
-                        <property name="text">
-                         <string>Right %</string>
+                        <property name="maximumSize">
+                         <size>
+                          <width>1000</width>
+                          <height>1000</height>
+                         </size>
                         </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QSlider" name="differentialSteeringSlider2">
-                        <property name="maximum">
-                         <number>100</number>
+                        <property name="sizeIncrement">
+                         <size>
+                          <width>10</width>
+                          <height>10</height>
+                         </size>
                         </property>
-                        <property name="value">
-                         <number>50</number>
-                        </property>
-                        <property name="orientation">
-                         <enum>Qt::Vertical</enum>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QLabel" name="gvDiffSteering2Label">
-                        <property name="text">
-                         <string>50</string>
+                        <property name="baseSize">
+                         <size>
+                          <width>300</width>
+                          <height>350</height>
+                         </size>
                         </property>
                        </widget>
                       </item>
                      </layout>
-                    </item>
-                   </layout>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-               <item>
-                <widget class="QGroupBox" name="gvThrottleCurve1GroupBox">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                   <horstretch>0</horstretch>
-                   <verstretch>100</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="title">
-                  <string>Front throttle curve</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_36">
-                  <item>
-                   <widget class="MixerCurve" name="groundVehicleThrottle1" native="true">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
+                    </widget>
+                   </item>
+                   <item>
+                    <widget class="QGroupBox" name="groupBox_5">
+                     <property name="title">
+                      <string>Curve 2</string>
+                     </property>
+                     <layout class="QVBoxLayout" name="verticalLayout_17">
+                      <item>
+                       <widget class="MixerCurve" name="customThrottle2Curve" native="true">
+                        <property name="sizePolicy">
+                         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                          <horstretch>1</horstretch>
+                          <verstretch>1</verstretch>
+                         </sizepolicy>
+                        </property>
+                        <property name="minimumSize">
+                         <size>
+                          <width>50</width>
+                          <height>50</height>
+                         </size>
+                        </property>
+                        <property name="maximumSize">
+                         <size>
+                          <width>1000</width>
+                          <height>1000</height>
+                         </size>
+                        </property>
+                        <property name="sizeIncrement">
+                         <size>
+                          <width>10</width>
+                          <height>10</height>
+                         </size>
+                        </property>
+                        <property name="baseSize">
+                         <size>
+                          <width>300</width>
+                          <height>350</height>
+                         </size>
+                        </property>
+                       </widget>
+                      </item>
+                     </layout>
+                    </widget>
+                   </item>
+                  </layout>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QTableWidget" name="customMixerTable">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="alternatingRowColors">
+                    <bool>true</bool>
+                   </property>
+                   <attribute name="horizontalHeaderDefaultSectionSize">
+                    <number>50</number>
+                   </attribute>
+                   <attribute name="horizontalHeaderStretchLastSection">
+                    <bool>false</bool>
+                   </attribute>
+                   <row>
+                    <property name="text">
+                     <string>Type</string>
                     </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>0</width>
-                      <height>0</height>
-                     </size>
+                   </row>
+                   <row>
+                    <property name="text">
+                     <string>Curve 1</string>
                     </property>
-                    <property name="maximumSize">
-                     <size>
-                      <width>500</width>
-                      <height>500</height>
-                     </size>
+                   </row>
+                   <row>
+                    <property name="text">
+                     <string>Curve 2</string>
                     </property>
-                    <property name="sizeIncrement">
-                     <size>
-                      <width>10</width>
-                      <height>10</height>
-                     </size>
+                   </row>
+                   <row>
+                    <property name="text">
+                     <string>Roll</string>
                     </property>
-                    <property name="baseSize">
-                     <size>
-                      <width>300</width>
-                      <height>350</height>
-                     </size>
+                   </row>
+                   <row>
+                    <property name="text">
+                     <string>Pitch</string>
                     </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-               <item>
-                <widget class="QGroupBox" name="gvThrottleCurve2GroupBox">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="title">
-                  <string>Rear throttle curve</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_37">
-                  <item>
-                   <widget class="MixerCurve" name="groundVehicleThrottle2" native="true">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
+                   </row>
+                   <row>
+                    <property name="text">
+                     <string>Yaw</string>
                     </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>0</width>
-                      <height>0</height>
-                     </size>
+                   </row>
+                   <column>
+                    <property name="text">
+                     <string>Ch 1</string>
                     </property>
-                    <property name="maximumSize">
-                     <size>
-                      <width>500</width>
-                      <height>500</height>
-                     </size>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 2</string>
                     </property>
-                    <property name="sizeIncrement">
-                     <size>
-                      <width>10</width>
-                      <height>10</height>
-                     </size>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 3</string>
                     </property>
-                    <property name="baseSize">
-                     <size>
-                      <width>300</width>
-                      <height>350</height>
-                     </size>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 4</string>
                     </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 5</string>
+                    </property>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 6</string>
+                    </property>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 7</string>
+                    </property>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 8</string>
+                    </property>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 9</string>
+                    </property>
+                   </column>
+                   <column>
+                    <property name="text">
+                     <string>Ch 10</string>
+                    </property>
+                   </column>
+                   <item row="0" column="0">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="1">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="2">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="3">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="4">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="5">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="6">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="7">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="8">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="0" column="9">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="0">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="1">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="2">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="3">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="4">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="5">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="6">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="7">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="8">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="1" column="9">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="0">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="1">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="2">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="3">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="4">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="5">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="6">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="7">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="8">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="2" column="9">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="0">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="1">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="2">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="3">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="4">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="5">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="6">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="7">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="8">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="3" column="9">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="0">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="1">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="2">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="3">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="4">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="5">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="6">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="7">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="8">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="4" column="9">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="0">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="1">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="2">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="3">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="4">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="5">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="6">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="7">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="8">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                   <item row="5" column="9">
+                    <property name="text">
+                     <string>-</string>
+                    </property>
+                    <property name="textAlignment">
+                     <set>AlignHCenter|AlignVCenter|AlignCenter</set>
+                    </property>
+                   </item>
+                  </widget>
+                 </item>
+                </layout>
                </item>
               </layout>
-             </item>
-             <item>
-              <spacer name="verticalSpacer_1">
-               <property name="orientation">
-                <enum>Qt::Vertical</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>40</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_28">
-               <item>
-                <spacer name="horizontalSpacer_21">
-                 <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="QLabel" name="gvStatusLabel">
-                 <property name="font">
-                  <font>
-                   <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-                 <property name="text">
-                  <string>Mixer OK</string>
-                 </property>
-                </widget>
-               </item>
-              </layout>
-             </item>
-            </layout>
+             </widget>
+            </widget>
            </item>
-          </layout>
-         </widget>
-         <widget class="QWidget" name="custom">
-          <layout class="QHBoxLayout" name="horizontalLayout_15">
-           <item>
-            <layout class="QGridLayout" name="gridLayout">
-             <item row="0" column="0">
-              <layout class="QHBoxLayout" name="horizontalLayout_14">
-               <item>
-                <widget class="QGroupBox" name="groupBox_4">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="title">
-                  <string>Curve 1</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_7">
-                  <item>
-                   <widget class="MixerCurve" name="customThrottle1Curve" native="true">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>1</horstretch>
-                      <verstretch>1</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>50</width>
-                      <height>50</height>
-                     </size>
-                    </property>
-                    <property name="maximumSize">
-                     <size>
-                      <width>1000</width>
-                      <height>1000</height>
-                     </size>
-                    </property>
-                    <property name="sizeIncrement">
-                     <size>
-                      <width>10</width>
-                      <height>10</height>
-                     </size>
-                    </property>
-                    <property name="baseSize">
-                     <size>
-                      <width>300</width>
-                      <height>350</height>
-                     </size>
-                    </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-               <item>
-                <widget class="QGroupBox" name="groupBox_5">
-                 <property name="title">
-                  <string>Curve 2</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_17">
-                  <item>
-                   <widget class="MixerCurve" name="customThrottle2Curve" native="true">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>1</horstretch>
-                      <verstretch>1</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>50</width>
-                      <height>50</height>
-                     </size>
-                    </property>
-                    <property name="maximumSize">
-                     <size>
-                      <width>1000</width>
-                      <height>1000</height>
-                     </size>
-                    </property>
-                    <property name="sizeIncrement">
-                     <size>
-                      <width>10</width>
-                      <height>10</height>
-                     </size>
-                    </property>
-                    <property name="baseSize">
-                     <size>
-                      <width>300</width>
-                      <height>350</height>
-                     </size>
-                    </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-              </layout>
-             </item>
-             <item row="1" column="0">
-              <widget class="QTableWidget" name="customMixerTable">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="alternatingRowColors">
-                <bool>true</bool>
-               </property>
-               <attribute name="horizontalHeaderDefaultSectionSize">
-                <number>50</number>
-               </attribute>
-               <attribute name="horizontalHeaderStretchLastSection">
-                <bool>false</bool>
-               </attribute>
-               <row>
-                <property name="text">
-                 <string>Type</string>
-                </property>
-               </row>
-               <row>
-                <property name="text">
-                 <string>Curve 1</string>
-                </property>
-               </row>
-               <row>
-                <property name="text">
-                 <string>Curve 2</string>
-                </property>
-               </row>
-               <row>
-                <property name="text">
-                 <string>Roll</string>
-                </property>
-               </row>
-               <row>
-                <property name="text">
-                 <string>Pitch</string>
-                </property>
-               </row>
-               <row>
-                <property name="text">
-                 <string>Yaw</string>
-                </property>
-               </row>
-               <column>
-                <property name="text">
-                 <string>Ch 1</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 2</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 3</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 4</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 5</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 6</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 7</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 8</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 9</string>
-                </property>
-               </column>
-               <column>
-                <property name="text">
-                 <string>Ch 10</string>
-                </property>
-               </column>
-               <item row="0" column="0">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="1">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="2">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="3">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="4">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="5">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="6">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="7">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="8">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="0" column="9">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="0">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="1">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="2">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="3">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="4">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="5">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="6">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="7">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="8">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="1" column="9">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="0">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="1">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="2">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="3">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="4">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="5">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="6">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="7">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="8">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="2" column="9">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="0">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="1">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="2">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="3">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="4">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="5">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="6">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="7">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="8">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="3" column="9">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="0">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="1">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="2">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="3">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="4">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="5">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="6">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="7">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="8">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="4" column="9">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="0">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="1">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="2">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="3">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="4">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="5">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="6">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="7">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="8">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-               <item row="5" column="9">
-                <property name="text">
-                 <string>-</string>
-                </property>
-                <property name="textAlignment">
-                 <set>AlignHCenter|AlignVCenter|AlignCenter</set>
-                </property>
-               </item>
-              </widget>
-             </item>
-            </layout>
+           <item row="1" column="0">
+            <widget class="Line" name="line">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="1">
+            <spacer name="horizontalSpacer">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>40</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="3" column="1">
+            <spacer name="horizontalSpacer_6">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Expanding</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
            </item>
           </layout>
          </widget>
@@ -2475,400 +2673,518 @@ margin:1px;</string>
        <string>Advanced Settings</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_25">
+       <property name="margin">
+        <number>12</number>
+       </property>
        <item>
-        <layout class="QVBoxLayout" name="verticalLayout_11" stretch="0,1,0,0,0">
-         <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_24">
+        <widget class="QScrollArea" name="scrollArea_2">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents_2">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>779</width>
+            <height>679</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_18">
            <item>
-            <widget class="QLabel" name="label_19">
-             <property name="font">
-              <font>
-               <weight>75</weight>
-               <bold>true</bold>
-              </font>
-             </property>
-             <property name="text">
-              <string>Feed Forward</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <spacer name="horizontalSpacer_16">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </item>
-         <item>
-          <layout class="QFormLayout" name="formLayout_7">
-           <property name="fieldGrowthPolicy">
-            <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
-           </property>
-           <item row="2" column="0">
-            <layout class="QHBoxLayout" name="horizontalLayout_12">
+            <layout class="QHBoxLayout" name="horizontalLayout_24">
              <item>
-              <widget class="QLabel" name="label_20">
+              <widget class="QLabel" name="label_19">
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
                <property name="text">
-                <string>FeedForward </string>
+                <string>Feed Forward</string>
                </property>
               </widget>
              </item>
              <item>
-              <widget class="QLabel" name="feedForwardSliderValue">
-               <property name="minimumSize">
+              <spacer name="horizontalSpacer_16">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
                 <size>
-                 <width>30</width>
-                 <height>0</height>
+                 <width>40</width>
+                 <height>20</height>
                 </size>
                </property>
-               <property name="text">
-                <string>000</string>
-               </property>
-              </widget>
+              </spacer>
              </item>
             </layout>
            </item>
-           <item row="2" column="1">
-            <widget class="QSlider" name="feedForwardSlider">
-             <property name="enabled">
-              <bool>true</bool>
+           <item>
+            <layout class="QFormLayout" name="formLayout_7">
+             <property name="fieldGrowthPolicy">
+              <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
              </property>
-             <property name="focusPolicy">
-              <enum>Qt::StrongFocus</enum>
-             </property>
-             <property name="toolTip">
-              <string>Overall level of feed forward (in percentage).</string>
-             </property>
-             <property name="maximum">
-              <number>100</number>
-             </property>
-             <property name="singleStep">
-              <number>1</number>
-             </property>
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="tickPosition">
-              <enum>QSlider::NoTicks</enum>
-             </property>
-            </widget>
-           </item>
-           <item row="3" column="0">
-            <widget class="QLabel" name="label_21">
-             <property name="text">
-              <string>Accel Time Constant</string>
-             </property>
-            </widget>
-           </item>
-           <item row="3" column="1">
-            <widget class="QDoubleSpinBox" name="accelTime">
-             <property name="enabled">
-              <bool>true</bool>
-             </property>
-             <property name="focusPolicy">
-              <enum>Qt::StrongFocus</enum>
-             </property>
-             <property name="toolTip">
-              <string>In miliseconds.
+             <item row="2" column="0">
+              <layout class="QHBoxLayout" name="horizontalLayout_12">
+               <item>
+                <widget class="QLabel" name="label_20">
+                 <property name="text">
+                  <string>FeedForward </string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QLabel" name="feedForwardSliderValue">
+                 <property name="minimumSize">
+                  <size>
+                   <width>30</width>
+                   <height>0</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>000</string>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+             <item row="2" column="1">
+              <widget class="QSlider" name="feedForwardSlider">
+               <property name="enabled">
+                <bool>true</bool>
+               </property>
+               <property name="focusPolicy">
+                <enum>Qt::StrongFocus</enum>
+               </property>
+               <property name="toolTip">
+                <string>Overall level of feed forward (in percentage).</string>
+               </property>
+               <property name="maximum">
+                <number>100</number>
+               </property>
+               <property name="singleStep">
+                <number>1</number>
+               </property>
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="tickPosition">
+                <enum>QSlider::NoTicks</enum>
+               </property>
+              </widget>
+             </item>
+             <item row="3" column="0">
+              <widget class="QLabel" name="label_21">
+               <property name="text">
+                <string>Accel Time Constant</string>
+               </property>
+              </widget>
+             </item>
+             <item row="3" column="1">
+              <widget class="QDoubleSpinBox" name="accelTime">
+               <property name="enabled">
+                <bool>true</bool>
+               </property>
+               <property name="focusPolicy">
+                <enum>Qt::StrongFocus</enum>
+               </property>
+               <property name="toolTip">
+                <string>In miliseconds.
 When tuning: Slowly raise accel time from zero to just
 under the level where the motor starts to overshoot
 its target speed.</string>
-             </property>
-             <property name="decimals">
-              <number>3</number>
-             </property>
-             <property name="maximum">
-              <double>100.000000000000000</double>
-             </property>
-             <property name="singleStep">
-              <double>0.010000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="4" column="0">
-            <widget class="QLabel" name="label_22">
-             <property name="text">
-              <string>Decel Time Constant</string>
-             </property>
-            </widget>
-           </item>
-           <item row="4" column="1">
-            <widget class="QDoubleSpinBox" name="decelTime">
-             <property name="enabled">
-              <bool>true</bool>
-             </property>
-             <property name="focusPolicy">
-              <enum>Qt::StrongFocus</enum>
-             </property>
-             <property name="toolTip">
-              <string>When tuning: Slowly raise decel time from zero to just
+               </property>
+               <property name="decimals">
+                <number>3</number>
+               </property>
+               <property name="maximum">
+                <double>100.000000000000000</double>
+               </property>
+               <property name="singleStep">
+                <double>0.010000000000000</double>
+               </property>
+              </widget>
+             </item>
+             <item row="4" column="0">
+              <widget class="QLabel" name="label_22">
+               <property name="text">
+                <string>Decel Time Constant</string>
+               </property>
+              </widget>
+             </item>
+             <item row="4" column="1">
+              <widget class="QDoubleSpinBox" name="decelTime">
+               <property name="enabled">
+                <bool>true</bool>
+               </property>
+               <property name="focusPolicy">
+                <enum>Qt::StrongFocus</enum>
+               </property>
+               <property name="toolTip">
+                <string>When tuning: Slowly raise decel time from zero to just
 under the level where the motor starts to undershoot
 its target speed when decelerating.
 
 Do it after accel time is setup.</string>
-             </property>
-             <property name="decimals">
-              <number>3</number>
-             </property>
-             <property name="maximum">
-              <double>100.000000000000000</double>
-             </property>
-             <property name="singleStep">
-              <double>0.010000000000000</double>
-             </property>
-            </widget>
-           </item>
-           <item row="5" column="0">
-            <layout class="QHBoxLayout" name="horizontalLayout_16">
-             <item>
-              <widget class="QLabel" name="label_37">
-               <property name="text">
-                <string>MaxAccel</string>
+               </property>
+               <property name="decimals">
+                <number>3</number>
+               </property>
+               <property name="maximum">
+                <double>100.000000000000000</double>
+               </property>
+               <property name="singleStep">
+                <double>0.010000000000000</double>
                </property>
               </widget>
              </item>
-             <item>
-              <widget class="QLabel" name="maxAccelSliderValue">
-               <property name="text">
-                <string>1000</string>
+             <item row="5" column="0">
+              <layout class="QHBoxLayout" name="horizontalLayout_16">
+               <item>
+                <widget class="QLabel" name="label_37">
+                 <property name="text">
+                  <string>MaxAccel</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QLabel" name="maxAccelSliderValue">
+                 <property name="text">
+                  <string>1000</string>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+             <item row="5" column="1">
+              <widget class="QSlider" name="maxAccelSlider">
+               <property name="focusPolicy">
+                <enum>Qt::StrongFocus</enum>
+               </property>
+               <property name="toolTip">
+                <string>Limits how much the engines can accelerate or decelerate.
+In 'units per second', a sound default is 1000.</string>
+               </property>
+               <property name="minimum">
+                <number>500</number>
+               </property>
+               <property name="maximum">
+                <number>2000</number>
+               </property>
+               <property name="value">
+                <number>1000</number>
+               </property>
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
                </property>
               </widget>
              </item>
             </layout>
            </item>
-           <item row="5" column="1">
-            <widget class="QSlider" name="maxAccelSlider">
-             <property name="focusPolicy">
-              <enum>Qt::StrongFocus</enum>
-             </property>
-             <property name="toolTip">
-              <string>Limits how much the engines can accelerate or decelerate.
-In 'units per second', a sound default is 1000.</string>
-             </property>
-             <property name="minimum">
-              <number>500</number>
-             </property>
-             <property name="maximum">
-              <number>2000</number>
-             </property>
-             <property name="value">
-              <number>1000</number>
-             </property>
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
-         <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_9">
            <item>
-            <spacer name="horizontalSpacer_8">
+            <spacer name="verticalSpacer_5">
              <property name="orientation">
-              <enum>Qt::Horizontal</enum>
+              <enum>Qt::Vertical</enum>
              </property>
              <property name="sizeHint" stdset="0">
               <size>
-               <width>40</width>
-               <height>20</height>
+               <width>20</width>
+               <height>40</height>
               </size>
              </property>
             </spacer>
            </item>
            <item>
-            <widget class="QCheckBox" name="ffTestBox1">
-             <property name="focusPolicy">
-              <enum>Qt::StrongFocus</enum>
-             </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;
+            <layout class="QHBoxLayout" name="horizontalLayout_9">
+             <item>
+              <spacer name="horizontalSpacer_8">
+               <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="QCheckBox" name="ffTestBox1">
+               <property name="focusPolicy">
+                <enum>Qt::StrongFocus</enum>
+               </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:'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;Beware! Check &lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt; font-weight:600;&quot;&gt;all three&lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt; checkboxes to test Feed Forward.&lt;/span&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;It will run only if your airframe armed.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-             </property>
-             <property name="text">
-              <string/>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QCheckBox" name="ffTestBox2">
-             <property name="focusPolicy">
-              <enum>Qt::StrongFocus</enum>
-             </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;
+               </property>
+               <property name="text">
+                <string/>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QCheckBox" name="ffTestBox2">
+               <property name="focusPolicy">
+                <enum>Qt::StrongFocus</enum>
+               </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:'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;Beware! Check &lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt; font-weight:600;&quot;&gt;all three&lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt; checkboxes to test Feed Forward.&lt;/span&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;It will run only if your airframe armed.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-             </property>
-             <property name="text">
-              <string/>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QCheckBox" name="ffTestBox3">
-             <property name="focusPolicy">
-              <enum>Qt::StrongFocus</enum>
-             </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;
+               </property>
+               <property name="text">
+                <string/>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <widget class="QCheckBox" name="ffTestBox3">
+               <property name="focusPolicy">
+                <enum>Qt::StrongFocus</enum>
+               </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:'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;Beware! Check &lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt; font-weight:600;&quot;&gt;all three&lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt; checkboxes to test Feed Forward.&lt;/span&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;It will run only if your airframe armed.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-             </property>
-             <property name="text">
-              <string>Enable FF tuning</string>
-             </property>
-            </widget>
+               </property>
+               <property name="text">
+                <string>Enable FF tuning</string>
+               </property>
+              </widget>
+             </item>
+             <item>
+              <spacer name="horizontalSpacer_7">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>40</width>
+                 <height>20</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+            </layout>
            </item>
            <item>
-            <spacer name="horizontalSpacer_7">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
+            <widget class="QTextBrowser" name="textBrowser">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
              </property>
-             <property name="sizeHint" stdset="0">
+             <property name="minimumSize">
               <size>
-               <width>40</width>
-               <height>20</height>
+               <width>0</width>
+               <height>40</height>
               </size>
              </property>
-            </spacer>
-           </item>
-          </layout>
-         </item>
-         <item>
-          <widget class="QTextBrowser" name="textBrowser">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="minimumSize">
-            <size>
-             <width>0</width>
-             <height>40</height>
-            </size>
-           </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;
+             <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:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
+&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;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
 &lt;tr&gt;
 &lt;td style=&quot;border: none;&quot;&gt;
-&lt;p align=&quot;center&quot; 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:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD NEEDS CAUTION&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:'Ubuntu'; font-size:11pt;&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:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <spacer name="verticalSpacer_5">
-           <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>
+&lt;p align=&quot;center&quot; 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:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&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:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+       <item>
+        <layout class="QVBoxLayout" name="verticalLayout_11" stretch=""/>
        </item>
       </layout>
      </widget>
     </widget>
    </item>
    <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <item>
-      <spacer name="horizontalSpacer">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="airframeHelp">
-       <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="saveAircraftToRAM">
-       <property name="toolTip">
-        <string>Send to board, but don't save permanently (flash or SD).</string>
-       </property>
-       <property name="text">
-        <string>Apply</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="saveAircraftToSD">
-       <property name="toolTip">
-        <string>Applies and Saves all settings to flash or SD depending on board.</string>
-       </property>
-       <property name="text">
-        <string>Save</string>
-       </property>
-      </widget>
-     </item>
-    </layout>
+    <widget class="QGroupBox" name="groupBox_8">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>75</height>
+      </size>
+     </property>
+     <property name="title">
+      <string/>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <property name="spacing">
+         <number>4</number>
+        </property>
+        <property name="sizeConstraint">
+         <enum>QLayout::SetFixedSize</enum>
+        </property>
+        <item>
+         <spacer name="horizontalSpacer_10">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>10</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <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>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="saveAircraftToRAM">
+          <property name="toolTip">
+           <string>Send to board, but don't save permanently (flash or SD).</string>
+          </property>
+          <property name="text">
+           <string>Apply</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="saveAircraftToSD">
+          <property name="toolTip">
+           <string>Applies and Saves all settings to flash or SD depending on board.</string>
+          </property>
+          <property name="text">
+           <string>Save</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
    </item>
   </layout>
  </widget>

From 7a9835d3cf3c1b866465124cacd5c29fc0b54b0e Mon Sep 17 00:00:00 2001
From: zedamota <josembarros@hotmail.com>
Date: Thu, 26 Jul 2012 12:51:44 +0100
Subject: [PATCH 067/543] GCS-Fix compile under win.

---
 ground/openpilotgcs/src/plugins/coreplugin/coreplugin.cpp    | 4 ++--
 ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.cpp b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.cpp
index 254f07865..6f6492f92 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.cpp
@@ -29,7 +29,7 @@
 #include "coreplugin.h"
 #include "coreimpl.h"
 #include "mainwindow.h"
-
+#include <QtPlugin>
 #include <extensionsystem/pluginmanager.h>
 
 #include <QtCore/QtPlugin>
@@ -78,4 +78,4 @@ void CorePlugin::shutdown()
     m_mainWindow->shutdown();
 }
 
-Q_EXPORT_PLUGIN(CorePlugin)
+Q_EXPORT_PLUGIN2(Core,CorePlugin)
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
index 6c77ab065..8b41d9b0f 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h
@@ -41,7 +41,7 @@ namespace Ui {
     class GeneralSettings;
 }
 
-class GeneralSettings : public IOptionsPage
+class CORE_EXPORT GeneralSettings : public IOptionsPage
 {
     Q_OBJECT
 

From 4e96c743ba24da45bb0078d21bc4a8f02bc90a68 Mon Sep 17 00:00:00 2001
From: zedamota <josembarros@hotmail.com>
Date: Thu, 26 Jul 2012 13:03:27 +0100
Subject: [PATCH 068/543] GCS-Make UAVO saving code more verbose.

---
 .../uavobjectwidgetutils/smartsavebutton.cpp  | 21 ++++++++++++++-----
 1 file changed, 16 insertions(+), 5 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp
index 9b0268a4e..42a6d5e62 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp
@@ -83,14 +83,19 @@ void smartSaveButton::processOperation(QPushButton * button,bool save)
         current_object=obj;
         for(int i=0;i<3;++i)
         {
-
+            qDebug()<<"SMARTSAVEBUTTON"<<"Upload try number"<<i<<"Object"<<obj->getName();
             connect(obj,SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(transaction_finished(UAVObject*, bool)));
             connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit()));
             obj->updated();
             timer.start(3000);
             //qDebug()<<"begin loop";
             loop.exec();
-            //qDebug()<<"end loop";
+            if(timer.isActive())
+            {
+                qDebug()<<"SMARTSAVEBUTTON"<<"Upload did not timeout"<<i<<"Object"<<obj->getName();
+            }
+            else
+                qDebug()<<"SMARTSAVEBUTTON"<<"Upload TIMEOUT"<<i<<"Object"<<obj->getName();
             timer.stop();
             disconnect(obj,SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(transaction_finished(UAVObject*, bool)));
             disconnect(&timer,SIGNAL(timeout()),&loop,SLOT(quit()));
@@ -99,7 +104,7 @@ void smartSaveButton::processOperation(QPushButton * button,bool save)
         }
         if(up_result==false)
         {
-            qDebug()<<"Object upload error:"<<obj->getName();
+            qDebug()<<"SMARTSAVEBUTTON"<<"Object upload error:"<<obj->getName();
             error=true;
             continue;
         }
@@ -109,12 +114,18 @@ void smartSaveButton::processOperation(QPushButton * button,bool save)
         {
             for(int i=0;i<3;++i)
             {
-                qDebug()<<"try to save:"<<obj->getName();
+                qDebug()<<"SMARTSAVEBUTTON"<<"Save try number"<<i<<"Object"<<obj->getName();
                 connect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool)));
                 connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit()));
                 utilMngr->saveObjectToSD(obj);
                 timer.start(3000);
                 loop.exec();
+                if(timer.isActive())
+                {
+                    qDebug()<<"SMARTSAVEBUTTON"<<"Saving did not timeout"<<i<<"Object"<<obj->getName();
+                }
+                else
+                    qDebug()<<"SMARTSAVEBUTTON"<<"Saving TIMEOUT"<<i<<"Object"<<obj->getName();
                 timer.stop();
                 disconnect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool)));
                 disconnect(&timer,SIGNAL(timeout()),&loop,SLOT(quit()));
@@ -123,7 +134,7 @@ void smartSaveButton::processOperation(QPushButton * button,bool save)
             }
             if(sv_result==false)
             {
-                qDebug()<<"failed to save:"<<obj->getName();
+                qDebug()<<"SMARTSAVEBUTTON"<<"failed to save:"<<obj->getName();
                 error=true;
             }
         }

From 95fb9255cc29ead1b8cb45f37ffa12699678e1e0 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Thu, 26 Jul 2012 14:09:33 +0100
Subject: [PATCH 069/543] GCS-Made the buttons on the object browser smaller.

---
 .../uavobjectbrowser/uavobjectbrowser.pro     |   6 +-
 .../uavobjectbrowser/uavobjectbrowser.qrc     |  10 +
 .../uavobjectbrowser/uavobjectbrowser.ui      | 232 ++++++++----------
 .../uavobjectbrowserwidget.cpp                |  34 ++-
 .../uavobjectbrowser/uavobjectbrowserwidget.h |   6 +-
 .../plugins/uavobjectbrowser/viewoptions.ui   |  42 ++++
 6 files changed, 192 insertions(+), 138 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.qrc
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectbrowser/viewoptions.ui

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.pro b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.pro
index 482573693..dad4e601f 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.pro
@@ -24,4 +24,8 @@ SOURCES += browserplugin.cpp \
     fieldtreeitem.cpp
 OTHER_FILES += UAVObjectBrowser.pluginspec
 FORMS += uavobjectbrowser.ui \
-    uavobjectbrowseroptionspage.ui
+    uavobjectbrowseroptionspage.ui \
+    viewoptions.ui
+
+RESOURCES += \
+    uavobjectbrowser.qrc
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.qrc b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.qrc
new file mode 100644
index 000000000..e5ac47658
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.qrc
@@ -0,0 +1,10 @@
+<RCC>
+    <qresource prefix="/uavobjectbrowser">
+        <file>images/down_alt.png</file>
+        <file>images/install.png</file>
+        <file>images/remove.png</file>
+        <file>images/up_alt.png</file>
+        <file>images/trash.png</file>
+        <file>images/1343241276_eye.png</file>
+    </qresource>
+</RCC>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
index 4669e7624..06d16d3a0 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
@@ -17,12 +17,48 @@
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout">
      <item>
-      <widget class="QPushButton" name="requestButton">
+      <widget class="QToolButton" name="requestButton">
        <property name="toolTip">
-        <string>Request update</string>
+        <string>Request</string>
        </property>
        <property name="text">
-        <string>Request</string>
+        <string>...</string>
+       </property>
+       <property name="icon">
+        <iconset resource="uavobjectbrowser.qrc">
+         <normaloff>:/uavobjectbrowser/images/down_alt.png</normaloff>:/uavobjectbrowser/images/down_alt.png</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="checkable">
+        <bool>false</bool>
+       </property>
+       <property name="checked">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QToolButton" name="sendButton">
+       <property name="toolTip">
+        <string>Send</string>
+       </property>
+       <property name="text">
+        <string>...</string>
+       </property>
+       <property name="icon">
+        <iconset resource="uavobjectbrowser.qrc">
+         <normaloff>:/uavobjectbrowser/images/up_alt.png</normaloff>:/uavobjectbrowser/images/up_alt.png</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
        </property>
       </widget>
      </item>
@@ -42,32 +78,6 @@
        </property>
       </spacer>
      </item>
-     <item>
-      <widget class="QPushButton" name="sendButton">
-       <property name="toolTip">
-        <string>Send update</string>
-       </property>
-       <property name="text">
-        <string>Send</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_7">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeType">
-        <enum>QSizePolicy::Preferred</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>5</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
      <item>
       <widget class="Line" name="line">
        <property name="orientation">
@@ -76,28 +86,62 @@
       </widget>
      </item>
      <item>
-      <spacer name="horizontalSpacer_4">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeType">
-        <enum>QSizePolicy::Preferred</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>5</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="saveSDButton">
+      <widget class="QToolButton" name="saveSDButton">
        <property name="toolTip">
-        <string>Save to SD Card</string>
+        <string>Save</string>
        </property>
        <property name="text">
-        <string>Save</string>
+        <string>...</string>
+       </property>
+       <property name="icon">
+        <iconset resource="uavobjectbrowser.qrc">
+         <normaloff>:/uavobjectbrowser/images/remove.png</normaloff>:/uavobjectbrowser/images/remove.png</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QToolButton" name="readSDButton">
+       <property name="toolTip">
+        <string>Load</string>
+       </property>
+       <property name="text">
+        <string>...</string>
+       </property>
+       <property name="icon">
+        <iconset resource="uavobjectbrowser.qrc">
+         <normaloff>:/uavobjectbrowser/images/install.png</normaloff>:/uavobjectbrowser/images/install.png</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QToolButton" name="eraseSDButton">
+       <property name="toolTip">
+        <string>Erase</string>
+       </property>
+       <property name="text">
+        <string>...</string>
+       </property>
+       <property name="icon">
+        <iconset resource="uavobjectbrowser.qrc">
+         <normaloff>:/uavobjectbrowser/images/trash.png</normaloff>:/uavobjectbrowser/images/trash.png</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
        </property>
       </widget>
      </item>
@@ -117,58 +161,6 @@
        </property>
       </spacer>
      </item>
-     <item>
-      <widget class="QPushButton" name="readSDButton">
-       <property name="toolTip">
-        <string>Load from SD Card</string>
-       </property>
-       <property name="text">
-        <string>Load</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_2">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeType">
-        <enum>QSizePolicy::Preferred</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>10</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="eraseSDButton">
-       <property name="toolTip">
-        <string>Erase from SD card</string>
-       </property>
-       <property name="text">
-        <string>Erase</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_6">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeType">
-        <enum>QSizePolicy::Preferred</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>5</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
      <item>
       <widget class="Line" name="line_2">
        <property name="orientation">
@@ -193,35 +185,19 @@
       </spacer>
      </item>
      <item>
-      <widget class="QCheckBox" name="metaCheckBox">
-       <property name="toolTip">
-        <string>Show Meta Data</string>
-       </property>
+      <widget class="QToolButton" name="tbView">
        <property name="text">
-        <string>Show Meta Data</string>
+        <string>...</string>
        </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QCheckBox" name="categorizeCheckbox">
-       <property name="toolTip">
-        <string>Select to sort objects in to categories.</string>
+       <property name="icon">
+        <iconset resource="uavobjectbrowser.qrc">
+         <normaloff>:/uavobjectbrowser/images/1343241276_eye.png</normaloff>:/uavobjectbrowser/images/1343241276_eye.png</iconset>
        </property>
-       <property name="text">
-        <string>Categorize Objects</string>
-       </property>
-       <property name="checked">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QCheckBox" name="scientificNotationCheckbox">
-       <property name="toolTip">
-        <string>Use scientific editors</string>
-       </property>
-       <property name="text">
-        <string>Scientific</string>
+       <property name="iconSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
        </property>
       </widget>
      </item>
@@ -245,6 +221,8 @@
    </item>
   </layout>
  </widget>
- <resources/>
+ <resources>
+  <include location="uavobjectbrowser.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
index a2ca44131..f638e3e0e 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
@@ -29,6 +29,7 @@
 #include "browseritemdelegate.h"
 #include "treeitem.h"
 #include "ui_uavobjectbrowser.h"
+#include "ui_viewoptions.h"
 #include "uavobjectmanager.h"
 #include <QStringList>
 #include <QtGui/QHBoxLayout>
@@ -42,6 +43,9 @@
 UAVObjectBrowserWidget::UAVObjectBrowserWidget(QWidget *parent) : QWidget(parent)
 {
     m_browser = new Ui_UAVObjectBrowser();
+    m_viewoptions = new Ui_viewoptions();
+    m_viewoptionsDialog = new QDialog(this);
+    m_viewoptions->setupUi(m_viewoptionsDialog);
     m_browser->setupUi(this);
     m_model = new UAVObjectTreeModel();
     m_browser->treeView->setModel(m_model);
@@ -51,16 +55,17 @@ UAVObjectBrowserWidget::UAVObjectBrowserWidget(QWidget *parent) : QWidget(parent
     m_browser->treeView->setItemDelegate(m_delegate);
     m_browser->treeView->setEditTriggers(QAbstractItemView::AllEditTriggers);
     m_browser->treeView->setSelectionBehavior(QAbstractItemView::SelectItems);
-    showMetaData(m_browser->metaCheckBox->isChecked());
+    showMetaData(m_viewoptions->cbMetaData->isChecked());
     connect(m_browser->treeView->selectionModel(), SIGNAL(currentChanged(QModelIndex,QModelIndex)), this, SLOT(currentChanged(QModelIndex,QModelIndex)));
-    connect(m_browser->metaCheckBox, SIGNAL(toggled(bool)), this, SLOT(showMetaData(bool)));
-    connect(m_browser->categorizeCheckbox, SIGNAL(toggled(bool)), this, SLOT(categorize(bool)));
+    connect(m_viewoptions->cbMetaData, SIGNAL(toggled(bool)), this, SLOT(showMetaData(bool)));
+    connect(m_viewoptions->cbCategorized, SIGNAL(toggled(bool)), this, SLOT(categorize(bool)));
     connect(m_browser->saveSDButton, SIGNAL(clicked()), this, SLOT(saveObject()));
     connect(m_browser->readSDButton, SIGNAL(clicked()), this, SLOT(loadObject()));
     connect(m_browser->eraseSDButton, SIGNAL(clicked()), this, SLOT(eraseObject()));
     connect(m_browser->sendButton, SIGNAL(clicked()), this, SLOT(sendUpdate()));
     connect(m_browser->requestButton, SIGNAL(clicked()), this, SLOT(requestUpdate()));
-    connect(m_browser->scientificNotationCheckbox, SIGNAL(toggled(bool)), this, SLOT(useScientificNotation(bool)));
+    connect(m_browser->tbView,SIGNAL(clicked()),this,SLOT(viewSlot()));
+    connect(m_viewoptions->cbScientific, SIGNAL(toggled(bool)), this, SLOT(useScientificNotation(bool)));
     enableSendRequest(false);
 }
 
@@ -86,13 +91,13 @@ void UAVObjectBrowserWidget::categorize(bool categorize)
     Q_ASSERT(objManager);
 
     UAVObjectTreeModel* tmpModel = m_model;
-    m_model = new UAVObjectTreeModel(0, categorize,m_browser->scientificNotationCheckbox->isChecked());
+    m_model = new UAVObjectTreeModel(0, categorize,m_viewoptions->cbScientific->isChecked());
     m_model->setRecentlyUpdatedColor(m_recentlyUpdatedColor);
     m_model->setManuallyChangedColor(m_manuallyChangedColor);
     m_model->setRecentlyUpdatedTimeout(m_recentlyUpdatedTimeout);
     m_model->setOnlyHilightChangedValues(m_onlyHilightChangedValues);
     m_browser->treeView->setModel(m_model);
-    showMetaData(m_browser->metaCheckBox->isChecked());
+    showMetaData(m_viewoptions->cbMetaData->isChecked());
 
     delete tmpModel;
 }
@@ -105,12 +110,12 @@ void UAVObjectBrowserWidget::useScientificNotation(bool scientific)
     Q_ASSERT(objManager);
 
     UAVObjectTreeModel* tmpModel = m_model;
-    m_model = new UAVObjectTreeModel(0, m_browser->categorizeCheckbox->isChecked(),scientific);
+    m_model = new UAVObjectTreeModel(0, m_viewoptions->cbCategorized,scientific);
     m_model->setRecentlyUpdatedColor(m_recentlyUpdatedColor);
     m_model->setManuallyChangedColor(m_manuallyChangedColor);
     m_model->setRecentlyUpdatedTimeout(m_recentlyUpdatedTimeout);
     m_browser->treeView->setModel(m_model);
-    showMetaData(m_browser->metaCheckBox->isChecked());
+    showMetaData(m_viewoptions->cbMetaData->isChecked());
 
     delete tmpModel;
 }
@@ -213,6 +218,19 @@ void UAVObjectBrowserWidget::currentChanged(const QModelIndex &current, const QM
     enableSendRequest(enable);
 }
 
+void UAVObjectBrowserWidget::viewSlot()
+{
+    if(m_viewoptionsDialog->isVisible())
+        m_viewoptionsDialog->setVisible(false);
+    else
+    {
+        QPoint pos=QCursor::pos();
+        pos.setX(pos.x()-m_viewoptionsDialog->width());
+        m_viewoptionsDialog->move(pos);
+        m_viewoptionsDialog->show();
+    }
+}
+
 void UAVObjectBrowserWidget::enableSendRequest(bool enable)
 {
     m_browser->sendButton->setEnabled(enable);
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
index 764ca2225..9a1a76d96 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
@@ -36,7 +36,7 @@
 class QPushButton;
 class ObjectTreeItem;
 class Ui_UAVObjectBrowser;
-
+class Ui_viewoptions;
 
 class UAVObjectBrowserWidget : public QWidget
 {
@@ -63,11 +63,13 @@ private slots:
     void loadObject();
     void eraseObject();
     void currentChanged(const QModelIndex &current, const QModelIndex &previous);
-
+    void viewSlot();
 private:
     QPushButton *m_requestUpdate;
     QPushButton *m_sendUpdate;
     Ui_UAVObjectBrowser *m_browser;
+    Ui_viewoptions *m_viewoptions;
+    QDialog *m_viewoptionsDialog;
     UAVObjectTreeModel *m_model;
 
     int m_recentlyUpdatedTimeout;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/viewoptions.ui b/ground/openpilotgcs/src/plugins/uavobjectbrowser/viewoptions.ui
new file mode 100644
index 000000000..bc2c1d815
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/viewoptions.ui
@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>viewoptions</class>
+ <widget class="QDialog" name="viewoptions">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>169</width>
+    <height>96</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>View Options</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QCheckBox" name="cbMetaData">
+     <property name="text">
+      <string>Show MetaData</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QCheckBox" name="cbCategorized">
+     <property name="text">
+      <string>Show Categorized</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QCheckBox" name="cbScientific">
+     <property name="text">
+      <string>Show Scientific</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

From 3cb9d7029839180187e16301a25df193e61c26ba Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Thu, 26 Jul 2012 15:22:12 +0100
Subject: [PATCH 070/543] GCS-Made the UAVO browser view options persistent.

---
 .../uavobjectbrowser/uavobjectbrowser.cpp       | 17 +++++++++++++++--
 .../plugins/uavobjectbrowser/uavobjectbrowser.h |  5 ++++-
 .../uavobjectbrowserconfiguration.cpp           | 14 +++++++++++++-
 .../uavobjectbrowserconfiguration.h             | 12 ++++++++++++
 .../uavobjectbrowser/uavobjectbrowserwidget.cpp | 17 ++++++++++++++++-
 .../uavobjectbrowser/uavobjectbrowserwidget.h   |  6 ++++--
 6 files changed, 64 insertions(+), 7 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.cpp
index 46142340c..95288986e 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.cpp
@@ -26,12 +26,13 @@
  */
 #include "uavobjectbrowser.h"
 #include "uavobjectbrowserwidget.h"
-#include "uavobjectbrowserconfiguration.h"
 
 UAVObjectBrowser::UAVObjectBrowser(QString classId, UAVObjectBrowserWidget *widget, QWidget *parent) :
         IUAVGadget(classId, parent),
-        m_widget(widget)
+        m_widget(widget),
+        m_config(NULL)
 {
+    connect(m_widget,SIGNAL(viewOptionsChanged(bool,bool,bool)),this,SLOT(viewOptionsChangedSlot(bool,bool,bool)));
 }
 
 UAVObjectBrowser::~UAVObjectBrowser()
@@ -42,9 +43,21 @@ UAVObjectBrowser::~UAVObjectBrowser()
 void UAVObjectBrowser::loadConfiguration(IUAVGadgetConfiguration* config)
 {
     UAVObjectBrowserConfiguration *m = qobject_cast<UAVObjectBrowserConfiguration*>(config);
+    m_config=m;
     m_widget->setRecentlyUpdatedColor(m->recentlyUpdatedColor());
     m_widget->setManuallyChangedColor(m->manuallyChangedColor());
     m_widget->setRecentlyUpdatedTimeout(m->recentlyUpdatedTimeout());
     m_widget->setOnlyHilightChangedValues(m->onlyHighlightChangedValues());
+    m_widget->setViewOptions(m->categorizedView(),m->scientificView(),m->showMetaData());
+}
+
+void UAVObjectBrowser::viewOptionsChangedSlot(bool categorized, bool scientific, bool metadata)
+{
+    if(m_config)
+    {
+        m_config->setCategorizedView(categorized);
+        m_config->setScientificView(scientific);
+        m_config->setShowMetaData(metadata);
+    }
 }
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.h
index f744b4c8d..97ccbb470 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.h
@@ -30,6 +30,7 @@
 
 #include <coreplugin/iuavgadget.h>
 #include "uavobjectbrowserwidget.h"
+#include "uavobjectbrowserconfiguration.h"
 
 class IUAVGadget;
 class QWidget;
@@ -47,9 +48,11 @@ public:
 
     QWidget *widget() { return m_widget; }
     void loadConfiguration(IUAVGadgetConfiguration* config);
-
+private slots:
+    void viewOptionsChangedSlot(bool categorized,bool scientific,bool metadata);
 private:
     UAVObjectBrowserWidget *m_widget;
+    UAVObjectBrowserConfiguration *m_config;
 };
 
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp
index cce3bee89..48fa2d73c 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp
@@ -31,8 +31,11 @@ UAVObjectBrowserConfiguration::UAVObjectBrowserConfiguration(QString classId, QS
     IUAVGadgetConfiguration(classId, parent),
     m_recentlyUpdatedColor(QColor(255, 230, 230)),
     m_manuallyChangedColor(QColor(230, 230, 255)),
+    m_onlyHilightChangedValues(false),
     m_recentlyUpdatedTimeout(500),
-    m_onlyHilightChangedValues(false)
+    m_useCategorizedView(false),
+    m_useScientificView(false),
+    m_showMetaData(false)
 {
     //if a saved configuration exists load it
     if(qSettings != 0) {
@@ -41,6 +44,9 @@ UAVObjectBrowserConfiguration::UAVObjectBrowserConfiguration(QString classId, QS
         int timeout = qSettings->value("recentlyUpdatedTimeout").toInt();
         bool hilight = qSettings->value("onlyHilightChangedValues").toBool();
 
+        m_useCategorizedView = qSettings->value("CategorizedView").toBool();
+        m_useScientificView = qSettings->value("ScientificView").toBool();
+        m_showMetaData = qSettings->value("showMetaData").toBool();
         m_recentlyUpdatedColor = recent;
         m_manuallyChangedColor = manual;
         m_recentlyUpdatedTimeout = timeout;
@@ -55,6 +61,9 @@ IUAVGadgetConfiguration *UAVObjectBrowserConfiguration::clone()
     m->m_manuallyChangedColor = m_manuallyChangedColor;
     m->m_recentlyUpdatedTimeout = m_recentlyUpdatedTimeout;
     m->m_onlyHilightChangedValues = m_onlyHilightChangedValues;
+    m->m_useCategorizedView = m_useCategorizedView;
+    m->m_useScientificView = m_useScientificView;
+    m->m_showMetaData = m_showMetaData;
     return m;
 }
 
@@ -67,4 +76,7 @@ void UAVObjectBrowserConfiguration::saveConfig(QSettings* qSettings) const {
     qSettings->setValue("manuallyChangedColor", m_manuallyChangedColor);
     qSettings->setValue("recentlyUpdatedTimeout", m_recentlyUpdatedTimeout);
     qSettings->setValue("onlyHilightChangedValues", m_onlyHilightChangedValues);
+    qSettings->setValue("CategorizedView", m_useCategorizedView);
+    qSettings->setValue("ScientificView", m_useScientificView);
+    qSettings->setValue("showMetaData", m_showMetaData);
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.h
index 8e31c18dc..cc5317aa6 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.h
@@ -40,6 +40,9 @@ Q_PROPERTY(QColor m_recentlyUpdatedColor READ recentlyUpdatedColor WRITE setRece
 Q_PROPERTY(QColor m_manuallyChangedColor READ manuallyChangedColor WRITE setManuallyChangedColor)
 Q_PROPERTY(int m_recentlyUpdatedTimeout READ recentlyUpdatedTimeout WRITE setRecentlyUpdatedTimeout)
 Q_PROPERTY(bool m_onlyHilightChangedValues READ onlyHighlightChangedValues WRITE setOnlyHighlightChangedValues)
+Q_PROPERTY(bool m_useCategorizedView READ categorizedView WRITE setCategorizedView)
+Q_PROPERTY(bool m_useScientificView READ scientificView WRITE setScientificView)
+Q_PROPERTY(bool m_showMetaData READ showMetaData WRITE setShowMetaData)
 public:
     explicit UAVObjectBrowserConfiguration(QString classId, QSettings* qSettings = 0, QObject *parent = 0);
 
@@ -50,6 +53,9 @@ public:
     QColor manuallyChangedColor() const { return m_manuallyChangedColor; }
     int recentlyUpdatedTimeout() const { return m_recentlyUpdatedTimeout; }
     bool onlyHighlightChangedValues() const {return m_onlyHilightChangedValues;}
+    bool categorizedView() const { return m_useCategorizedView; }
+    bool scientificView() const { return m_useScientificView; }
+    bool showMetaData() const { return m_showMetaData; }
 
 signals:
 
@@ -58,12 +64,18 @@ public slots:
     void setManuallyChangedColor(QColor color) { m_manuallyChangedColor = color; }
     void setRecentlyUpdatedTimeout(int timeout) { m_recentlyUpdatedTimeout = timeout; }
     void setOnlyHighlightChangedValues(bool hilight) { m_onlyHilightChangedValues = hilight; }
+    void setCategorizedView(bool value) { m_useCategorizedView = value; }
+    void setScientificView(bool value) { m_useScientificView = value; }
+    void setShowMetaData(bool value) { m_showMetaData = value; }
 
 private:
     QColor m_recentlyUpdatedColor;
     QColor m_manuallyChangedColor;
     int m_recentlyUpdatedTimeout;
     bool m_onlyHilightChangedValues;
+    bool m_useCategorizedView;
+    bool m_useScientificView;
+    bool m_showMetaData;
 };
 
 #endif // UAVOBJECTBROWSERCONFIGURATION_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
index f638e3e0e..5ab8eba4b 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
@@ -66,12 +66,22 @@ UAVObjectBrowserWidget::UAVObjectBrowserWidget(QWidget *parent) : QWidget(parent
     connect(m_browser->requestButton, SIGNAL(clicked()), this, SLOT(requestUpdate()));
     connect(m_browser->tbView,SIGNAL(clicked()),this,SLOT(viewSlot()));
     connect(m_viewoptions->cbScientific, SIGNAL(toggled(bool)), this, SLOT(useScientificNotation(bool)));
+    connect(m_viewoptions->cbScientific, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
+    connect(m_viewoptions->cbMetaData, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
+    connect(m_viewoptions->cbCategorized, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
     enableSendRequest(false);
 }
 
 UAVObjectBrowserWidget::~UAVObjectBrowserWidget()
 {
-   delete m_browser;
+    delete m_browser;
+}
+
+void UAVObjectBrowserWidget::setViewOptions(bool categorized, bool scientific, bool metadata)
+{
+    m_viewoptions->cbCategorized->setChecked(categorized);
+    m_viewoptions->cbMetaData->setChecked(metadata);
+    m_viewoptions->cbScientific->setChecked(scientific);
 }
 
 void UAVObjectBrowserWidget::showMetaData(bool show)
@@ -231,6 +241,11 @@ void UAVObjectBrowserWidget::viewSlot()
     }
 }
 
+void UAVObjectBrowserWidget::viewOptionsChangedSlot()
+{
+    emit viewOptionsChanged(m_viewoptions->cbCategorized->isChecked(),m_viewoptions->cbScientific->isChecked(),m_viewoptions->cbMetaData->isChecked());
+}
+
 void UAVObjectBrowserWidget::enableSendRequest(bool enable)
 {
     m_browser->sendButton->setEnabled(enable);
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
index 9a1a76d96..510dc8820 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
@@ -49,8 +49,7 @@ public:
     void setManuallyChangedColor(QColor color) { m_manuallyChangedColor = color; m_model->setManuallyChangedColor(color); }
     void setRecentlyUpdatedTimeout(int timeout) { m_recentlyUpdatedTimeout = timeout; m_model->setRecentlyUpdatedTimeout(timeout); }
     void setOnlyHilightChangedValues(bool hilight) { m_onlyHilightChangedValues = hilight; m_model->setOnlyHilightChangedValues(hilight); }
-
-
+    void setViewOptions(bool categorized,bool scientific,bool metadata);
 public slots:
     void showMetaData(bool show);
     void categorize(bool categorize);
@@ -64,6 +63,9 @@ private slots:
     void eraseObject();
     void currentChanged(const QModelIndex &current, const QModelIndex &previous);
     void viewSlot();
+    void viewOptionsChangedSlot();
+signals:
+    void viewOptionsChanged(bool categorized,bool scientific,bool metadata);
 private:
     QPushButton *m_requestUpdate;
     QPushButton *m_sendUpdate;

From 0f8643222480df415f347be7973223d41af92872 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Fri, 27 Jul 2012 11:19:41 +0100
Subject: [PATCH 071/543] GCS-Added missing resources to the UAVO browser

---
 .../uavobjectbrowser/images/1343241276_eye.png   | Bin 0 -> 1731 bytes
 .../plugins/uavobjectbrowser/images/64 bit.png   | Bin 0 -> 3307 bytes
 .../plugins/uavobjectbrowser/images/down_alt.png | Bin 0 -> 2256 bytes
 .../plugins/uavobjectbrowser/images/install.png  | Bin 0 -> 3567 bytes
 .../plugins/uavobjectbrowser/images/remove.png   | Bin 0 -> 3577 bytes
 .../plugins/uavobjectbrowser/images/trash.png    | Bin 0 -> 3657 bytes
 .../plugins/uavobjectbrowser/images/up_alt.png   | Bin 0 -> 2208 bytes
 .../plugins/uavobjectbrowser/uavobjectbrowser.ui |   3 +++
 8 files changed, 3 insertions(+)
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectbrowser/images/1343241276_eye.png
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectbrowser/images/64 bit.png
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectbrowser/images/down_alt.png
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectbrowser/images/install.png
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectbrowser/images/remove.png
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectbrowser/images/trash.png
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectbrowser/images/up_alt.png

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/images/1343241276_eye.png b/ground/openpilotgcs/src/plugins/uavobjectbrowser/images/1343241276_eye.png
new file mode 100644
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diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/images/up_alt.png b/ground/openpilotgcs/src/plugins/uavobjectbrowser/images/up_alt.png
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HcmV?d00001

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
index 06d16d3a0..ac1c8385a 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
@@ -186,6 +186,9 @@
      </item>
      <item>
       <widget class="QToolButton" name="tbView">
+       <property name="toolTip">
+        <string>View Options</string>
+       </property>
        <property name="text">
         <string>...</string>
        </property>

From 9d76c32cf5ba2141e54b8ffb0a466b91d4b60d3f Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Fri, 27 Jul 2012 11:45:58 +0100
Subject: [PATCH 072/543] GCS-Comment out the updated statements on
 vehicleconfig.cpp TODO check if this brings other problems. REVERT commit if
 it does

---
 .../src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp  | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
index 1a00946ee..f503dfba4 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
@@ -105,7 +105,7 @@ void VehicleConfig::SetConfigData(GUIConfigDataUnion configData) {
         systemSettingsData.GUIConfigData[i] = configData.UAVObject[i];
 
     systemSettings->setData(systemSettingsData);
-    systemSettings->updated();
+    //systemSettings->updated();
 
     //emit ConfigurationChanged();
 }
@@ -170,7 +170,8 @@ void VehicleConfig::setMixerType(UAVDataObject* mixer, int channel, MixerTypeEle
             if (mixerType >= 0 && mixerType < mixerTypeDescriptions.count())
             {
                 field->setValue(mixerTypeDescriptions[mixerType]);
-                mixer->updated();
+               // mixer->updated();
+                qDebug()<<"updateMixer";
             }
         }
     }
@@ -218,7 +219,7 @@ void VehicleConfig::setMixerVectorValue(UAVDataObject* mixer, int channel, Mixer
 
         if (field) {
             field->setDouble(value, elementName);
-            mixer->updated();
+            //mixer->updated();
         }
     }
 }

From ddb144ebb585b12194e97e8e24b7e741f1b9279e Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Fri, 27 Jul 2012 11:55:01 +0100
Subject: [PATCH 073/543] GCS-Made rate Kd roll and pitch link when checkbox is
 checked.

---
 .../src/plugins/config/configstabilizationwidget.cpp      | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
index bc277a2c3..5469403ae 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
@@ -126,6 +126,14 @@ void ConfigStabilizationWidget::processLinkedWidgets(QWidget * widget)
         {
             m_stabilization->RateRollILimit_2->setValue(m_stabilization->RatePitchILimit->value());
         }
+        else if(widget== m_stabilization->RollRateKd)
+        {
+            m_stabilization->PitchRateKd->setValue(m_stabilization->RollRateKd->value());
+        }
+        else if(widget== m_stabilization->PitchRateKd)
+        {
+            m_stabilization->RollRateKd->setValue(m_stabilization->PitchRateKd->value());
+        }
     }
     if(m_stabilization->checkBox_8->checkState()==Qt::Checked)
     {

From cfd4abcf2c0300dffd660315359ee11df0d20317 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Fri, 27 Jul 2012 12:14:26 +0100
Subject: [PATCH 074/543] GCS-Added UAVO to widget framework documentation

---
 .../UAVObj relations Framework document.doc    | Bin 0 -> 162304 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 ground/docs/UAVObj relations Framework document.doc

diff --git a/ground/docs/UAVObj relations Framework document.doc b/ground/docs/UAVObj relations Framework document.doc
new file mode 100644
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z3G#U*$O^GvQE^{giu1(SPbDywqrNMSR%L<3Jn{b%4X`Q`Xgz32zqYR9K8QFYl}_y=
z=`PH>r59-2%j7ssMj!TNkV?#DFOyVjI>^h%TaUtuU$k**DM?4CBrU9QP@-fAJJ97<
zO4F5+jio`2r5X#5N;DtP;MvFvXoR+gXrCMLcs`lrtR2&<EOku&kmV26onoGd_5aJq
zAN7UnODU|~d<fd>w@IRiRI)GTiCF)C>{w+n|7cy1^srV>CTOqMKg$1~Fn36L$jv+_
zi1``hW<JXQpCNz9+MXch;*f{?DF1(k{2}Wz1ns=*NBRFV<c}PCeL`V*c9jl9Nx~~k
zIHrvV!fSwVOkeN&@GtEZ%wIkKXUBh~?4%l7rqtJL`KevaEo(~EB77S2rJg0BVHZhi
z5EG<h7nb)lFRu}uSvQo7?LNFjKeqT^<Uk+lyD9;B6QDeSa)VOlE6StL1)l0~%fEj#
z|Na^Jq<n;Qlb}n;AW*(pdPt!4m4rMgnWo$*&e5h3p<P&5x4`g-;Lu@m^)htHIdq_R
z;J^{#!I7iorf64)<Tg4iFgzr9*w6^4AirUQ0|Vs7X@7~-2^W3Cd_tZ5A_L{FXqSrQ
zJ<u;C&?!7LOzzYGSAzV)1F2~`<m0iRV~nRk!}@mgk_n(wnXb2e;@<z&mly34W8V>V
zp*>~Tojv-!hFX~flb8R3{**ERw`ol&zta}kLSE3Dws@nL4t+x!JJ-VUf3uKXE&jU+
zNf$jr_drH*YYxdTs6+i?uil@18B*`)7sDxT|De}2zrzN!qn___{xdWfQ~$6(^o>_>
z+Cce#!5HY}Ebox?V<&&&osXaOUcCM>_SrX~Es&cx?VrRif?zNAXnAKN`v!pceGIv1
zp>NhSe)t#on&OUMRz21|?TEzQ-T?V~oZ{a>D73ReE}G@b|9!@<Pkr;ho1|Bu=lA1>
O{h#Td#u1P|{{II<RiY{Y

literal 0
HcmV?d00001


From 60db2f405319a9c7b28bc301b53fe2cc278ff51e Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Fri, 27 Jul 2012 13:18:28 +0100
Subject: [PATCH 075/543] Updated history file

---
 HISTORY.txt | 20 ++++++++++++++++++--
 1 file changed, 18 insertions(+), 2 deletions(-)

diff --git a/HISTORY.txt b/HISTORY.txt
index d0492dd1f..7b5990e28 100644
--- a/HISTORY.txt
+++ b/HISTORY.txt
@@ -1,5 +1,21 @@
-Short summary of changes.  For a complete list see the git log.
-
+Short summary of changes.  For a complete list see the git log.
+2012-07-27
+Added the ability to load stylesheets from external file according to operating system:
+macos.qss, linux.qss, windows.qss
+Files should be placed inside the app folder.
+2012-07-27
+Several UI changes. 
+MixerCurveWidget refactoring, now as a simple and advanced view.
+2012-07-27
+Added “advanced mode� option to general settings. Right now it only shows the hidden apply buttons.
+To enable go to tools->options->General and click one of the checkboxes to give focus to the form,
+then press F7
+2012-07-27
+Made the flight mode switch and accessory pots move according to user input on the input wizard.
+2012-07-27
+Changed the board pictures on the uploader widget
+2012-07-27
+Add more verbose debug output on the UAVOBJECTS saving code.
 2012-07-10
 On Windows the installation mode was changed from per-user to per-machine
 (for all users) installation.  It is recommended to completely uninstall

From c375d2e79d2e084c19bf3b5741a001e68cd18e4e Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Fri, 27 Jul 2012 18:42:20 +0100
Subject: [PATCH 076/543] GCS-Made the changes to vehicleconfig final and
 reenabled the system settings update call.

---
 .../src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp    | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
index f503dfba4..aae872f8b 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
@@ -105,7 +105,7 @@ void VehicleConfig::SetConfigData(GUIConfigDataUnion configData) {
         systemSettingsData.GUIConfigData[i] = configData.UAVObject[i];
 
     systemSettings->setData(systemSettingsData);
-    //systemSettings->updated();
+    systemSettings->updated();
 
     //emit ConfigurationChanged();
 }
@@ -170,8 +170,6 @@ void VehicleConfig::setMixerType(UAVDataObject* mixer, int channel, MixerTypeEle
             if (mixerType >= 0 && mixerType < mixerTypeDescriptions.count())
             {
                 field->setValue(mixerTypeDescriptions[mixerType]);
-               // mixer->updated();
-                qDebug()<<"updateMixer";
             }
         }
     }
@@ -219,7 +217,6 @@ void VehicleConfig::setMixerVectorValue(UAVDataObject* mixer, int channel, Mixer
 
         if (field) {
             field->setDouble(value, elementName);
-            //mixer->updated();
         }
     }
 }

From 1803f26e9a5af66cf1b1f3cdd1fa0907db82f2d4 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 27 Jul 2012 14:01:33 -0500
Subject: [PATCH 077/543] Fix from hyper to catch when multiple object requests
 stack up

---
 ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp b/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
index ba65e84e5..d8f98be5c 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
@@ -388,6 +388,11 @@ void Telemetry::processObjectQueue()
     UAVObject::UpdateMode updateMode = UAVObject::GetGcsTelemetryUpdateMode(metadata);
     if ( ( objInfo.event != EV_UNPACKED ) && ( ( objInfo.event != EV_UPDATED_PERIODIC ) || ( updateMode != UAVObject::UPDATEMODE_THROTTLED ) ) )
     {
+        QMap<quint32, ObjectTransactionInfo*>::iterator itr = transMap.find(objInfo.obj->getObjID());
+        if ( itr != transMap.end() ) {
+            qDebug() << "!!!!!! Making request for an object: " << objInfo.obj->getName() << " for which a request is already in progress!!!!!!";
+            return;
+        }
         UAVObject::Metadata metadata = objInfo.obj->getMetadata();
         ObjectTransactionInfo *transInfo = new ObjectTransactionInfo(this);
         transInfo->obj = objInfo.obj;

From 330fd26f4a549efe8fe653a420997c8bc551a7f9 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 27 Jul 2012 14:16:13 -0500
Subject: [PATCH 078/543] If we set FirmwareIAPObj to update on change then
 initial object retrieval will force it to be fetched before emitting the
 autopilotConnected signal.

---
 .../src/plugins/uavobjectutil/uavobjectutilmanager.cpp    | 8 --------
 shared/uavobjectdefinition/firmwareiapobj.xml             | 2 +-
 2 files changed, 1 insertion(+), 9 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
index a30172fb0..be81befb7 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
@@ -247,14 +247,6 @@ FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
     if (!firmwareIap)
         return dummy;
 
-    // The code below will ask for the object update and wait for the updated to be received,
-    // or the timeout of the timer, set to 1 second.
-    QEventLoop loop;
-    connect(firmwareIap, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
-    QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
-    firmwareIap->requestUpdate();
-    loop.exec();
-
     return firmwareIap->getData();
 }
 
diff --git a/shared/uavobjectdefinition/firmwareiapobj.xml b/shared/uavobjectdefinition/firmwareiapobj.xml
index 30b070857..be8431ef5 100644
--- a/shared/uavobjectdefinition/firmwareiapobj.xml
+++ b/shared/uavobjectdefinition/firmwareiapobj.xml
@@ -10,7 +10,7 @@
         <field name="crc" units="" type="uint32" elements="1"/> 
         <access gcs="readwrite" flight="readwrite"/> 
         <telemetrygcs acked="true" updatemode="manual" period="0"/> 
-        <telemetryflight acked="true" updatemode="manual" period="0"/> 
+        <telemetryflight acked="true" updatemode="onchange" period="0"/> 
         <logging updatemode="manual" period="0"/> 
 </object> 
 </xml> 

From 9f1a8416f584c0311b5c3987c2d41b60f1ad91c0 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 27 Jul 2012 20:14:19 -0500
Subject: [PATCH 079/543] Treat the tricopter yaw channel like the other motor
 channels

---
 .../configmultirotorwidget.cpp                | 342 +++++++++---------
 1 file changed, 169 insertions(+), 173 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
index bfa4fe7a2..9953357ea 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@@ -288,188 +288,183 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
  */
 QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
 {
-	QString airframeType;
-	QList<QString> motorList;
+    QString airframeType;
+    QList<QString> motorList;
 
     UAVDataObject* mixerObj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixerObj);
 
     // Curve is also common to all quads:
     setThrottleCurve(mixerObj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
-	
-	if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
-		airframeType = "QuadP";
-		setupQuad(true);
-	} else if (m_aircraft->multirotorFrameType->currentText() == "Quad X") {
-		airframeType = "QuadX";
-		setupQuad(false);
-	} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter") {
-		airframeType = "Hexa";
-		setupHexa(true);
-	} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter X") {
-		airframeType = "HexaX";
-		setupHexa(false);
-	} else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter Y6") {
-		airframeType = "HexaCoax";
-		
-		//Show any config errors in GUI
+
+    if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
+        airframeType = "QuadP";
+        setupQuad(true);
+    } else if (m_aircraft->multirotorFrameType->currentText() == "Quad X") {
+        airframeType = "QuadX";
+        setupQuad(false);
+    } else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter") {
+        airframeType = "Hexa";
+        setupHexa(true);
+    } else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter X") {
+        airframeType = "HexaX";
+        setupHexa(false);
+    } else if (m_aircraft->multirotorFrameType->currentText() == "Hexacopter Y6") {
+        airframeType = "HexaCoax";
+
+        //Show any config errors in GUI
         if (throwConfigError(6)) {
-			return airframeType;
-		}
-		motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
-		<< "VTOLMotorS" << "VTOLMotorSE";
-		setupMotors(motorList);
-		
-		// Motor 1 to 6, Y6 Layout:
-		//     pitch   roll    yaw
-		double mixer [8][3] = {
-			{  0.5,  1, -1},
-			{  0.5,  1,  1},
-			{  0.5, -1, -1},
-			{  0.5, -1,  1},
-			{ -1,    0, -1},
-			{ -1,    0,  1},
-			{  0,    0,  0},
-			{  0,    0,  0}
-		};
-		setupMultiRotorMixer(mixer);
-		m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
-		
-	} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") {
-		airframeType = "Octo";
-		
-		//Show any config errors in GUI
-        if (throwConfigError(8)) {
-			return airframeType;
+            return airframeType;
+        }
+        motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
+                  << "VTOLMotorS" << "VTOLMotorSE";
+        setupMotors(motorList);
 
-		}
-		motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
-		<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
-		setupMotors(motorList);
-		// Motor 1 to 8:
-		//     pitch   roll    yaw
-		double mixer [8][3] = {
-			{  1,  0, -1},
-			{  1, -1,  1},
-			{  0, -1, -1},
-			{ -1, -1,  1},
-			{ -1,  0, -1},
-			{ -1,  1,  1},
-			{  0,  1, -1},
-			{  1,  1,  1}
-		};
-		setupMultiRotorMixer(mixer);
-		m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
-		
-	} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter V") {
-		airframeType = "OctoV";
-		
-		//Show any config errors in GUI
-        if (throwConfigError(8)) {
-			return airframeType;
-		}
-		motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
-		<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
-		setupMotors(motorList);
-		// Motor 1 to 8:
-		// IMPORTANT: Assumes evenly spaced engines
-		//     pitch   roll    yaw
-		double mixer [8][3] = {
-			{  0.33, -1, -1},
-			{  1   , -1,  1},
-			{ -1   , -1, -1},
-			{ -0.33, -1,  1},
-			{ -0.33,  1, -1},
-			{ -1   ,  1,  1},
-			{  1   ,  1, -1},
-			{  0.33,  1,  1}
-		};
-		setupMultiRotorMixer(mixer);
-		m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
-		
-	} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") {
-		airframeType = "OctoCoaxP";
+        // Motor 1 to 6, Y6 Layout:
+        //     pitch   roll    yaw
+        double mixer [8][3] = {
+            {  0.5,  1, -1},
+            {  0.5,  1,  1},
+            {  0.5, -1, -1},
+            {  0.5, -1,  1},
+            { -1,    0, -1},
+            { -1,    0,  1},
+            {  0,    0,  0},
+            {  0,    0,  0}
+        };
+        setupMultiRotorMixer(mixer);
+        m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
 
-		//Show any config errors in GUI
-        if (throwConfigError(8)) {
-			return airframeType;
-		}
-		motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
-		<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
-		setupMotors(motorList);
-		// Motor 1 to 8:
-		//     pitch   roll    yaw
-		double mixer [8][3] = {
-			{  1,  0, -1},
-			{  1,  0,  1},
-			{  0, -1, -1},
-			{  0, -1,  1},
-			{ -1,  0, -1},
-			{ -1,  0,  1},
-			{  0,  1, -1},
-			{  0,  1,  1}
-		};
-		setupMultiRotorMixer(mixer);
-		m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
-		
-	} else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") {
-		airframeType = "OctoCoaxX";
-		
-		//Show any config errors in GUI
-        if (throwConfigError(8)) {
-			return airframeType;
-		}
-		motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
-		<< "VTOLMotorSE" << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW";
-		setupMotors(motorList);
-		// Motor 1 to 8:
-		//     pitch   roll    yaw
-		double mixer [8][3] = {
-			{  1,  1, -1},
-			{  1,  1,  1},
-			{  1, -1, -1},
-			{  1, -1,  1},
-			{ -1, -1, -1},
-			{ -1, -1,  1},
-			{ -1,  1, -1},
-			{ -1,  1,  1}
-		};
-		setupMultiRotorMixer(mixer);
-		m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
-		
-	} else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter Y") {
-		airframeType = "Tri";
+    } else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") {
+        airframeType = "Octo";
 
-		//Show any config errors in GUI
+        //Show any config errors in GUI
+        if (throwConfigError(8)) {
+            return airframeType;
+
+        }
+        motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
+                  << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
+        setupMotors(motorList);
+        // Motor 1 to 8:
+        //     pitch   roll    yaw
+        double mixer [8][3] = {
+            {  1,  0, -1},
+            {  1, -1,  1},
+            {  0, -1, -1},
+            { -1, -1,  1},
+            { -1,  0, -1},
+            { -1,  1,  1},
+            {  0,  1, -1},
+            {  1,  1,  1}
+        };
+        setupMultiRotorMixer(mixer);
+        m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
+
+    } else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter V") {
+        airframeType = "OctoV";
+
+        //Show any config errors in GUI
+        if (throwConfigError(8)) {
+            return airframeType;
+        }
+        motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
+                  << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
+        setupMotors(motorList);
+        // Motor 1 to 8:
+        // IMPORTANT: Assumes evenly spaced engines
+        //     pitch   roll    yaw
+        double mixer [8][3] = {
+            {  0.33, -1, -1},
+            {  1   , -1,  1},
+            { -1   , -1, -1},
+            { -0.33, -1,  1},
+            { -0.33,  1, -1},
+            { -1   ,  1,  1},
+            {  1   ,  1, -1},
+            {  0.33,  1,  1}
+        };
+        setupMultiRotorMixer(mixer);
+        m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
+
+    } else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") {
+        airframeType = "OctoCoaxP";
+
+        //Show any config errors in GUI
+        if (throwConfigError(8)) {
+            return airframeType;
+        }
+        motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
+                  << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
+        setupMotors(motorList);
+        // Motor 1 to 8:
+        //     pitch   roll    yaw
+        double mixer [8][3] = {
+            {  1,  0, -1},
+            {  1,  0,  1},
+            {  0, -1, -1},
+            {  0, -1,  1},
+            { -1,  0, -1},
+            { -1,  0,  1},
+            {  0,  1, -1},
+            {  0,  1,  1}
+        };
+        setupMultiRotorMixer(mixer);
+        m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
+
+    } else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") {
+        airframeType = "OctoCoaxX";
+
+        //Show any config errors in GUI
+        if (throwConfigError(8)) {
+            return airframeType;
+        }
+        motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
+                  << "VTOLMotorSE" << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW";
+        setupMotors(motorList);
+        // Motor 1 to 8:
+        //     pitch   roll    yaw
+        double mixer [8][3] = {
+            {  1,  1, -1},
+            {  1,  1,  1},
+            {  1, -1, -1},
+            {  1, -1,  1},
+            { -1, -1, -1},
+            { -1, -1,  1},
+            { -1,  1, -1},
+            { -1,  1,  1}
+        };
+        setupMultiRotorMixer(mixer);
+        m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
+
+    } else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter Y") {
+        airframeType = "Tri";
+
+        //Show any config errors in GUI
         if (throwConfigError(3)) {
-			return airframeType;
+            return airframeType;
 
-		}
-		if (m_aircraft->triYawChannelBox->currentText() == "None") {
-			m_aircraft->mrStatusLabel->setText("<font color='red'>Error: Assign a Yaw channel</font>");
-			return airframeType;
-		}
-		motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS";
-		setupMotors(motorList);
+        }
+        if (m_aircraft->triYawChannelBox->currentText() == "None") {
+            m_aircraft->mrStatusLabel->setText("<font color='red'>Error: Assign a Yaw channel</font>");
+            return airframeType;
+        }
+        motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS" << "" << "" << "" << "" << "" << "VTOLYaw";
+        setupMotors(motorList);
 
-        GUIConfigDataUnion config = GetConfigData();
-        config.multi.TRIYaw = m_aircraft->triYawChannelBox->currentIndex();
-        SetConfigData(config);
-
-		
-		// Motor 1 to 6, Y6 Layout:
-		//     pitch   roll    yaw
-		double mixer [8][3] = {
-			{  0.5,  1,  0},
-			{  0.5, -1,  0},
-			{ -1,  0,  0},
-			{  0,  0,  0},
-			{  0,  0,  0},
-			{  0,  0,  0},
-			{  0,  0,  0},
-			{  0,  0,  0}
-		};
-		setupMultiRotorMixer(mixer);
+        // Motor 1 to 6, Y6 Layout:
+        //     pitch   roll    yaw
+        double mixer [8][3] = {
+            {  0.5,  1,  0},
+            {  0.5, -1,  0},
+            { -1,  0,  0},
+            {  0,  0,  0},
+            {  0,  0,  0},
+            {  0,  0,  0},
+            {  0,  0,  0},
+            {  0,  0,  0}
+        };
+        setupMultiRotorMixer(mixer);
 
         //tell the mixer about tricopter yaw channel
 
@@ -719,13 +714,12 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
             m_aircraft->mrRollMixLevel->setValue( floor(value/1.27) );
         }
-	} else if (frameType == "Tri") {
+    } else if (frameType == "Tri") {
         // Motors 1 to 8 are N / NE / E / etc
 
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
-        setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorS);
         setComboCurrentIndex(m_aircraft->triYawChannelBox,multi.TRIYaw);
 
         channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
@@ -771,8 +765,8 @@ void ConfigMultiRotorWidget::setupMotors(QList<QString> motorList)
 {
     QList<QComboBox*> mmList;
     mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
-	<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
-	<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
+           << m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
+           << m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8 << m_aircraft->triYawChannelBox;
 
     GUIConfigDataUnion configData = GetConfigData();
     ResetActuators(&configData);
@@ -800,6 +794,8 @@ void ConfigMultiRotorWidget::setupMotors(QList<QString> motorList)
             configData.multi.VTOLMotorW = index;
         else if (motor == QString( "VTOLMotorNW"))
             configData.multi.VTOLMotorNW = index;
+        else if (motor == QString( "VTOLYaw" ))
+            configData.multi.TRIYaw = index;
     }
     SetConfigData(configData);
 

From a75ed21012c8c225ffd1d78e71b0d8a088ca4f91 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 27 Jul 2012 20:14:42 -0500
Subject: [PATCH 080/543] Fix tab indentation to be consistent with QT Creator

---
 .../configmultirotorwidget.cpp                | 334 +++++++++---------
 1 file changed, 167 insertions(+), 167 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
index 9953357ea..c9613e908 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@@ -58,7 +58,7 @@ ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWid
  */
 ConfigMultiRotorWidget::~ConfigMultiRotorWidget()
 {
-   // Do nothing
+    // Do nothing
 }
 
 
@@ -86,13 +86,13 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
 
     if (frameType == "Tri" || frameType == "Tricopter Y") {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Tricopter Y"));
-		quad->setElementId("tri");
+        quad->setElementId("tri");
 
-		//Enable all necessary motor channel boxes...
+        //Enable all necessary motor channel boxes...
         for (i=1; i <=3; i++) {
             enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}
-		
+        }
+
         m_aircraft->mrRollMixLevel->setValue(100);
         m_aircraft->mrPitchMixLevel->setValue(100);
         m_aircraft->mrYawMixLevel->setValue(50);
@@ -102,132 +102,132 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
     else if (frameType == "QuadX" || frameType == "Quad X") {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X"));
         quad->setElementId("quad-x");
-		
-		//Enable all necessary motor channel boxes...
+
+        //Enable all necessary motor channel boxes...
         for (i=1; i <=4; i++) {
             enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}
+        }
 
         // init mixer levels
-		m_aircraft->mrRollMixLevel->setValue(50);
-		m_aircraft->mrPitchMixLevel->setValue(50);
-		m_aircraft->mrYawMixLevel->setValue(50);
+        m_aircraft->mrRollMixLevel->setValue(50);
+        m_aircraft->mrPitchMixLevel->setValue(50);
+        m_aircraft->mrYawMixLevel->setValue(50);
     }
     else if (frameType == "QuadP" || frameType == "Quad +") {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +"));
-		quad->setElementId("quad-plus");
-		
-		//Enable all necessary motor channel boxes...
+        quad->setElementId("quad-plus");
+
+        //Enable all necessary motor channel boxes...
         for (i=1; i <=4; i++) {
             enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}
+        }
 
-		m_aircraft->mrRollMixLevel->setValue(100);
-		m_aircraft->mrPitchMixLevel->setValue(100);
-		m_aircraft->mrYawMixLevel->setValue(50);
+        m_aircraft->mrRollMixLevel->setValue(100);
+        m_aircraft->mrPitchMixLevel->setValue(100);
+        m_aircraft->mrYawMixLevel->setValue(50);
     }
     else if (frameType == "Hexa" || frameType == "Hexacopter")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
-		quad->setElementId("quad-hexa");
-		
-		//Enable all necessary motor channel boxes...
+        quad->setElementId("quad-hexa");
+
+        //Enable all necessary motor channel boxes...
         for (i=1; i <=6; i++) {
             enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}
+        }
 
-		m_aircraft->mrRollMixLevel->setValue(50);
-		m_aircraft->mrPitchMixLevel->setValue(33);
-		m_aircraft->mrYawMixLevel->setValue(33);
+        m_aircraft->mrRollMixLevel->setValue(50);
+        m_aircraft->mrPitchMixLevel->setValue(33);
+        m_aircraft->mrYawMixLevel->setValue(33);
     }
     else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter X"));
-		quad->setElementId("quad-hexa-H");
-		
-		//Enable all necessary motor channel boxes...
+        quad->setElementId("quad-hexa-H");
+
+        //Enable all necessary motor channel boxes...
         for (i=1; i <=6; i++) {
             enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}
+        }
+
+        m_aircraft->mrRollMixLevel->setValue(33);
+        m_aircraft->mrPitchMixLevel->setValue(50);
+        m_aircraft->mrYawMixLevel->setValue(33);
 
-		m_aircraft->mrRollMixLevel->setValue(33);
-		m_aircraft->mrPitchMixLevel->setValue(50);
-		m_aircraft->mrYawMixLevel->setValue(33);
-		
     }
     else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
-		quad->setElementId("hexa-coax");
-		
-		//Enable all necessary motor channel boxes...
+        quad->setElementId("hexa-coax");
+
+        //Enable all necessary motor channel boxes...
         for (i=1; i <=6; i++) {
             enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}
+        }
+
+        m_aircraft->mrRollMixLevel->setValue(100);
+        m_aircraft->mrPitchMixLevel->setValue(50);
+        m_aircraft->mrYawMixLevel->setValue(66);
 
-		m_aircraft->mrRollMixLevel->setValue(100);
-		m_aircraft->mrPitchMixLevel->setValue(50);
-		m_aircraft->mrYawMixLevel->setValue(66);
-		
     }
     else if (frameType == "Octo" || frameType == "Octocopter")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
-		quad->setElementId("quad-octo");
-		
-		//Enable all necessary motor channel boxes
+        quad->setElementId("quad-octo");
+
+        //Enable all necessary motor channel boxes
         for (i=1; i <=8; i++) {
             enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}		
+        }
 
-		m_aircraft->mrRollMixLevel->setValue(33);
-		m_aircraft->mrPitchMixLevel->setValue(33);
-		m_aircraft->mrYawMixLevel->setValue(25);
+        m_aircraft->mrRollMixLevel->setValue(33);
+        m_aircraft->mrPitchMixLevel->setValue(33);
+        m_aircraft->mrYawMixLevel->setValue(25);
     }
     else if (frameType == "OctoV" || frameType == "Octocopter V")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter V"));
-		quad->setElementId("quad-octo-v");
+        quad->setElementId("quad-octo-v");
 
-		//Enable all necessary motor channel boxes
+        //Enable all necessary motor channel boxes
         for (i=1; i <=8; i++) {
             enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}		
+        }
+
+        m_aircraft->mrRollMixLevel->setValue(25);
+        m_aircraft->mrPitchMixLevel->setValue(25);
+        m_aircraft->mrYawMixLevel->setValue(25);
 
-		m_aircraft->mrRollMixLevel->setValue(25);
-		m_aircraft->mrPitchMixLevel->setValue(25);
-		m_aircraft->mrYawMixLevel->setValue(25);
-		
     }
     else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +"));
-		quad->setElementId("octo-coax-P");
+        quad->setElementId("octo-coax-P");
 
-		//Enable all necessary motor channel boxes
-		for (int i=1; i <=8; i++) {            
+        //Enable all necessary motor channel boxes
+        for (int i=1; i <=8; i++) {
             enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}		
+        }
+
+        m_aircraft->mrRollMixLevel->setValue(100);
+        m_aircraft->mrPitchMixLevel->setValue(100);
+        m_aircraft->mrYawMixLevel->setValue(50);
 
-		m_aircraft->mrRollMixLevel->setValue(100);
-		m_aircraft->mrPitchMixLevel->setValue(100);
-		m_aircraft->mrYawMixLevel->setValue(50);
-		
     }
     else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X"));
-		quad->setElementId("octo-coax-X");
+        quad->setElementId("octo-coax-X");
 
-		//Enable all necessary motor channel boxes
-		for (int i=1; i <=8; i++) {            
+        //Enable all necessary motor channel boxes
+        for (int i=1; i <=8; i++) {
             enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
-		}		
+        }
 
-		m_aircraft->mrRollMixLevel->setValue(50);
-		m_aircraft->mrPitchMixLevel->setValue(50);
-		m_aircraft->mrYawMixLevel->setValue(50);
-				
-	} 	
+        m_aircraft->mrRollMixLevel->setValue(50);
+        m_aircraft->mrPitchMixLevel->setValue(50);
+        m_aircraft->mrYawMixLevel->setValue(50);
+
+    }
 }
 
 void ConfigMultiRotorWidget::ResetActuators(GUIConfigDataUnion* configData)
@@ -473,12 +473,12 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
             setMixerType(mixerObj, channel, VehicleConfig::MIXERTYPE_SERVO);
             setMixerVectorValue(mixerObj, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
         }
-		
-		m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
-		
+
+        m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
+
     }
-	
-	return airframeType;
+
+    return airframeType;
 }
 
 
@@ -497,16 +497,16 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
     UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixer);
 
-	if (frameType == "QuadP") {
+    if (frameType == "QuadP") {
         // Motors 1/2/3/4 are: N / E / S / W
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorE);
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox3,multi.VTOLMotorS);
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox4,multi.VTOLMotorW);
 
-		// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
-		// This assumes that all vectors are identical - if not, the user should use the
-		// "custom" setting.
+        // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
+        // This assumes that all vectors are identical - if not, the user should use the
+        // "custom" setting.
 
         channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
         if (channel > -1)
@@ -522,7 +522,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrRollMixLevel->setValue( -value/1.27);
 
         }
-	} else if (frameType == "QuadX") {
+    } else if (frameType == "QuadX") {
         // Motors 1/2/3/4 are: NW / NE / SE / SW
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
@@ -546,8 +546,8 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
 
         }
 
-	} else if (frameType == "Hexa") {
-		// Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
+    } else if (frameType == "Hexa") {
+        // Motors 1/2/3 4/5/6 are: N / NE / SE / S / SW / NW
 
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox2,multi.VTOLMotorNE);
@@ -577,7 +577,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
         }
 
 
-	} else if (frameType == "HexaX") {
+    } else if (frameType == "HexaX") {
         // Motors 1/2/3 4/5/6 are: NE / E / SE / SW / W / NW
 
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNE);
@@ -604,7 +604,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
             m_aircraft->mrRollMixLevel->setValue( floor(1-value/1.27) );
         }
-	} else if (frameType == "HexaCoax") {
+    } else if (frameType == "HexaCoax") {
         // Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
 
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
@@ -630,8 +630,8 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
             m_aircraft->mrRollMixLevel->setValue( value/1.27);
         }
-	}  else if (frameType == "Octo" || frameType == "OctoV" ||
-				frameType == "OctoCoaxP") {
+    }  else if (frameType == "Octo" || frameType == "OctoV" ||
+                frameType == "OctoCoaxP") {
         // Motors 1 to 8 are N / NE / E / etc
 
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorN);
@@ -687,7 +687,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             }
 
         }
-	} else if (frameType == "OctoCoaxX") {
+    } else if (frameType == "OctoCoaxX") {
         // Motors 1 to 8 are N / NE / E / etc
 
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1,multi.VTOLMotorNW);
@@ -732,7 +732,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrRollMixLevel->setValue( floor(value/1.27) );
 
         }
-	}
+    }
 }
 
 
@@ -809,23 +809,23 @@ void ConfigMultiRotorWidget::setupMotors(QList<QString> motorList)
 bool ConfigMultiRotorWidget::setupQuad(bool pLayout)
 {
     // Check coherence:
-	
-	//Show any config errors in GUI
+
+    //Show any config errors in GUI
     if (throwConfigError(4)) {
-		return false;
+        return false;
     }
-	
-	
+
+
     QList<QString> motorList;
     if (pLayout) {
         motorList << "VTOLMotorN" << "VTOLMotorE" << "VTOLMotorS"
-		<< "VTOLMotorW";
+                  << "VTOLMotorW";
     } else {
         motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorSE"
-		<< "VTOLMotorSW";
+                  << "VTOLMotorSW";
     }
     setupMotors(motorList);
-	
+
     // Now, setup the mixer:
     // Motor 1 to 4, X Layout:
     //     pitch   roll    yaw
@@ -834,15 +834,15 @@ bool ConfigMultiRotorWidget::setupQuad(bool pLayout)
     //    {-0.5  ,-0.5    ,-0.5    //rear right motor (CW)
     //    {-0.5   ,0.5    ,0.5   //Rear left motor  (CCW)
     double xMixer [8][3] =  {
-		{ 1,  1, -1},
-		{ 1, -1,  1},
-		{-1, -1, -1},
-		{-1,  1,  1},
-		{ 0,  0,  0},
-		{ 0,  0,  0},
-		{ 0,  0,  0},
-		{ 0,  0,  0}
-	};
+        { 1,  1, -1},
+        { 1, -1,  1},
+        {-1, -1, -1},
+        {-1,  1,  1},
+        { 0,  0,  0},
+        { 0,  0,  0},
+        { 0,  0,  0},
+        { 0,  0,  0}
+    };
     //
     // Motor 1 to 4, P Layout:
     // pitch   roll    yaw
@@ -851,16 +851,16 @@ bool ConfigMultiRotorWidget::setupQuad(bool pLayout)
     //  {-1     ,0      ,-0.5    //Rear motor  (CW)
     //  {0      ,1      ,0.5   //Left motor  (CCW)
     double pMixer [8][3] =  {
-		{ 1,  0, -1},
-		{ 0, -1,  1},
-		{-1,  0, -1},
-		{ 0,  1,  1},
-		{ 0,  0,  0},
-		{ 0,  0,  0},
-		{ 0,  0,  0},
-		{ 0,  0,  0}
-	};
-	
+        { 1,  0, -1},
+        { 0, -1,  1},
+        {-1,  0, -1},
+        { 0,  1,  1},
+        { 0,  0,  0},
+        { 0,  0,  0},
+        { 0,  0,  0},
+        { 0,  0,  0}
+    };
+
     if (pLayout) {
         setupMultiRotorMixer(pMixer);
     } else {
@@ -878,22 +878,22 @@ bool ConfigMultiRotorWidget::setupQuad(bool pLayout)
 bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
 {
     // Check coherence:
-	//Show any config errors in GUI
+    //Show any config errors in GUI
     if (throwConfigError(6))
-		return false;
+        return false;
 
     QList<QString> motorList;
     if (pLayout) {
         motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorSE"
-		<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorNW";
+                  << "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorNW";
     } else {
         motorList << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
-		<< "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
+                  << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
     }
     setupMotors(motorList);
-	
+
     // and set only the relevant channels:
-	
+
     // Motor 1 to 6, P Layout:
     //     pitch   roll    yaw
     //  1 { 0.3  , 0      ,-0.3 // N   CW
@@ -902,8 +902,8 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
     //  4 {-0.3  , 0      , 0.3 // S  CCW
     //  5 {-0.3  , 0.5    ,-0.3 // SW  CW
     //  6 { 0.3  , 0.5    , 0.3 // NW CCW
-	
-	double pMixer [8][3] =  {
+
+    double pMixer [8][3] =  {
         { 1,  0, -1},
         { 1, -1,  1},
         {-1, -1, -1},
@@ -913,8 +913,8 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
         { 0,  0,  0},
         { 0,  0,  0}
     };
-	
-	//
+
+    //
     // Motor 1 to 6, X Layout:
     // 1 [  0.5, -0.3, -0.3 ] NE
     // 2 [  0  , -0.3,  0.3 ] E
@@ -922,24 +922,24 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
     // 4 [ -0.5,  0.3,  0.3 ] SW
     // 5 [  0  ,  0.3, -0.3 ] W
     // 6 [  0.5,  0.3,  0.3 ] NW
-	double xMixer [8][3] = {
-		{  1, -1, -1},
-		{  0, -1,  1},
-		{ -1, -1, -1},
-		{ -1,  1,  1},
-		{  0,  1, -1},
-		{  1,  1,  1},
-		{  0,  0,  0},
-		{  0,  0,  0}
-	};
-	
-	if (pLayout) {
-		setupMultiRotorMixer(pMixer);
-	} else {
-		setupMultiRotorMixer(xMixer);
-	}
-	m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
-	return true;
+    double xMixer [8][3] = {
+        {  1, -1, -1},
+        {  0, -1,  1},
+        { -1, -1, -1},
+        { -1,  1,  1},
+        {  0,  1, -1},
+        {  1,  1,  1},
+        {  0,  0,  0},
+        {  0,  0,  0}
+    };
+
+    if (pLayout) {
+        setupMultiRotorMixer(pMixer);
+    } else {
+        setupMultiRotorMixer(xMixer);
+    }
+    m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
+    return true;
 }
 
 
@@ -960,8 +960,8 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
 
     QList<QComboBox*> mmList;
     mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
-	<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
-	<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
+           << m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
+           << m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
 
     UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixer);
@@ -984,10 +984,10 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
             int channel = mmList.at(i)->currentIndex()-1;
             if (channel > -1)
                 setupQuadMotor(channel, mixerFactors[i][0]*pFactor,
-							   rFactor*mixerFactors[i][1], yFactor*mixerFactors[i][2]);
+                               rFactor*mixerFactors[i][1], yFactor*mixerFactors[i][2]);
         }
     }
-	//    obj->updated();
+    //    obj->updated();
     return true;
 }
 
@@ -997,31 +997,31 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
  */
 bool ConfigMultiRotorWidget::throwConfigError(int numMotors)
 {    
-	//Initialize configuration error flag
-	bool error=false;
+    //Initialize configuration error flag
+    bool error=false;
 
-	//Iterate through all instances of multiMotorChannelBox
-	for (int i=0; i<numMotors; i++) {
-		//Fine widgets with text "multiMotorChannelBox.x", where x is an integer
+    //Iterate through all instances of multiMotorChannelBox
+    for (int i=0; i<numMotors; i++) {
+        //Fine widgets with text "multiMotorChannelBox.x", where x is an integer
         QComboBox *combobox = qFindChild<QComboBox*>(uiowner, "multiMotorChannelBox" + QString::number(i+1));
         if (combobox){
             if (combobox->currentText() == "None") {
-				int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);
-				QPixmap pixmap(size,size);
-				pixmap.fill(QColor("red"));
+                int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);
+                QPixmap pixmap(size,size);
+                pixmap.fill(QColor("red"));
                 combobox->setItemData(0, pixmap, Qt::DecorationRole);//Set color palettes
-				error=true;
-			}
-			else {
+                error=true;
+            }
+            else {
                 combobox->setItemData(0, 0, Qt::DecorationRole);//Reset color palettes
-			}
-		}
-	}
-	
+            }
+        }
+    }
 
-	if (error){
-		m_aircraft->mrStatusLabel->setText(QString("<font color='red'>ERROR: Assign all %1 motor channels</font>").arg(numMotors));
-	}
+
+    if (error){
+        m_aircraft->mrStatusLabel->setText(QString("<font color='red'>ERROR: Assign all %1 motor channels</font>").arg(numMotors));
+    }
     return error;
 }
 

From 150139b71142452166565525b7444a12778d3c1d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 27 Jul 2012 20:38:50 -0500
Subject: [PATCH 081/543] Don't need to call updated() in the SetConfigData
 because the ConfigTaskWidget architecture will call that

---
 .../src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp        | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
index fe76f1660..0709f3652 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
@@ -105,7 +105,6 @@ void VehicleConfig::SetConfigData(GUIConfigDataUnion configData) {
         systemSettingsData.GUIConfigData[i] = configData.UAVObject[i];
 
     systemSettings->setData(systemSettingsData);
-    systemSettings->updated();
 
     //emit ConfigurationChanged();
 }

From 12192ae0cda926515c6b05bd0d8b1da9dd4d24a9 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 27 Jul 2012 20:40:11 -0500
Subject: [PATCH 082/543] Remove commented and debugging code

---
 .../cfg_vehicletypes/configmultirotorwidget.cpp | 17 -----------------
 .../config/cfg_vehicletypes/vehicleconfig.cpp   |  9 ---------
 2 files changed, 26 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
index c9613e908..eafa30fac 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@@ -42,9 +42,6 @@
 #include "actuatorsettings.h"
 #include "actuatorcommand.h"
 
-//#define  Pi 3.14159265358979323846
-
-
 /**
  Constructor
  */
@@ -776,8 +773,6 @@ void ConfigMultiRotorWidget::setupMotors(QList<QString> motorList)
 
         index = mmList.takeFirst()->currentIndex();
 
-        //qDebug()<<QString("Setup motor: %0 = %1").arg(motor).arg(index);
-
         if (motor == QString("VTOLMotorN"))
             configData.multi.VTOLMotorN = index;
         else if (motor == QString("VTOLMotorNE"))
@@ -948,16 +943,6 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
  */
 bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
 {
-    qDebug()<<"Mixer factors";
-    qDebug()<<mixerFactors[0][0]<<" "<<mixerFactors[0][1]<<" "<<mixerFactors[0][2];
-    qDebug()<<mixerFactors[1][0]<<" "<<mixerFactors[1][1]<<" "<<mixerFactors[1][2];
-    qDebug()<<mixerFactors[2][0]<<" "<<mixerFactors[2][1]<<" "<<mixerFactors[2][2];
-    qDebug()<<mixerFactors[3][0]<<" "<<mixerFactors[3][1]<<" "<<mixerFactors[3][2];
-    qDebug()<<mixerFactors[4][0]<<" "<<mixerFactors[4][1]<<" "<<mixerFactors[4][2];
-    qDebug()<<mixerFactors[5][0]<<" "<<mixerFactors[5][1]<<" "<<mixerFactors[5][2];
-    qDebug()<<mixerFactors[6][0]<<" "<<mixerFactors[6][1]<<" "<<mixerFactors[6][2];
-    qDebug()<<mixerFactors[7][0]<<" "<<mixerFactors[7][1]<<" "<<mixerFactors[7][2];
-
     QList<QComboBox*> mmList;
     mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
            << m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
@@ -977,7 +962,6 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
     double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
     double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
     double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
-    qDebug()<<QString("pFactor=%0 rFactor=%1 yFactor=%2").arg(pFactor).arg(rFactor).arg(yFactor);
     for (int i=0 ; i<8; i++) {
         if(mmList.at(i)->isEnabled())
         {
@@ -987,7 +971,6 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
                                rFactor*mixerFactors[i][1], yFactor*mixerFactors[i][2]);
         }
     }
-    //    obj->updated();
     return true;
 }
 
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
index 0709f3652..8ae4c2588 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
@@ -44,11 +44,6 @@ VehicleConfig::VehicleConfig(QWidget *parent) : ConfigTaskWidget(parent)
         channelNames << QString("Channel%1").arg(i+1);
     }
 
-//    typedef enum { MIXERTYPE_DISABLED=0, MIXERTYPE_MOTOR=1, MIXERTYPE_SERVO=2,
-    //MIXERTYPE_CAMERAROLL=3, MIXERTYPE_CAMERAPITCH=4, MIXERTYPE_CAMERAYAW=5,
-    //MIXERTYPE_ACCESSORY0=6, MIXERTYPE_ACCESSORY1=7, MIXERTYPE_ACCESSORY2=8,
-    //MIXERTYPE_ACCESSORY3=9, MIXERTYPE_ACCESSORY4=10, MIXERTYPE_ACCESSORY5=11 } MixerTypeElem;
-
     mixerTypeDescriptions << "Disabled" << "Motor" << "Servo" << "CameraRoll" << "CameraPitch"
                           << "CameraYaw" << "Accessory0" << "Accessory1" << "Accessory2"
                           << "Accessory3" << "Accessory4" << "Accessory5";
@@ -169,8 +164,6 @@ void VehicleConfig::setMixerType(UAVDataObject* mixer, int channel, MixerTypeEle
 {
     Q_ASSERT(mixer);
 
-    qDebug() << QString("setMixerType channel %0, type %1").arg(channel).arg(mixerType);
-
     if (channel >= 0 && channel < mixerTypes.count()) {
         UAVObjectField *field = mixer->getField(mixerTypes.at(channel));
         Q_ASSERT(field);
@@ -218,8 +211,6 @@ void VehicleConfig::setMixerVectorValue(UAVDataObject* mixer, int channel, Mixer
 {
     Q_ASSERT(mixer);
 
-    qDebug() << QString("setMixerVectorValue channel %0, name %1, value %2").arg(channel).arg(elementName).arg(value);
-
     if (channel >= 0 && channel < mixerVectors.count()) {
         UAVObjectField *field = mixer->getField(mixerVectors.at(channel));
         Q_ASSERT(field);

From 542483beecc8928764b5aeb012219588843ae7cc Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 27 Jul 2012 20:44:34 -0500
Subject: [PATCH 083/543] Rephrase "SUCCESS: Mixer saved ok" to Configuration
 OK since it does not reflect if the save succeeded and the button does.

---
 .../configmultirotorwidget.cpp                | 20 +++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
index eafa30fac..8568ba979 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@@ -330,7 +330,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
             {  0,    0,  0}
         };
         setupMultiRotorMixer(mixer);
-        m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
+        m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
 
     } else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter") {
         airframeType = "Octo";
@@ -356,7 +356,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
             {  1,  1,  1}
         };
         setupMultiRotorMixer(mixer);
-        m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
+        m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
 
     } else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter V") {
         airframeType = "OctoV";
@@ -382,7 +382,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
             {  0.33,  1,  1}
         };
         setupMultiRotorMixer(mixer);
-        m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
+        m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
 
     } else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax +") {
         airframeType = "OctoCoaxP";
@@ -407,7 +407,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
             {  0,  1,  1}
         };
         setupMultiRotorMixer(mixer);
-        m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
+        m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
 
     } else if (m_aircraft->multirotorFrameType->currentText() == "Octo Coax X") {
         airframeType = "OctoCoaxX";
@@ -432,7 +432,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
             { -1,  1,  1}
         };
         setupMultiRotorMixer(mixer);
-        m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
+        m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
 
     } else if (m_aircraft->multirotorFrameType->currentText() == "Tricopter Y") {
         airframeType = "Tri";
@@ -443,7 +443,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
 
         }
         if (m_aircraft->triYawChannelBox->currentText() == "None") {
-            m_aircraft->mrStatusLabel->setText("<font color='red'>Error: Assign a Yaw channel</font>");
+            m_aircraft->mrStatusLabel->setText(tr("<font color='red'>Error: Assign a Yaw channel</font>"));
             return airframeType;
         }
         motorList << "VTOLMotorNW" << "VTOLMotorNE" << "VTOLMotorS" << "" << "" << "" << "" << "" << "VTOLYaw";
@@ -471,7 +471,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
             setMixerVectorValue(mixerObj, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
         }
 
-        m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
+        m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
 
     }
 
@@ -861,7 +861,7 @@ bool ConfigMultiRotorWidget::setupQuad(bool pLayout)
     } else {
         setupMultiRotorMixer(xMixer);
     }
-    m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
+    m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
     return true;
 }
 
@@ -933,7 +933,7 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
     } else {
         setupMultiRotorMixer(xMixer);
     }
-    m_aircraft->mrStatusLabel->setText("SUCCESS: Mixer Saved OK");
+    m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
     return true;
 }
 
@@ -1003,7 +1003,7 @@ bool ConfigMultiRotorWidget::throwConfigError(int numMotors)
 
 
     if (error){
-        m_aircraft->mrStatusLabel->setText(QString("<font color='red'>ERROR: Assign all %1 motor channels</font>").arg(numMotors));
+        m_aircraft->mrStatusLabel->setText(QString(tr("<font color='red'>ERROR: Assign all %1 motor channels</font>")).arg(numMotors));
     }
     return error;
 }

From cddabf76cfdaa3bc1943c40564e0e9484907e506 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 27 Jul 2012 20:50:22 -0500
Subject: [PATCH 084/543] Remove some debugging output that was a bit verbose

---
 .../plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp  | 2 --
 1 file changed, 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
index 8568ba979..cee5e8599 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@@ -739,8 +739,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
  */
 void ConfigMultiRotorWidget::setupQuadMotor(int channel, double pitch, double roll, double yaw)
 {
-    qDebug()<<QString("Setup quad motor channel=%0 pitch=%1 roll=%2 yaw=%3").arg(channel).arg(pitch).arg(roll).arg(yaw);
-
     UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
     Q_ASSERT(mixer);
 

From bd3ebe5b6114727a0c37fe383f0688914058c5e6 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 27 Jul 2012 20:59:39 -0500
Subject: [PATCH 085/543] Undo the previous patch to abort transactions if one
 is pending, but throw a warning still

---
 ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp b/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
index d8f98be5c..1560980d0 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
@@ -391,7 +391,6 @@ void Telemetry::processObjectQueue()
         QMap<quint32, ObjectTransactionInfo*>::iterator itr = transMap.find(objInfo.obj->getObjID());
         if ( itr != transMap.end() ) {
             qDebug() << "!!!!!! Making request for an object: " << objInfo.obj->getName() << " for which a request is already in progress!!!!!!";
-            return;
         }
         UAVObject::Metadata metadata = objInfo.obj->getMetadata();
         ObjectTransactionInfo *transInfo = new ObjectTransactionInfo(this);

From eae94b218871eb6116c784a4c5cb76f981b3f90f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 28 Jul 2012 00:00:50 -0500
Subject: [PATCH 086/543] Use setField instead of setData in SetConfigData
 because that doesn't trigger a transaction immediately before the
 smartSaveButton tries to trigger one.

---
 .../plugins/config/cfg_vehicletypes/vehicleconfig.cpp | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
index 8ae4c2588..62adba243 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
@@ -95,13 +95,14 @@ void VehicleConfig::SetConfigData(GUIConfigDataUnion configData) {
     Q_ASSERT(systemSettings);
     SystemSettings::DataFields systemSettingsData = systemSettings->getData();
 
+    UAVObjectField* guiConfig = systemSettings->getField("GUIConfigData");
+    Q_ASSERT(guiConfig);
+    if(!guiConfig)
+        return;
+
     // copy parameter configData -> systemsettings
     for (i = 0; i < (int)(SystemSettings::GUICONFIGDATA_NUMELEM); i++)
-        systemSettingsData.GUIConfigData[i] = configData.UAVObject[i];
-
-    systemSettings->setData(systemSettingsData);
-
-    //emit ConfigurationChanged();
+        guiConfig->setValue(configData.UAVObject[i], i);
 }
 
 void VehicleConfig::ResetActuators(GUIConfigDataUnion* configData)

From 83ae672533969be0bfd8197a1f507fa635ba3e12 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Sat, 28 Jul 2012 17:26:43 +1000
Subject: [PATCH 087/543] Gonfig gadget now gets the whole of the screen.

---
 .../src/plugins/coreplugin/OpenPilotGCS.xml   | 129 +++++++-----------
 1 file changed, 46 insertions(+), 83 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
index d61dba982..490f9f85e 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
@@ -2,21 +2,11 @@
   <General>
     <AutoConnect>true</AutoConnect>
     <AutoSelect>true</AutoSelect>
-    <LastPreferenceCategory>LineardialGadget</LastPreferenceCategory>
-    <LastPreferencePage>Mainboard CPU</LastPreferencePage>
+    <ExpertMode>false</ExpertMode>
+    <OverrideLanguage>en_AU</OverrideLanguage>
     <SaveSettingsOnExit>true</SaveSettingsOnExit>
-    <SettingsWindowHeight>476</SettingsWindowHeight>
-    <SettingsWindowWidth>697</SettingsWindowWidth>
+    <UDPMirror>false</UDPMirror>
   </General>
-  <IPconnection>
-    <Current>
-      <arr_1>
-        <Port>1</Port>
-        <UseTCP>0</UseTCP>
-      </arr_1>
-      <size>1</size>
-    </Current>
-  </IPconnection>
   <KeyBindings>
     <size>0</size>
   </KeyBindings>
@@ -33,9 +23,39 @@
     <Mode5>87</Mode5>
     <Welcome>100</Welcome>
   </ModePriorities>
-  <SerialConnection>
-    <speed>57600</speed>
-  </SerialConnection>
+  <Plugins>
+    <SoundNotifyPlugin>
+      <configInfo>
+        <locked>false</locked>
+        <version>1.0.0</version>
+      </configInfo>
+      <data>
+        <Current>
+          <arr_1>
+            <CurrentLanguage></CurrentLanguage>
+            <DataObject></DataObject>
+            <ExpireTimeout>0</ExpireTimeout>
+            <Mute>false</Mute>
+            <ObjectField></ObjectField>
+            <RangeLimit>0</RangeLimit>
+            <Repeat>0</Repeat>
+            <SayOrder>0</SayOrder>
+            <Sound1></Sound1>
+            <Sound2></Sound2>
+            <Sound3></Sound3>
+            <SoundCollectionPath></SoundCollectionPath>
+            <Value1></Value1>
+            <Value2>0</Value2>
+          </arr_1>
+          <size>1</size>
+        </Current>
+        <EnableSound>false</EnableSound>
+        <listNotifies>
+          <size>0</size>
+        </listNotifies>
+      </data>
+    </SoundNotifyPlugin>
+  </Plugins>
   <UAVGadgetConfigurations>
     <ConfigGadget>
       <default>
@@ -858,6 +878,7 @@
           <channel5Reverse>false</channel5Reverse>
           <channel6Reverse>false</channel6Reverse>
           <channel7Reverse>false</channel7Reverse>
+          <controlPortUDP>0</controlPortUDP>
           <controlsMode>2</controlsMode>
           <pitchChannel>1</pitchChannel>
           <rollChannel>0</rollChannel>
@@ -1712,7 +1733,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -1758,7 +1778,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>20</dataSize>
           <plotCurve0>
@@ -1814,7 +1833,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -1860,7 +1878,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -1886,7 +1903,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>40</dataSize>
           <plotCurve0>
@@ -1982,7 +1998,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -2028,7 +2043,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -2074,7 +2088,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -2120,7 +2133,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>240</dataSize>
           <plotCurve0>
@@ -2256,7 +2268,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>20</dataSize>
           <plotCurve0>
@@ -2302,7 +2313,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>240</dataSize>
           <plotCurve0>
@@ -2317,9 +2327,6 @@
           </plotCurve0>
           <plotCurve1>
             <color>0</color>
-            <mathFunction></mathFunction>
-            <uavField></uavField>
-            <uavObject></uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>
@@ -2349,9 +2356,13 @@
           <version>0.0.0</version>
         </configInfo>
         <data>
+          <CategorizedView>false</CategorizedView>
+          <ScientificView>false</ScientificView>
           <manuallyChangedColor>#5baa56</manuallyChangedColor>
+          <onlyHilightChangedValues>false</onlyHilightChangedValues>
           <recentlyUpdatedColor>#ff7957</recentlyUpdatedColor>
           <recentlyUpdatedTimeout>500</recentlyUpdatedTimeout>
+          <showMetaData>false</showMetaData>
         </data>
       </default>
     </UAVObjectBrowser>
@@ -2631,59 +2642,11 @@
     <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>
+        <classId>ConfigGadget</classId>
+        <gadget>
+          <activeConfiguration>default</activeConfiguration>
+        </gadget>
+        <type>uavGadget</type>
       </splitter>
       <version>UAVGadgetManagerV1</version>
     </Mode2>

From 999e5e9cc5e531e17cafe480388416f76a82efcf Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dima@dima-desktop.(none)>
Date: Sat, 28 Jul 2012 21:00:02 +1000
Subject: [PATCH 088/543] Fixed uninitialized terrainEnabled property

---
 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
index ac2d7ada2..40c748239 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
@@ -32,7 +32,8 @@
 #include <QtDeclarative/qdeclarativeengine.h>
 
 PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWidget *parent) :
-    QDeclarativeView(parent)
+    QDeclarativeView(parent),
+    m_terrainEnabled(false)
 {
     setMinimumSize(64,64);
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);

From dc4254d7d88c63c638378c78405381cfbb7efc5e Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Sat, 28 Jul 2012 15:04:55 +0100
Subject: [PATCH 089/543] GCS-Several UI fixes according to beta testers
 reports.

---
 .../src/plugins/config/camerastabilization.ui |   6 +-
 .../src/plugins/config/stabilization.ui       | 265 ++----------------
 .../importsummarydialog.ui                    |   2 +-
 3 files changed, 21 insertions(+), 252 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
index 116bab28a..098080ce6 100644
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -131,8 +131,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>790</width>
-            <height>648</height>
+            <width>792</width>
+            <height>630</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -176,7 +176,7 @@
               <item>
                <widget class="QLabel" name="label_7">
                 <property name="text">
-                 <string>After enabling the module, you must power cycle before using and configuring.</string>
+                 <string>After configuring you must power cycle your board before using and configuring</string>
                 </property>
                </widget>
               </item>
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 57b250731..97434d7f1 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -600,47 +600,14 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>756</width>
-            <height>817</height>
+            <width>758</width>
+            <height>806</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_8">
            <property name="spacing">
-            <number>-1</number>
+            <number>6</number>
            </property>
-           <item>
-            <layout class="QHBoxLayout" name="horizontalLayout_8">
-             <item>
-              <spacer name="horizontalSpacer_15">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_137">
-               <property name="minimumSize">
-                <size>
-                 <width>0</width>
-                 <height>16</height>
-                </size>
-               </property>
-               <property name="text">
-                <string>Rate Stabilization (Inner Loop)</string>
-               </property>
-              </widget>
-             </item>
-            </layout>
-           </item>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_15">
              <property name="sizePolicy">
@@ -662,14 +629,14 @@
               </size>
              </property>
              <property name="title">
-              <string/>
+              <string>Rate Stabilization (Inner Loop)</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
              </property>
              <layout class="QGridLayout" name="gridLayout_16">
               <property name="horizontalSpacing">
-               <number>-1</number>
+               <number>6</number>
               </property>
               <item row="0" column="0">
                <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0,0">
@@ -3538,39 +3505,6 @@ value as the Kp.</string>
              </layout>
             </widget>
            </item>
-           <item>
-            <layout class="QHBoxLayout" name="horizontalLayout_9">
-             <item>
-              <spacer name="horizontalSpacer_18">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>13</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_149">
-               <property name="minimumSize">
-                <size>
-                 <width>0</width>
-                 <height>16</height>
-                </size>
-               </property>
-               <property name="text">
-                <string>Attitude Stabilization (Outer Loop)</string>
-               </property>
-              </widget>
-             </item>
-            </layout>
-           </item>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_17">
              <property name="sizePolicy">
@@ -4109,7 +4043,7 @@ value as the Kp.</string>
               <bool>false</bool>
              </property>
              <property name="title">
-              <string/>
+              <string>Attitude Stabilization (Outer Loop)</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -6905,39 +6839,6 @@ border-radius: 5;</string>
              </layout>
             </widget>
            </item>
-           <item>
-            <layout class="QHBoxLayout" name="horizontalLayout_10">
-             <item>
-              <spacer name="horizontalSpacer_21">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>13</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_161">
-               <property name="minimumSize">
-                <size>
-                 <width>0</width>
-                 <height>16</height>
-                </size>
-               </property>
-               <property name="text">
-                <string>Stick Range and Limits</string>
-               </property>
-              </widget>
-             </item>
-            </layout>
-           </item>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_19">
              <property name="sizePolicy">
@@ -7473,7 +7374,7 @@ border-radius: 5;</string>
               </palette>
              </property>
              <property name="title">
-              <string/>
+              <string>Stick Range and Limits</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -10744,8 +10645,8 @@ automatically every 300ms, which will help for fast tuning.</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>470</width>
-            <height>914</height>
+            <width>758</width>
+            <height>806</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -10753,41 +10654,8 @@ automatically every 300ms, which will help for fast tuning.</string>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_9">
            <property name="spacing">
-            <number>-1</number>
+            <number>6</number>
            </property>
-           <item>
-            <layout class="QHBoxLayout" name="horizontalLayout_11">
-             <item>
-              <spacer name="horizontalSpacer_25">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_41">
-               <property name="minimumSize">
-                <size>
-                 <width>241</width>
-                 <height>16</height>
-                </size>
-               </property>
-               <property name="text">
-                <string>Rate Stabization Coefficients (Inner Loop)</string>
-               </property>
-              </widget>
-             </item>
-            </layout>
-           </item>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_8">
              <property name="sizePolicy">
@@ -11323,7 +11191,7 @@ automatically every 300ms, which will help for fast tuning.</string>
               </palette>
              </property>
              <property name="title">
-              <string/>
+              <string>Rate Stabization Coefficients (Inner Loop)</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -14246,39 +14114,6 @@ value as the Kp.</string>
              </layout>
             </widget>
            </item>
-           <item>
-            <layout class="QHBoxLayout" name="horizontalLayout_12">
-             <item>
-              <spacer name="horizontalSpacer_12">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_35">
-               <property name="minimumSize">
-                <size>
-                 <width>241</width>
-                 <height>16</height>
-                </size>
-               </property>
-               <property name="text">
-                <string>Attitude Stabization Coefficients (Outer Loop)</string>
-               </property>
-              </widget>
-             </item>
-            </layout>
-           </item>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_4">
              <property name="sizePolicy">
@@ -14817,7 +14652,7 @@ value as the Kp.</string>
               <bool>false</bool>
              </property>
              <property name="title">
-              <string/>
+              <string>Attitude Stabization Coefficients (Outer Loop)</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -14829,7 +14664,7 @@ value as the Kp.</string>
               <item>
                <layout class="QHBoxLayout" name="horizontalLayout_5">
                 <property name="spacing">
-                 <number>-1</number>
+                 <number>6</number>
                 </property>
                 <item>
                  <widget class="QCheckBox" name="checkBox_2">
@@ -17545,39 +17380,6 @@ border-radius: 5;</string>
              </layout>
             </widget>
            </item>
-           <item>
-            <layout class="QHBoxLayout" name="horizontalLayout_13">
-             <item>
-              <spacer name="horizontalSpacer_13">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_36">
-               <property name="minimumSize">
-                <size>
-                 <width>180</width>
-                 <height>16</height>
-                </size>
-               </property>
-               <property name="text">
-                <string>Stick Range and Limits</string>
-               </property>
-              </widget>
-             </item>
-            </layout>
-           </item>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_6">
              <property name="sizePolicy">
@@ -18113,7 +17915,7 @@ border-radius: 5;</string>
               </palette>
              </property>
              <property name="title">
-              <string/>
+              <string>Stick Range and Limits</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -18122,7 +17924,7 @@ border-radius: 5;</string>
               <item>
                <layout class="QHBoxLayout" name="horizontalLayout_6">
                 <property name="spacing">
-                 <number>-1</number>
+                 <number>6</number>
                 </property>
                 <item>
                  <spacer name="horizontalSpacer_14">
@@ -20864,39 +20666,6 @@ rate(deg/s)</string>
              </layout>
             </widget>
            </item>
-           <item>
-            <layout class="QHBoxLayout" name="horizontalLayout_16">
-             <item>
-              <spacer name="horizontalSpacer_41">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item>
-              <widget class="QLabel" name="label_45">
-               <property name="minimumSize">
-                <size>
-                 <width>180</width>
-                 <height>16</height>
-                </size>
-               </property>
-               <property name="text">
-                <string>Sensor Tunning</string>
-               </property>
-              </widget>
-             </item>
-            </layout>
-           </item>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_23">
              <property name="minimumSize">
@@ -21429,7 +21198,7 @@ rate(deg/s)</string>
               <bool>false</bool>
              </property>
              <property name="title">
-              <string/>
+              <string>Sensor Tuning</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -21438,7 +21207,7 @@ rate(deg/s)</string>
               <item row="0" column="0">
                <layout class="QHBoxLayout" name="horizontalLayout_7">
                 <property name="spacing">
-                 <number>-1</number>
+                 <number>6</number>
                 </property>
                 <item>
                  <spacer name="horizontalSpacer_40">
diff --git a/ground/openpilotgcs/src/plugins/uavsettingsimportexport/importsummarydialog.ui b/ground/openpilotgcs/src/plugins/uavsettingsimportexport/importsummarydialog.ui
index 7c7212eb0..20873ae4b 100644
--- a/ground/openpilotgcs/src/plugins/uavsettingsimportexport/importsummarydialog.ui
+++ b/ground/openpilotgcs/src/plugins/uavsettingsimportexport/importsummarydialog.ui
@@ -101,7 +101,7 @@
 then close the dialog.</string>
        </property>
        <property name="text">
-        <string>Save to Board Flash/SD</string>
+        <string>Save to Board Flash</string>
        </property>
       </widget>
      </item>

From fef831ec2bbc3083844f592fdbc149a8c4047c8a Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Sun, 29 Jul 2012 01:53:45 +1000
Subject: [PATCH 090/543] Add stylesheets and ensure they are copied on build

---
 ground/openpilotgcs/src/app/app.pro                 | 7 +++++--
 ground/openpilotgcs/src/app/stylesheets/linux.qss   | 0
 ground/openpilotgcs/src/app/stylesheets/macos.qss   | 0
 ground/openpilotgcs/src/app/stylesheets/windows.qss | 0
 4 files changed, 5 insertions(+), 2 deletions(-)
 create mode 100644 ground/openpilotgcs/src/app/stylesheets/linux.qss
 create mode 100644 ground/openpilotgcs/src/app/stylesheets/macos.qss
 create mode 100644 ground/openpilotgcs/src/app/stylesheets/windows.qss

diff --git a/ground/openpilotgcs/src/app/app.pro b/ground/openpilotgcs/src/app/app.pro
index c644f7c97..e66f3f4f0 100644
--- a/ground/openpilotgcs/src/app/app.pro
+++ b/ground/openpilotgcs/src/app/app.pro
@@ -14,8 +14,6 @@ include(../libs/utils/utils.pri)
 LIBS *= -l$$qtLibraryName(ExtensionSystem) -l$$qtLibraryName(Aggregation)
 
 win32 {
-#    CONFIG(debug, debug|release):LIBS *= -lExtensionSystemd -lAggregationd  -lQExtSerialPortd
-#    else:LIBS *= -lExtensionSystem -lAggregation -lQExtSerialPort
     RC_FILE = openpilotgcs.rc
     target.path = /bin
     INSTALLS += target
@@ -32,3 +30,8 @@ win32 {
 }
 
 OTHER_FILES += openpilotgcs.rc
+
+style_copy.commands += $(COPY_FILE) $$targetPath(\"$$GCS_SOURCE_TREE/src/app/stylesheets/*.qss\") $$targetPath(\"$$GCS_APP_PATH\") $$addNewline()
+style_copy.target = FORCE
+QMAKE_EXTRA_TARGETS += style_copy
+
diff --git a/ground/openpilotgcs/src/app/stylesheets/linux.qss b/ground/openpilotgcs/src/app/stylesheets/linux.qss
new file mode 100644
index 000000000..e69de29bb
diff --git a/ground/openpilotgcs/src/app/stylesheets/macos.qss b/ground/openpilotgcs/src/app/stylesheets/macos.qss
new file mode 100644
index 000000000..e69de29bb
diff --git a/ground/openpilotgcs/src/app/stylesheets/windows.qss b/ground/openpilotgcs/src/app/stylesheets/windows.qss
new file mode 100644
index 000000000..e69de29bb

From 1fca385fc4478342a8d211e747a52e186f384889 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Sun, 29 Jul 2012 03:00:17 +1000
Subject: [PATCH 091/543] Change RPY to Roll,Pitch and Yaw for the mixer on the
 aircraft screen, as per mikes suggestion

---
 .../src/plugins/config/airframe.ui            | 26 +++++++++----------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index a9de06541..6e61303e4 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -119,8 +119,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>779</width>
-            <height>691</height>
+            <width>785</width>
+            <height>703</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_2">
@@ -802,7 +802,7 @@ font: bold 12px;
 margin:1px;</string>
                                </property>
                                <property name="text">
-                                <string>R</string>
+                                <string>Roll</string>
                                </property>
                                <property name="alignment">
                                 <set>Qt::AlignCenter</set>
@@ -862,7 +862,7 @@ font: bold 12px;
 margin:1px;</string>
                                </property>
                                <property name="text">
-                                <string>P</string>
+                                <string>Pitch</string>
                                </property>
                                <property name="alignment">
                                 <set>Qt::AlignCenter</set>
@@ -928,7 +928,7 @@ font: bold 12px;
 margin:1px;</string>
                                </property>
                                <property name="text">
-                                <string>Y</string>
+                                <string>Yaw</string>
                                </property>
                                <property name="alignment">
                                 <set>Qt::AlignCenter</set>
@@ -1017,7 +1017,6 @@ margin:1px;</string>
                         <property name="styleSheet">
                          <string notr="true">background:transparent</string>
                         </property>
-                        <zorder></zorder>
                        </widget>
                       </item>
                      </layout>
@@ -2756,8 +2755,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>779</width>
-            <height>679</height>
+            <width>192</width>
+            <height>236</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
@@ -3068,14 +3067,15 @@ 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;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;/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;
 &lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
 &lt;tr&gt;
 &lt;td style=&quot;border: none;&quot;&gt;
 &lt;p align=&quot;center&quot; 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:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&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:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
-&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
+&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:'Ubuntu'; font-size:11pt;&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:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&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:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
              </property>
             </widget>
            </item>
@@ -3084,7 +3084,7 @@ p, li { white-space: pre-wrap; }
         </widget>
        </item>
        <item>
-        <layout class="QVBoxLayout" name="verticalLayout_11" stretch=""/>
+        <layout class="QVBoxLayout" name="verticalLayout_11"/>
        </item>
       </layout>
      </widget>

From 9395df6d2dad306c721b5460836472eb549e41de Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Sun, 29 Jul 2012 03:27:51 +1000
Subject: [PATCH 092/543] Make size of labels consistant

---
 .../src/plugins/config/camerastabilization.ui | 78 ++++++++++++++++++-
 1 file changed, 75 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
index 098080ce6..ff1f84049 100644
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -131,8 +131,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>792</width>
-            <height>630</height>
+            <width>790</width>
+            <height>644</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -176,7 +176,7 @@
               <item>
                <widget class="QLabel" name="label_7">
                 <property name="text">
-                 <string>After configuring you must power cycle your board before using and configuring</string>
+                 <string>After enabling you must power cycle your board before using and configuring</string>
                 </property>
                </widget>
               </item>
@@ -328,6 +328,18 @@ have to define channel output range using Output configuration tab.</string>
               </item>
               <item row="1" column="3">
                <widget class="QLabel" name="label_44">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
                 <property name="styleSheet">
                  <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -345,6 +357,18 @@ margin:1px;</string>
               </item>
               <item row="1" column="2">
                <widget class="QLabel" name="label_45">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
                 <property name="styleSheet">
                  <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -362,6 +386,18 @@ margin:1px;</string>
               </item>
               <item row="1" column="1">
                <widget class="QLabel" name="label_46">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
                 <property name="styleSheet">
                  <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -432,6 +468,18 @@ margin:1px;</string>
               </property>
               <item row="1" column="3">
                <widget class="QLabel" name="label_32">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
                 <property name="styleSheet">
                  <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -449,6 +497,18 @@ margin:1px;</string>
               </item>
               <item row="1" column="2">
                <widget class="QLabel" name="label_33">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
                 <property name="styleSheet">
                  <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -466,6 +526,18 @@ margin:1px;</string>
               </item>
               <item row="1" column="1">
                <widget class="QLabel" name="label_34">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
                 <property name="styleSheet">
                  <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);

From 5f8c6dc7afb75c3081ac04e06e7293efd8c509bc Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Sat, 28 Jul 2012 19:06:54 +0100
Subject: [PATCH 093/543] Remove unwanted file

---
 .../notify/notifypluginoptionspage.cpp.orig   | 512 ------------------
 1 file changed, 512 deletions(-)
 delete mode 100644 ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig

diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig
deleted file mode 100644
index 2ff775e31..000000000
--- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig
+++ /dev/null
@@ -1,512 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       notifypluginoptionspage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Notify Plugin options page
- * @see        The GNU Public License (GPL) Version 3
- * @defgroup   notifyplugin
- * @{
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "notifypluginoptionspage.h"
-#include <coreplugin/icore.h>
-#include "notificationitem.h"
-#include "ui_notifypluginoptionspage.h"
-#include "extensionsystem/pluginmanager.h"
-#include "utils/pathutils.h"
-
-#include <QFileDialog>
-#include <QtAlgorithms>
-#include <QStringList>
-#include <QtCore/QSettings>
-#include <QTableWidget>
-#include <QPalette>
-#include <QBuffer>
-
-#include "notifyplugin.h"
-#include "notifyitemdelegate.h"
-#include "notifytablemodel.h"
-#include "notifylogging.h"
-
-NotifyPluginOptionsPage::NotifyPluginOptionsPage(/*NotificationItem *config,*/ QObject *parent)
-    : IOptionsPage(parent)
-    , objManager(*ExtensionSystem::PluginManager::instance()->getObject<UAVObjectManager>())
-    , owner(qobject_cast<SoundNotifyPlugin*>(parent))
-    , currentCollectionPath("")
-{
-}
-
-NotifyPluginOptionsPage::~NotifyPluginOptionsPage()
-{
-}
-
-//creates options page widget (uses the UI file)
-QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent)
-{
-    options_page.reset(new Ui::NotifyPluginOptionsPage());
-    //main widget
-    QWidget *optionsPageWidget = new QWidget;
-    //main layout
-    options_page->setupUi(optionsPageWidget);
-
-    listSoundFiles.clear();
-
-    options_page->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory);
-    options_page->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory"));
-
-    // Fills the combo boxes for the UAVObjects
-    QList< QList<UAVDataObject*> > objList = objManager.getDataObjects();
-    foreach (QList<UAVDataObject*> list, objList) {
-        foreach (UAVDataObject* obj, list) {
-            options_page->UAVObject->addItem(obj->getName());
-        }
-    }
-
-<<<<<<< Updated upstream
-    connect(options_page->SoundDirectoryPathChooser, SIGNAL(changed(const QString&)), this, SLOT(on_buttonSoundFolder_clicked(const QString&)));
-    connect(options_page->SoundCollectionList, SIGNAL(currentIndexChanged (int)), this, SLOT(on_soundLanguage_indexChanged(int)));
-    connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString)));
-=======
-	options_page = new Ui::NotifyPluginOptionsPage();
-	//main widget
-	QWidget *optionsPageWidget = new QWidget;
-	//main layout
-	options_page->setupUi(optionsPageWidget);
-
-	delegateItems.clear();
-	listSoundFiles.clear();
-
-	options_page->horizontalLayout_3->addWidget(new QPushButton("testtt"));
-	delegateItems << "Repeat Once"
-			 << "Repeat Instantly"
-			 << "Repeat 10 seconds"
-			 << "Repeat 30 seconds"
-			 << "Repeat 1 minute";
-
-	options_page->chkEnableSound->setChecked(owner->getEnableSound());
-	options_page->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory);
-	options_page->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory"));
-
-
-
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	objManager = pm->getObject<UAVObjectManager>();
-
-	// Fills the combo boxes for the UAVObjects
-	QList< QList<UAVDataObject*> > objList = objManager->getDataObjects();
-	foreach (QList<UAVDataObject*> list, objList) {
-		foreach (UAVDataObject* obj, list) {
-			options_page->UAVObject->addItem(obj->getName());
-		}
-	}
-
-	connect(options_page->SoundDirectoryPathChooser, SIGNAL(changed(const QString&)), this, SLOT(on_buttonSoundFolder_clicked(const QString&)));
-	connect(options_page->SoundCollectionList, SIGNAL(currentIndexChanged (int)), this, SLOT(on_soundLanguage_indexChanged(int)));
-	connect(options_page->buttonAdd, SIGNAL(pressed()), this, SLOT(on_buttonAddNotification_clicked()));
-	connect(options_page->buttonDelete, SIGNAL(pressed()), this, SLOT(on_buttonDeleteNotification_clicked()));
-	connect(options_page->buttonModify, SIGNAL(pressed()), this, SLOT(on_buttonModifyNotification_clicked()));
-//	connect(options_page->buttonTestSound1, SIGNAL(clicked()), this, SLOT(on_buttonTestSound1_clicked()));
-//	connect(options_page->buttonTestSound2, SIGNAL(clicked()), this, SLOT(on_buttonTestSound2_clicked()));
-	connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked()));
-	connect(options_page->chkEnableSound, SIGNAL(toggled(bool)), this, SLOT(on_chkEnableSound_toggled(bool)));
-
-
-	connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString)));
-	connect(this, SIGNAL(updateNotifications(QList<NotifyPluginConfiguration*>)),
-			owner, SLOT(updateNotificationList(QList<NotifyPluginConfiguration*>)));
-	connect(this, SIGNAL(resetNotification()),owner, SLOT(resetNotification()));
-
-	//emit resetNotification();
-
-
-        privListNotifications.clear();
-
-        for (int i = 0; i < owner->getListNotifications().size(); ++i) {
-                 NotifyPluginConfiguration* notification = new NotifyPluginConfiguration();
-                 owner->getListNotifications().at(i)->copyTo(notification);
-		 privListNotifications.append(notification);
-	}
-
-        updateConfigView(owner->getCurrentNotification());
-
-        options_page->chkEnableSound->setChecked(owner->getEnableSound());
-
-	QStringList headerStrings;
-	headerStrings << "Name" << "Repeats" << "Lifetime,sec";
->>>>>>> Stashed changes
-
-    connect(this, SIGNAL(updateNotifications(QList<NotificationItem*>)),
-        owner, SLOT(updateNotificationList(QList<NotificationItem*>)));
-    //connect(this, SIGNAL(resetNotification()),owner, SLOT(resetNotification()));
-
-
-//    privListNotifications = ((qobject_cast<SoundNotifyPlugin*>(parent))->getListNotifications());
-    privListNotifications = owner->getListNotifications();
-
-    updateConfigView(owner->getCurrentNotification());
-
-    initRulesTable();
-    initButtons();
-    initPhononPlayer();
-
-    return optionsPageWidget;
-}
-
-void NotifyPluginOptionsPage::initButtons()
-{
-    options_page->chkEnableSound->setChecked(owner->getEnableSound());
-    connect(options_page->chkEnableSound, SIGNAL(toggled(bool)), this, SLOT(on_chkEnableSound_toggled(bool)));
-
-    options_page->buttonModify->setEnabled(false);
-    options_page->buttonDelete->setEnabled(false);
-    options_page->buttonPlayNotification->setEnabled(false);
-    connect(options_page->buttonAdd, SIGNAL(pressed()), this, SLOT(on_buttonAddNotification_clicked()));
-    connect(options_page->buttonDelete, SIGNAL(pressed()), this, SLOT(on_buttonDeleteNotification_clicked()));
-    connect(options_page->buttonModify, SIGNAL(pressed()), this, SLOT(on_buttonModifyNotification_clicked()));
-    connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked()));
-}
-
-void NotifyPluginOptionsPage::initPhononPlayer()
-{
-    notifySound.reset(Phonon::createPlayer(Phonon::NotificationCategory));
-    connect(notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)),
-        this,SLOT(changeButtonText(Phonon::State,Phonon::State)));
-    connect(notifySound.data(), SIGNAL(finished(void)), this, SLOT(onFinishedPlaying(void)));
-}
-
-void NotifyPluginOptionsPage::initRulesTable()
-{
-    qNotifyDebug_if(_notifyRulesModel.isNull()) << "_notifyRulesModel.isNull())";
-    qNotifyDebug_if(!_notifyRulesSelection) << "_notifyRulesSelection.isNull())";
-    //QItemSelectionModel* selection = _notifyRulesSelection.take();
-    _notifyRulesModel.reset(new NotifyTableModel(privListNotifications));
-    _notifyRulesSelection = new QItemSelectionModel(_notifyRulesModel.data());
-
-    connect(_notifyRulesSelection, SIGNAL(selectionChanged ( const QItemSelection &, const QItemSelection & )),
-        this, SLOT(on_tableNotification_changeSelection( const QItemSelection & , const QItemSelection & )));
-    connect(this, SIGNAL(entryUpdated(int)),
-        _notifyRulesModel.data(), SLOT(entryUpdated(int)));
-    connect(this, SIGNAL(entryAdded(int)),
-        _notifyRulesModel.data(), SLOT(entryAdded(int)));
-
-    options_page->notifyRulesView->setModel(_notifyRulesModel.data());
-    options_page->notifyRulesView->setSelectionModel(_notifyRulesSelection);
-    options_page->notifyRulesView->setItemDelegate(new NotifyItemDelegate(this));
-
-    options_page->notifyRulesView->resizeRowsToContents();
-    options_page->notifyRulesView->setColumnWidth(eMESSAGE_NAME,200);
-    options_page->notifyRulesView->setColumnWidth(eREPEAT_VALUE,120);
-    options_page->notifyRulesView->setColumnWidth(eEXPIRE_TIME,100);
-    options_page->notifyRulesView->setColumnWidth(eENABLE_NOTIFICATION,60);
-    options_page->notifyRulesView->setDragEnabled(true);
-    options_page->notifyRulesView->setAcceptDrops(true);
-    options_page->notifyRulesView->setDropIndicatorShown(true);
-    options_page->notifyRulesView->setDragDropMode(QAbstractItemView::InternalMove);
-
-
-}
-
-void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notification)
-{
-    notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path());
-    notification->setCurrentLanguage(options_page->SoundCollectionList->currentText());
-    notification->setDataObject(options_page->UAVObject->currentText());
-    notification->setObjectField(options_page->UAVObjectField->currentText());
-    notification->setSound1(options_page->Sound1->currentText());
-    notification->setSound2(options_page->Sound2->currentText());
-    notification->setSound3(options_page->Sound3->currentText());
-    notification->setSayOrder(options_page->SayOrder->currentText());
-    notification->setValue(options_page->Value->currentText());
-    notification->setSpinBoxValue(options_page->ValueSpinBox->value());
-}
-
-/*!
-* Called when the user presses apply or OK.
-* Saves the current values
-*/
-void NotifyPluginOptionsPage::apply()
-{
-    getOptionsPageValues(owner->getCurrentNotification());
-    owner->setEnableSound(options_page->chkEnableSound->isChecked());
-    emit updateNotifications(privListNotifications);
-}
-
-void NotifyPluginOptionsPage::finish()
-{
-    disconnect(notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)),
-        this,SLOT(changeButtonText(Phonon::State,Phonon::State)));
-    if (notifySound) {
-        notifySound->stop();
-        notifySound->clear();
-    }
-}
-
-//////////////////////////////////////////////////////////////////////////////
-//  Fills in the <Field> combo box when value is changed in the
-//  <Object> combo box
-//////////////////////////////////////////////////////////////////////////////
-void NotifyPluginOptionsPage::on_UAVObject_indexChanged(QString val) {
-    options_page->UAVObjectField->clear();
-    ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(val) );
-    QList<UAVObjectField*> fieldList = obj->getFields();
-    foreach (UAVObjectField* field, fieldList) {
-        options_page->UAVObjectField->addItem(field->getName());
-    }
-}
-
-// locate collection folder on disk
-void NotifyPluginOptionsPage::on_buttonSoundFolder_clicked(const QString& path)
-{
-    QDir dirPath(path);
-    listDirCollections = dirPath.entryList(QDir::AllDirs | QDir::NoDotAndDotDot);
-    options_page->SoundCollectionList->clear();
-    options_page->SoundCollectionList->addItems(listDirCollections);
-}
-
-
-void NotifyPluginOptionsPage::on_soundLanguage_indexChanged(int index)
-{
-    options_page->SoundCollectionList->setCurrentIndex(index);
-
-    currentCollectionPath = options_page->SoundDirectoryPathChooser->path()
-        + QDir::toNativeSeparators("/" + options_page->SoundCollectionList->currentText());
-
-    QDir dirPath(currentCollectionPath);
-    QStringList filters;
-    filters << "*.mp3" << "*.wav";
-    dirPath.setNameFilters(filters);
-    listSoundFiles = dirPath.entryList(filters);
-    listSoundFiles.replaceInStrings(QRegExp(".mp3|.wav"), "");
-    options_page->Sound1->clear();
-    options_page->Sound2->clear();
-    options_page->Sound3->clear();
-    options_page->Sound1->addItems(listSoundFiles);
-    options_page->Sound2->addItem("");
-    options_page->Sound2->addItems(listSoundFiles);
-    options_page->Sound3->addItem("");
-    options_page->Sound3->addItems(listSoundFiles);
-
-}
-
-void  NotifyPluginOptionsPage::changeButtonText(Phonon::State newstate, Phonon::State oldstate)
-{
-    //Q_ASSERT(Phonon::ErrorState != newstate);
-
-    if (newstate  == Phonon::PausedState || newstate  == Phonon::StoppedState) {
-        options_page->buttonPlayNotification->setText("Play");
-        options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/play.png"));
-    } else {
-        if (newstate  == Phonon::PlayingState) {
-            options_page->buttonPlayNotification->setText("Stop");
-            options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/stop.png"));
-        }
-    }
-}
-
-void  NotifyPluginOptionsPage::onFinishedPlaying()
-{
-    notifySound->clear();
-}
-
-void NotifyPluginOptionsPage::on_buttonTestSoundNotification_clicked()
-{
-    NotificationItem* notification = NULL;
-
-    if (-1 == _notifyRulesSelection->currentIndex().row())
-            return;
-    notifySound->clearQueue();
-    notification = privListNotifications.at(_notifyRulesSelection->currentIndex().row());
-    notification->parseNotifyMessage();
-    QStringList sequence = notification->getMessageSequence();
-    Q_ASSERT(!!sequence.size());
-    foreach(QString item, sequence)
-            notifySound->enqueue(Phonon::MediaSource(item));
-
-    notifySound->play();
-}
-
-void NotifyPluginOptionsPage::on_chkEnableSound_toggled(bool state)
-{
-    bool state1 = 1^state;
-
-    QList<Phonon::Path> listOutputs = notifySound->outputPaths();
-    Phonon::AudioOutput * audioOutput = (Phonon::AudioOutput*)listOutputs.last().sink();
-    audioOutput->setMuted(state1);
-}
-
-void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification)
-{
-    QString path = notification->getSoundCollectionPath();
-    if (path == "") {
-            //QDir dir = QDir::currentPath();
-            //path = QDir::currentPath().left(QDir::currentPath().indexOf("OpenPilot",0,Qt::CaseSensitive))+"../share/sounds";
-            path = Utils::PathUtils().InsertDataPath("%%DATAPATH%%sounds");
-    }
-
-    options_page->SoundDirectoryPathChooser->setPath(path);
-
-    if (-1 != options_page->SoundCollectionList->findText(notification->getCurrentLanguage())){
-            options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText(notification->getCurrentLanguage()));
-    } else {
-            options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default"));
-    }
-
-    if (options_page->UAVObject->findText(notification->getDataObject())!=-1){
-            options_page->UAVObject->setCurrentIndex(options_page->UAVObject->findText(notification->getDataObject()));
-    }
-
-    // Now load the object field values:
-    options_page->UAVObjectField->clear();
-    QString uavDataObject = notification->getDataObject();
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager.getObject(uavDataObject));
-    if (obj != NULL ) {
-            QList<UAVObjectField*> fieldList = obj->getFields();
-            foreach (UAVObjectField* field, fieldList) {
-                    options_page->UAVObjectField->addItem(field->getName());
-            }
-    }
-
-    if (-1 != options_page->UAVObjectField->findText(notification->getObjectField())) {
-            options_page->UAVObjectField->setCurrentIndex(options_page->UAVObjectField->findText(notification->getObjectField()));
-    }
-
-    if (-1 != options_page->Sound1->findText(notification->getSound1())) {
-            options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1()));
-    } else {
-            // show item from default location
-            options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default"));
-            options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1()));
-
-            // don't show item if it wasn't find in stored location
-            //options_page->Sound1->setCurrentIndex(-1);
-    }
-
-    if (-1 != options_page->Sound2->findText(notification->getSound2())) {
-            options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2()));
-    } else {
-            // show item from default location
-            options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default"));
-            options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2()));
-
-            // don't show item if it wasn't find in stored location
-            //options_page->Sound2->setCurrentIndex(-1);
-    }
-
-    if (-1 != options_page->Sound3->findText(notification->getSound3())) {
-            options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3()));
-    } else {
-            // show item from default location
-            options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default"));
-            options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3()));
-    }
-
-    if (-1 != options_page->Value->findText(notification->getValue())) {
-            options_page->Value->setCurrentIndex(options_page->Value->findText(notification->getValue()));
-    }
-
-    if (-1 != options_page->SayOrder->findText(notification->getSayOrder())) {
-            options_page->SayOrder->setCurrentIndex(options_page->SayOrder->findText(notification->getSayOrder()));
-    }
-
-    options_page->ValueSpinBox->setValue(notification->getSpinBoxValue());
-}
-
-void NotifyPluginOptionsPage::on_tableNotification_changeSelection( const QItemSelection & selected, const QItemSelection & deselected )
-{
-    bool select = false;
-    notifySound->stop();
-    if (selected.indexes().size()) {
-            select = true;
-            updateConfigView(privListNotifications.at(selected.indexes().at(0).row()));
-    }
-
-    options_page->buttonModify->setEnabled(select);
-    options_page->buttonDelete->setEnabled(select);
-    options_page->buttonPlayNotification->setEnabled(select);
-}
-
-
-void NotifyPluginOptionsPage::on_buttonAddNotification_clicked()
-{
-    NotificationItem* notification = new NotificationItem;
-
-    if (options_page->SoundDirectoryPathChooser->path()=="") {
-            QPalette textPalette=options_page->SoundDirectoryPathChooser->palette();
-            textPalette.setColor(QPalette::Normal,QPalette::Text, Qt::red);
-            options_page->SoundDirectoryPathChooser->setPalette(textPalette);
-            options_page->SoundDirectoryPathChooser->setPath("please select sound collection folder");
-            return;
-    }
-
-    notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path());
-    notification->setCurrentLanguage(options_page->SoundCollectionList->currentText());
-    notification->setDataObject(options_page->UAVObject->currentText());
-    notification->setObjectField(options_page->UAVObjectField->currentText());
-    notification->setValue(options_page->Value->currentText());
-    notification->setSpinBoxValue(options_page->ValueSpinBox->value());
-
-    if (options_page->Sound1->currentText().size() > 0)
-            notification->setSound1(options_page->Sound1->currentText());
-
-    notification->setSound2(options_page->Sound2->currentText());
-    notification->setSound3(options_page->Sound3->currentText());
-
-if ( ((!options_page->Sound2->currentText().size()) && (options_page->SayOrder->currentText()=="After second"))
-     || ((!options_page->Sound3->currentText().size()) && (options_page->SayOrder->currentText()=="After third")) ) {
-            return;
-    } else {
-            notification->setSayOrder(options_page->SayOrder->currentText());
-    }
-    privListNotifications.append(notification);
-    emit entryAdded(privListNotifications.size() - 1);
-    _notifyRulesSelection->setCurrentIndex(_notifyRulesModel->index(privListNotifications.size()-1,0,QModelIndex()),
-                                                                              QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows);
-}
-
-
-void NotifyPluginOptionsPage::on_buttonDeleteNotification_clicked()
-{
-    _notifyRulesModel->removeRow(_notifyRulesSelection->currentIndex().row());
-    if (!_notifyRulesModel->rowCount()
-        && (_notifyRulesSelection->currentIndex().row() > 0
-        && _notifyRulesSelection->currentIndex().row() < _notifyRulesModel->rowCount()) )
-    {
-        options_page->buttonDelete->setEnabled(false);
-        options_page->buttonModify->setEnabled(false);
-        options_page->buttonPlayNotification->setEnabled(false);
-    }
-
-}
-
-void NotifyPluginOptionsPage::on_buttonModifyNotification_clicked()
-{
-    NotificationItem* notification = new NotificationItem;
-    getOptionsPageValues(notification);
-    notification->setRetryString(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->retryString());
-    notification->setLifetime(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->lifetime());
-    notification->setMute(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->mute());
-
-    privListNotifications.replace(_notifyRulesSelection->currentIndex().row(),notification);
-    entryUpdated(_notifyRulesSelection->currentIndex().row());
-
-}
-

From 27fca079d8c4a71f83ade37fb306bddc9bdeea45 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Sun, 29 Jul 2012 04:07:55 +1000
Subject: [PATCH 094/543] Change language used per David J's suggestion

---
 ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
index e9c3d7aaf..08118c4b5 100644
--- a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
+++ b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
@@ -341,7 +341,7 @@
       </size>
      </property>
      <property name="title">
-      <string>Problems</string>
+      <string>Messages</string>
      </property>
      <layout class="QHBoxLayout" name="horizontalLayout_3">
       <item>

From 14b7666c1b92003365025fe037d2d3d167477434 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Sun, 29 Jul 2012 00:44:08 +0100
Subject: [PATCH 095/543] GCS-disabled the reload board data button while it is
 doing its work. minimized uavo transactions when button is pressed.

---
 .../uavobjectwidgetutils/configtaskwidget.cpp      | 14 ++++++++++++++
 .../uavobjectwidgetutils/configtaskwidget.h        | 10 ++++++++++
 2 files changed, 24 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
index 41ddf9f05..760ddae70 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
@@ -784,6 +784,9 @@ void ConfigTaskWidget::defaultButtonClicked()
  */
 void ConfigTaskWidget::reloadButtonClicked()
 {
+    QPushButton * button=qobject_cast<QPushButton*>(sender());
+    if(button)
+        button->setEnabled(false);
     int group=sender()->property("group").toInt();
     QList<objectToWidget*> * list=defaultReloadGroups.value(group,NULL);
     if(!list)
@@ -793,10 +796,19 @@ void ConfigTaskWidget::reloadButtonClicked()
     QEventLoop * eventLoop=new QEventLoop(this);
     connect(timeOut, SIGNAL(timeout()),eventLoop,SLOT(quit()));
     connect(objper, SIGNAL(objectUpdated(UAVObject*)), eventLoop, SLOT(quit()));
+
+    QList<temphelper> temp;
     foreach(objectToWidget * oTw,*list)
     {
         if (oTw->object != NULL)
         {
+            temphelper value;
+            value.objid=oTw->object->getObjID();
+            value.objinstid=oTw->object->getInstID();
+            if(temp.contains(value))
+                continue;
+            else
+                temp.append(value);
             ObjectPersistence::DataFields data;
             data.Operation = ObjectPersistence::OPERATION_LOAD;
             data.Selection = ObjectPersistence::SELECTION_SINGLEOBJECT;
@@ -824,6 +836,8 @@ void ConfigTaskWidget::reloadButtonClicked()
         delete timeOut;
         timeOut=NULL;
     }
+    if(button)
+        button->setEnabled(true);
 }
 
 /**
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
index 3cac0abc0..825f9d007 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
@@ -70,6 +70,16 @@ public:
         QList<shadow *> shadowsList;
     };
 
+    struct temphelper
+    {
+        quint32 objid;
+        quint32 objinstid;
+        bool operator==(const temphelper& lhs)
+        {
+            return (lhs.objid==this->objid && lhs.objinstid==this->objinstid);
+        }
+    };
+
     enum buttonTypeEnum {none,save_button,apply_button,reload_button,default_button,help_button};
     struct uiRelationAutomation
     {

From 6b84b58bfe154e706c4767f27d173f2c880e01ef Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Sun, 29 Jul 2012 00:53:05 +0100
Subject: [PATCH 096/543] GCS-Moved the wizard and calibration widgets to the
 stacked widget so that they disapear during the wizard

---
 .../src/plugins/config/configinputwidget.cpp  | 15 +++++
 .../src/plugins/config/configinputwidget.h    |  5 +-
 .../openpilotgcs/src/plugins/config/input.ui  | 55 +++++++------------
 3 files changed, 38 insertions(+), 37 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index f9c9e0a40..78f32055b 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -86,6 +86,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     addUAVObjectToWidgetRelation("ManualControlSettings", "Deadband", m_config->deadband, 0, 0.01f);
 
     connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
+    connect(m_config->stackedWidget,SIGNAL(currentChanged(int)),this,SLOT(disableWizardButton(int)));
     connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool)));
 
     connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext()));
@@ -303,6 +304,14 @@ void ConfigInputWidget::goToWizard()
     m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
 }
 
+void ConfigInputWidget::disableWizardButton(int value)
+{
+    if(value!=0)
+        m_config->configurationWizard->setVisible(false);
+    else
+        m_config->configurationWizard->setVisible(true);
+}
+
 void ConfigInputWidget::wzCancel()
 {
     dimOtherControls(false);
@@ -404,6 +413,12 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
 {
     switch(step) {
     case wizardWelcome:
+        foreach(QPointer<QWidget> wd,extraWidgets)
+        {
+            if(!wd.isNull())
+                delete wd;
+        }
+        extraWidgets.clear();
         m_config->graphicsView->setVisible(false);
         setTxMovement(nothing);
         manualSettingsData=manualSettingsObj->getData();
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.h b/ground/openpilotgcs/src/plugins/config/configinputwidget.h
index bc27467ca..4b28ca491 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.h
@@ -45,6 +45,7 @@
 #include <QtSvg/QGraphicsSvgItem>
 #include "flightstatus.h"
 #include "accessorydesired.h"
+#include <QPointer>
 
 class Ui_InputWidget;
 
@@ -69,7 +70,7 @@ private:
         void setTxMovement(txMovements movement);
         Ui_InputWidget *m_config;
         wizardSteps wizardStep;
-        QList<QWidget*> extraWidgets;
+        QList<QPointer<QWidget> > extraWidgets;
         txMode transmitterMode;
         txType transmitterType;
         struct channelsStruct
@@ -148,7 +149,7 @@ private slots:
         void wzBack();
         void wzCancel();
         void goToWizard();
-
+        void disableWizardButton(int);
         void openHelp();
         void identifyControls();
         void identifyLimits();
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index a811c6754..5fffc2773 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -107,41 +107,12 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>663</width>
-            <height>745</height>
+            <width>671</width>
+            <height>755</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout">
            <item row="1" column="0">
-            <widget class="QGroupBox" name="groupBox_4">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="title">
-              <string/>
-             </property>
-             <layout class="QVBoxLayout" name="verticalLayout_3">
-              <item>
-               <widget class="QPushButton" name="configurationWizard">
-                <property name="text">
-                 <string>Start Configuration Wizard</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QCheckBox" name="runCalibration">
-                <property name="text">
-                 <string>Run Calibration</string>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item row="2" column="0">
             <widget class="QGroupBox" name="groupBox_5">
              <property name="title">
               <string/>
@@ -154,6 +125,20 @@
                 </property>
                 <widget class="QWidget" name="advancedPage">
                  <layout class="QVBoxLayout" name="verticalLayout_4">
+                  <item>
+                   <widget class="QPushButton" name="configurationWizard">
+                    <property name="text">
+                     <string>Start Configuration Wizard</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QCheckBox" name="runCalibration">
+                    <property name="text">
+                     <string>Run Calibration</string>
+                    </property>
+                   </widget>
+                  </item>
                   <item>
                    <layout class="QVBoxLayout" name="channelSettings"/>
                   </item>
@@ -388,8 +373,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>648</width>
-            <height>776</height>
+            <width>508</width>
+            <height>770</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_7">
@@ -923,8 +908,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>663</width>
-            <height>745</height>
+            <width>550</width>
+            <height>147</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">

From ec3919d2b7d3b3c8d8d21d7807fa80b7734fa037 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dima@dima-desktop.(none)>
Date: Sun, 29 Jul 2012 12:17:10 +1000
Subject: [PATCH 097/543] Enabled osgEarth caching

---
 .../openpilotgcs/src/plugins/pfdqml/osgearth.cpp | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp b/ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp
index b4e8ac53e..baf0fd2b5 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp
@@ -38,6 +38,8 @@
 
 #include <QtCore/qtimer.h>
 
+#include "utils/pathutils.h"
+
 OsgEarthItem::OsgEarthItem(QDeclarativeItem *parent):
     QDeclarativeItem(parent),
     m_fbo(0),
@@ -290,6 +292,20 @@ void OsgEarthItem::initScene()
 
     m_model = osgDB::readNodeFile(sceneFile.toStdString());
 
+    //setup caching
+    osgEarth::MapNode *mapNode = osgEarth::MapNode::findMapNode(m_model.get());
+    if (mapNode) {
+        osgEarth::TMSCacheOptions cacheOptions;
+        //cacheOptions.cacheOnly() = true;
+        QString cacheDir = Utils::PathUtils().GetStoragePath()+QLatin1String("osgEarth_cache");
+        cacheOptions.setPath(cacheDir.toStdString());
+        osgEarth::Cache *cache= new osgEarth::TMSCache(cacheOptions);
+
+        mapNode->getMap()->setCache(cache);
+    } else {
+        qWarning() << Q_FUNC_INFO << sceneFile << " doesn't look like an osgEarth file";
+    }
+
     m_gw = new osgViewer::GraphicsWindowEmbedded(0,0,w,h);
 
     m_viewer = new osgViewer::Viewer();

From 9d884ca12c9468cc1e156874955485387ff062a8 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dima@dima-desktop.(none)>
Date: Sun, 29 Jul 2012 16:05:59 +1000
Subject: [PATCH 098/543] PFD terrain view: switch between GPS and predefined
 positions.

---
 .../share/openpilotgcs/pfd/default/Pfd.qml    |  42 +--
 .../src/plugins/coreplugin/OpenPilotGCS.xml   |  18 +-
 .../src/plugins/pfdqml/pfdqmlgadget.cpp       |  13 +
 .../pfdqml/pfdqmlgadgetconfiguration.cpp      |  22 +-
 .../pfdqml/pfdqmlgadgetconfiguration.h        |  16 +-
 .../pfdqml/pfdqmlgadgetoptionspage.cpp        |  16 +-
 .../plugins/pfdqml/pfdqmlgadgetoptionspage.ui | 355 +++++++++++++-----
 .../src/plugins/pfdqml/pfdqmlgadgetwidget.cpp |  41 +-
 .../src/plugins/pfdqml/pfdqmlgadgetwidget.h   |  28 ++
 9 files changed, 423 insertions(+), 128 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index 517aa5b6a..64df9502d 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -1,7 +1,6 @@
 import Qt 4.7
 import "."
 import org.OpenPilot 1.0
-//import "/home/dima/work/RC/OsgEarthQml-build-desktop-Qt_4_8_1_in_PATH__System__Debug"
 
 Rectangle {
     color: "#666666"
@@ -23,6 +22,27 @@ Rectangle {
             anchors.centerIn: parent
             clip: true
 
+            OsgEarth {
+                id: earthView
+
+                anchors.fill: parent
+                sceneFile: qmlWidget.earthFile
+                visible: qmlWidget.terrainEnabled
+
+                fieldOfView: 90
+
+                yaw: AttitudeActual.Yaw
+                pitch: AttitudeActual.Pitch
+                roll: AttitudeActual.Roll
+
+                latitude: qmlWidget.actualPositionUsed ?
+                              GPSPosition.Latitude/10000000.0 : qmlWidget.latitude
+                longitude: qmlWidget.actualPositionUsed ?
+                               GPSPosition.Longitude/10000000.0 : qmlWidget.longitude
+                altitude: qmlWidget.actualPositionUsed ?
+                              GPSPosition.Altitude : qmlWidget.altitude
+            }
+
             Image {
                 id: world
                 source: "image://svg/pfd.svg!world"
@@ -44,26 +64,6 @@ Rectangle {
                 ]
             }
 
-            OsgEarth {
-                id: earthView
-
-                anchors.fill: parent
-                sceneFile: qmlWidget.earthFile
-                visible: qmlWidget.terrainEnabled
-
-                fieldOfView: 90
-
-                yaw: AttitudeActual.Yaw
-                pitch: AttitudeActual.Pitch
-                roll: AttitudeActual.Roll
-
-
-                latitude: -27.935474
-                longitude: 153.187147
-                altitude: 3000
-                //altitude: PositionActual.Down
-            }
-
             Image {
                 id: rollscale
                 source: "image://svg/pfd.svg!rollscale"
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
index ac8ac26cc..b554fe74c 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
@@ -1698,9 +1698,14 @@
           <version>0.0.0</version>
         </configInfo>
         <data>
+          <actualPositionUsed>false</actualPositionUsed>
+          <altitude>2000</altitude>
+          <cacheOnly>false</cacheOnly>
+          <earthFile>%%DATAPATH%%pfd/pfd/default/readymap.earth</earthFile>
+          <latitude>46.671478</latitude>
+          <longitude>10.158932</longitude>
+          <qmlFile>%%DATAPATH%%pfd/pfd/default/Pfd.qml</qmlFile>
           <terrainEnabled>false</terrainEnabled>
-          <qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
-          <earthFile>%%DATAPATH%%pfd/default/srtm.earth</earthFile>
         </data>
       </NoTerrain>
       <Terrain>
@@ -1709,9 +1714,14 @@
           <version>0.0.0</version>
         </configInfo>
         <data>
+          <actualPositionUsed>false</actualPositionUsed>
+          <altitude>2000</altitude>
+          <cacheOnly>false</cacheOnly>
+          <earthFile>%%DATAPATH%%pfd/pfd/default/readymap.earth</earthFile>
+          <latitude>46.671478</latitude>
+          <longitude>10.158932</longitude>
+          <qmlFile>%%DATAPATH%%pfd/pfd/default/Pfd.qml</qmlFile>
           <terrainEnabled>true</terrainEnabled>
-          <qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
-          <earthFile>%%DATAPATH%%pfd/default/srtm.earth</earthFile>
         </data>
       </Terrain>
     </PfdQmlGadget>
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
index 48661a581..93427446c 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
@@ -41,4 +41,17 @@ void PfdQmlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
     m_widget->setQmlFile(m->qmlFile());
     m_widget->setEarthFile(m->earthFile());
     m_widget->setTerrainEnabled(m->terrainEnabled());
+    m_widget->setActualPositionUsed(m->actualPositionUsed());
+    m_widget->setLatitude(m->latitude());
+    m_widget->setLongitude(m->longitude());
+    m_widget->setAltitude(m->altitude());
+
+    //setting OSGEARTH_CACHE_ONLY seems to work the most reliably
+    //between osgEarth versions I tried
+    if (m->cacheOnly()) {
+        qputenv("OSGEARTH_CACHE_ONLY", "true");
+    } else {
+        //how portable it is?
+        unsetenv("OSGEARTH_CACHE_ONLY");
+    }
 }
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp
index 56926917e..8a21da857 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp
@@ -25,7 +25,12 @@ PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(QString classId, QSettings
     IUAVGadgetConfiguration(classId, parent),
     m_qmlFile("Unknown"),
     m_earthFile("Unknown"),
-    m_terrainEnabled(true)
+    m_terrainEnabled(true),
+    m_actualPositionUsed(false),
+    m_latitude(0),
+    m_longitude(0),
+    m_altitude(0),
+    m_cacheOnly(false)
 {
     //if a saved configuration exists load it
     if(qSettings != 0) {
@@ -36,6 +41,11 @@ PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(QString classId, QSettings
         m_earthFile=Utils::PathUtils().InsertDataPath(m_earthFile);
 
         m_terrainEnabled = qSettings->value("terrainEnabled").toBool();
+        m_actualPositionUsed = qSettings->value("actualPositionUsed").toBool();
+        m_latitude = qSettings->value("latitude").toDouble();
+        m_longitude = qSettings->value("longitude").toDouble();
+        m_altitude = qSettings->value("altitude").toDouble();
+        m_cacheOnly = qSettings->value("cacheOnly").toBool();
     }
 }
 
@@ -49,6 +59,11 @@ IUAVGadgetConfiguration *PfdQmlGadgetConfiguration::clone()
     m->m_qmlFile = m_qmlFile;
     m->m_earthFile = m_earthFile;
     m->m_terrainEnabled = m_terrainEnabled;
+    m->m_actualPositionUsed = m_actualPositionUsed;
+    m->m_latitude = m_latitude;
+    m->m_longitude = m_longitude;
+    m->m_altitude = m_altitude;
+    m->m_cacheOnly = m_cacheOnly;
 
     return m;
 }
@@ -64,4 +79,9 @@ void PfdQmlGadgetConfiguration::saveConfig(QSettings* qSettings) const {
     qSettings->setValue("earthFile", earthFile);
 
     qSettings->setValue("terrainEnabled", m_terrainEnabled);
+    qSettings->setValue("actualPositionUsed", m_actualPositionUsed);
+    qSettings->setValue("latitude", m_latitude);
+    qSettings->setValue("longitude", m_longitude);
+    qSettings->setValue("altitude", m_altitude);
+    qSettings->setValue("cacheOnly", m_cacheOnly);
 }
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h
index c9986173b..69205375c 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h
@@ -30,11 +30,20 @@ public:
     void setQmlFile(const QString &fileName) { m_qmlFile=fileName; }
     void setEarthFile(const QString &fileName) { m_earthFile=fileName; }
     void setTerrainEnabled(bool flag) { m_terrainEnabled = flag; }
+    void setActualPositionUsed(bool flag) { m_actualPositionUsed = flag; }
+    void setLatitude(double value) { m_latitude = value; }
+    void setLongitude(double value) { m_longitude = value; }
+    void setAltitude(double value) { m_altitude = value; }
+    void setCacheOnly(bool flag) { m_cacheOnly = flag; }
 
-    //get dial configuration functions
     QString qmlFile() const { return m_qmlFile; }
     QString earthFile() const { return m_earthFile; }
     bool terrainEnabled() const { return m_terrainEnabled; }
+    bool actualPositionUsed() const { return m_actualPositionUsed; }
+    double latitude() const { return m_latitude; }
+    double longitude() const { return m_longitude; }
+    double altitude() const { return m_altitude; }
+    bool cacheOnly() const { return m_cacheOnly; }
 
     void saveConfig(QSettings* settings) const;
     IUAVGadgetConfiguration *clone();
@@ -43,6 +52,11 @@ private:
     QString m_qmlFile; // The name of the dial's SVG source file
     QString m_earthFile; // The name of osgearth terrain file
     bool m_terrainEnabled;
+    bool m_actualPositionUsed;
+    double m_latitude;
+    double m_longitude;
+    double m_altitude;
+    bool m_cacheOnly;
 };
 
 #endif // PfdQmlGADGETCONFIGURATION_H
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
index 01ee89c96..a47b7acf5 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
@@ -35,10 +35,9 @@ PfdQmlGadgetOptionsPage::PfdQmlGadgetOptionsPage(PfdQmlGadgetConfiguration *conf
 //creates options page widget (uses the UI file)
 QWidget *PfdQmlGadgetOptionsPage::createPage(QWidget *parent)
 {
-
     options_page = new Ui::PfdQmlGadgetOptionsPage();
     //main widget
-    QWidget *optionsPageWidget = new QWidget;
+    QWidget *optionsPageWidget = new QWidget(parent);
     //main layout
     options_page->setupUi(optionsPageWidget);
 
@@ -56,6 +55,13 @@ QWidget *PfdQmlGadgetOptionsPage::createPage(QWidget *parent)
 
     options_page->showTerrain->setChecked(m_config->terrainEnabled());
 
+    options_page->useActualLocation->setChecked(m_config->actualPositionUsed());
+    options_page->usePredefinedLocation->setChecked(!m_config->actualPositionUsed());
+    options_page->latitude->setText(QString::number(m_config->latitude()));
+    options_page->longitude->setText(QString::number(m_config->longitude()));
+    options_page->altitude->setText(QString::number(m_config->altitude()));
+    options_page->useOnlyCache->setChecked(m_config->cacheOnly());
+
     return optionsPageWidget;
 }
 
@@ -70,6 +76,12 @@ void PfdQmlGadgetOptionsPage::apply()
     m_config->setQmlFile(options_page->qmlSourceFile->path());
     m_config->setEarthFile(options_page->earthFile->path());
     m_config->setTerrainEnabled(options_page->showTerrain->isChecked());
+
+    m_config->setActualPositionUsed(options_page->useActualLocation->isChecked());
+    m_config->setLatitude(options_page->latitude->text().toDouble());
+    m_config->setLongitude(options_page->longitude->text().toDouble());
+    m_config->setAltitude(options_page->altitude->text().toDouble());
+    m_config->setCacheOnly(options_page->useOnlyCache->isChecked());
 }
 
 void PfdQmlGadgetOptionsPage::finish()
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui
index dd8d03e4f..3f244043b 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>441</width>
-    <height>339</height>
+    <width>457</width>
+    <height>436</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -19,107 +19,217 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
+  <layout class="QGridLayout" name="gridLayout_4">
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <property name="spacing">
+    <number>0</number>
+   </property>
    <item row="0" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0">
-     <property name="spacing">
-      <number>10</number>
+    <widget class="QScrollArea" name="scrollArea">
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
      </property>
-     <property name="sizeConstraint">
-      <enum>QLayout::SetMaximumSize</enum>
+     <property name="lineWidth">
+      <number>0</number>
      </property>
-     <property name="bottomMargin">
-      <number>10</number>
-     </property>
-     <item>
-      <widget class="QLabel" name="label">
-       <property name="text">
-        <string>QML file: </string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="Utils::PathChooser" name="qmlSourceFile" native="true">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-   <item row="1" column="0">
-    <widget class="Line" name="line">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
+     <property name="widgetResizable">
+      <bool>true</bool>
      </property>
+     <widget class="QWidget" name="scrollAreaWidgetContents">
+      <property name="geometry">
+       <rect>
+        <x>0</x>
+        <y>0</y>
+        <width>457</width>
+        <height>436</height>
+       </rect>
+      </property>
+      <layout class="QGridLayout" name="gridLayout_3">
+       <item row="0" column="0">
+        <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0">
+         <property name="spacing">
+          <number>10</number>
+         </property>
+         <property name="sizeConstraint">
+          <enum>QLayout::SetMaximumSize</enum>
+         </property>
+         <property name="bottomMargin">
+          <number>10</number>
+         </property>
+         <item>
+          <widget class="QLabel" name="label">
+           <property name="text">
+            <string>QML file: </string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="Utils::PathChooser" name="qmlSourceFile" native="true">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item row="1" column="0" colspan="2">
+        <widget class="QGroupBox" name="showTerrain">
+         <property name="title">
+          <string>Show Terrain:</string>
+         </property>
+         <property name="checkable">
+          <bool>true</bool>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_2">
+          <item row="0" column="0" colspan="4">
+           <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,0">
+            <property name="spacing">
+             <number>10</number>
+            </property>
+            <property name="sizeConstraint">
+             <enum>QLayout::SetMaximumSize</enum>
+            </property>
+            <property name="bottomMargin">
+             <number>10</number>
+            </property>
+            <item>
+             <widget class="QLabel" name="label_2">
+              <property name="text">
+               <string>OsgEarth file:</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="Utils::PathChooser" name="earthFile" native="true">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item row="1" column="0" colspan="2">
+           <widget class="QRadioButton" name="useActualLocation">
+            <property name="text">
+             <string>Use actual location</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0" colspan="3">
+           <widget class="QRadioButton" name="usePredefinedLocation">
+            <property name="text">
+             <string>Use pre-defined location:</string>
+            </property>
+            <property name="checked">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <spacer name="horizontalSpacer">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeType">
+             <enum>QSizePolicy::Fixed</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>16</width>
+              <height>16</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+          <item row="3" column="1" colspan="3">
+           <layout class="QGridLayout" name="gridLayout">
+            <item row="0" column="0">
+             <widget class="QLabel" name="label_3">
+              <property name="text">
+               <string>Latitude:</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QLineEdit" name="latitude"/>
+            </item>
+            <item row="1" column="0">
+             <widget class="QLabel" name="label_4">
+              <property name="text">
+               <string>Longitude:</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QLineEdit" name="longitude"/>
+            </item>
+            <item row="2" column="0">
+             <widget class="QLabel" name="label_5">
+              <property name="text">
+               <string>Altitude:</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QLineEdit" name="altitude"/>
+            </item>
+           </layout>
+          </item>
+          <item row="4" column="0" colspan="2">
+           <widget class="QCheckBox" name="useOnlyCache">
+            <property name="text">
+             <string>Use only cache data</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="2">
+           <spacer name="horizontalSpacer_2">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>74</width>
+              <height>24</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+          <item row="4" column="3">
+           <widget class="QPushButton" name="preSeedTerrain">
+            <property name="text">
+             <string>Pre seed terrain cache</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item row="2" column="1">
+        <spacer name="verticalSpacer">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>121</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
     </widget>
    </item>
-   <item row="2" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <item>
-      <widget class="QCheckBox" name="showTerrain">
-       <property name="enabled">
-        <bool>true</bool>
-       </property>
-       <property name="text">
-        <string>Show terrain</string>
-       </property>
-       <property name="checked">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-   <item row="3" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,0">
-     <property name="spacing">
-      <number>10</number>
-     </property>
-     <property name="sizeConstraint">
-      <enum>QLayout::SetMaximumSize</enum>
-     </property>
-     <property name="bottomMargin">
-      <number>10</number>
-     </property>
-     <item>
-      <widget class="QLabel" name="label_2">
-       <property name="text">
-        <string>OsgEarth file:</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="Utils::PathChooser" name="earthFile" native="true">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-   <item row="4" column="0">
-    <spacer name="verticalSpacer">
-     <property name="orientation">
-      <enum>Qt::Vertical</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::MinimumExpanding</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>20</width>
-       <height>40</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
   </layout>
  </widget>
  <customwidgets>
@@ -131,5 +241,54 @@
   </customwidget>
  </customwidgets>
  <resources/>
- <connections/>
+ <connections>
+  <connection>
+   <sender>usePredefinedLocation</sender>
+   <signal>toggled(bool)</signal>
+   <receiver>latitude</receiver>
+   <slot>setEnabled(bool)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>150</x>
+     <y>138</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>142</x>
+     <y>172</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>usePredefinedLocation</sender>
+   <signal>toggled(bool)</signal>
+   <receiver>longitude</receiver>
+   <slot>setEnabled(bool)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>164</x>
+     <y>141</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>164</x>
+     <y>202</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>usePredefinedLocation</sender>
+   <signal>toggled(bool)</signal>
+   <receiver>altitude</receiver>
+   <slot>setEnabled(bool)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>190</x>
+     <y>141</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>190</x>
+     <y>237</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
 </ui>
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
index 40c748239..311f106a5 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
@@ -33,7 +33,11 @@
 
 PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWidget *parent) :
     QDeclarativeView(parent),
-    m_terrainEnabled(false)
+    m_terrainEnabled(false),
+    m_actualPositionUsed(false),
+    m_latitude(46.671478),
+    m_longitude(10.158932),
+    m_altitude(2000)
 {
     setMinimumSize(64,64);
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
@@ -105,3 +109,38 @@ void PfdQmlGadgetWidget::setTerrainEnabled(bool arg)
         emit terrainEnabledChanged(arg);
     }
 }
+
+//Switch between PositionActual UAVObject position
+//and pre-defined latitude/longitude/altitude properties
+void PfdQmlGadgetWidget::setActualPositionUsed(bool arg)
+{
+    if (m_actualPositionUsed != arg) {
+        m_actualPositionUsed = arg;
+        emit actualPositionUsedChanged(arg);
+    }
+}
+
+void PfdQmlGadgetWidget::setLatitude(double arg)
+{
+    //not sure qFuzzyCompare is accurate enough for geo coordinates
+    if (m_latitude != arg) {
+        m_latitude = arg;
+        emit latitudeChanged(arg);
+    }
+}
+
+void PfdQmlGadgetWidget::setLongitude(double arg)
+{
+    if (m_longitude != arg) {
+        m_longitude = arg;
+        emit longitudeChanged(arg);
+    }
+}
+
+void PfdQmlGadgetWidget::setAltitude(double arg)
+{
+    if (!qFuzzyCompare(m_altitude,arg)) {
+        m_altitude = arg;
+        emit altitudeChanged(arg);
+    }
+}
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h
index 6e0f8b35f..ba89f282c 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h
@@ -26,6 +26,13 @@ class PfdQmlGadgetWidget : public QDeclarativeView
     Q_PROPERTY(QString earthFile READ earthFile WRITE setEarthFile NOTIFY earthFileChanged)
     Q_PROPERTY(bool terrainEnabled READ terrainEnabled WRITE setTerrainEnabled NOTIFY terrainEnabledChanged)
 
+    Q_PROPERTY(bool actualPositionUsed READ actualPositionUsed WRITE setActualPositionUsed NOTIFY actualPositionUsedChanged)
+
+    //pre-defined fallback position
+    Q_PROPERTY(double latitude READ latitude WRITE setLatitude NOTIFY latitudeChanged)
+    Q_PROPERTY(double longitude READ longitude WRITE setLongitude NOTIFY longitudeChanged)
+    Q_PROPERTY(double altitude READ altitude WRITE setAltitude NOTIFY altitudeChanged)
+
 public:
     PfdQmlGadgetWidget(QWidget *parent = 0);
    ~PfdQmlGadgetWidget();
@@ -34,18 +41,39 @@ public:
     QString earthFile() const { return m_earthFile; }
     bool terrainEnabled() const { return m_terrainEnabled; }
 
+    bool actualPositionUsed() const { return m_actualPositionUsed; }
+    double latitude() const { return m_latitude; }
+    double longitude() const { return m_longitude; }
+    double altitude() const { return m_altitude; }
+
 public slots:
     void setEarthFile(QString arg);
     void setTerrainEnabled(bool arg);
 
+    void setLatitude(double arg);
+    void setLongitude(double arg);
+    void setAltitude(double arg);
+
+    void setActualPositionUsed(bool arg);
+
 signals:
     void earthFileChanged(QString arg);
     void terrainEnabledChanged(bool arg);
 
+    void actualPositionUsedChanged(bool arg);
+    void latitudeChanged(double arg);
+    void longitudeChanged(double arg);
+    void altitudeChanged(double arg);
+
 private:
     QString m_qmlFileName;
     QString m_earthFile;
     bool m_terrainEnabled;
+
+    bool m_actualPositionUsed;
+    double m_latitude;
+    double m_longitude;
+    double m_altitude;
 };
 
 #endif /* PFDQMLGADGETWIDGET_H_ */

From 19b101bc4b0219dbe4278c3df7d224da4d79dfbd Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Sun, 29 Jul 2012 21:28:32 +1000
Subject: [PATCH 099/543] Make a start on the new layout

---
 .../src/plugins/coreplugin/OpenPilotGCS.xml   | 441 ++++++------------
 .../src/plugins/coreplugin/core.qrc           |   1 +
 .../src/plugins/coreplugin/images/cpu.png     | Bin 0 -> 1466 bytes
 3 files changed, 140 insertions(+), 302 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/coreplugin/images/cpu.png

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
index 490f9f85e..87547960e 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
@@ -21,41 +21,9 @@
     <Mode3>89</Mode3>
     <Mode4>88</Mode4>
     <Mode5>87</Mode5>
+    <Mode6>86</Mode6>
     <Welcome>100</Welcome>
   </ModePriorities>
-  <Plugins>
-    <SoundNotifyPlugin>
-      <configInfo>
-        <locked>false</locked>
-        <version>1.0.0</version>
-      </configInfo>
-      <data>
-        <Current>
-          <arr_1>
-            <CurrentLanguage></CurrentLanguage>
-            <DataObject></DataObject>
-            <ExpireTimeout>0</ExpireTimeout>
-            <Mute>false</Mute>
-            <ObjectField></ObjectField>
-            <RangeLimit>0</RangeLimit>
-            <Repeat>0</Repeat>
-            <SayOrder>0</SayOrder>
-            <Sound1></Sound1>
-            <Sound2></Sound2>
-            <Sound3></Sound3>
-            <SoundCollectionPath></SoundCollectionPath>
-            <Value1></Value1>
-            <Value2>0</Value2>
-          </arr_1>
-          <size>1</size>
-        </Current>
-        <EnableSound>false</EnableSound>
-        <listNotifies>
-          <size>0</size>
-        </listNotifies>
-      </data>
-    </SoundNotifyPlugin>
-  </Plugins>
   <UAVGadgetConfigurations>
     <ConfigGadget>
       <default>
@@ -1733,6 +1701,7 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -1778,6 +1747,7 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>20</dataSize>
           <plotCurve0>
@@ -1833,6 +1803,7 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -1878,6 +1849,7 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -1903,6 +1875,7 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>40</dataSize>
           <plotCurve0>
@@ -1998,6 +1971,7 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -2043,6 +2017,7 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -2088,6 +2063,7 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -2133,6 +2109,7 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>240</dataSize>
           <plotCurve0>
@@ -2268,6 +2245,7 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>20</dataSize>
           <plotCurve0>
@@ -2313,6 +2291,7 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>240</dataSize>
           <plotCurve0>
@@ -2327,6 +2306,9 @@
           </plotCurve0>
           <plotCurve1>
             <color>0</color>
+            <mathFunction></mathFunction>
+            <uavField></uavField>
+            <uavObject></uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>
@@ -2395,45 +2377,45 @@
           <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>
+                <classId>LineardialGadget</classId>
+                <gadget>
+                  <activeConfiguration>Flight Time</activeConfiguration>
+                </gadget>
+                <type>uavGadget</type>
               </side0>
               <side1>
                 <side0>
                   <classId>LineardialGadget</classId>
                   <gadget>
-                    <activeConfiguration>Flight mode</activeConfiguration>
+                    <activeConfiguration>Arm Status</activeConfiguration>
                   </gadget>
                   <type>uavGadget</type>
                 </side0>
                 <side1>
-                  <classId>LineardialGadget</classId>
-                  <gadget>
-                    <activeConfiguration>Arm Status</activeConfiguration>
-                  </gadget>
-                  <type>uavGadget</type>
+                  <side0>
+                    <classId>LineardialGadget</classId>
+                    <gadget>
+                      <activeConfiguration>Flight mode</activeConfiguration>
+                    </gadget>
+                    <type>uavGadget</type>
+                  </side0>
+                  <side1>
+                    <classId>LineardialGadget</classId>
+                    <gadget>
+                      <activeConfiguration>GPS Sats</activeConfiguration>
+                    </gadget>
+                    <type>uavGadget</type>
+                  </side1>
+                  <splitterOrientation>1</splitterOrientation>
+                  <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAoAAAAAIAAACk)</splitterSizes>
+                  <type>splitter</type>
                 </side1>
-                <splitterOrientation>2</splitterOrientation>
-                <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+                <splitterOrientation>1</splitterOrientation>
+                <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAmQAAAAIAAAFC)</splitterSizes>
                 <type>splitter</type>
               </side1>
-              <splitterOrientation>2</splitterOrientation>
-              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAA1wAAAAIAAADt)</splitterSizes>
+              <splitterOrientation>1</splitterOrientation>
+              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAmQAAAAIAAAHc)</splitterSizes>
               <type>splitter</type>
             </side0>
             <side1>
@@ -2443,8 +2425,8 @@
               </gadget>
               <type>uavGadget</type>
             </side1>
-            <splitterOrientation>1</splitterOrientation>
-            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAkAAAAAIAAAJg)</splitterSizes>
+            <splitterOrientation>2</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAAG4)</splitterSizes>
             <type>splitter</type>
           </side0>
           <side1>
@@ -2456,185 +2438,29 @@
               <type>uavGadget</type>
             </side0>
             <side1>
-              <side0>
-                <side0>
-                  <classId>SystemHealthGadget</classId>
-                  <gadget>
-                    <activeConfiguration>default</activeConfiguration>
-                  </gadget>
-                  <type>uavGadget</type>
-                </side0>
-                <side1>
-                  <classId>LineardialGadget</classId>
-                  <gadget>
-                    <activeConfiguration>Mainboard CPU</activeConfiguration>
-                  </gadget>
-                  <type>uavGadget</type>
-                </side1>
-                <splitterOrientation>1</splitterOrientation>
-                <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABLwAAAAIAAACB)</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>
+              <classId>SystemHealthGadget</classId>
+              <gadget>
+                <activeConfiguration>default</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
             </side1>
             <splitterOrientation>1</splitterOrientation>
-            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABMAAAAAIAAAGx)</splitterSizes>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABIAAAAAIAAAFV)</splitterSizes>
             <type>splitter</type>
           </side1>
           <splitterOrientation>2</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABxQAAAAIAAAFH)</splitterSizes>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7wAAAAIAAAEf)</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>
+          <classId>OPMapGadget</classId>
+          <gadget>
+            <activeConfiguration>Google Sat</activeConfiguration>
+          </gadget>
+          <type>uavGadget</type>
         </side1>
         <splitterOrientation>1</splitterOrientation>
-        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAC4gAAAAIAAAK9)</splitterSizes>
+        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAACdgAAAAIAAAMp)</splitterSizes>
         <type>splitter</type>
       </splitter>
       <version>UAVGadgetManagerV1</version>
@@ -2651,6 +2477,44 @@
       <version>UAVGadgetManagerV1</version>
     </Mode2>
     <Mode3>
+      <showToolbars>false</showToolbars>
+      <splitter>
+        <side0>
+          <side0>
+            <classId>UAVObjectBrowser</classId>
+            <gadget>
+              <activeConfiguration>default</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <classId>DebugGadget</classId>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>1</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+          <type>splitter</type>
+        </side0>
+        <side1>
+          <side0>
+            <classId>EmptyGadget</classId>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <classId>EmptyGadget</classId>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>1</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+          <type>splitter</type>
+        </side1>
+        <splitterOrientation>2</splitterOrientation>
+        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAACJgAAAAIAAADo)</splitterSizes>
+        <type>splitter</type>
+      </splitter>
+      <version>UAVGadgetManagerV1</version>
+    </Mode3>
+    <Mode4>
       <showToolbars>false</showToolbars>
       <splitter>
         <side0>
@@ -2705,8 +2569,8 @@
         <type>splitter</type>
       </splitter>
       <version>UAVGadgetManagerV1</version>
-    </Mode3>
-    <Mode4>
+    </Mode4>
+    <Mode5>
       <showToolbars>false</showToolbars>
       <splitter>
         <side0>
@@ -2718,66 +2582,39 @@
             <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>
+            <classId>HITLv2</classId>
+            <gadget>
+              <activeConfiguration>default</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
           </side1>
-          <splitterOrientation>2</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABaQAAAAIAAAEO)</splitterSizes>
+          <splitterOrientation>1</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
           <type>splitter</type>
         </side0>
         <side1>
-          <classId>UAVObjectBrowser</classId>
-          <gadget>
-            <activeConfiguration>default</activeConfiguration>
-          </gadget>
-          <type>uavGadget</type>
+          <side0>
+            <classId>EmptyGadget</classId>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <classId>GCSControlGadget</classId>
+            <gadget>
+              <activeConfiguration>MS Sidewinder</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>1</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB6AAAAAIAAADC)</splitterSizes>
+          <type>splitter</type>
         </side1>
-        <splitterOrientation>1</splitterOrientation>
+        <splitterOrientation>2</splitterOrientation>
         <splitterSizes>@Variant(AAAACQAAAAIAAAACAAADDAAAAAIAAAJJ)</splitterSizes>
         <type>splitter</type>
       </splitter>
       <version>UAVGadgetManagerV1</version>
-    </Mode4>
-    <Mode5>
+    </Mode5>
+    <Mode6>
       <showToolbars>false</showToolbars>
       <splitter>
         <side0>
@@ -2790,16 +2627,16 @@
         <side1>
           <side0>
             <side0>
-              <classId>SystemHealthGadget</classId>
+              <classId>LineardialGadget</classId>
               <gadget>
-                <activeConfiguration>default</activeConfiguration>
+                <activeConfiguration>Flight Time</activeConfiguration>
               </gadget>
               <type>uavGadget</type>
             </side0>
             <side1>
-              <classId>PFDGadget</classId>
+              <classId>SystemHealthGadget</classId>
               <gadget>
-                <activeConfiguration>raw</activeConfiguration>
+                <activeConfiguration>default</activeConfiguration>
               </gadget>
               <type>uavGadget</type>
             </side1>
@@ -2808,44 +2645,44 @@
             <type>splitter</type>
           </side0>
           <side1>
-            <classId>ScopeGadget</classId>
+            <classId>PFDGadget</classId>
             <gadget>
-              <activeConfiguration>Uptimes</activeConfiguration>
+              <activeConfiguration>raw</activeConfiguration>
             </gadget>
             <type>uavGadget</type>
           </side1>
           <splitterOrientation>2</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABEgAAAAIAAAH6)</splitterSizes>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABLwAAAAIAAAHf)</splitterSizes>
           <type>splitter</type>
         </side1>
         <splitterOrientation>1</splitterOrientation>
-        <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAADVQAAAAIAAAJK)</splitterSizes>
         <type>splitter</type>
       </splitter>
       <version>UAVGadgetManagerV1</version>
-    </Mode5>
+    </Mode6>
   </UAVGadgetManager>
   <Workspace>
     <AllowTabBarMovement>false</AllowTabBarMovement>
     <Icon1>:\core\images\ah.png</Icon1>
     <Icon10>:/core/images/openpilot_logo_64.png</Icon10>
     <Icon2>:/core/images/config.png</Icon2>
-    <Icon3>:/core/images/scopes.png</Icon3>
-    <Icon4>:/core/images/joystick.png</Icon4>
-    <Icon5>:/core/images/cog.png</Icon5>
-    <Icon6>:/core/images/openpilot_logo_64.png</Icon6>
+    <Icon3>:/core/images/cpu.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>5</NumberOfWorkspaces>
+    <NumberOfWorkspaces>6</NumberOfWorkspaces>
     <TabBarPlacementIndex>1</TabBarPlacementIndex>
     <Workspace1>Flight data</Workspace1>
     <Workspace10>Workspace10</Workspace10>
     <Workspace2>Configuration</Workspace2>
-    <Workspace3>Scopes</Workspace3>
-    <Workspace4>HITL</Workspace4>
-    <Workspace5>Firmware</Workspace5>
-    <Workspace6>Workspace6</Workspace6>
+    <Workspace3>System</Workspace3>
+    <Workspace4>Scopes</Workspace4>
+    <Workspace5>HITL</Workspace5>
+    <Workspace6>Firmware</Workspace6>
     <Workspace7>Workspace7</Workspace7>
     <Workspace8>Workspace8</Workspace8>
     <Workspace9>Workspace9</Workspace9>
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/core.qrc b/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
index c1b0f8e36..d65e51376 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
+++ b/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
@@ -61,5 +61,6 @@
         <file>images/cog.png</file>
         <file>OpenPilotGCS.xml</file>
         <file>images/helpicon.svg</file>
+        <file>images/cpu.png</file>
     </qresource>
 </RCC>
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/images/cpu.png b/ground/openpilotgcs/src/plugins/coreplugin/images/cpu.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5b42c728447b2cc744ed7c429aa3ef68e50af53
GIT binary patch
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literal 0
HcmV?d00001


From c7b8fe9efd6ca827a907d4fa2ffcda8161b97f15 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Sun, 29 Jul 2012 22:15:24 +1000
Subject: [PATCH 100/543] Moved terrain rendering to background thread

osgEarth may block the main thread during network io,
the rendering is moved to OsgEarthItemRenderer
class, running in the bg thread.

May require Qt 4.8.0+ to work correctly.
---
 ground/openpilotgcs/src/app/main.cpp          |   1 +
 .../src/plugins/pfdqml/osgearth.cpp           | 281 +++++++++++-------
 .../src/plugins/pfdqml/osgearth.h             |  51 +++-
 3 files changed, 212 insertions(+), 121 deletions(-)

diff --git a/ground/openpilotgcs/src/app/main.cpp b/ground/openpilotgcs/src/app/main.cpp
index ec2191956..a8f83b68f 100644
--- a/ground/openpilotgcs/src/app/main.cpp
+++ b/ground/openpilotgcs/src/app/main.cpp
@@ -239,6 +239,7 @@ int main(int argc, char **argv)
     setrlimit(RLIMIT_NOFILE, &rl);
 #endif
 
+    QApplication::setAttribute(Qt::AA_X11InitThreads, true);
     QApplication::setGraphicsSystem("raster");
 
     SharedTools::QtSingleApplication app((QLatin1String(appNameC)), argc, argv);
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp b/ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp
index baf0fd2b5..ce8880ad9 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp
@@ -17,6 +17,7 @@
 #include "osgearth.h"
 
 #include <QtCore/qfileinfo.h>
+#include <QtCore/qthread.h>
 #include <QtDeclarative/qdeclarative.h>
 #include <QtDeclarative/qdeclarativeview.h>
 #include <QtDeclarative/qdeclarativeengine.h>
@@ -42,7 +43,8 @@
 
 OsgEarthItem::OsgEarthItem(QDeclarativeItem *parent):
     QDeclarativeItem(parent),
-    m_fbo(0),
+    m_renderer(0),
+    m_rendererThread(0),
     m_currentSize(640, 480),
     m_roll(0.0),
     m_pitch(0.0),
@@ -51,8 +53,7 @@ OsgEarthItem::OsgEarthItem(QDeclarativeItem *parent):
     m_longitude(153.0),
     m_altitude(400.0),
     m_fieldOfView(90.0),
-    m_sceneFile(QLatin1String("/usr/share/osgearth/maps/srtm.earth")),
-    m_cameraDirty(false)
+    m_sceneFile(QLatin1String("/usr/share/osgearth/maps/srtm.earth"))
 {
     setSize(m_currentSize);
     setFlag(ItemHasNoContents, false);
@@ -60,6 +61,31 @@ OsgEarthItem::OsgEarthItem(QDeclarativeItem *parent):
 
 OsgEarthItem::~OsgEarthItem()
 {
+    if (m_renderer) {
+        m_rendererThread->exit();
+        //wait up to 10 seconds for renderer thread to exit
+        m_rendererThread->wait(10*1000);
+
+        delete m_renderer;
+        delete m_rendererThread;
+    }
+}
+
+QString OsgEarthItem::resolvedSceneFile() const
+{
+    QString sceneFile = m_sceneFile;
+
+    //try to resolve the relative scene file name:
+    if (!QFileInfo(sceneFile).exists()) {
+        QDeclarativeView *view = qobject_cast<QDeclarativeView*>(scene()->views().first());
+
+        if (view) {
+            QUrl baseUrl = view->engine()->baseUrl();
+            sceneFile = baseUrl.resolved(sceneFile).toLocalFile();
+        }
+    }
+
+    return sceneFile;
 }
 
 void OsgEarthItem::geometryChanged(const QRectF &newGeometry, const QRectF &oldGeometry)
@@ -95,107 +121,43 @@ void OsgEarthItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *styl
     Q_UNUSED(style);
     QGLWidget *glWidget = qobject_cast<QGLWidget*>(widget);
 
-    if (!m_glWidget) {
-        //make a shared gl widget to avoid
-        //osg rendering to mess with qpainter state
-        m_glWidget = new QGLWidget(widget, glWidget);
-        m_glWidget.data()->setAttribute(Qt::WA_PaintOutsidePaintEvent);
-    }
+    if (!m_renderer) {
+        m_renderer = new OsgEarthItemRenderer(this, glWidget);
+        connect(m_renderer, SIGNAL(frameReady()),
+                this, SLOT(updateView()), Qt::QueuedConnection);
 
-    if (!m_viewer.get())
-        QMetaObject::invokeMethod(this, "initScene", Qt::QueuedConnection);
+        m_rendererThread = new QThread(this);
+        m_renderer->moveToThread(m_rendererThread);
+        m_rendererThread->start();
 
-    if (glWidget && m_fbo)
-        glWidget->drawTexture(boundingRect(), m_fbo->texture());
-}
-
-void OsgEarthItem::markCameraDirty()
-{
-    m_cameraDirty = true;
-    QMetaObject::invokeMethod(this, "updateFBO", Qt::QueuedConnection);
-}
-
-void OsgEarthItem::updateFBO()
-{
-    if (!m_cameraDirty || !m_viewer.get() || m_glWidget.isNull())
+        QMetaObject::invokeMethod(m_renderer, "initScene", Qt::QueuedConnection);
         return;
-
-    m_cameraDirty = false;
-    m_glWidget.data()->makeCurrent();
-
-    if (m_fbo && m_fbo->size() != m_currentSize) {
-        delete m_fbo;
-        m_fbo = 0;
     }
 
-    if (!m_fbo) {
-        m_fbo = new QGLFramebufferObject(m_currentSize, QGLFramebufferObject::CombinedDepthStencil);
-        QPainter p(m_fbo);
-        p.fillRect(0,0,m_currentSize.width(), m_currentSize.height(), Qt::gray);
-    }
+    QGLFramebufferObject *fbo = m_renderer->lastFrame();
 
-    //To find a camera view matrix, find placer matrixes for two points
-    //onr at requested coords and another latitude shifted by 0.01 deg
-    osgEarth::Util::ObjectPlacer placer(m_viewer->getSceneData());
-
-    osg::Matrixd positionMatrix;
-    placer.createPlacerMatrix(m_latitude, m_longitude, m_altitude, positionMatrix);
-    osg::Matrixd positionMatrix2;
-    placer.createPlacerMatrix(m_latitude+0.01, m_longitude, m_altitude, positionMatrix2);
-
-    osg::Vec3d eye(0.0f, 0.0f, 0.0f);
-    osg::Vec3d viewVector(0.0f, 0.0f, 0.0f);
-    osg::Vec3d upVector(0.0f, 0.0f, 1.0f);
-
-    eye = positionMatrix.preMult(eye);
-    upVector = positionMatrix.preMult(upVector);
-    upVector.normalize();
-    viewVector = positionMatrix2.preMult(viewVector) - eye;
-    viewVector.normalize();
-    viewVector *= 10.0;
-
-    //TODO: clarify the correct rotation order,
-    //currently assuming yaw, pitch, roll
-    osg::Quat q;
-    q.makeRotate(-m_yaw*M_PI/180.0, upVector);
-    upVector = q * upVector;
-    viewVector = q * viewVector;
-
-    osg::Vec3d side = viewVector ^ upVector;
-    q.makeRotate(m_pitch*M_PI/180.0, side);
-    upVector = q * upVector;
-    viewVector = q * viewVector;
-
-    q.makeRotate(m_roll*M_PI/180.0, viewVector);
-    upVector = q * upVector;
-    viewVector = q * viewVector;
-
-    osg::Vec3d center = eye + viewVector;
-
-//    qDebug() << "e " << eye.x() << eye.y() << eye.z();
-//    qDebug() << "c " << center.x() << center.y() << center.z();
-//    qDebug() << "up" << upVector.x() << upVector.y() << upVector.z();
-
-    m_viewer->getCamera()->setViewMatrixAsLookAt(osg::Vec3d(eye.x(), eye.y(), eye.z()),
-                                                 osg::Vec3d(center.x(), center.y(), center.z()),
-                                                 osg::Vec3d(upVector.x(), upVector.y(), upVector.z()));
-
-    {
-        QPainter fboPainter(m_fbo);
-        fboPainter.beginNativePainting();
-        m_viewer->frame();
-        fboPainter.endNativePainting();
-    }
-    m_glWidget.data()->doneCurrent();
+    if (glWidget && fbo)
+        glWidget->drawTexture(boundingRect(), fbo->texture());
+}
 
+void OsgEarthItem::updateView()
+{
     update();
 }
 
+void OsgEarthItem::updateFrame()
+{
+    if (m_renderer) {
+        m_renderer->markDirty();
+        QMetaObject::invokeMethod(m_renderer, "updateFrame", Qt::QueuedConnection);
+    }
+}
+
 void OsgEarthItem::setRoll(qreal arg)
 {
     if (!qFuzzyCompare(m_roll, arg)) {
         m_roll = arg;
-        markCameraDirty();
+        updateFrame();
         emit rollChanged(arg);
     }
 }
@@ -204,7 +166,7 @@ void OsgEarthItem::setPitch(qreal arg)
 {
     if (!qFuzzyCompare(m_pitch, arg)) {
         m_pitch = arg;
-        markCameraDirty();
+        updateFrame();
         emit pitchChanged(arg);
     }
 }
@@ -213,7 +175,7 @@ void OsgEarthItem::setYaw(qreal arg)
 {
     if (!qFuzzyCompare(m_yaw, arg)) {
         m_yaw = arg;
-        markCameraDirty();
+        updateFrame();
         emit yawChanged(arg);
     }
 }
@@ -250,14 +212,15 @@ void OsgEarthItem::setFieldOfView(qreal arg)
         m_fieldOfView = arg;
         emit fieldOfViewChanged(arg);
 
-        if (m_viewer.get()) {
+        //it should be a queued call to OsgEarthItemRenderer instead
+        /*if (m_viewer.get()) {
             m_viewer->getCamera()->setProjectionMatrixAsPerspective(
                         m_fieldOfView,
                         qreal(m_currentSize.width())/m_currentSize.height(),
                         1.0f, 10000.0f);
-        }
+        }*/
 
-        markCameraDirty();
+        updateFrame();
     }
 }
 
@@ -269,27 +232,51 @@ void OsgEarthItem::setSceneFile(QString arg)
     }
 }
 
-
-void OsgEarthItem::initScene()
+OsgEarthItemRenderer::OsgEarthItemRenderer(OsgEarthItem *item, QGLWidget *glWidget) :
+    QObject(0),
+    m_item(item),
+    m_lastFboNumber(0),
+    m_currentSize(640, 480),
+    m_cameraDirty(false)
 {
-    if (m_viewer.get())
-        return;
+    //make a shared gl widget to avoid
+    //osg rendering to mess with qpainter state
+    //this runs in the main thread
+    m_glWidget = new QGLWidget(0, glWidget);
+    m_glWidget.data()->setAttribute(Qt::WA_PaintOutsidePaintEvent);
+
+    for (int i=0; i<FboCount; i++) {
+        m_fbo[i] = new QGLFramebufferObject(m_currentSize, QGLFramebufferObject::CombinedDepthStencil);
+        QPainter p(m_fbo[i]);
+        p.fillRect(0,0,m_currentSize.width(), m_currentSize.height(), Qt::gray);
+    }
+}
+
+OsgEarthItemRenderer::~OsgEarthItemRenderer()
+{
+    m_glWidget.data()->makeCurrent();
+    for (int i=0; i<FboCount; i++) {
+        delete m_fbo[i];
+        m_fbo[i] = 0;
+    }
+    m_glWidget.data()->doneCurrent();
+
+    delete m_glWidget.data();
+}
+
+QGLFramebufferObject *OsgEarthItemRenderer::lastFrame()
+{
+    return m_fbo[m_lastFboNumber];
+}
+
+void OsgEarthItemRenderer::initScene()
+{
+    Q_ASSERT(!m_viewer.get());
 
     int w = m_currentSize.width();
     int h = m_currentSize.height();
 
-    QString sceneFile = m_sceneFile;
-
-    //try to resolve the relative scene file name:
-    if (!QFileInfo(sceneFile).exists()) {
-        QDeclarativeView *view = qobject_cast<QDeclarativeView*>(scene()->views().first());
-
-        if (view) {
-            QUrl baseUrl = view->engine()->baseUrl();
-            sceneFile = baseUrl.resolved(sceneFile).toLocalFile();
-        }
-    }
-
+    QString sceneFile = m_item->resolvedSceneFile();
     m_model = osgDB::readNodeFile(sceneFile.toStdString());
 
     //setup caching
@@ -320,8 +307,76 @@ void OsgEarthItem::initScene()
 
     // configure the near/far so we don't clip things that are up close
     camera->setNearFarRatio(0.00002);
-    camera->setProjectionMatrixAsPerspective(m_fieldOfView, qreal(w)/h, 1.0f, 10000.0f);
+    camera->setProjectionMatrixAsPerspective(m_item->fieldOfView(), qreal(w)/h, 1.0f, 10000.0f);
 
-    markCameraDirty();
+    updateFrame();
 }
 
+void OsgEarthItemRenderer::updateFrame()
+{
+    if (!m_cameraDirty || !m_viewer.get() || m_glWidget.isNull())
+        return;
+
+    m_glWidget.data()->makeCurrent();
+
+    //To find a camera view matrix, find placer matrixes for two points
+    //onr at requested coords and another latitude shifted by 0.01 deg
+    osgEarth::Util::ObjectPlacer placer(m_viewer->getSceneData());
+
+    m_cameraDirty = false;
+
+    osg::Matrixd positionMatrix;
+    placer.createPlacerMatrix(m_item->latitude(), m_item->longitude(), m_item->altitude(), positionMatrix);
+    osg::Matrixd positionMatrix2;
+    placer.createPlacerMatrix(m_item->latitude()+0.01, m_item->longitude(), m_item->altitude(), positionMatrix2);
+
+    osg::Vec3d eye(0.0f, 0.0f, 0.0f);
+    osg::Vec3d viewVector(0.0f, 0.0f, 0.0f);
+    osg::Vec3d upVector(0.0f, 0.0f, 1.0f);
+
+    eye = positionMatrix.preMult(eye);
+    upVector = positionMatrix.preMult(upVector);
+    upVector.normalize();
+    viewVector = positionMatrix2.preMult(viewVector) - eye;
+    viewVector.normalize();
+    viewVector *= 10.0;
+
+    //TODO: clarify the correct rotation order,
+    //currently assuming yaw, pitch, roll
+    osg::Quat q;
+    q.makeRotate(-m_item->yaw()*M_PI/180.0, upVector);
+    upVector = q * upVector;
+    viewVector = q * viewVector;
+
+    osg::Vec3d side = viewVector ^ upVector;
+    q.makeRotate(m_item->pitch()*M_PI/180.0, side);
+    upVector = q * upVector;
+    viewVector = q * viewVector;
+
+    q.makeRotate(m_item->roll()*M_PI/180.0, viewVector);
+    upVector = q * upVector;
+    viewVector = q * viewVector;
+
+    osg::Vec3d center = eye + viewVector;
+
+//    qDebug() << "e " << eye.x() << eye.y() << eye.z();
+//    qDebug() << "c " << center.x() << center.y() << center.z();
+//    qDebug() << "up" << upVector.x() << upVector.y() << upVector.z();
+
+    m_viewer->getCamera()->setViewMatrixAsLookAt(osg::Vec3d(eye.x(), eye.y(), eye.z()),
+                                                 osg::Vec3d(center.x(), center.y(), center.z()),
+                                                 osg::Vec3d(upVector.x(), upVector.y(), upVector.z()));
+
+    {
+        QGLFramebufferObject *fbo = m_fbo[(m_lastFboNumber + 1) % FboCount];
+        QPainter fboPainter(fbo);
+        fboPainter.beginNativePainting();
+        m_viewer->frame();
+        fboPainter.endNativePainting();
+    }
+    m_glWidget.data()->doneCurrent();
+
+    m_lastFboNumber = (m_lastFboNumber + 1) % FboCount;
+
+    emit frameReady();
+}
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/osgearth.h b/ground/openpilotgcs/src/plugins/pfdqml/osgearth.h
index 6a1095a07..8d0d3f6fe 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/osgearth.h
+++ b/ground/openpilotgcs/src/plugins/pfdqml/osgearth.h
@@ -24,6 +24,7 @@
 
 class QGLFramebufferObject;
 class QGLWidget;
+class OsgEarthItemRenderer;
 
 class OsgEarthItem : public QDeclarativeItem
 {
@@ -46,6 +47,7 @@ public:
     ~OsgEarthItem();
 
     QString sceneFile() const { return m_sceneFile; }
+    QString resolvedSceneFile() const;
     qreal fieldOfView() const { return m_fieldOfView; }
 
     qreal roll() const { return m_roll; }
@@ -61,6 +63,7 @@ protected:
     void paint(QPainter *painter, const QStyleOptionGraphicsItem *style, QWidget *widget);
 
 public slots:
+    void updateView();
     void setSceneFile(QString arg);
     void setFieldOfView(qreal arg);
 
@@ -85,16 +88,12 @@ signals:
     void fieldOfViewChanged(qreal arg);
 
 private slots:
-    void markCameraDirty();
-    void updateFBO();
-    void initScene();
+    void updateFrame();
 
 private:
-    osg::ref_ptr<osgViewer::Viewer> m_viewer;
-    osg::ref_ptr<osgViewer::GraphicsWindowEmbedded> m_gw;
-    osg::ref_ptr<osg::Node> m_model;
-    QWeakPointer<QGLWidget> m_glWidget;
-    QGLFramebufferObject *m_fbo;
+    OsgEarthItemRenderer *m_renderer;
+    QThread *m_rendererThread;
+
     QSize m_currentSize;
 
     qreal m_roll;
@@ -108,6 +107,42 @@ private:
     qreal m_fieldOfView;
     QString m_sceneFile;
 
+};
+
+class OsgEarthItemRenderer : public QObject
+{
+    Q_OBJECT
+public:
+    OsgEarthItemRenderer(OsgEarthItem *item, QGLWidget *glWidget);
+    ~OsgEarthItemRenderer();
+
+    QGLFramebufferObject *lastFrame();
+    void markDirty() { m_cameraDirty = true; }
+
+public slots:
+    void initScene();
+    void updateFrame();
+
+signals:
+    void frameReady();
+
+private slots:
+    void updateFBO();
+
+private:
+    enum { FboCount = 3 };
+    OsgEarthItem *m_item;
+
+    osg::ref_ptr<osgViewer::Viewer> m_viewer;
+    osg::ref_ptr<osgViewer::GraphicsWindowEmbedded> m_gw;
+    osg::ref_ptr<osg::Node> m_model;
+    QWeakPointer<QGLWidget> m_glWidget;
+
+    QGLFramebufferObject* m_fbo[FboCount];
+    int m_lastFboNumber;
+
+    QSize m_currentSize;
+
     bool m_cameraDirty;
 };
 

From cc512715b98ce3edc64797845960a18dc36bca72 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Sun, 29 Jul 2012 22:25:06 +1000
Subject: [PATCH 101/543] Update icon to a better one

---
 .../src/plugins/coreplugin/images/cpu.png      | Bin 1466 -> 635 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/images/cpu.png b/ground/openpilotgcs/src/plugins/coreplugin/images/cpu.png
index d5b42c728447b2cc744ed7c429aa3ef68e50af53..37e9794222d91f6a4e1dc4d92a6be77f06a6e4d9 100644
GIT binary patch
delta 574
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zA#M~5en3Icg*z1~;@+YN3S9`=f>_0DEG|_16iQd(!uqKQ2CR`{EEq#NT0@%5WSsND
zOdBjnE?n+=_nvd+zWd&Y&~WG)fIc*D@9iu0IUP0h+ZWTxqkl6GVVdTDS^0b(_XiI^
zA2}kp*E|7nczP0=rlC+MU}$qYa=F~Pk#*vTC$BExKp2LBTCJu4iIo=2znaHhv$G*G
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zh1ms2OClbRgMT^SbX`X_n?)*p7hOBM5RFDbo;rf-xJuwqJb{_hrxdYND#5a>z`19h
zb>g@tuik-omTI+%iBE4al70lkHc&2?mHQ@yP^8_XHxSzqgOoCuf#$WMRVo#vI(sm6
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zam16SZZ`-$7)KlWoBkJ<@y^Y-C#ka0bMJ8@)CAq}e93j)mA?WE0Cg}mJ8n)E00000
M07*qoM6N<$f-iUu=l}o!

literal 1466
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iA)fos>(9;&j0`SW-gd8MTzdg3O+8)xT-G@yGywoP@+5r#


From 62bbe208afb24788a5462a8e3bd5beb9858fa509 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Sun, 29 Jul 2012 15:10:30 +0100
Subject: [PATCH 102/543] GCS-Fixes wrong flight mode settings

---
 .../src/plugins/config/configinputwidget.cpp         | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index 78f32055b..bbd56a583 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -94,12 +94,12 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
 
     m_config->stackedWidget->setCurrentIndex(0);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,1);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,2);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,3);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,1);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,2);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,3);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5);
     addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
 
     addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");

From ca22b54b86b6a7acce755b81a3fa9cac52a85560 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Mon, 30 Jul 2012 06:28:40 +1000
Subject: [PATCH 103/543] Change dates on copyright

---
 ground/openpilotgcs/src/plugins/coreplugin/coreconstants.h   | 2 +-
 ground/openpilotgcs/src/plugins/coreplugin/versiondialog.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/coreconstants.h b/ground/openpilotgcs/src/plugins/coreplugin/coreconstants.h
index 3398a3c89..c7a1db3b4 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/coreconstants.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/coreconstants.h
@@ -47,7 +47,7 @@ const char * const GCS_VERSION_CODENAME = "Pascal";
 
 const char * const GCS_VERSION_LONG      = GCS_VERSION;
 const char * const GCS_AUTHOR            = "OpenPilot Project";
-const char * const GCS_YEAR              = "2011";
+const char * const GCS_YEAR              = "2012";
 
 const char * const GCS_HELP              = "http://wiki.openpilot.org";
 #ifdef GCS_REVISION
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/versiondialog.cpp b/ground/openpilotgcs/src/plugins/coreplugin/versiondialog.cpp
index aa8239f6e..1fbb3b1b9 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/versiondialog.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/versiondialog.cpp
@@ -76,7 +76,7 @@ VersionDialog::VersionDialog(QWidget *parent)
         "<br/>"
         "%8"
         "<br/>"
-        "Copyright 2008-%6 %7. All rights reserved.<br/>"
+        "Copyright 2010-%6 %7. All rights reserved.<br/>"
         "<br/>"
          "<small>This program is free software; you can redistribute it and/or modify<br/>"
          "it under the terms of the GNU General Public License as published by<br/>"

From 005f08cbc2d1f856c9abf2edc761fc05e49c8e4f Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sun, 29 Jul 2012 14:51:39 -0700
Subject: [PATCH 104/543] added help buttons, removed wiki buttons, fixed input
 spacing, misc text fixes, tooltips, removed headings from input chan form

---
 .../src/plugins/config/airframe.ui            |   19 +-
 .../src/plugins/config/camerastabilization.ui |   94 +-
 .../src/plugins/config/cc_hw_settings.ui      |   25 +-
 .../src/plugins/config/ccattitude.ui          |    3 +
 .../openpilotgcs/src/plugins/config/input.ui  |  430 +-
 .../src/plugins/config/inputchannelform.cpp   |   17 +-
 .../src/plugins/config/inputchannelform.ui    |  514 +-
 .../openpilotgcs/src/plugins/config/output.ui |    3 +
 .../src/plugins/config/stabilization.ui       | 6914 ++++++++---------
 .../openpilotgcs/src/plugins/config/txpid.ui  |   46 +-
 10 files changed, 4113 insertions(+), 3952 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 6e61303e4..aa62479cf 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -119,8 +119,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>785</width>
-            <height>703</height>
+            <width>779</width>
+            <height>691</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_2">
@@ -2755,8 +2755,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>192</width>
-            <height>236</height>
+            <width>247</width>
+            <height>301</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
@@ -3067,15 +3067,15 @@ 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;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:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
+&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;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
 &lt;tr&gt;
 &lt;td style=&quot;border: none;&quot;&gt;
 &lt;p align=&quot;center&quot; 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:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&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:'Ubuntu'; font-size:11pt;&quot;&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:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&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:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&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;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
              </property>
             </widget>
            </item>
@@ -3143,6 +3143,9 @@ p, li { white-space: pre-wrap; }
             <height>32</height>
            </size>
           </property>
+          <property name="toolTip">
+           <string>Takes you to the wiki page</string>
+          </property>
           <property name="text">
            <string/>
           </property>
diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
index ff1f84049..84d876053 100644
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -132,7 +132,7 @@
             <x>0</x>
             <y>0</y>
             <width>790</width>
-            <height>644</height>
+            <height>648</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -153,7 +153,7 @@
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>88</height>
+               <height>70</height>
               </size>
              </property>
              <property name="title">
@@ -975,54 +975,57 @@ value.</string>
         </property>
        </spacer>
       </item>
-      <item>
-       <widget class="QPushButton" name="camerastabilizationHelp">
-        <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="font">
-         <font>
-          <kerning>true</kerning>
-         </font>
-        </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="shortcut">
-         <string>Ctrl+S</string>
-        </property>
-        <property name="default">
-         <bool>false</bool>
-        </property>
-        <property name="flat">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
       <item>
        <layout class="QHBoxLayout" name="horizontalLayout_2">
         <property name="spacing">
          <number>4</number>
         </property>
+        <item>
+         <widget class="QPushButton" name="camerastabilizationHelp">
+          <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="font">
+           <font>
+            <kerning>true</kerning>
+           </font>
+          </property>
+          <property name="toolTip">
+           <string>Takes you to the wiki page</string>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+          <property name="icon">
+           <iconset resource="../coreplugin/core.qrc">
+            <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+          </property>
+          <property name="iconSize">
+           <size>
+            <width>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>
         <item>
          <widget class="QPushButton" name="camerastabilizationResetToDefaults">
           <property name="minimumSize">
@@ -1116,7 +1119,6 @@ Apply or Save button afterwards.</string>
   <tabstop>pitchResponseTime</tabstop>
   <tabstop>yawResponseTime</tabstop>
   <tabstop>MaxAxisLockRate</tabstop>
-  <tabstop>camerastabilizationHelp</tabstop>
   <tabstop>camerastabilizationResetToDefaults</tabstop>
   <tabstop>camerastabilizationSaveRAM</tabstop>
   <tabstop>camerastabilizationSaveSD</tabstop>
diff --git a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
index 08118c4b5..b9236d623 100644
--- a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
+++ b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
@@ -108,7 +108,7 @@
             <x>0</x>
             <y>0</y>
             <width>547</width>
-            <height>651</height>
+            <height>679</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -287,14 +287,17 @@
             </layout>
            </item>
            <item>
-            <spacer name="verticalSpacer">
+            <spacer name="verticalSpacer_2">
              <property name="orientation">
               <enum>Qt::Vertical</enum>
              </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Fixed</enum>
+             </property>
              <property name="sizeHint" stdset="0">
               <size>
                <width>20</width>
-               <height>328</height>
+               <height>20</height>
               </size>
              </property>
             </spacer>
@@ -318,6 +321,19 @@
              </property>
             </widget>
            </item>
+           <item>
+            <spacer name="verticalSpacer">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>328</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
           </layout>
          </widget>
         </widget>
@@ -422,6 +438,9 @@
             <height>32</height>
            </size>
           </property>
+          <property name="toolTip">
+           <string>Takes you to the wiki page</string>
+          </property>
           <property name="text">
            <string/>
           </property>
diff --git a/ground/openpilotgcs/src/plugins/config/ccattitude.ui b/ground/openpilotgcs/src/plugins/config/ccattitude.ui
index c3585866b..74f70c3fa 100644
--- a/ground/openpilotgcs/src/plugins/config/ccattitude.ui
+++ b/ground/openpilotgcs/src/plugins/config/ccattitude.ui
@@ -316,6 +316,9 @@ arming it in that case!</string>
             <height>32</height>
            </size>
           </property>
+          <property name="toolTip">
+           <string>Takes you to the wiki page</string>
+          </property>
           <property name="text">
            <string/>
           </property>
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index 5fffc2773..e40e232f7 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>693</width>
-    <height>882</height>
+    <width>702</width>
+    <height>920</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_13">
+  <layout class="QVBoxLayout" name="verticalLayout_3">
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -107,8 +107,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>671</width>
-            <height>755</height>
+            <width>672</width>
+            <height>783</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout">
@@ -139,6 +139,357 @@
                     </property>
                    </widget>
                   </item>
+                  <item>
+                   <layout class="QGridLayout" name="gridLayout_8">
+                    <property name="horizontalSpacing">
+                     <number>0</number>
+                    </property>
+                    <item row="1" column="6">
+                     <widget class="QLabel" name="legend4">
+                      <property name="enabled">
+                       <bool>true</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <italic>false</italic>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+                      </property>
+                      <property name="text">
+                       <string>Neutral</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="10">
+                     <widget class="QLabel" name="legend5_3">
+                      <property name="enabled">
+                       <bool>true</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>42</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <italic>false</italic>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+                      </property>
+                      <property name="text">
+                       <string>Rev.</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="3">
+                     <widget class="QLabel" name="legend2">
+                      <property name="enabled">
+                       <bool>true</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>80</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <italic>false</italic>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+                      </property>
+                      <property name="text">
+                       <string>Number</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="4">
+                     <widget class="QLabel" name="legend3">
+                      <property name="enabled">
+                       <bool>true</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>45</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <italic>false</italic>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+                      </property>
+                      <property name="text">
+                       <string>Min</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="2">
+                     <widget class="QLabel" name="legend1">
+                      <property name="enabled">
+                       <bool>true</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>100</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <italic>false</italic>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+                      </property>
+                      <property name="text">
+                       <string>Type</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="5">
+                     <spacer name="horizontalSpacer_6">
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="sizeType">
+                       <enum>QSizePolicy::Fixed</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>5</width>
+                        <height>20</height>
+                       </size>
+                      </property>
+                     </spacer>
+                    </item>
+                    <item row="1" column="7">
+                     <widget class="QLabel" name="legend5">
+                      <property name="enabled">
+                       <bool>true</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>45</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <italic>false</italic>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+                      </property>
+                      <property name="text">
+                       <string>Max</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="1">
+                     <widget class="QLabel" name="legend0">
+                      <property name="enabled">
+                       <bool>true</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>80</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <italic>false</italic>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+                      </property>
+                      <property name="text">
+                       <string>Function</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="9">
+                     <widget class="QLabel" name="legend5_2">
+                      <property name="enabled">
+                       <bool>true</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>48</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <italic>false</italic>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+                      </property>
+                      <property name="text">
+                       <string>Neut.</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="0">
+                     <spacer name="horizontalSpacer_7">
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="sizeType">
+                       <enum>QSizePolicy::Fixed</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>2</width>
+                        <height>20</height>
+                       </size>
+                      </property>
+                     </spacer>
+                    </item>
+                   </layout>
+                  </item>
                   <item>
                    <layout class="QVBoxLayout" name="channelSettings"/>
                   </item>
@@ -153,21 +504,34 @@
                     <property name="sizeHint" stdset="0">
                      <size>
                       <width>20</width>
-                      <height>5</height>
+                      <height>10</height>
                      </size>
                     </property>
                    </spacer>
                   </item>
                   <item>
                    <layout class="QGridLayout" name="gridLayout_3">
-                    <item row="0" column="0">
+                    <item row="0" column="4">
+                     <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 row="0" column="1">
                      <widget class="QLabel" name="labelDeadband">
                       <property name="text">
                        <string>Roll/Pitch/Yaw stick deadband</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="0" column="1">
+                    <item row="0" column="2">
                      <widget class="QDoubleSpinBox" name="deadband">
                       <property name="toolTip">
                        <string>Stick deadband in percents of full range (0-10), zero to disable</string>
@@ -183,14 +547,17 @@
                       </property>
                      </widget>
                     </item>
-                    <item row="0" column="3">
-                     <spacer name="horizontalSpacer_3">
+                    <item row="0" column="0">
+                     <spacer name="horizontalSpacer_8">
                       <property name="orientation">
                        <enum>Qt::Horizontal</enum>
                       </property>
+                      <property name="sizeType">
+                       <enum>QSizePolicy::Fixed</enum>
+                      </property>
                       <property name="sizeHint" stdset="0">
                        <size>
-                        <width>40</width>
+                        <width>12</width>
                         <height>20</height>
                        </size>
                       </property>
@@ -373,8 +740,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>508</width>
-            <height>770</height>
+            <width>540</width>
+            <height>510</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_7">
@@ -611,23 +978,20 @@ channel value for each flight mode.</string>
              </layout>
             </widget>
            </item>
-           <item row="1" column="0">
-            <spacer name="verticalSpacer_6">
+           <item row="2" column="0">
+            <spacer name="verticalSpacer_5">
              <property name="orientation">
               <enum>Qt::Vertical</enum>
              </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::Fixed</enum>
-             </property>
              <property name="sizeHint" stdset="0">
               <size>
                <width>20</width>
-               <height>50</height>
+               <height>100</height>
               </size>
              </property>
             </spacer>
            </item>
-           <item row="2" column="0">
+           <item row="1" column="0">
             <widget class="QGroupBox" name="groupBox">
              <property name="styleSheet">
               <string notr="true"/>
@@ -636,6 +1000,12 @@ channel value for each flight mode.</string>
               <string>Configure each stabilization mode for each axis</string>
              </property>
              <layout class="QGridLayout" name="gridLayout_2">
+              <property name="leftMargin">
+               <number>0</number>
+              </property>
+              <property name="horizontalSpacing">
+               <number>12</number>
+              </property>
               <item row="3" column="0">
                <widget class="QLabel" name="label_22">
                 <property name="text">
@@ -801,19 +1171,6 @@ margin:1px;</string>
              </layout>
             </widget>
            </item>
-           <item row="3" column="0">
-            <spacer name="verticalSpacer_5">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>300</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
           </layout>
          </widget>
         </widget>
@@ -908,8 +1265,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>550</width>
-            <height>147</height>
+            <width>529</width>
+            <height>165</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
@@ -1072,6 +1429,9 @@ margin:1px;</string>
             <height>32</height>
            </size>
           </property>
+          <property name="toolTip">
+           <string>Takes you to the wiki page</string>
+          </property>
           <property name="text">
            <string/>
           </property>
diff --git a/ground/openpilotgcs/src/plugins/config/inputchannelform.cpp b/ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
index e80986399..fe54504d0 100644
--- a/ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
+++ b/ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
@@ -10,22 +10,7 @@ inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) :
 {
     ui->setupUi(this);
     
-    //The first time through the loop, keep the legend. All other times, delete it.
-    if(!showlegend)
-    {
-        layout()->removeWidget(ui->legend0);
-        layout()->removeWidget(ui->legend1);
-        layout()->removeWidget(ui->legend2);
-        layout()->removeWidget(ui->legend3);
-        layout()->removeWidget(ui->legend4);
-        layout()->removeWidget(ui->legend5);
-        delete ui->legend0;
-        delete ui->legend1;
-        delete ui->legend2;
-        delete ui->legend3;
-        delete ui->legend4;
-        delete ui->legend5;
-    }
+
 
     connect(ui->channelMin,SIGNAL(valueChanged(int)),this,SLOT(minMaxUpdated()));
     connect(ui->channelMax,SIGNAL(valueChanged(int)),this,SLOT(minMaxUpdated()));
diff --git a/ground/openpilotgcs/src/plugins/config/inputchannelform.ui b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui
index d78727f9a..8a1d260f3 100644
--- a/ground/openpilotgcs/src/plugins/config/inputchannelform.ui
+++ b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>767</width>
+    <width>666</width>
     <height>59</height>
    </rect>
   </property>
@@ -26,7 +26,7 @@
    <property name="verticalSpacing">
     <number>0</number>
    </property>
-   <item row="2" column="1">
+   <item row="1" column="1">
     <widget class="QLabel" name="channelName">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@@ -45,254 +45,7 @@
      </property>
     </widget>
    </item>
-   <item row="2" column="2">
-    <widget class="QComboBox" name="channelGroup">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
-       <horstretch>6</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>100</width>
-       <height>16777215</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="4">
-    <widget class="QSpinBox" name="channelMin">
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-     <property name="buttonSymbols">
-      <enum>QAbstractSpinBox::NoButtons</enum>
-     </property>
-     <property name="maximum">
-      <number>9999</number>
-     </property>
-     <property name="value">
-      <number>1000</number>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="8">
-    <widget class="QSpinBox" name="channelMax">
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-     <property name="buttonSymbols">
-      <enum>QAbstractSpinBox::NoButtons</enum>
-     </property>
-     <property name="maximum">
-      <number>9999</number>
-     </property>
-     <property name="value">
-      <number>1000</number>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="1">
-    <widget class="QLabel" name="legend0">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>26</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-     </property>
-     <property name="text">
-      <string>Function</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="8">
-    <widget class="QLabel" name="legend5">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>45</width>
-       <height>26</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-     </property>
-     <property name="text">
-      <string>Max</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="4">
-    <widget class="QLabel" name="legend3">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>26</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-     </property>
-     <property name="text">
-      <string>Min</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="6">
-    <widget class="QLabel" name="legend4">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>26</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-     </property>
-     <property name="text">
-      <string>Neutral</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="6">
-    <widget class="QSlider" name="channelNeutral">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>22</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="3">
+   <item row="1" column="3">
     <widget class="QComboBox" name="channelNumberDropdown">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
@@ -320,20 +73,7 @@ font:bold;</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="3">
-    <widget class="QSpinBox" name="channelNumber">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>0</width>
-       <height>0</height>
-      </size>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="10">
+   <item row="1" column="11">
     <widget class="QCheckBox" name="channelRev">
      <property name="enabled">
       <bool>false</bool>
@@ -345,11 +85,90 @@ font:bold;</string>
       </size>
      </property>
      <property name="text">
-      <string>Rev</string>
+      <string/>
      </property>
     </widget>
    </item>
-   <item row="2" column="9">
+   <item row="1" column="7">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>10</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="2">
+    <widget class="QComboBox" name="channelGroup">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+       <horstretch>6</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>25</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>100</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="8">
+    <widget class="QSpinBox" name="channelMax">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>25</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="buttonSymbols">
+      <enum>QAbstractSpinBox::NoButtons</enum>
+     </property>
+     <property name="maximum">
+      <number>9999</number>
+     </property>
+     <property name="value">
+      <number>1000</number>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="5">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>10</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="9">
     <widget class="QLabel" name="neutral">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -374,84 +193,45 @@ font:bold;</string>
      </property>
     </widget>
    </item>
-   <item row="2" column="5">
-    <spacer name="horizontalSpacer">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Fixed</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>10</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="2" column="7">
-    <spacer name="horizontalSpacer_2">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Fixed</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>10</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="0" column="2">
-    <widget class="QLabel" name="legend1">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>26</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-     </property>
-     <property name="text">
-      <string>Type</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
    <item row="0" column="3">
-    <widget class="QLabel" name="legend2">
+    <widget class="QSpinBox" name="channelNumber">
      <property name="enabled">
       <bool>true</bool>
      </property>
+     <property name="maximumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="4">
+    <widget class="QSpinBox" name="channelMin">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>25</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="buttonSymbols">
+      <enum>QAbstractSpinBox::NoButtons</enum>
+     </property>
+     <property name="maximum">
+      <number>9999</number>
+     </property>
+     <property name="value">
+      <number>1000</number>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="6">
+    <widget class="QSlider" name="channelNeutral">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+      <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
@@ -459,31 +239,49 @@ font:bold;</string>
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>26</height>
+       <height>22</height>
       </size>
      </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
      </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-     </property>
-     <property name="text">
-      <string>Number</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
      </property>
     </widget>
    </item>
+   <item row="1" column="12">
+    <spacer name="horizontalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>10</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="10">
+    <spacer name="horizontalSpacer_4">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>15</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
   </layout>
  </widget>
  <tabstops>
diff --git a/ground/openpilotgcs/src/plugins/config/output.ui b/ground/openpilotgcs/src/plugins/config/output.ui
index de33805a6..dbddcda3b 100644
--- a/ground/openpilotgcs/src/plugins/config/output.ui
+++ b/ground/openpilotgcs/src/plugins/config/output.ui
@@ -971,6 +971,9 @@ margin:1px;</string>
             <height>32</height>
            </size>
           </property>
+          <property name="toolTip">
+           <string>Takes you to the wiki page</string>
+          </property>
           <property name="text">
            <string/>
           </property>
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 97434d7f1..4d7254ac6 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -454,10 +454,7 @@
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_2">
    <property name="spacing">
-    <number>12</number>
-   </property>
-   <property name="margin">
-    <number>12</number>
+    <number>-1</number>
    </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
@@ -600,15 +597,3315 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>758</width>
-            <height>806</height>
+            <width>756</width>
+            <height>819</height>
            </rect>
           </property>
-          <layout class="QVBoxLayout" name="verticalLayout_8">
-           <property name="spacing">
-            <number>6</number>
-           </property>
-           <item>
+          <layout class="QGridLayout" name="gridLayout_4">
+           <item row="1" column="0">
+            <widget class="QGroupBox" name="RateStabilizationGroup_17">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
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+                         <red>39</red>
+                         <green>39</green>
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+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
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+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
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+                   <property name="styleSheet">
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+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Roll</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="3">
+                  <widget class="QLabel" name="label_151">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
+                    </size>
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+                   <property name="palette">
+                    <palette>
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+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                          <color alpha="255">
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+                           <green>36</green>
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+                        <color alpha="255">
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+                         <green>58</green>
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+                        </color>
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+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
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+                         <green>19</green>
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+                         <green>26</green>
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+                       <brush brushstyle="SolidPattern">
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+                         <red>255</red>
+                         <green>255</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
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+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
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+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
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+                         <green>0</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
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+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
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+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
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+                        </color>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
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+                           <green>36</green>
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+                           <green>74</green>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
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+                        </gradient>
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+                         <green>0</green>
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+                         <green>19</green>
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+                        </color>
+                       </brush>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                        </color>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
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+                         <green>0</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
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+                        <color alpha="255">
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+                         <green>48</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
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+                        </color>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                           <red>74</red>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
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+                         <green>39</green>
+                         <blue>39</blue>
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+                      </colorrole>
+                      <colorrole role="ToolTipBase">
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+                         <green>255</green>
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+                         <green>0</green>
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+                     </disabled>
+                    </palette>
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+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
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+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Pitch</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="5">
+                  <widget class="QLabel" name="label_152">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                         <green>255</green>
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+                         <gradientstop position="0.786070000000000">
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+                           <red>36</red>
+                           <green>36</green>
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+                         </gradientstop>
+                        </gradient>
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+                     <bold>true</bold>
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+color: rgb(255, 255, 255);
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+                   <property name="text">
+                    <string>Yaw</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QLabel" name="label_153">
+                   <property name="sizePolicy">
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+                     <verstretch>0</verstretch>
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+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
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+                   <property name="tickPosition">
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+                   <property name="tickInterval">
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+                   <property name="objrelation" stdset="0">
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+                   <property name="tickPosition">
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+                   <property name="objrelation" stdset="0">
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+                     <string>fieldname:PitchPI</string>
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+                     <string>haslimits:yes</string>
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+                     <verstretch>0</verstretch>
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+                     <height>25</height>
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+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
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+                   <property name="styleSheet">
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+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
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+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
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+                   <property name="tickInterval">
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+                   </property>
+                   <property name="objrelation" stdset="0">
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+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawPI</string>
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+                     <string>haslimits:yes</string>
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+                     <width>50</width>
+                     <height>22</height>
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+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
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+                   <property name="objrelation" stdset="0">
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+                     <string>fieldname:YawPI</string>
+                     <string>element:Kp</string>
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+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
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+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_157">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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+                     <verstretch>0</verstretch>
+                    </sizepolicy>
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+                   <property name="styleSheet">
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+                   <property name="text">
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+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="1">
+                  <widget class="QSlider" name="horizontalSlider_85">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="2">
+                  <widget class="QSpinBox" name="spinBox_18">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="3">
+                  <widget class="QSlider" name="horizontalSlider_86">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="4">
+                  <widget class="QSpinBox" name="spinBox_19">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="5">
+                  <widget class="QSlider" name="horizontalSlider_87">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="6">
+                  <widget class="QSpinBox" name="spinBox_20">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="2">
+                  <spacer name="horizontalSpacer_2">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="0" column="4">
+                  <spacer name="horizontalSpacer_5">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="0" column="0">
+                  <spacer name="horizontalSpacer_46">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="0" column="6">
+                  <spacer name="horizontalSpacer_47">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item row="0" column="0">
             <widget class="QGroupBox" name="RateStabilizationGroup_15">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -619,7 +3916,7 @@
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>181</height>
+               <height>200</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -639,7 +3936,7 @@
                <number>6</number>
               </property>
               <item row="0" column="0">
-               <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0,0">
+               <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0">
                 <property name="spacing">
                  <number>4</number>
                 </property>
@@ -678,46 +3975,6 @@
                   </property>
                  </spacer>
                 </item>
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-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
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-                  <property name="minimumSize">
-                   <size>
-                    <width>51</width>
-                    <height>25</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>16777215</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Takes you to the online wiki page for Rate settings</string>
-                  </property>
-                  <property name="autoFillBackground">
-                   <bool>false</bool>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Wiki</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
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-                    <string>button:help</string>
-                    <string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
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-                 </widget>
-                </item>
                 <item>
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                   <property name="sizePolicy">
@@ -3505,656 +6762,67 @@ value as the Kp.</string>
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             </widget>
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-           <item>
-            <widget class="QGroupBox" name="RateStabilizationGroup_17">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
+           <item row="5" column="0">
+            <spacer name="verticalSpacer_10">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
              </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Preferred</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>180</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="4" column="0">
+            <widget class="QGroupBox" name="groupBox">
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>181</height>
+               <height>80</height>
               </size>
              </property>
-             <property name="maximumSize">
-              <size>
-               <width>16777215</width>
-               <height>181</height>
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-              </palette>
-             </property>
-             <property name="autoFillBackground">
-              <bool>false</bool>
-             </property>
              <property name="title">
-              <string>Attitude Stabilization (Outer Loop)</string>
+              <string/>
              </property>
-             <property name="alignment">
-              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-             </property>
-             <layout class="QVBoxLayout" name="verticalLayout_3">
+             <layout class="QVBoxLayout" name="verticalLayout_11">
               <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,0,0,0">
-                <property name="spacing">
-                 <number>4</number>
+               <widget class="QCheckBox" name="lowThrottleZeroIntegral_8">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
                 </property>
-                <item>
-                 <widget class="QCheckBox" name="checkBox_8">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="focusPolicy">
-                   <enum>Qt::StrongFocus</enum>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Link Roll and Pitch</string>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <spacer name="horizontalSpacer_4">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
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-                   <enum>QSizePolicy::MinimumExpanding</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
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-                    <height>20</height>
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-                </item>
-                <item>
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-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>51</width>
-                    <height>25</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Takes you to the online wiki page for Attitude settings</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Wiki</string>
-                  </property>
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-                    <string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
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-                <item>
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-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>81</width>
-                    <height>25</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Reset all values to GCS defaults</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Default</string>
-                  </property>
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-                    <string>buttongroup:2</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
-               </layout>
+                <property name="minimumSize">
+                 <size>
+                  <width>300</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>When the throttle is low, zero the intergral term to prevent intergral wind-up</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Zero the integral when throttle is low</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:StabilizationSettings</string>
+                  <string>fieldname:LowThrottleZeroIntegral</string>
+                 </stringlist>
+                </property>
+               </widget>
               </item>
               <item>
-               <widget class="QGroupBox" name="RateStabilizationGroup_18">
+               <widget class="QCheckBox" name="realTimeUpdates_6">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                   <horstretch>0</horstretch>
@@ -4163,2683 +6831,26 @@ value as the Kp.</string>
                 </property>
                 <property name="minimumSize">
                  <size>
-                  <width>0</width>
-                  <height>131</height>
+                  <width>136</width>
+                  <height>20</height>
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-                 </palette>
-                </property>
-                <property name="autoFillBackground">
-                 <bool>false</bool>
+                <property name="toolTip">
+                 <string>If you check this, the GCS will udpate the stabilization factors
+automatically every 300ms, which will help for fast tuning.</string>
                 </property>
                 <property name="styleSheet">
                  <string notr="true"/>
                 </property>
-                <property name="title">
-                 <string/>
+                <property name="text">
+                 <string>Update in real time</string>
                 </property>
-                <property name="flat">
-                 <bool>true</bool>
-                </property>
-                <layout class="QGridLayout" name="gridLayout_12">
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-                 <item row="0" column="0">
-                  <spacer name="horizontalSpacer_46">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="0" column="6">
-                  <spacer name="horizontalSpacer_47">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                </layout>
                </widget>
               </item>
              </layout>
             </widget>
            </item>
-           <item>
+           <item row="2" column="0">
             <widget class="QGroupBox" name="RateStabilizationGroup_19">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -6850,7 +6861,7 @@ border-radius: 5;</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>211</height>
+               <height>230</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -7381,7 +7392,7 @@ border-radius: 5;</string>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_4">
               <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,0,0">
+               <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,0">
                 <property name="spacing">
                  <number>4</number>
                 </property>
@@ -7401,37 +7412,6 @@ border-radius: 5;</string>
                   </property>
                  </spacer>
                 </item>
-                <item>
-                 <widget class="QPushButton" name="pushButton_23">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>51</width>
-                    <height>25</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Takes you to the online wiki page for Stick settings</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Wiki</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>button:help</string>
-                    <string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
                 <item>
                  <widget class="QPushButton" name="pushButton_24">
                   <property name="sizePolicy">
@@ -10463,90 +10443,18 @@ Attitude</string>
              </layout>
             </widget>
            </item>
-           <item>
-            <widget class="QGroupBox" name="groupBox">
-             <property name="minimumSize">
-              <size>
-               <width>0</width>
-               <height>80</height>
-              </size>
-             </property>
-             <property name="title">
-              <string/>
-             </property>
-             <layout class="QVBoxLayout" name="verticalLayout_11">
-              <item>
-               <widget class="QCheckBox" name="lowThrottleZeroIntegral_8">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>300</width>
-                  <height>20</height>
-                 </size>
-                </property>
-                <property name="toolTip">
-                 <string>When the throttle is low, zero the intergral term to prevent intergral wind-up</string>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true"/>
-                </property>
-                <property name="text">
-                 <string>Zero the integral when throttle is low</string>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:StabilizationSettings</string>
-                  <string>fieldname:LowThrottleZeroIntegral</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QCheckBox" name="realTimeUpdates_6">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>136</width>
-                  <height>20</height>
-                 </size>
-                </property>
-                <property name="toolTip">
-                 <string>If you check this, the GCS will udpate the stabilization factors
-automatically every 300ms, which will help for fast tuning.</string>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true"/>
-                </property>
-                <property name="text">
-                 <string>Update in real time</string>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <spacer name="verticalSpacer_10">
+           <item row="3" column="0">
+            <spacer name="verticalSpacer">
              <property name="orientation">
               <enum>Qt::Vertical</enum>
              </property>
              <property name="sizeType">
-              <enum>QSizePolicy::Preferred</enum>
+              <enum>QSizePolicy::Fixed</enum>
              </property>
              <property name="sizeHint" stdset="0">
               <size>
-               <width>20</width>
-               <height>180</height>
+               <width>10</width>
+               <height>12</height>
               </size>
              </property>
             </spacer>
@@ -10645,18 +10553,15 @@ automatically every 300ms, which will help for fast tuning.</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>758</width>
-            <height>806</height>
+            <width>470</width>
+            <height>745</height>
            </rect>
           </property>
           <property name="autoFillBackground">
            <bool>true</bool>
           </property>
-          <layout class="QVBoxLayout" name="verticalLayout_9">
-           <property name="spacing">
-            <number>6</number>
-           </property>
-           <item>
+          <layout class="QGridLayout" name="gridLayout_5">
+           <item row="0" column="0">
             <widget class="QGroupBox" name="RateStabilizationGroup_8">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -14114,7 +14019,7 @@ value as the Kp.</string>
              </layout>
             </widget>
            </item>
-           <item>
+           <item row="1" column="0">
             <widget class="QGroupBox" name="RateStabilizationGroup_4">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -17380,7 +17285,7 @@ border-radius: 5;</string>
              </layout>
             </widget>
            </item>
-           <item>
+           <item row="2" column="0">
             <widget class="QGroupBox" name="RateStabilizationGroup_6">
              <property name="sizePolicy">
               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -20666,7 +20571,7 @@ rate(deg/s)</string>
              </layout>
             </widget>
            </item>
-           <item>
+           <item row="3" column="0">
             <widget class="QGroupBox" name="RateStabilizationGroup_23">
              <property name="minimumSize">
               <size>
@@ -24089,6 +23994,56 @@ border-radius: 5;</string>
         <property name="spacing">
          <number>4</number>
         </property>
+        <item>
+         <widget class="QPushButton" name="pushButton_23">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="maximumSize">
+           <size>
+            <width>32</width>
+            <height>32</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Takes you to the wiki page</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true"/>
+          </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>
+          <property name="objrelation" stdset="0">
+           <stringlist>
+            <string>button:help</string>
+            <string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
+           </stringlist>
+          </property>
+         </widget>
+        </item>
         <item>
          <widget class="QPushButton" name="stabilizationReloadBoardData_6">
           <property name="sizePolicy">
@@ -24198,7 +24153,6 @@ Useful if you have accidentally changed some settings.</string>
  <tabstops>
   <tabstop>scrollArea</tabstop>
   <tabstop>checkBox_7</tabstop>
-  <tabstop>pushButton_19</tabstop>
   <tabstop>pushButton_20</tabstop>
   <tabstop>horizontalSlider_76</tabstop>
   <tabstop>spinBox_7</tabstop>
@@ -24213,7 +24167,6 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>horizontalSlider_81</tabstop>
   <tabstop>spinBox_10</tabstop>
   <tabstop>checkBox_8</tabstop>
-  <tabstop>pushButton_21</tabstop>
   <tabstop>pushButton_22</tabstop>
   <tabstop>horizontalSlider_82</tabstop>
   <tabstop>spinBox_13</tabstop>
@@ -24227,7 +24180,6 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>spinBox_19</tabstop>
   <tabstop>horizontalSlider_87</tabstop>
   <tabstop>spinBox_20</tabstop>
-  <tabstop>pushButton_23</tabstop>
   <tabstop>pushButton_24</tabstop>
   <tabstop>horizontalSlider_88</tabstop>
   <tabstop>spinBox_16</tabstop>
@@ -24291,6 +24243,8 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>AccelKp</tabstop>
   <tabstop>AccelKi</tabstop>
  </tabstops>
- <resources/>
+ <resources>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/ground/openpilotgcs/src/plugins/config/txpid.ui b/ground/openpilotgcs/src/plugins/config/txpid.ui
index e9acbec2d..dfb430906 100644
--- a/ground/openpilotgcs/src/plugins/config/txpid.ui
+++ b/ground/openpilotgcs/src/plugins/config/txpid.ui
@@ -14,9 +14,6 @@
    <string>TxPID</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_3">
-   <property name="spacing">
-    <number>12</number>
-   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -111,7 +108,7 @@
             <x>0</x>
             <y>0</y>
             <width>678</width>
-            <height>683</height>
+            <height>678</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
@@ -144,7 +141,7 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.</str
               <item>
                <widget class="QLabel" name="label_7">
                 <property name="text">
-                 <string>After enabling the module, you must power cycle before using and configuring.</string>
+                 <string>After enabling you must power cycle your board before using and configuring</string>
                 </property>
                </widget>
               </item>
@@ -688,6 +685,41 @@ margin:1px;</string>
           </property>
          </spacer>
         </item>
+        <item>
+         <widget class="QPushButton" name="pushButton">
+          <property name="maximumSize">
+           <size>
+            <width>32</width>
+            <height>32</height>
+           </size>
+          </property>
+          <property name="toolTip">
+           <string>Takes you to the wiki page</string>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+          <property name="icon">
+           <iconset resource="../coreplugin/core.qrc">
+            <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+          </property>
+          <property name="iconSize">
+           <size>
+            <width>32</width>
+            <height>32</height>
+           </size>
+          </property>
+          <property name="flat">
+           <bool>true</bool>
+          </property>
+          <property name="objRelation" stdset="0">
+           <stringlist>
+            <string>button:help</string>
+            <string>url:http://wiki.openpilot.org/display/Doc/TxPID+Module</string>
+           </stringlist>
+          </property>
+         </widget>
+        </item>
         <item>
          <widget class="QPushButton" name="Apply">
           <property name="minimumSize">
@@ -756,6 +788,8 @@ margin:1px;</string>
   <tabstop>ThrottleMax</tabstop>
   <tabstop>UpdateMode</tabstop>
  </tabstops>
- <resources/>
+ <resources>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
  <connections/>
 </ui>

From ef04025d055b20ee9f322dde8cb9567d060eab92 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sun, 29 Jul 2012 15:14:40 -0700
Subject: [PATCH 105/543] couple small sizing issues in stabi, and spacer in hw
 settings

---
 .../src/plugins/config/cc_hw_settings.ui         |  6 +++---
 .../src/plugins/config/stabilization.ui          | 16 ++++++++--------
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
index b9236d623..a7f78b623 100644
--- a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
+++ b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
@@ -107,8 +107,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>547</width>
-            <height>679</height>
+            <width>562</width>
+            <height>567</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -329,7 +329,7 @@
              <property name="sizeHint" stdset="0">
               <size>
                <width>20</width>
-               <height>328</height>
+               <height>25</height>
               </size>
              </property>
             </spacer>
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 4d7254ac6..22175d84c 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -613,7 +613,7 @@
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>200</height>
+               <height>195</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -3916,7 +3916,7 @@ border-radius: 5;</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>200</height>
+               <height>195</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -6861,7 +6861,7 @@ automatically every 300ms, which will help for fast tuning.</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>230</height>
+               <height>225</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -10553,8 +10553,8 @@ Attitude</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>470</width>
-            <height>745</height>
+            <width>756</width>
+            <height>819</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -10572,7 +10572,7 @@ Attitude</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>220</height>
+               <height>230</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -14030,7 +14030,7 @@ value as the Kp.</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>190</height>
+               <height>200</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -17296,7 +17296,7 @@ border-radius: 5;</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>211</height>
+               <height>230</height>
               </size>
              </property>
              <property name="maximumSize">

From 9ab86f7c7e187bcdd79572e9fa7f840402628867 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Sun, 29 Jul 2012 23:29:39 +0100
Subject: [PATCH 106/543] GCS-Changed "wiki" help buttons to the standard ones.
 Updated the links to tiny links.

---
 .../src/plugins/config/camerastabilization.ui |  10 +-
 .../plugins/config/config_cc_hw_widget.cpp    |   2 +-
 .../configcamerastabilizationwidget.cpp       |   7 +-
 .../config/configcamerastabilizationwidget.h  |   1 -
 .../plugins/config/configccattitudewidget.cpp |   2 +-
 .../src/plugins/config/configinputwidget.cpp  |   2 +-
 .../src/plugins/config/configoutputwidget.cpp |   2 +-
 .../plugins/config/configpipxtremewidget.cpp  |   2 +-
 .../src/plugins/config/configtxpidwidget.cpp  |   2 +-
 .../config/configvehicletypewidget.cpp        |   2 +-
 .../src/plugins/config/pipxtreme.ui           |  30 +++-
 .../src/plugins/config/stabilization.ui       | 141 ++++--------------
 .../openpilotgcs/src/plugins/config/txpid.ui  |  34 ++++-
 .../plugins/uploader/uploadergadgetwidget.cpp |   2 +-
 14 files changed, 109 insertions(+), 130 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
index ff1f84049..b6278364d 100644
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -131,8 +131,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>790</width>
-            <height>644</height>
+            <width>792</width>
+            <height>630</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -1016,6 +1016,12 @@ value.</string>
         <property name="flat">
          <bool>true</bool>
         </property>
+        <property name="objrelation" stdset="0">
+         <stringlist>
+          <string>button:help</string>
+          <string>url:http://wiki.openpilot.org/x/cACrAQ</string>
+         </stringlist>
+        </property>
        </widget>
       </item>
       <item>
diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
index 89b752996..9011b07b4 100644
--- a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
@@ -128,7 +128,7 @@ void ConfigCCHWWidget::widgetsContentsChanged()
 
 void ConfigCCHWWidget::openHelp()
 {
-    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/CopterControl+HW+Settings", QUrl::StrictMode) );
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/D4AUAQ", QUrl::StrictMode) );
 }
 
 /**
diff --git a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
index c15af11b2..a6874c0c4 100644
--- a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
@@ -95,7 +95,7 @@ ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent
     connect(m_camerastabilization->camerastabilizationResetToDefaults, SIGNAL(clicked()), this, SLOT(resetToDefaults()));
     connect(m_camerastabilization->camerastabilizationSaveRAM, SIGNAL(clicked()), this, SLOT(applySettings()));
     connect(m_camerastabilization->camerastabilizationSaveSD, SIGNAL(clicked()), this, SLOT(saveSettings()));
-    connect(m_camerastabilization->camerastabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
+    autoLoadWidgets();
 
     disableMouseWheelEvents();
 }
@@ -333,11 +333,6 @@ void ConfigCameraStabilizationWidget::resetToDefaults()
     refreshUIValues(defaults);
 }
 
-void ConfigCameraStabilizationWidget::openHelp()
-{
-    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Camera+Stabilization+Configuration", QUrl::StrictMode) );
-}
-
 void ConfigCameraStabilizationWidget::enableControls(bool enable)
 {
     m_camerastabilization->camerastabilizationResetToDefaults->setEnabled(enable);
diff --git a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.h b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.h
index 743435adb..8e1305268 100644
--- a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.h
@@ -47,7 +47,6 @@ private:
     void refreshUIValues(CameraStabSettings::DataFields &cameraStabData);
 
 private slots:
-    void openHelp();
     void resetToDefaults();
     void applySettings();
     void saveSettings();
diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
index 044dd7770..e24ea74eb 100644
--- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
@@ -169,7 +169,7 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
 void ConfigCCAttitudeWidget::openHelp()
 {
 
-    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/CopterControl+Attitude+Configuration", QUrl::StrictMode) );
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/44Cf", QUrl::StrictMode) );
 }
 
 void ConfigCCAttitudeWidget::enableControls(bool enable)
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index bbd56a583..5e3f3dd9d 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -290,7 +290,7 @@ void ConfigInputWidget::resizeEvent(QResizeEvent *event)
 void ConfigInputWidget::openHelp()
 {
 
-    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) );
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/04Cf", QUrl::StrictMode) );
 }
 void ConfigInputWidget::goToWizard()
 {
diff --git a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
index 2f77d58c1..af91c677e 100644
--- a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
@@ -371,7 +371,7 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
 void ConfigOutputWidget::openHelp()
 {
 
-    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Output+Configuration", QUrl::StrictMode) );
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/WIGf", QUrl::StrictMode) );
 }
 
 void ConfigOutputWidget::stopTests()
diff --git a/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp b/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
index 7808b6dfa..887184cfa 100644
--- a/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
@@ -52,7 +52,7 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
 	} else {
 		qDebug() << "Error: Object is unknown (PipXSettings).";
 	}
-
+    autoLoadWidgets();
 	addApplySaveButtons(m_pipx->Apply, m_pipx->Save);
 
 	addUAVObjectToWidgetRelation("PipXSettings", "TelemetryConfig", m_pipx->TelemPortConfig);
diff --git a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp
index 6c6ac1c9a..621577b20 100644
--- a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp
@@ -40,7 +40,7 @@ ConfigTxPIDWidget::ConfigTxPIDWidget(QWidget *parent) : ConfigTaskWidget(parent)
     Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
     if(!settings->useExpertMode())
         m_txpid->Apply->setVisible(false);
-
+    autoLoadWidgets();
     addApplySaveButtons(m_txpid->Apply, m_txpid->Save);
 
     // Cannot use addUAVObjectToWidgetRelation() for OptionaModules enum because
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index e91d08574..fcce79a49 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -752,7 +752,7 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
 void ConfigVehicleTypeWidget::openHelp()
 {
 
-    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Airframe+configuration", QUrl::StrictMode) );
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/44Cf", QUrl::StrictMode) );
 }
 
 /**
diff --git a/ground/openpilotgcs/src/plugins/config/pipxtreme.ui b/ground/openpilotgcs/src/plugins/config/pipxtreme.ui
index 9de1a7120..2f7068c4f 100644
--- a/ground/openpilotgcs/src/plugins/config/pipxtreme.ui
+++ b/ground/openpilotgcs/src/plugins/config/pipxtreme.ui
@@ -86,6 +86,32 @@
             </property>
            </spacer>
           </item>
+          <item>
+           <widget class="QPushButton" name="pushButton">
+            <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>
+            <property name="objrelation" stdset="0">
+             <stringlist>
+              <string>button:help</string>
+              <string>url:http://wiki.openpilot.org/x/dACrAQ</string>
+             </stringlist>
+            </property>
+           </widget>
+          </item>
           <item>
            <widget class="QPushButton" name="Apply">
             <property name="toolTip">
@@ -1752,6 +1778,8 @@
   <tabstop>Apply</tabstop>
   <tabstop>Save</tabstop>
  </tabstops>
- <resources/>
+ <resources>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 97434d7f1..5293e60aa 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -639,7 +639,7 @@
                <number>6</number>
               </property>
               <item row="0" column="0">
-               <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0,0">
+               <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0">
                 <property name="spacing">
                  <number>4</number>
                 </property>
@@ -678,46 +678,6 @@
                   </property>
                  </spacer>
                 </item>
-                <item>
-                 <widget class="QPushButton" name="pushButton_19">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>51</width>
-                    <height>25</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>16777215</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Takes you to the online wiki page for Rate settings</string>
-                  </property>
-                  <property name="autoFillBackground">
-                   <bool>false</bool>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Wiki</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>button:help</string>
-                    <string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
                 <item>
                  <widget class="QPushButton" name="pushButton_20">
                   <property name="sizePolicy">
@@ -4050,7 +4010,7 @@ value as the Kp.</string>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_3">
               <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,0,0,0">
+               <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,0,0">
                 <property name="spacing">
                  <number>4</number>
                 </property>
@@ -4089,37 +4049,6 @@ value as the Kp.</string>
                   </property>
                  </spacer>
                 </item>
-                <item>
-                 <widget class="QPushButton" name="pushButton_21">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>51</width>
-                    <height>25</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Takes you to the online wiki page for Attitude settings</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Wiki</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>button:help</string>
-                    <string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
                 <item>
                  <widget class="QPushButton" name="pushButton_22">
                   <property name="sizePolicy">
@@ -7381,7 +7310,7 @@ border-radius: 5;</string>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_4">
               <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,0,0">
+               <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,0">
                 <property name="spacing">
                  <number>4</number>
                 </property>
@@ -7401,37 +7330,6 @@ border-radius: 5;</string>
                   </property>
                  </spacer>
                 </item>
-                <item>
-                 <widget class="QPushButton" name="pushButton_23">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>51</width>
-                    <height>25</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Takes you to the online wiki page for Stick settings</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Wiki</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>button:help</string>
-                    <string>url:http://wiki.openpilot.org/display/Doc/Stabilization+panel</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
                 <item>
                  <widget class="QPushButton" name="pushButton_24">
                   <property name="sizePolicy">
@@ -24089,6 +23987,32 @@ border-radius: 5;</string>
         <property name="spacing">
          <number>4</number>
         </property>
+        <item>
+         <widget class="QPushButton" name="pushButton">
+          <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>
+          <property name="objrelation" stdset="0">
+           <stringlist>
+            <string>button:help</string>
+            <string>url:http://wiki.openpilot.org/x/DAO9</string>
+           </stringlist>
+          </property>
+         </widget>
+        </item>
         <item>
          <widget class="QPushButton" name="stabilizationReloadBoardData_6">
           <property name="sizePolicy">
@@ -24198,7 +24122,6 @@ Useful if you have accidentally changed some settings.</string>
  <tabstops>
   <tabstop>scrollArea</tabstop>
   <tabstop>checkBox_7</tabstop>
-  <tabstop>pushButton_19</tabstop>
   <tabstop>pushButton_20</tabstop>
   <tabstop>horizontalSlider_76</tabstop>
   <tabstop>spinBox_7</tabstop>
@@ -24213,7 +24136,6 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>horizontalSlider_81</tabstop>
   <tabstop>spinBox_10</tabstop>
   <tabstop>checkBox_8</tabstop>
-  <tabstop>pushButton_21</tabstop>
   <tabstop>pushButton_22</tabstop>
   <tabstop>horizontalSlider_82</tabstop>
   <tabstop>spinBox_13</tabstop>
@@ -24227,7 +24149,6 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>spinBox_19</tabstop>
   <tabstop>horizontalSlider_87</tabstop>
   <tabstop>spinBox_20</tabstop>
-  <tabstop>pushButton_23</tabstop>
   <tabstop>pushButton_24</tabstop>
   <tabstop>horizontalSlider_88</tabstop>
   <tabstop>spinBox_16</tabstop>
@@ -24291,6 +24212,8 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>AccelKp</tabstop>
   <tabstop>AccelKi</tabstop>
  </tabstops>
- <resources/>
+ <resources>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/ground/openpilotgcs/src/plugins/config/txpid.ui b/ground/openpilotgcs/src/plugins/config/txpid.ui
index e9acbec2d..3d7bf7d97 100644
--- a/ground/openpilotgcs/src/plugins/config/txpid.ui
+++ b/ground/openpilotgcs/src/plugins/config/txpid.ui
@@ -110,8 +110,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>678</width>
-            <height>683</height>
+            <width>686</width>
+            <height>673</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
@@ -688,6 +688,32 @@ margin:1px;</string>
           </property>
          </spacer>
         </item>
+        <item>
+         <widget class="QPushButton" name="pushButton">
+          <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>
+          <property name="objrelation" stdset="0">
+           <stringlist>
+            <string>button:help</string>
+            <string>url:http://wiki.openpilot.org/x/DACiAQ</string>
+           </stringlist>
+          </property>
+         </widget>
+        </item>
         <item>
          <widget class="QPushButton" name="Apply">
           <property name="minimumSize">
@@ -756,6 +782,8 @@ margin:1px;</string>
   <tabstop>ThrottleMax</tabstop>
   <tabstop>UpdateMode</tabstop>
  </tabstops>
- <resources/>
+ <resources>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index a692433b1..d5d82c13e 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -685,5 +685,5 @@ void UploaderGadgetWidget::versionMatchCheck()
 void UploaderGadgetWidget::openHelp()
 {
 
-    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Uploader+Plugin", QUrl::StrictMode) );
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/AoBZ", QUrl::StrictMode) );
 }

From 0874b3db62d98b388e40d98e640b71fd378b32ee Mon Sep 17 00:00:00 2001
From: Kenz Dale <kenn@eissq.com>
Date: Mon, 30 Jul 2012 13:37:56 +0200
Subject: [PATCH 107/543] Fixed GPS position to include gps heading.

---
 .../src/plugins/opmap/opmapgadgetwidget.cpp   | 34 ++++++-------------
 .../src/plugins/opmap/opmapgadgetwidget.h     |  1 -
 2 files changed, 10 insertions(+), 25 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
index abc51de20..c0069dac9 100644
--- a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
@@ -48,6 +48,7 @@
 
 #include "positionactual.h"
 #include "homelocation.h"
+#include "gpsposition.h"
 
 #define allow_manual_home_location_move
 
@@ -662,15 +663,17 @@ void OPMapGadgetWidget::updatePosition()
 	uav_pos = internals::PointLatLng(uav_latitude, uav_longitude);
 
 	// *************
-	// get the current GPS details
+    // get current GPS position
+    ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
 
-	// get current GPS position
-	if (!getGPSPosition(gps_latitude, gps_longitude, gps_altitude))
-		return;
+    GPSPosition *gpsPositionData = GPSPosition::GetInstance(objManager);
 
 	// get current GPS heading
-//	gps_heading = getGPS_Heading();
-	gps_heading = 0;
+    gps_heading = gpsPositionData->getData().Heading;
+    gps_latitude = gpsPositionData->getData().Latitude;
+    gps_longitude = gpsPositionData->getData().Longitude;
+    gps_altitude = gpsPositionData->getData().Altitude;
 
 	gps_pos = internals::PointLatLng(gps_latitude, gps_longitude);
 
@@ -698,7 +701,7 @@ void OPMapGadgetWidget::updatePosition()
 	m_map->GPS->SetUAVPos(gps_pos, gps_altitude); // set the maps GPS position
 	m_map->GPS->SetUAVHeading(gps_heading);       // set the maps GPS heading
 
-	// *************
+    // *************
 }
 
 /**
@@ -2387,25 +2390,8 @@ double OPMapGadgetWidget::getUAV_Yaw()
 	return yaw;
 }
 
-bool OPMapGadgetWidget::getGPSPosition(double &latitude, double &longitude, double &altitude)
-{
-	double LLA[3];
-
-	if (!obum)
-		return false;
-
-	if (obum->getGPSPosition(LLA) < 0)
-		return false;	// error
-
-	latitude = LLA[0];
-	longitude = LLA[1];
-	altitude = LLA[2];
-
-    return true;
-}
 
 // *************************************************************************************
-
 void OPMapGadgetWidget::setMapFollowingMode()
 {
     if (!m_widget || !m_map)
diff --git a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
index 24f638a80..d815bf9aa 100644
--- a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
@@ -350,7 +350,6 @@ private:
     internals::PointLatLng destPoint(internals::PointLatLng source, double bear, double dist);
 
 	bool getUAVPosition(double &latitude, double &longitude, double &altitude);
-	bool getGPSPosition(double &latitude, double &longitude, double &altitude);
     double getUAV_Yaw();
 
     void setMapFollowingMode();

From b997a4a7fe594a6f7cd71d062e946eb33b508a58 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Mon, 30 Jul 2012 21:58:36 +1000
Subject: [PATCH 108/543] Make connect button use onclicked() signal rather
 than onpressed()

---
 .../src/plugins/coreplugin/connectionmanager.cpp            | 6 +++---
 .../openpilotgcs/src/plugins/coreplugin/connectionmanager.h | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index f49d98c0e..eb3db6d50 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -81,7 +81,7 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidge
     //    modeStack->insertCornerWidget(modeStack->cornerWidgetCount()-1, this);
     modeStack->setCornerWidget(this, Qt::TopRightCorner);
 
-	QObject::connect(m_connectBtn, SIGNAL(pressed()), this, SLOT(onConnectPressed()));
+    QObject::connect(m_connectBtn, SIGNAL(clicked()), this, SLOT(onConnectClicked()));
 }
 
 ConnectionManager::~ConnectionManager()
@@ -224,9 +224,9 @@ void ConnectionManager::onConnectionDestroyed(QObject *obj)	// Pip
 }
 
 /**
-*   Slot called when the user pressed the connect/disconnect button
+*   Slot called when the user clicks the connect/disconnect button
 */
-void ConnectionManager::onConnectPressed()
+void ConnectionManager::onConnectClicked()
 {
     // Check if we have a ioDev already created:
     if (!m_ioDev)
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 289e65590..90f779aed 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -93,7 +93,7 @@ private slots:
     void objectAdded(QObject *obj);
     void aboutToRemoveObject(QObject *obj);
 
-    void onConnectPressed();
+    void onConnectClicked();
     void devChanged(IConnection *connection);
 
 //	void onConnectionClosed(QObject *obj);

From 31a788e44e85a67d2645c8525cef42349a1fc7ea Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Mon, 30 Jul 2012 22:28:28 +1000
Subject: [PATCH 109/543] Change the icon to go to the system page, icon is
 still wrong but now at least the button works.

---
 ground/openpilotgcs/src/plugins/welcome/qml/main.qml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/main.qml b/ground/openpilotgcs/src/plugins/welcome/qml/main.qml
index a2362d3e2..fea4b253b 100644
--- a/ground/openpilotgcs/src/plugins/welcome/qml/main.qml
+++ b/ground/openpilotgcs/src/plugins/welcome/qml/main.qml
@@ -63,7 +63,7 @@ Rectangle {
                 WelcomePageButton {
                     baseIconName: "planner"
                     label: "Flight Planner"
-                    onClicked: welcomePlugin.openPage("Flight Planner")
+                    onClicked: welcomePlugin.openPage("System")
                 }
 
                 WelcomePageButton {

From bb66dc95358937626060c26444be5646de9abca6 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Mon, 30 Jul 2012 14:53:57 +0100
Subject: [PATCH 110/543] GCS- Made the importexport dialog close when GCS
 closes.

---
 .../uavsettingsimportexport/uavsettingsimportexportfactory.cpp  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.cpp b/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.cpp
index 9c0088efa..bc10d9143 100644
--- a/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.cpp
+++ b/ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.cpp
@@ -133,7 +133,7 @@ void UAVSettingsImportExportFactory::importUAVSettings()
 
     // We are now ok: setup the import summary dialog & update it as we
     // go along.
-    ImportSummaryDialog swui;
+    ImportSummaryDialog swui((QWidget*)Core::ICore::instance()->mainWindow());
 
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();

From b15091feade1027b3511a7805a29313192bc014c Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Mon, 30 Jul 2012 16:11:36 +0100
Subject: [PATCH 111/543] GCS - Made the GCS compile without OSG support

---
 .../openpilotgcs/src/plugins/pfdqml/pfdqml.pro   | 16 ++++++++++++----
 .../src/plugins/pfdqml/pfdqmlgadgetwidget.cpp    |  6 ++++--
 2 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro b/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro
index 7064f8a0c..1b2fe8832 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro
@@ -3,31 +3,39 @@ TARGET = PfdQml
 QT += svg
 QT += opengl
 QT += declarative
+#DEFINES += USE_OSG
 
 include(../../openpilotgcsplugin.pri)
 include(../../plugins/coreplugin/coreplugin.pri)
 include(pfdqml_dependencies.pri)
 
+
+contains(DEFINES,USE_OSG){
 LIBS += -losg -losgUtil -losgViewer -losgQt -losgDB -lOpenThreads -losgGA
 LIBS += -losgEarth -losgEarthFeatures -losgEarthUtil
-
+}
 HEADERS += \
     pfdqmlplugin.h \
     pfdqmlgadget.h \
     pfdqmlgadgetwidget.h \
     pfdqmlgadgetfactory.h \
     pfdqmlgadgetconfiguration.h \
-    pfdqmlgadgetoptionspage.h \
+    pfdqmlgadgetoptionspage.h
+contains(DEFINES,USE_OSG){
+    \
     osgearth.h
-
+}
 SOURCES += \
     pfdqmlplugin.cpp \
     pfdqmlgadget.cpp \
     pfdqmlgadgetfactory.cpp \
     pfdqmlgadgetwidget.cpp \
     pfdqmlgadgetconfiguration.cpp \
-    pfdqmlgadgetoptionspage.cpp \
+    pfdqmlgadgetoptionspage.cpp
+contains(DEFINES,USE_OSG){
+ \
     osgearth.cpp
+}
 
 OTHER_FILES += PfdQml.pluginspec
 
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
index 311f106a5..d6e43e70e 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
@@ -19,8 +19,9 @@
 #include "uavobjectmanager.h"
 #include "uavobject.h"
 #include "utils/svgimageprovider.h"
+#ifdef USE_OSG
 #include "osgearth.h"
-
+#endif
 #include <QDebug>
 #include <QSvgRenderer>
 #include <QtOpenGL/QGLWidget>
@@ -66,8 +67,9 @@ PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWidget *parent) :
 
     //to expose settings values
     engine()->rootContext()->setContextProperty("qmlWidget", this);
-
+#ifdef USE_OSG
     qmlRegisterType<OsgEarthItem>("org.OpenPilot", 1, 0, "OsgEarth");
+#endif
 }
 
 PfdQmlGadgetWidget::~PfdQmlGadgetWidget()

From 574fbe2fd910ff1e9fab3ebbae9c5fb80e0d6e19 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Tue, 31 Jul 2012 02:50:41 +1000
Subject: [PATCH 112/543] Copy one file at a time with cp

---
 ground/openpilotgcs/src/app/app.pro | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/app/app.pro b/ground/openpilotgcs/src/app/app.pro
index e66f3f4f0..82283d3aa 100644
--- a/ground/openpilotgcs/src/app/app.pro
+++ b/ground/openpilotgcs/src/app/app.pro
@@ -5,9 +5,7 @@ TEMPLATE = app
 TARGET = $$GCS_APP_TARGET
 DESTDIR = $$GCS_APP_PATH
 QT += xml
-
 SOURCES += main.cpp
-
 include(../rpath.pri)
 include(../libs/utils/utils.pri)
 
@@ -31,7 +29,11 @@ win32 {
 
 OTHER_FILES += openpilotgcs.rc
 
-style_copy.commands += $(COPY_FILE) $$targetPath(\"$$GCS_SOURCE_TREE/src/app/stylesheets/*.qss\") $$targetPath(\"$$GCS_APP_PATH\") $$addNewline()
+PLATFORMS = windows macos linux
+
+for(platform, PLATFORMS) {
+    style_copy.commands += $(COPY_FILE) $$targetPath(\"$$GCS_SOURCE_TREE/src/app/stylesheets/$$platform.qss\") $$targetPath(\"$$GCS_APP_PATH\") $$addNewline()
+
 style_copy.target = FORCE
 QMAKE_EXTRA_TARGETS += style_copy
 

From c93cfc5d50d4afc3a3c76a018a614d5dd4f4dd61 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Tue, 31 Jul 2012 04:11:33 +1000
Subject: [PATCH 113/543] Fixed qmake copy of qss by borrowing code from Oleg
 who has a better handle on qmake than I guess I ever will.

---
 ground/openpilotgcs/src/app/app.pro | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/app/app.pro b/ground/openpilotgcs/src/app/app.pro
index 82283d3aa..ea53c1bd9 100644
--- a/ground/openpilotgcs/src/app/app.pro
+++ b/ground/openpilotgcs/src/app/app.pro
@@ -29,10 +29,13 @@ win32 {
 
 OTHER_FILES += openpilotgcs.rc
 
-PLATFORMS = windows macos linux
+STYLESHEETS = windows.qss \
+            macos.qss \
+            linux.qss
 
-for(platform, PLATFORMS) {
-    style_copy.commands += $(COPY_FILE) $$targetPath(\"$$GCS_SOURCE_TREE/src/app/stylesheets/$$platform.qss\") $$targetPath(\"$$GCS_APP_PATH\") $$addNewline()
+for(qss, STYLESHEETS) {
+    style_copy.commands += $(COPY_FILE) $$targetPath(\"$$GCS_SOURCE_TREE/src/app/stylesheets/$$qss\") $$targetPath(\"$$GCS_APP_PATH/$$qss\") $$addNewline()
+}
 
 style_copy.target = FORCE
 QMAKE_EXTRA_TARGETS += style_copy

From b490fdb6e91032f3cffe281ccd81a4ec9635e5e3 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Mon, 30 Jul 2012 14:30:03 -0700
Subject: [PATCH 114/543] Resolve build errors: add Q_DECL_EXPORT to
 SvgImageProvider; change unsetenv to qputenv.

---
 ground/openpilotgcs/src/libs/utils/svgimageprovider.h   | 2 +-
 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/libs/utils/svgimageprovider.h b/ground/openpilotgcs/src/libs/utils/svgimageprovider.h
index 50fd0f7bb..8b11e512f 100644
--- a/ground/openpilotgcs/src/libs/utils/svgimageprovider.h
+++ b/ground/openpilotgcs/src/libs/utils/svgimageprovider.h
@@ -33,7 +33,7 @@
 #include <QSvgRenderer>
 #include <QMap>
 
-class SvgImageProvider : public QObject, public QDeclarativeImageProvider
+class Q_DECL_EXPORT SvgImageProvider : public QObject, public QDeclarativeImageProvider
 {
     Q_OBJECT
 public:
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
index 93427446c..89d0b852d 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
@@ -52,6 +52,7 @@ void PfdQmlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
         qputenv("OSGEARTH_CACHE_ONLY", "true");
     } else {
         //how portable it is?
-        unsetenv("OSGEARTH_CACHE_ONLY");
+        //unsetenv("OSGEARTH_CACHE_ONLY");
+        qputenv("OSGEARTH_CACHE_ONLY", "false");
     }
 }

From 6adafbc4bf4cc0e38972304129059a1ccadc9582 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Mon, 30 Jul 2012 14:45:56 -0700
Subject: [PATCH 115/543] PopupWidget, Bugfix:  put the mixer back into the
 frame at the same size it started from; keeps it from oversetting neighbors
 when the dialog is closed.

---
 .../src/plugins/uavobjectwidgetutils/popupwidget.cpp          | 4 ++++
 .../src/plugins/uavobjectwidgetutils/popupwidget.h            | 2 ++
 2 files changed, 6 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
index ca1af389b..71630177b 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
@@ -37,6 +37,9 @@ void PopupWidget::setWidget(QWidget* widget)
     m_widget = widget;
     m_widgetParent = widget->parentWidget();
 
+    m_widgetWidth = m_widget->width();
+    m_widgetHeight = m_widget->height();
+
     m_layout->addWidget(m_widget);
 }
 
@@ -59,6 +62,7 @@ void PopupWidget::closePopup()
     if (m_widget && m_widgetParent) {
         if(QGroupBox * w =qobject_cast<QGroupBox *>(m_widgetParent))
         {
+            m_widget->resize(m_widgetWidth, m_widgetHeight);
             w->layout()->addWidget(m_widget);
         }
     }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h
index a19a6650c..55f19956d 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h
@@ -37,6 +37,8 @@ private:
     QWidget*        m_widget;
     QWidget*        m_widgetParent;
     QPushButton*    m_closeButton;
+    int             m_widgetWidth;
+    int             m_widgetHeight;
 };
 
 #endif // POPUPWIDGET_H

From 5398d96839bc7fb986d14f3d207a6c4561661af2 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Mon, 30 Jul 2012 15:02:18 -0700
Subject: [PATCH 116/543] PopupWidget: Start the dialog at twice the size of
 the embedded widget.

---
 .../src/plugins/uavobjectwidgetutils/popupwidget.cpp           | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
index 71630177b..94190cd09 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
@@ -37,9 +37,12 @@ void PopupWidget::setWidget(QWidget* widget)
     m_widget = widget;
     m_widgetParent = widget->parentWidget();
 
+    // save the current width,height so we can restore when closed
     m_widgetWidth = m_widget->width();
     m_widgetHeight = m_widget->height();
 
+    // double the size of the widget for the dialog
+    m_widget->resize(m_widgetWidth * 2, m_widgetHeight * 2);
     m_layout->addWidget(m_widget);
 }
 

From 5cab871ac61df54fb8dd9cb927d1f53320d04631 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Mon, 30 Jul 2012 14:45:56 -0700
Subject: [PATCH 117/543] PopupWidget, Bugfix:  put the mixer back into the
 frame at the same size it started from; keeps it from oversetting neighbors
 when the dialog is closed.

---
 .../src/plugins/uavobjectwidgetutils/popupwidget.cpp          | 4 ++++
 .../src/plugins/uavobjectwidgetutils/popupwidget.h            | 2 ++
 2 files changed, 6 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
index ca1af389b..71630177b 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.cpp
@@ -37,6 +37,9 @@ void PopupWidget::setWidget(QWidget* widget)
     m_widget = widget;
     m_widgetParent = widget->parentWidget();
 
+    m_widgetWidth = m_widget->width();
+    m_widgetHeight = m_widget->height();
+
     m_layout->addWidget(m_widget);
 }
 
@@ -59,6 +62,7 @@ void PopupWidget::closePopup()
     if (m_widget && m_widgetParent) {
         if(QGroupBox * w =qobject_cast<QGroupBox *>(m_widgetParent))
         {
+            m_widget->resize(m_widgetWidth, m_widgetHeight);
             w->layout()->addWidget(m_widget);
         }
     }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h
index a19a6650c..55f19956d 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/popupwidget.h
@@ -37,6 +37,8 @@ private:
     QWidget*        m_widget;
     QWidget*        m_widgetParent;
     QPushButton*    m_closeButton;
+    int             m_widgetWidth;
+    int             m_widgetHeight;
 };
 
 #endif // POPUPWIDGET_H

From a306b31c9c10c2049c75e5ea4b28f48710e65d5b Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Mon, 30 Jul 2012 14:30:03 -0700
Subject: [PATCH 118/543] Resolve build errors: add Q_DECL_EXPORT to
 SvgImageProvider; change unsetenv to qputenv.

---
 ground/openpilotgcs/src/libs/utils/svgimageprovider.h   | 2 +-
 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/libs/utils/svgimageprovider.h b/ground/openpilotgcs/src/libs/utils/svgimageprovider.h
index 50fd0f7bb..8b11e512f 100644
--- a/ground/openpilotgcs/src/libs/utils/svgimageprovider.h
+++ b/ground/openpilotgcs/src/libs/utils/svgimageprovider.h
@@ -33,7 +33,7 @@
 #include <QSvgRenderer>
 #include <QMap>
 
-class SvgImageProvider : public QObject, public QDeclarativeImageProvider
+class Q_DECL_EXPORT SvgImageProvider : public QObject, public QDeclarativeImageProvider
 {
     Q_OBJECT
 public:
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
index 93427446c..89d0b852d 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
@@ -52,6 +52,7 @@ void PfdQmlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
         qputenv("OSGEARTH_CACHE_ONLY", "true");
     } else {
         //how portable it is?
-        unsetenv("OSGEARTH_CACHE_ONLY");
+        //unsetenv("OSGEARTH_CACHE_ONLY");
+        qputenv("OSGEARTH_CACHE_ONLY", "false");
     }
 }

From f5a2591d81c267f03d4fb523e934eddd3fdf3319 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Tue, 31 Jul 2012 09:03:24 +1000
Subject: [PATCH 119/543] Correct default paths for qml pfd files

---
 .../openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml  | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
index 363597785..801aad89b 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
@@ -1690,10 +1690,10 @@
           <actualPositionUsed>false</actualPositionUsed>
           <altitude>2000</altitude>
           <cacheOnly>false</cacheOnly>
-          <earthFile>%%DATAPATH%%pfd/pfd/default/readymap.earth</earthFile>
+          <earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
           <latitude>46.671478</latitude>
           <longitude>10.158932</longitude>
-          <qmlFile>%%DATAPATH%%pfd/pfd/default/Pfd.qml</qmlFile>
+          <qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
           <terrainEnabled>false</terrainEnabled>
         </data>
       </NoTerrain>
@@ -1706,10 +1706,10 @@
           <actualPositionUsed>false</actualPositionUsed>
           <altitude>2000</altitude>
           <cacheOnly>false</cacheOnly>
-          <earthFile>%%DATAPATH%%pfd/pfd/default/readymap.earth</earthFile>
+          <earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
           <latitude>46.671478</latitude>
           <longitude>10.158932</longitude>
-          <qmlFile>%%DATAPATH%%pfd/pfd/default/Pfd.qml</qmlFile>
+          <qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
           <terrainEnabled>true</terrainEnabled>
         </data>
       </Terrain>

From 1f7b95805e44ccde218a542752183b0141f8aaa4 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Tue, 31 Jul 2012 12:18:05 +0100
Subject: [PATCH 120/543] GCS-Added Hyper's fix to glc crashes under certain
 systems.

---
 ground/openpilotgcs/src/libs/glc_lib/glc_ext.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/libs/glc_lib/glc_ext.cpp b/ground/openpilotgcs/src/libs/glc_lib/glc_ext.cpp
index 8275a085f..ef4a32248 100644
--- a/ground/openpilotgcs/src/libs/glc_lib/glc_ext.cpp
+++ b/ground/openpilotgcs/src/libs/glc_lib/glc_ext.cpp
@@ -63,7 +63,7 @@ bool glc::loadGlSlExtension()
 bool glc::loadPointSpriteExtension()
 {
 	bool result= true;
-#if !defined(Q_OS_MAC)
+#if !defined(Q_OS_MAC) && !defined(Q_OS_LINUX)
 	const QGLContext* pContext= QGLContext::currentContext();
 	glPointParameterf				= (PFNGLPOINTPARAMETERFARBPROC)pContext->getProcAddress(QLatin1String("glPointParameterf"));
 	if (!glPointParameterf) qDebug() << "not glPointParameterf";

From 68652ef6435e645dd6336580031386f22cfcd646 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Wed, 1 Aug 2012 00:32:46 +1000
Subject: [PATCH 121/543] PFD qml: Load  Terrain and World views dynamicaly

Moved them to separate qml files
loaded by reqest using Loader.

This allows to keep PFD working even if one of views
can't be loaded and avoids the cost of loading expensive
views like camera.
---
 .../share/openpilotgcs/pfd/default/Pfd.qml    | 43 ++-----------------
 .../pfd/default/PfdTerrainView.qml            | 20 +++++++++
 .../openpilotgcs/pfd/default/PfdWorldView.qml | 29 +++++++++++++
 3 files changed, 52 insertions(+), 40 deletions(-)
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdTerrainView.qml
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index 64df9502d..5b6548d22 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -1,6 +1,5 @@
 import Qt 4.7
 import "."
-import org.OpenPilot 1.0
 
 Rectangle {
     color: "#666666"
@@ -22,46 +21,10 @@ Rectangle {
             anchors.centerIn: parent
             clip: true
 
-            OsgEarth {
-                id: earthView
-
+            Loader {
+                id: worldLoader
                 anchors.fill: parent
-                sceneFile: qmlWidget.earthFile
-                visible: qmlWidget.terrainEnabled
-
-                fieldOfView: 90
-
-                yaw: AttitudeActual.Yaw
-                pitch: AttitudeActual.Pitch
-                roll: AttitudeActual.Roll
-
-                latitude: qmlWidget.actualPositionUsed ?
-                              GPSPosition.Latitude/10000000.0 : qmlWidget.latitude
-                longitude: qmlWidget.actualPositionUsed ?
-                               GPSPosition.Longitude/10000000.0 : qmlWidget.longitude
-                altitude: qmlWidget.actualPositionUsed ?
-                              GPSPosition.Altitude : qmlWidget.altitude
-            }
-
-            Image {
-                id: world
-                source: "image://svg/pfd.svg!world"
-                sourceSize: background.sourceSize
-                smooth: true
-                visible: !qmlWidget.terrainEnabled
-
-                transform: [
-                    Translate {
-                        id: pitchTranslate
-                        x: (world.parent.width - world.width)/2
-                        y: (world.parent.height - world.height)/2 + AttitudeActual.Pitch*world.parent.height/94
-                    },
-                    Rotation {
-                        angle: -AttitudeActual.Roll
-                        origin.x : world.parent.width/2
-                        origin.y : world.parent.height/2
-                    }
-                ]
+                source: qmlWidget.terrainEnabled ? "PfdTerrainView.qml" : "PfdWorldView.qml"
             }
 
             Image {
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdTerrainView.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdTerrainView.qml
new file mode 100644
index 000000000..f56f6d89c
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdTerrainView.qml
@@ -0,0 +1,20 @@
+import Qt 4.7
+import org.OpenPilot 1.0
+
+OsgEarth {
+    id: earthView
+
+    sceneFile: qmlWidget.earthFile
+    fieldOfView: 90
+
+    yaw: AttitudeActual.Yaw
+    pitch: AttitudeActual.Pitch
+    roll: AttitudeActual.Roll
+
+    latitude: qmlWidget.actualPositionUsed ?
+                  GPSPosition.Latitude/10000000.0 : qmlWidget.latitude
+    longitude: qmlWidget.actualPositionUsed ?
+                   GPSPosition.Longitude/10000000.0 : qmlWidget.longitude
+    altitude: qmlWidget.actualPositionUsed ?
+                  GPSPosition.Altitude : qmlWidget.altitude
+}
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
new file mode 100644
index 000000000..9e4a02b3b
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
@@ -0,0 +1,29 @@
+import Qt 4.7
+
+Item {
+    //worldView should fill the source size of svg document
+    id: worldView
+
+    Image {
+        id: world
+        source: "image://svg/pfd.svg!world"
+
+        sourceSize.width: worldView.width
+        sourceSize.height: worldView.height
+
+        smooth: true
+
+        transform: [
+            Translate {
+                id: pitchTranslate
+                x: (world.parent.width - world.width)/2
+                y: (world.parent.height - world.height)/2 + AttitudeActual.Pitch*world.parent.height/94
+            },
+            Rotation {
+                angle: -AttitudeActual.Roll
+                origin.x : world.parent.width/2
+                origin.y : world.parent.height/2
+            }
+        ]
+    }
+}

From ce00c0bc4df52cefe839c2e571c2e1f4f9670605 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Wed, 1 Aug 2012 00:34:25 +1000
Subject: [PATCH 122/543] Fixed compilation with OSG enabled

trivial .pro file fix
---
 .../src/plugins/pfdqml/pfdqml.pro             | 21 ++++++++-----------
 1 file changed, 9 insertions(+), 12 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro b/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro
index 1b2fe8832..e1ba3bbd6 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro
@@ -9,11 +9,6 @@ include(../../openpilotgcsplugin.pri)
 include(../../plugins/coreplugin/coreplugin.pri)
 include(pfdqml_dependencies.pri)
 
-
-contains(DEFINES,USE_OSG){
-LIBS += -losg -losgUtil -losgViewer -losgQt -losgDB -lOpenThreads -losgGA
-LIBS += -losgEarth -losgEarthFeatures -losgEarthUtil
-}
 HEADERS += \
     pfdqmlplugin.h \
     pfdqmlgadget.h \
@@ -21,10 +16,7 @@ HEADERS += \
     pfdqmlgadgetfactory.h \
     pfdqmlgadgetconfiguration.h \
     pfdqmlgadgetoptionspage.h
-contains(DEFINES,USE_OSG){
-    \
-    osgearth.h
-}
+
 SOURCES += \
     pfdqmlplugin.cpp \
     pfdqmlgadget.cpp \
@@ -32,9 +24,14 @@ SOURCES += \
     pfdqmlgadgetwidget.cpp \
     pfdqmlgadgetconfiguration.cpp \
     pfdqmlgadgetoptionspage.cpp
-contains(DEFINES,USE_OSG){
- \
-    osgearth.cpp
+
+
+contains(DEFINES,USE_OSG) {
+    LIBS += -losg -losgUtil -losgViewer -losgQt -losgDB -lOpenThreads -losgGA
+    LIBS += -losgEarth -losgEarthFeatures -losgEarthUtil
+
+    HEADERS += osgearth.h
+    SOURCES += osgearth.cpp
 }
 
 OTHER_FILES += PfdQml.pluginspec

From a140c76a6fb00d91c3537792a9749a86fc38b72c Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Wed, 1 Aug 2012 00:35:21 +1000
Subject: [PATCH 123/543] Hide terrain related options if compiled without OSG

---
 .../src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp           | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
index a47b7acf5..929dce289 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
@@ -62,6 +62,11 @@ QWidget *PfdQmlGadgetOptionsPage::createPage(QWidget *parent)
     options_page->altitude->setText(QString::number(m_config->altitude()));
     options_page->useOnlyCache->setChecked(m_config->cacheOnly());
 
+#ifndef USE_OSG
+    options_page->showTerrain->setChecked(false);
+    options_page->showTerrain->setVisible(false);
+#endif
+
     return optionsPageWidget;
 }
 

From a8fd51985a0b2dab395ef620796c0c0730125ae0 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Wed, 1 Aug 2012 02:44:06 +1000
Subject: [PATCH 124/543] Add Steve's system icons for the Welcome Plugin

---
 .../plugins/welcome/qml/images/system-off.png    | Bin 0 -> 6484 bytes
 .../src/plugins/welcome/qml/images/system-on.png | Bin 0 -> 9983 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/welcome/qml/images/system-off.png
 create mode 100644 ground/openpilotgcs/src/plugins/welcome/qml/images/system-on.png

diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/images/system-off.png b/ground/openpilotgcs/src/plugins/welcome/qml/images/system-off.png
new file mode 100644
index 0000000000000000000000000000000000000000..443c99bf1c46a743c729edd8d31402106e92aeba
GIT binary patch
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literal 0
HcmV?d00001


From 67ba889659296c43754ea97aa79c33328d39c0bb Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Wed, 1 Aug 2012 02:45:15 +1000
Subject: [PATCH 125/543] Swap icons for firmware and system tabs, matches
 Steve's icons better and makes more sense

---
 ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
index 801aad89b..d17ec963f 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
@@ -2701,10 +2701,10 @@
     <Icon1>:\core\images\ah.png</Icon1>
     <Icon10>:/core/images/openpilot_logo_64.png</Icon10>
     <Icon2>:/core/images/config.png</Icon2>
-    <Icon3>:/core/images/cpu.png</Icon3>
+    <Icon3>:/core/images/cog.png</Icon3>
     <Icon4>:/core/images/scopes.png</Icon4>
     <Icon5>:/core/images/joystick.png</Icon5>
-    <Icon6>:/core/images/cog.png</Icon6>
+    <Icon6>:/core/images/cpu.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>

From 5da204f4b793e14f670030067db9f38ba9115a07 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Wed, 1 Aug 2012 02:51:34 +1000
Subject: [PATCH 126/543] Change welcome plugin to use Steve's system icons

---
 ground/openpilotgcs/src/plugins/welcome/qml/main.qml | 4 ++--
 ground/openpilotgcs/src/plugins/welcome/welcome.qrc  | 2 ++
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/main.qml b/ground/openpilotgcs/src/plugins/welcome/qml/main.qml
index fea4b253b..4db07bd8e 100644
--- a/ground/openpilotgcs/src/plugins/welcome/qml/main.qml
+++ b/ground/openpilotgcs/src/plugins/welcome/qml/main.qml
@@ -61,8 +61,8 @@ Rectangle {
                 }
 
                 WelcomePageButton {
-                    baseIconName: "planner"
-                    label: "Flight Planner"
+                    baseIconName: "system"
+                    label: "System"
                     onClicked: welcomePlugin.openPage("System")
                 }
 
diff --git a/ground/openpilotgcs/src/plugins/welcome/welcome.qrc b/ground/openpilotgcs/src/plugins/welcome/welcome.qrc
index fdcef517a..0f1903a2b 100644
--- a/ground/openpilotgcs/src/plugins/welcome/welcome.qrc
+++ b/ground/openpilotgcs/src/plugins/welcome/welcome.qrc
@@ -22,5 +22,7 @@
         <file>qml/images/planner-off.png</file>
         <file>qml/images/scopes-on.png</file>
         <file>qml/images/scopes-off.png</file>
+        <file>qml/images/system-on.png</file>
+        <file>qml/images/system-off.png</file>
     </qresource>
 </RCC>

From 4c3c94eba5c4a7528ba545133e41631ca1f42b98 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Tue, 31 Jul 2012 16:15:58 -0700
Subject: [PATCH 127/543] SvgImageProvider signature correction to use
 utils_global macro QTCREATOR_UTILS_EXPORT

---
 ground/openpilotgcs/src/libs/utils/svgimageprovider.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/libs/utils/svgimageprovider.h b/ground/openpilotgcs/src/libs/utils/svgimageprovider.h
index 8b11e512f..a96f2d395 100644
--- a/ground/openpilotgcs/src/libs/utils/svgimageprovider.h
+++ b/ground/openpilotgcs/src/libs/utils/svgimageprovider.h
@@ -33,7 +33,9 @@
 #include <QSvgRenderer>
 #include <QMap>
 
-class Q_DECL_EXPORT SvgImageProvider : public QObject, public QDeclarativeImageProvider
+#include "utils_global.h"
+
+class QTCREATOR_UTILS_EXPORT SvgImageProvider : public QObject, public QDeclarativeImageProvider
 {
     Q_OBJECT
 public:

From 84c7325eb9c9441466e71eb863dd037f7dc0e1b0 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Tue, 31 Jul 2012 16:15:58 -0700
Subject: [PATCH 128/543] SvgImageProvider signature correction to use
 utils_global macro QTCREATOR_UTILS_EXPORT

---
 ground/openpilotgcs/src/libs/utils/svgimageprovider.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/libs/utils/svgimageprovider.h b/ground/openpilotgcs/src/libs/utils/svgimageprovider.h
index 8b11e512f..a96f2d395 100644
--- a/ground/openpilotgcs/src/libs/utils/svgimageprovider.h
+++ b/ground/openpilotgcs/src/libs/utils/svgimageprovider.h
@@ -33,7 +33,9 @@
 #include <QSvgRenderer>
 #include <QMap>
 
-class Q_DECL_EXPORT SvgImageProvider : public QObject, public QDeclarativeImageProvider
+#include "utils_global.h"
+
+class QTCREATOR_UTILS_EXPORT SvgImageProvider : public QObject, public QDeclarativeImageProvider
 {
     Q_OBJECT
 public:

From faee5780105e69c6ccea8e5c41b02a7fc5f29697 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Wed, 1 Aug 2012 09:47:11 +0100
Subject: [PATCH 129/543] GCS- Fixes from Dmytro to new PFD qml file.

---
 .../share/openpilotgcs/pfd/default/Pfd.qml             | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index 5b6548d22..b25596def 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -32,9 +32,13 @@ Rectangle {
                 source: "image://svg/pfd.svg!rollscale"
                 sourceSize: background.sourceSize
                 smooth: true
-
-                transformOrigin: Item.Center
-                rotation: -AttitudeActual.Roll
+		anchors.centerIn: parent
+                 //rotate it around the center of scene
+		transform: Rotation {
+		angle: -AttitudeActual.Roll
+		origin.x : sceneItem.width/2 - x
+		origin.y : sceneItem.height/2 - y
+		}
             }
 
             Image {

From af98f4c2a64322308f23f1affa1c46847614a85b Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Wed, 1 Aug 2012 10:12:52 +0100
Subject: [PATCH 130/543] GCS- Fixed board rotation being overwriten when
 calibrating.

---
 .../openpilotgcs/src/plugins/config/configccattitudewidget.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
index e24ea74eb..fd0f18bf3 100644
--- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
@@ -135,7 +135,8 @@ void ConfigCCAttitudeWidget::timeout() {
 
 void ConfigCCAttitudeWidget::startAccelCalibration() {
     QMutexLocker locker(&startStop);
-
+    //need to apply so board rotation values don't get overwriten when calibrating
+    apply();
     updates = 0;
     x_accum.clear();
     y_accum.clear();

From 44b13a19ee144b45d5179a340603fe5068a54b65 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Wed, 1 Aug 2012 20:59:44 +1000
Subject: [PATCH 131/543] Move to the QML PFD by default! Yay

---
 ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
index d17ec963f..a1f331acf 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
@@ -2453,9 +2453,9 @@
               <type>splitter</type>
             </side0>
             <side1>
-              <classId>PFDGadget</classId>
+              <classId>PfdQmlGadget</classId>
               <gadget>
-                <activeConfiguration>raw</activeConfiguration>
+                <activeConfiguration>NoTerrain</activeConfiguration>
               </gadget>
               <type>uavGadget</type>
             </side1>

From 599d46b8fa3fe2ac513c111e21ec6f4afa349a3e Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Wed, 1 Aug 2012 14:41:00 +0100
Subject: [PATCH 132/543] GCS - Fixed nasty memory leak

---
 ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
index c412a475c..19d568702 100644
--- a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
+++ b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
@@ -79,7 +79,9 @@ void MyTabbedStackWidget::insertTab(const int index, QWidget *tab, const QIcon &
 
 void MyTabbedStackWidget::removeTab(int index)
 {
-    m_stackWidget->removeWidget(m_stackWidget->widget(index));
+    QWidget * wid=m_stackWidget->widget(index);
+    m_stackWidget->removeWidget(wid);
+    delete wid;
     QListWidgetItem *item = m_listWidget->item(index);
     m_listWidget->removeItemWidget(item);
     delete item;

From 0553534318ab3f3498e7d00f216709525e114f94 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Wed, 1 Aug 2012 14:42:21 +0100
Subject: [PATCH 133/543] GCS - Fixed dynamic loaded widgets (according to
 board type) not alerting for unsaved changes

---
 .../src/plugins/config/configccattitudewidget.cpp            | 2 ++
 .../src/plugins/uavobjectwidgetutils/configtaskwidget.cpp    | 5 +++++
 .../src/plugins/uavobjectwidgetutils/configtaskwidget.h      | 1 +
 3 files changed, 8 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
index fd0f18bf3..dc04a3db0 100644
--- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
@@ -43,6 +43,7 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
         ui(new Ui_ccattitude)
 {
     ui->setupUi(this);
+    forceConnectedState(); //dynamic widgets don't recieve the connected signal
     connect(ui->zeroBias,SIGNAL(clicked()),this,SLOT(startAccelCalibration()));
 
     ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
@@ -113,6 +114,7 @@ void ConfigCCAttitudeWidget::accelsUpdated(UAVObject * obj) {
         attitudeSettingsData.GyroBias[2] = -z_gyro_bias;
         attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
         AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
+        this->setDirty(true);
     } else {
 	// Possible to get here if weird threading stuff happens.  Just ignore updates.
 	qDebug("Unexpected accel update received.");
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
index 760ddae70..5fc350925 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
@@ -224,6 +224,11 @@ void ConfigTaskWidget::onAutopilotDisconnect()
     invalidateObjects();
 }
 
+void ConfigTaskWidget::forceConnectedState()
+{
+    isConnected=true;
+}
+
 void ConfigTaskWidget::onAutopilotConnect()
 {
     invalidateObjects();
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
index 825f9d007..3141b361b 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
@@ -130,6 +130,7 @@ public:
     void setOutOfLimitsStyle(QString style){outOfLimitsStyle=style;}
     void addHelpButton(QPushButton * button,QString url);
     void forceShadowUpdates();
+    void forceConnectedState();
 public slots:
     void onAutopilotDisconnect();
     void onAutopilotConnect();

From 8c69fff234badbcf584e386abdb1d7934fd7d58f Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Wed, 1 Aug 2012 15:17:05 +0100
Subject: [PATCH 134/543] GCS - More fixes to the dirty status of the config
 widgets

---
 ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp  | 1 +
 ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp    | 2 ++
 .../src/plugins/uavobjectwidgetutils/configtaskwidget.cpp       | 1 +
 3 files changed, 4 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
index 9011b07b4..8da07a325 100644
--- a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
@@ -86,6 +86,7 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
     enableControls(false);
     populateWidgets();
     refreshWidgetsValues();
+    forceConnectedState();
 }
 
 ConfigCCHWWidget::~ConfigCCHWWidget()
diff --git a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp
index 621577b20..91ecfdb2e 100644
--- a/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp
@@ -71,6 +71,8 @@ ConfigTxPIDWidget::ConfigTxPIDWidget(QWidget *parent) : ConfigTaskWidget(parent)
 
     addUAVObjectToWidgetRelation("TxPIDSettings", "UpdateMode", m_txpid->UpdateMode);
 
+    addWidget(m_txpid->TxPIDEnable);
+
     enableControls(false);
     populateWidgets();
     refreshWidgetsValues();
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
index 5fc350925..d1a08aded 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
@@ -227,6 +227,7 @@ void ConfigTaskWidget::onAutopilotDisconnect()
 void ConfigTaskWidget::forceConnectedState()
 {
     isConnected=true;
+    setDirty(false);
 }
 
 void ConfigTaskWidget::onAutopilotConnect()

From c4d11c40bd17c3c8d6df7afe7381fa79611797ad Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Wed, 1 Aug 2012 17:50:48 +0100
Subject: [PATCH 135/543] GCS-Fixes some value not being reloaded when reload
 button is pressed on stab screen.

---
 .../src/plugins/config/stabilization.ui       | 20 +++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 4fe78abea..8077fa1d7 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -13911,7 +13911,7 @@ value as the Kp.</string>
                      <string>element:ILimit</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
+                     <string>buttongroup:4,10</string>
                     </stringlist>
                    </property>
                   </widget>
@@ -13958,7 +13958,7 @@ value as the Kp.</string>
                      <string>element:ILimit</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
+                     <string>buttongroup:4,10</string>
                     </stringlist>
                    </property>
                   </widget>
@@ -14008,7 +14008,7 @@ value as the Kp.</string>
                      <string>element:ILimit</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
+                     <string>buttongroup:4,10</string>
                     </stringlist>
                    </property>
                   </widget>
@@ -17183,7 +17183,7 @@ border-radius: 5;</string>
                      <string>element:ILimit</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:5,20</string>
+                     <string>buttongroup:5,10</string>
                     </stringlist>
                    </property>
                   </widget>
@@ -17227,7 +17227,7 @@ border-radius: 5;</string>
                      <string>element:ILimit</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:5,20</string>
+                     <string>buttongroup:5,10</string>
                     </stringlist>
                    </property>
                   </widget>
@@ -17274,7 +17274,7 @@ border-radius: 5;</string>
                      <string>element:ILimit</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:5,20</string>
+                     <string>buttongroup:5,10</string>
                     </stringlist>
                    </property>
                   </widget>
@@ -21163,7 +21163,7 @@ rate(deg/s)</string>
                    <stringlist>
                     <string>objname:StabilizationSettings</string>
                     <string>button:default</string>
-                    <string>buttongroup:8,2</string>
+                    <string>buttongroup:8</string>
                    </stringlist>
                   </property>
                  </widget>
@@ -23312,7 +23312,7 @@ border-radius: 5;</string>
                      <string>fieldname:GyroTau</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:8,20</string>
+                     <string>buttongroup:8,10</string>
                     </stringlist>
                    </property>
                   </widget>
@@ -23361,7 +23361,7 @@ border-radius: 5;</string>
                      <string>fieldname:AccelKp</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:8,20</string>
+                     <string>buttongroup:8,10</string>
                     </stringlist>
                    </property>
                   </widget>
@@ -23410,7 +23410,7 @@ border-radius: 5;</string>
                      <string>fieldname:AccelKi</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:8,20</string>
+                     <string>buttongroup:8,10</string>
                     </stringlist>
                    </property>
                   </widget>

From f0d6f78ba381d550f388bce13a79c258a944a649 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Thu, 2 Aug 2012 12:32:43 +0100
Subject: [PATCH 136/543] GCS- Fixes compile under Win.

---
 ground/openpilotgcs/src/app/main.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/app/main.cpp b/ground/openpilotgcs/src/app/main.cpp
index ff0165fa7..5d117de5a 100644
--- a/ground/openpilotgcs/src/app/main.cpp
+++ b/ground/openpilotgcs/src/app/main.cpp
@@ -262,8 +262,9 @@ int main(int argc, char **argv)
     rl.rlim_cur = rl.rlim_max;
     setrlimit(RLIMIT_NOFILE, &rl);
 #endif
-
+#ifdef Q_OS_LINUX
     QApplication::setAttribute(Qt::AA_X11InitThreads, true);
+#endif
     QApplication::setGraphicsSystem("raster");
 
     SharedTools::QtSingleApplication app((QLatin1String(appNameC)), argc, argv);

From 38e392d49e056d76d7ef245f13f0e066a6d551db Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Fri, 3 Aug 2012 05:59:20 +1000
Subject: [PATCH 137/543] Update status bargraphs, stab mode is no longer
 hidden. Soem work to go on other SVGs yet but these looks better than they
 did.

Removed GPS Staus from the top status bar, this will be intergraded in to
the PFD
---
 .../openpilotgcs/dials/default/arm-status.svg |  228 +++-
 .../dials/default/flightmode-status.svg       | 1101 +++++------------
 .../openpilotgcs/dials/default/textonly.svg   |  219 ++--
 .../src/plugins/coreplugin/OpenPilotGCS.xml   |   30 +-
 4 files changed, 625 insertions(+), 953 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/dials/default/arm-status.svg b/ground/openpilotgcs/share/openpilotgcs/dials/default/arm-status.svg
index b72d1cc33..84900ada7 100755
--- a/ground/openpilotgcs/share/openpilotgcs/dials/default/arm-status.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/dials/default/arm-status.svg
@@ -14,8 +14,8 @@
    height="80.827866"
    id="svg10068"
    version="1.1"
-   inkscape:version="0.48.2 r9819"
-   sodipodi:docname="arm-status-new.svg"
+   inkscape:version="0.48.3.1 r9886"
+   sodipodi:docname="arm-status.svg"
    inkscape:export-filename="H:\Documents\Hobbies\W433\My Gauges\vbat-001.png"
    inkscape:export-xdpi="103.61"
    inkscape:export-ydpi="103.61"
@@ -1300,6 +1300,156 @@
        id="linearGradient3966"
        xlink:href="#linearGradient3790-4-8"
        inkscape:collect="always" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3790-4-8"
+       id="linearGradient3252"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0.79280486,0,0,0.72374721,74.461167,-1.3787785)"
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+    <linearGradient
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+       gradientUnits="userSpaceOnUse"
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+       x1="311.52808"
+       y1="572.13867"
+       x2="310.94031"
+       y2="526.29114" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3285-6-3"
+       id="linearGradient3259"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0.79280486,0,0,0.72374721,74.461167,-1.3787785)"
+       x1="295.07001"
+       y1="573.90204"
+       x2="295.65781"
+       y2="418.138" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3285-6-3"
+       id="linearGradient3261"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0.79280486,0,0,0.72374721,74.461167,-1.3787785)"
+       x1="295.07001"
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+    <linearGradient
+       inkscape:collect="always"
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+       x1="311.52808"
+       y1="572.13867"
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+       gradientUnits="userSpaceOnUse"
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+       y1="832.61218"
+       x2="394.48703"
+       y2="529.75507" />
+    <linearGradient
+       id="linearGradient3755-1">
+      <stop
+         style="stop-color:#1e1e1e;stop-opacity:1;"
+         offset="0"
+         id="stop3757-3" />
+      <stop
+         style="stop-color:#4d4d4d;stop-opacity:1;"
+         offset="1"
+         id="stop3759-6" />
+    </linearGradient>
+    <filter
+       color-interpolation-filters="sRGB"
+       inkscape:collect="always"
+       id="filter4045">
+      <feGaussianBlur
+         inkscape:collect="always"
+         stdDeviation="0.45575892"
+         id="feGaussianBlur4047" />
+    </filter>
+    <linearGradient
+       y2="529.75507"
+       x2="394.48703"
+       y1="832.61218"
+       x1="393.51294"
+       gradientTransform="matrix(0.31025181,0,0,0.29604738,51.62655,372.04954)"
+       gradientUnits="userSpaceOnUse"
+       id="linearGradient4085"
+       xlink:href="#linearGradient3755-1"
+       inkscape:collect="always" />
+    <linearGradient
+       inkscape:collect="always"
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   </defs>
   <sodipodi:namedview
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@@ -1312,12 +1462,12 @@
      inkscape:cx="75.4641"
      inkscape:cy="94.18186"
      inkscape:document-units="px"
-     inkscape:current-layer="background"
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-     inkscape:window-width="1600"
-     inkscape:window-height="823"
-     inkscape:window-x="-9"
-     inkscape:window-y="-9"
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+     inkscape:window-height="838"
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+     inkscape:window-y="-8"
      inkscape:window-maximized="1"
      inkscape:object-paths="true"
      showguides="true"
@@ -1348,49 +1498,31 @@
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      inkscape:groupmode="layer"
      transform="translate(-205.8687,-331.45166)">
+    <rect
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+       id="bargraph"
+       width="205.45833"
+       height="64.785042"
+       x="217.77841"
+       y="339.47308"
+       ry="4.7808909"
+       inkscape:export-filename="H:\Documents\Hobbies\W433\g9905.png"
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+       inkscape:export-ydpi="88.809998"
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     <g
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-         width="205.45833"
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+         inkscape:label="#rect2985-5"
+         transform="matrix(0.81679353,0,0,0.88235114,142.08795,-134.58341)"
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+         y="528.80811"
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@@ -1424,7 +1556,7 @@
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      inkscape:label="Status-Symbol">
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        inkscape:label="#g4504"
        id="symbol">
       <path
diff --git a/ground/openpilotgcs/share/openpilotgcs/dials/default/flightmode-status.svg b/ground/openpilotgcs/share/openpilotgcs/dials/default/flightmode-status.svg
index 3a9f27ba4..120028225 100755
--- a/ground/openpilotgcs/share/openpilotgcs/dials/default/flightmode-status.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/dials/default/flightmode-status.svg
@@ -10,12 +10,12 @@
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-   inkscape:version="0.48.2 r9819"
-   sodipodi:docname="flightmode-status-new.svg"
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index 610ceab72..d159305d2 100755
--- a/ground/openpilotgcs/share/openpilotgcs/dials/default/textonly.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/dials/default/textonly.svg
@@ -14,7 +14,7 @@
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     <linearGradient
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-       x2="300.36011"
-       y1="368.20679"
-       x1="298.43829"
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+       id="linearGradient3755">
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        gradientUnits="userSpaceOnUse"
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-       xlink:href="#linearGradient3790-4-8-4"
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        inkscape:collect="always" />
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+       inkscape:label="filter3777"
+       inkscape:menu="Shadows and Glows"
+       inkscape:menu-tooltip="Adds a colorizable drop shadow inside"
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   <sodipodi:namedview
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@@ -1136,54 +1181,16 @@
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+       width="280.11307"
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   <g
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diff --git a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
index a1f331acf..8223f4a94 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
@@ -2426,36 +2426,24 @@
                   <type>uavGadget</type>
                 </side0>
                 <side1>
-                  <side0>
-                    <classId>LineardialGadget</classId>
-                    <gadget>
-                      <activeConfiguration>Flight mode</activeConfiguration>
-                    </gadget>
-                    <type>uavGadget</type>
-                  </side0>
-                  <side1>
-                    <classId>LineardialGadget</classId>
-                    <gadget>
-                      <activeConfiguration>GPS Sats</activeConfiguration>
-                    </gadget>
-                    <type>uavGadget</type>
-                  </side1>
-                  <splitterOrientation>1</splitterOrientation>
-                  <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAoAAAAAIAAACk)</splitterSizes>
-                  <type>splitter</type>
+                  <classId>LineardialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>Flight mode</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
                 </side1>
                 <splitterOrientation>1</splitterOrientation>
-                <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAmQAAAAIAAAFC)</splitterSizes>
+                <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAsQAAAAIAAAEV)</splitterSizes>
                 <type>splitter</type>
               </side1>
               <splitterOrientation>1</splitterOrientation>
-              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAmQAAAAIAAAHc)</splitterSizes>
+              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAArgAAAAIAAAHH)</splitterSizes>
               <type>splitter</type>
             </side0>
             <side1>
-              <classId>PfdQmlGadget</classId>
+              <classId>PFDGadget</classId>
               <gadget>
-                <activeConfiguration>NoTerrain</activeConfiguration>
+                <activeConfiguration>raw</activeConfiguration>
               </gadget>
               <type>uavGadget</type>
             </side1>

From 64ab589c1bbbb89137a049c231bd52f3bcf17f39 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Fri, 3 Aug 2012 06:28:08 +1000
Subject: [PATCH 138/543] Fix from Berkely to the Uploader.ui

---
 ground/openpilotgcs/src/plugins/uploader/uploader.ui | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader.ui b/ground/openpilotgcs/src/plugins/uploader/uploader.ui
index 540d69302..06c62f147 100644
--- a/ground/openpilotgcs/src/plugins/uploader/uploader.ui
+++ b/ground/openpilotgcs/src/plugins/uploader/uploader.ui
@@ -40,7 +40,7 @@ through serial or USB)</string>
        <property name="toolTip">
         <string>Boots the system.
 Only useful if the system is halted
-(mainboard blue LED blinking slowly, orange LED off)
+(mainboard blue LED blinking slowly, green LED on)
 
 If telemetry is not running, select the link using the dropdown
 menu on the right.</string>
@@ -217,7 +217,7 @@ p, li { white-space: pre-wrap; }
   </layout>
  </widget>
  <resources>
-  <include location="../coreplugin/core.qrc"/>
+    <include location="../coreplugin/core.qrc"/>
  </resources>
  <connections/>
 </ui>

From 4357f092a9aa6c0219a84ee415efce29dbaf57d0 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Fri, 3 Aug 2012 08:15:57 +1000
Subject: [PATCH 139/543] Remove a couple of artifact numbers from the PFD,
 start work on spacing and layout.

---
 .../share/openpilotgcs/pfd/default/pfd.svg         | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
index 6313bf1df..95724c8b8 100755
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
@@ -14,7 +14,7 @@
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    id="svg2"
    version="1.1"
-   inkscape:version="0.48.1 "
+   inkscape:version="0.48.3.1 r9886"
    sodipodi:docname="pfd.svg"
    style="display:inline"
    inkscape:export-filename="H:\Documents\Hobbies\OpenPilot\SVN\artwork\PFD-2.png"
@@ -1616,13 +1616,13 @@
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
      inkscape:zoom="0.73067675"
-     inkscape:cx="305.98471"
+     inkscape:cx="431.15187"
      inkscape:cy="372.16908"
      inkscape:document-units="px"
      inkscape:current-layer="layer3"
      showgrid="false"
-     inkscape:window-width="1366"
-     inkscape:window-height="706"
+     inkscape:window-width="1440"
+     inkscape:window-height="838"
      inkscape:window-x="-8"
      inkscape:window-y="-8"
      inkscape:window-maximized="1"
@@ -1715,7 +1715,7 @@
      inkscape:groupmode="layer"
      id="layer1"
      transform="translate(230.4171,-254.91153)"
-     style="display:inline"
+     style="display:none"
      sodipodi:insensitive="true">
     <g
        id="world"
@@ -2097,13 +2097,13 @@
          id="speed-bg"
          width="110.05586"
          height="450"
-         x="-147.23766"
+         x="-209.23766"
          y="131.33096" />
       <path
          inkscape:connector-curvature="0"
          inkscape:label="#rect6927"
          style="fill:#000000;fill-opacity:0.78431373;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;display:inline"
-         d="m -146.39854,337.78541 78.912168,0 0,9.3094 10.606602,9.3094 -10.606602,9.3094 0.08512,9.3094 -78.997288,0 0,-37.2376 z"
+         d="m -208.39854,337.78541 78.91217,0 0,9.3094 10.6066,9.3094 -10.6066,9.3094 0.0851,9.3094 -78.99729,0 0,-37.2376 z"
          id="speed-window"
          sodipodi:nodetypes="cccccccc" />
       <g

From eaefc8d2f9b4a62ff137564690272bc56f6c8a1b Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Fri, 3 Aug 2012 09:06:02 +1000
Subject: [PATCH 140/543] Needed a clean up and some things added.

There are many more to add for sure, putting it in the branch as it might
get noticed and people can add what they have done, plus fill in some
blanks / add some more cool future Milestones.

There are also things like Stac's flight on Rockets to add.
---
 MILESTONES.txt | 67 +++++++++++++++++++++++++++++++++++++++-----------
 1 file changed, 53 insertions(+), 14 deletions(-)

diff --git a/MILESTONES.txt b/MILESTONES.txt
index 14242d2f2..34e846260 100644
--- a/MILESTONES.txt
+++ b/MILESTONES.txt
@@ -147,6 +147,7 @@ C: Sergey Solodennikov (alconaft43)
 D: August 2011
 V: http://www.youtube.com/watch?v=8SrfIS7OkB4
 
+
 M: First CopterControl Return to Base Fixed Wing
 C: Eric Price (Corvus Corax)
 D: August 2011
@@ -157,13 +158,23 @@ C: Anders Johansson (dezent)
 D: November 2011
 V: http://www.youtube.com/watch?v=Xfas2TUhOPw
 
-M: First OpenPilot over 1km FixedWing navigation flight
+M: First CopterControl over 1km FixedWing navigation flight
 C: Eric Price (Corvus Corax)
 D: December 2011
 V: http://www.youtube.com/watch?v=nWNWuUiUTNg
+ 
+M: First successful flight using the GCS only and no RC TX
+C: 
+D: 
+V: 
+
+M: First successful flight using just a mobile phone
+C: Jose (please complete details), demoed in Portugal
+D: 
+V: 
 
 
-M: First Altitude Hold using Sonar
+M: First Revo Altitude Hold using Sonar
 C: 
 D: 
 V: 
@@ -178,17 +189,45 @@ C:
 D: 
 V: 
 
+M: First Revo Navigated flight on a FixedWing
+C: It got done somewhere along the line, likely Corvus.
+
+M: First Revo Navigated flight on a MultiRotor
+C: It got done somewhere along the line, James or Sami
+
+M: First Revo Navigated flight on a Heli
+C:
+D:
+V:
+
+M: First Revo 1km Navigated flight on a MultiRotor
+C:
+D:
+V:
+
+M: First Revo 5km Navigated flight on a MultiRotor
+C:
+D:
+V:
+
+M: First Revo 5km Navigated flight on a FixedWing
+C:
+D:
+V:
+
+M: First Revo 1km Navigated flight on a Heli
+C:
+D:
+V:
+
+M: First Revo 5km Navigated flight on a Heli
+C:
+D:
+V:
+
+M: First use of the Magic Waypoint feature
+C:
+D:
+V:
 
-An incomplete list of some future Milestones is below:
 
-* First Helicopter flight with OpenPilot Pro
-* First fixed wing navigation flight on CopterControl 
-* First successful flight using the GCS only and no RC TX
-* First use of Magic Waypoint
-* First Flybarless Helicopter flight with OpenPilot Pro
-* First fixed wing navigation flight 
-* First Multirotor navigation flight
-* First Helicopter navigation flight
-* First over 5km navigation flight
-* First "Follow Me" navigation flight
-* First Channel Crossing with OpenPilot

From 73a4c605542866ffb30a4afa82b5a250a4dbc920 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Fri, 3 Aug 2012 09:09:37 +1000
Subject: [PATCH 141/543] Add the auto take off and landing empty milestones.

These sould be a planned autolandings, controlled flight in terrain does
not count.  :)
---
 MILESTONES.txt | 29 +++++++++++++++++++++++++++++
 1 file changed, 29 insertions(+)

diff --git a/MILESTONES.txt b/MILESTONES.txt
index 34e846260..d46c1820d 100644
--- a/MILESTONES.txt
+++ b/MILESTONES.txt
@@ -230,4 +230,33 @@ C:
 D:
 V:
 
+M: First Auto landing on a fixed Wing using CC
+C:
+D:
+V:
+
+M: First Auto landing on a fixed Wing using Revo
+C:
+D:
+V:
+
+M: First Auto take-off on a MultiRotor using Revo
+C:
+D:
+V:
+
+M: First Auto landing on a MultiRotor using Revo
+C:
+D:
+V:
+
+M: First Auto take-off on a Heli using Revo
+C:
+D:
+V:
+
+M: First Auto landing on a Heli using Revo
+C:
+D:
+V:
 

From 63e5fc80ce2e93b36a61c83a65cd61eec6731d61 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Thu, 2 Aug 2012 16:11:18 -0700
Subject: [PATCH 142/543] TelemetryMonitorWidget: Alpha version with 12 dots.

---
 .../plugins/coreplugin/connectionmanager.cpp  |  21 ++-
 .../plugins/coreplugin/connectionmanager.h    |   9 +-
 .../src/plugins/coreplugin/core.qrc           |   1 +
 .../src/plugins/coreplugin/coreplugin.pro     |   6 +-
 .../coreplugin/telemetrymonitorwidget.cpp     | 145 ++++++++++++++++++
 .../coreplugin/telemetrymonitorwidget.h       |  53 +++++++
 .../src/plugins/uavtalk/telemetrymonitor.cpp  |   7 +
 .../src/plugins/uavtalk/telemetrymonitor.h    |   1 +
 8 files changed, 239 insertions(+), 4 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.h

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index eb3db6d50..9006b691f 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -31,9 +31,9 @@
 #include <aggregation/aggregate.h>
 #include <coreplugin/iconnection.h>
 #include <extensionsystem/pluginmanager.h>
-
 #include "qextserialport/src/qextserialenumerator.h"
 #include "qextserialport/src/qextserialport.h"
+
 #include <QDebug>
 #include <QLabel>
 #include <QHBoxLayout>
@@ -59,6 +59,10 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidge
     QHBoxLayout *layout = new QHBoxLayout;
     layout->setSpacing(5);
     layout->setContentsMargins(5,5,5,5);
+
+    m_monitor = new TelemetryMonitorWidget(this);
+    layout->addWidget(m_monitor);
+
     layout->addWidget(new QLabel(tr("Connections:")));
 
     m_availableDevList = new QComboBox;
@@ -140,6 +144,10 @@ bool ConnectionManager::connectDevice()
     emit deviceConnected(m_ioDev);
     m_connectBtn->setText("Disconnect");
     m_availableDevList->setEnabled(false);
+
+    // tell the monitor we're connected
+    m_monitor->connect();
+
     return true;
 }
 
@@ -168,6 +176,9 @@ bool ConnectionManager::disconnectDevice()
         qDebug() << "Exception: m_connectionDevice.connection->closeDevice(" << m_connectionDevice.devName << ")";
     }
 
+    //tell the monitor we're disconnected
+    m_monitor->disconnect();
+
     m_connectionDevice.connection = NULL;
     m_ioDev = NULL;
 
@@ -239,6 +250,14 @@ void ConnectionManager::onConnectClicked()
     }
 }
 
+/**
+*   Slot called when the telemetry rates are updated
+*/
+void ConnectionManager::telemetryUpdated(double txRate, double rxRate)
+{
+    m_monitor->updateTelemetry(txRate, rxRate);
+}
+
 /**
 *   Find a device by its displayed (visible on screen) name
 */
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 90f779aed..4ed3e9530 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -32,6 +32,8 @@
 #include <QWidget>
 #include "mainwindow.h"
 #include "generalsettings.h"
+#include "telemetrymonitorwidget.h"
+
 #include <QtCore/QVector>
 #include <QtCore/QIODevice>
 #include <QtCore/QLinkedList>
@@ -63,7 +65,6 @@ struct devListItem
     QString displayName;
 };
 
-
 class CORE_EXPORT ConnectionManager : public QWidget
 {
     Q_OBJECT
@@ -89,6 +90,9 @@ signals:
     void deviceConnected(QIODevice *dev);
     void deviceAboutToDisconnect();
 
+public slots:
+    void telemetryUpdated(double txRate, double rxRate);
+
 private slots:
     void objectAdded(QObject *obj);
     void aboutToRemoveObject(QObject *obj);
@@ -105,6 +109,9 @@ protected:
     QLinkedList<devListItem> m_devList;
     QList<IConnection*> m_connectionsList;
 
+    //tx/rx telemetry monitor
+    TelemetryMonitorWidget* m_monitor;
+
     //currently connected connection plugin
     devListItem m_connectionDevice;
 
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/core.qrc b/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
index d65e51376..8d559b2ce 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
+++ b/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
@@ -62,5 +62,6 @@
         <file>OpenPilotGCS.xml</file>
         <file>images/helpicon.svg</file>
         <file>images/cpu.png</file>
+        <file>images/tx-rx.svg</file>
     </qresource>
 </RCC>
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
index 8c73b00ef..4ba5715c9 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
+++ b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
@@ -62,7 +62,8 @@ SOURCES += mainwindow.cpp \
     uavgadgetdecorator.cpp \
     workspacesettings.cpp \
     uavconfiginfo.cpp \
-    authorsdialog.cpp
+    authorsdialog.cpp \
+    telemetrymonitorwidget.cpp
 HEADERS += mainwindow.h \
     tabpositionindicator.h \
     fancyactionbar.h \
@@ -122,7 +123,8 @@ HEADERS += mainwindow.h \
     workspacesettings.h \
     uavconfiginfo.h \
     authorsdialog.h \
-    iconfigurableplugin.h
+    iconfigurableplugin.h \
+    telemetrymonitorwidget.h
 FORMS += dialogs/settingsdialog.ui \
     dialogs/shortcutsettings.ui \
     generalsettings.ui \
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
new file mode 100644
index 000000000..47a8d1c66
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
@@ -0,0 +1,145 @@
+#include "telemetrymonitorwidget.h"
+
+#include <QObject>
+#include <QtGui>
+#include <QDebug>
+
+TelemetryMonitorWidget::TelemetryMonitorWidget(QWidget *parent) : QGraphicsView(parent)
+{
+    setMinimumSize(160,60);
+    setMaximumSize(160,60);
+    setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
+    setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+    setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+    setFrameStyle(QFrame::NoFrame);
+    setBackgroundBrush(Qt::transparent);
+
+    QGraphicsScene *scene = new QGraphicsScene(0,0,160,60, this);
+    scene->setBackgroundBrush(Qt::transparent);
+
+    QSvgRenderer *renderer = new QSvgRenderer();
+    if (renderer->load(QString(":/core/images/tx-rx.svg"))) {
+        graph = new QGraphicsSvgItem();
+        graph->setSharedRenderer(renderer);
+        graph->setElementId("txrxBackground");
+
+        QString name;
+        QGraphicsSvgItem* pt;
+
+        for (int i=0; i<NODE_NUMELEM; i++) {
+            name = QString("tx%0").arg(i);
+            if (renderer->elementExists(name)) {
+                pt = new QGraphicsSvgItem();
+                pt->setSharedRenderer(renderer);
+                pt->setElementId(name);
+                pt->setParentItem(graph);
+                txNodes.append(pt);
+            }
+
+            name = QString("rx%0").arg(i);
+            if (renderer->elementExists(name)) {
+                pt = new QGraphicsSvgItem();
+                pt->setSharedRenderer(renderer);
+                pt->setElementId(name);
+                pt->setParentItem(graph);
+                rxNodes.append(pt);
+            }
+        }
+
+        scene->addItem(graph);
+        scene->setSceneRect(graph->boundingRect());
+        setScene(scene);
+    }
+
+    connected = false;
+    txValue = 0.0;
+    rxValue = 0.0;
+
+    setMin(0.0);
+    setMax(1200.0);
+
+    showTelemetry();
+}
+
+TelemetryMonitorWidget::~TelemetryMonitorWidget()
+{
+    while (!txNodes.isEmpty())
+        delete txNodes.takeFirst();
+
+    while (!rxNodes.isEmpty())
+        delete rxNodes.takeFirst();
+}
+
+void TelemetryMonitorWidget::connect()
+{
+    connected = true;
+
+    //flash the lights
+    updateTelemetry(maxValue, maxValue);
+}
+
+void TelemetryMonitorWidget::disconnect()
+{
+    //flash the lights
+    updateTelemetry(maxValue, maxValue);
+
+    connected = false;
+    updateTelemetry(0.0,0.0);
+}
+/*!
+  \brief Called by the UAVObject which got updated
+
+  Updates the numeric value and/or the icon if the dial wants this.
+  */
+void TelemetryMonitorWidget::updateTelemetry(double txRate, double rxRate)
+{
+    txValue = txRate;
+    rxValue = rxRate;
+
+    showTelemetry();
+}
+
+// Converts the value into an percentage:
+// this enables smooth movement in moveIndex below
+void TelemetryMonitorWidget::showTelemetry()
+{
+    txIndex = (txValue-minValue)/(maxValue-minValue) * NODE_NUMELEM;
+    rxIndex = (rxValue-minValue)/(maxValue-minValue) * NODE_NUMELEM;
+
+    if (connected)
+        this->setToolTip(QString("Tx: %0 bytes/sec\nRx: %1 bytes/sec").arg(txValue).arg(rxValue));
+    else
+        this->setToolTip(QString("Disconnected"));
+
+    QGraphicsItem* txNode;
+    QGraphicsItem* rxNode;
+
+    for (int i=0; i < NODE_NUMELEM; i++) {
+        txNode = txNodes.at(i);
+        txNode->setPos((i*(txNode->boundingRect().width() + 8)) + 8, (txNode->boundingRect().height()/2) - 2);
+        txNode->setVisible(connected && i < txIndex);
+        txNode->update();
+
+        rxNode = rxNodes.at(i);
+        rxNode->setPos((i*(rxNode->boundingRect().width() + 8)) + 8, (rxNode->boundingRect().height()*2) - 2);
+        rxNode->setVisible(connected && i < rxIndex);
+        rxNode->update();
+    }
+    update();
+}
+
+void TelemetryMonitorWidget::showEvent(QShowEvent *event)
+{
+    Q_UNUSED(event);
+
+    fitInView(graph, Qt::KeepAspectRatio);
+}
+
+void TelemetryMonitorWidget::resizeEvent(QResizeEvent* event)
+{
+    Q_UNUSED(event);
+
+    graph->setPos(0,-90);
+    fitInView(graph, Qt::KeepAspectRatio);
+}
+
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.h b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.h
new file mode 100644
index 000000000..b5e335398
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.h
@@ -0,0 +1,53 @@
+#ifndef TELEMETRYMONITORWIDGET_H
+#define TELEMETRYMONITORWIDGET_H
+
+#include <QWidget>
+#include <QObject>
+#include <QGraphicsView>
+#include <QtSvg/QSvgRenderer>
+#include <QtSvg/QGraphicsSvgItem>
+#include <QtCore/QPointer>
+
+class TelemetryMonitorWidget : public QGraphicsView
+{
+    Q_OBJECT
+public:
+    explicit TelemetryMonitorWidget(QWidget *parent = 0);
+    ~TelemetryMonitorWidget();
+
+    void setMin(double min) { minValue = min;}
+    double getMin() { return minValue; }
+    void setMax(double max) { maxValue = max;}
+    double getMax() { return maxValue; }
+
+    //number of tx/rx nodes in the graph
+    static const int NODE_NUMELEM = 12;
+
+signals:
+    
+public slots:
+    void connect();
+    void disconnect();
+
+    void updateTelemetry(double txRate, double rxRate);
+    void showTelemetry();
+
+protected:
+    void showEvent(QShowEvent *event);
+    void resizeEvent(QResizeEvent *event);
+
+private:
+   QGraphicsSvgItem *graph;
+   QList<QGraphicsSvgItem*> txNodes;
+   QList<QGraphicsSvgItem*> rxNodes;
+
+   bool   connected;
+   double txIndex;
+   double txValue;
+   double rxIndex;
+   double rxValue;
+   double minValue;
+   double maxValue;
+};
+
+#endif // TELEMETRYMONITORWIDGET_H
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp b/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp
index 881e1bc7d..00c997374 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp
@@ -27,6 +27,8 @@
 
 #include "telemetrymonitor.h"
 #include "qxtlogger.h"
+#include "coreplugin/connectionmanager.h"
+#include "coreplugin/icore.h"
 
 /**
  * Constructor
@@ -52,6 +54,9 @@ TelemetryMonitor::TelemetryMonitor(UAVObjectManager* objMngr, Telemetry* tel)
     statsTimer = new QTimer(this);
     connect(statsTimer, SIGNAL(timeout()), this, SLOT(processStatsUpdates()));
     statsTimer->start(STATS_CONNECT_PERIOD_MS);
+
+    Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
+    connect(this,SIGNAL(telemetryUpdated(double,double)),cm,SLOT(telemetryUpdated(double,double)));
 }
 
 TelemetryMonitor::~TelemetryMonitor() {
@@ -232,6 +237,8 @@ void TelemetryMonitor::processStatsUpdates()
         }
     }
 
+    emit telemetryUpdated((double)gcsStats.TxDataRate, (double)gcsStats.RxDataRate);
+
     // Set data
     gcsStatsObj->setData(gcsStats);
 
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.h b/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.h
index 05e54706f..5d480a86e 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.h
+++ b/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.h
@@ -51,6 +51,7 @@ public:
 signals:
     void connected();
     void disconnected();
+    void telemetryUpdated(double txRate, double rxRate);
 
 public slots:
     void transactionCompleted(UAVObject* obj, bool success);

From 9ebf6d916af8ac72aa913e8f00499b0a4676f7f5 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Thu, 2 Aug 2012 19:33:20 -0700
Subject: [PATCH 143/543] TelemetryMonitorWidget: tx/rx labels, 7 nodes, tx/rx
 rate text.

---
 .../src/plugins/coreplugin/images/tx-rx.svg   | 390 ++++++++++++++++++
 .../coreplugin/telemetrymonitorwidget.cpp     |  33 +-
 .../coreplugin/telemetrymonitorwidget.h       |   4 +-
 3 files changed, 420 insertions(+), 7 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/coreplugin/images/tx-rx.svg

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/images/tx-rx.svg b/ground/openpilotgcs/src/plugins/coreplugin/images/tx-rx.svg
new file mode 100644
index 000000000..42d0f6d30
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/coreplugin/images/tx-rx.svg
@@ -0,0 +1,390 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="990"
+   height="765"
+   id="svg2"
+   version="1.1"
+   inkscape:version="0.48.2 r9819"
+   sodipodi:docname="tx-rx.svg">
+  <defs
+     id="defs4" />
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="0.58"
+     inkscape:cx="243.88087"
+     inkscape:cy="482.05004"
+     inkscape:document-units="px"
+     inkscape:current-layer="txrxBackground"
+     showgrid="false"
+     showguides="false"
+     inkscape:guide-bbox="true"
+     inkscape:window-width="1463"
+     inkscape:window-height="686"
+     inkscape:window-x="200"
+     inkscape:window-y="200"
+     inkscape:window-maximized="0">
+    <sodipodi:guide
+       orientation="1,0"
+       position="159.7561,421.95122"
+       id="guide3775" />
+    <sodipodi:guide
+       orientation="0,1"
+       position="339.02439,473.17073"
+       id="guide3912" />
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+           y="572.0863"
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+           sodipodi:linespacing="125%"><tspan
+             sodipodi:role="line"
+             id="tspan3046"
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+             y="572.0863">Rx</tspan></text>
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+       style="color:#000000;fill:#ff0000;fill-opacity:1;fill-rule:nonzero;stroke:none;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate"
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+       x="647.0033"
+       y="245.35291"
+       id="txSpeed"
+       sodipodi:linespacing="125%"
+       inkscape:label="#text3167"><tspan
+         sodipodi:role="line"
+         id="tspan3169"
+         x="647.0033"
+         y="245.35291">0 b/s</tspan></text>
+  </g>
+  <g
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+     id="layer2"
+     inkscape:label="rx"
+     style="display:inline">
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diff --git a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
index 47a8d1c66..ad17b3580 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
@@ -2,19 +2,20 @@
 
 #include <QObject>
 #include <QtGui>
+#include <QtGui/QFont>
 #include <QDebug>
 
 TelemetryMonitorWidget::TelemetryMonitorWidget(QWidget *parent) : QGraphicsView(parent)
 {
-    setMinimumSize(160,60);
-    setMaximumSize(160,60);
+    setMinimumSize(160,80);
+    setMaximumSize(160,80);
     setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
     setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     setFrameStyle(QFrame::NoFrame);
     setBackgroundBrush(Qt::transparent);
 
-    QGraphicsScene *scene = new QGraphicsScene(0,0,160,60, this);
+    QGraphicsScene *scene = new QGraphicsScene(0,0,160,80, this);
     scene->setBackgroundBrush(Qt::transparent);
 
     QSvgRenderer *renderer = new QSvgRenderer();
@@ -47,6 +48,19 @@ TelemetryMonitorWidget::TelemetryMonitorWidget(QWidget *parent) : QGraphicsView(
         }
 
         scene->addItem(graph);
+
+        txSpeed = new QGraphicsTextItem();
+        txSpeed->setDefaultTextColor(Qt::white);
+        txSpeed->setFont(QFont("Helvetica",22,2));
+        txSpeed->setParentItem(graph);
+        scene->addItem(txSpeed);
+
+        rxSpeed = new QGraphicsTextItem();
+        rxSpeed->setDefaultTextColor(Qt::white);
+        rxSpeed->setFont(QFont("Helvetica",22,2));
+        rxSpeed->setParentItem(graph);
+        scene->addItem(rxSpeed);
+
         scene->setSceneRect(graph->boundingRect());
         setScene(scene);
     }
@@ -116,15 +130,22 @@ void TelemetryMonitorWidget::showTelemetry()
 
     for (int i=0; i < NODE_NUMELEM; i++) {
         txNode = txNodes.at(i);
-        txNode->setPos((i*(txNode->boundingRect().width() + 8)) + 8, (txNode->boundingRect().height()/2) - 2);
+        txNode->setPos((i*(txNode->boundingRect().width() + 8)) + 60, (txNode->boundingRect().height()/2) - 2);
         txNode->setVisible(connected && i < txIndex);
         txNode->update();
 
         rxNode = rxNodes.at(i);
-        rxNode->setPos((i*(rxNode->boundingRect().width() + 8)) + 8, (rxNode->boundingRect().height()*2) - 2);
+        rxNode->setPos((i*(rxNode->boundingRect().width() + 8)) + 60, (rxNode->boundingRect().height()*2) - 2);
         rxNode->setVisible(connected && i < rxIndex);
         rxNode->update();
     }
+
+    txSpeed->setPos(graph->boundingRect().right() - 100, txNodes.at(0)->pos().y() - 10);
+    txSpeed->setPlainText(QString("%0").arg(txValue));
+
+    rxSpeed->setPos(graph->boundingRect().right() - 100, rxNodes.at(0)->pos().y() - 10);
+    rxSpeed->setPlainText(QString("%0").arg(rxValue));
+
     update();
 }
 
@@ -139,7 +160,7 @@ void TelemetryMonitorWidget::resizeEvent(QResizeEvent* event)
 {
     Q_UNUSED(event);
 
-    graph->setPos(0,-90);
+    graph->setPos(0,-100);
     fitInView(graph, Qt::KeepAspectRatio);
 }
 
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.h b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.h
index b5e335398..dc7b1a1f9 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.h
@@ -21,7 +21,7 @@ public:
     double getMax() { return maxValue; }
 
     //number of tx/rx nodes in the graph
-    static const int NODE_NUMELEM = 12;
+    static const int NODE_NUMELEM = 7;
 
 signals:
     
@@ -38,6 +38,8 @@ protected:
 
 private:
    QGraphicsSvgItem *graph;
+   QGraphicsTextItem *txSpeed;
+   QGraphicsTextItem *rxSpeed;
    QList<QGraphicsSvgItem*> txNodes;
    QList<QGraphicsSvgItem*> rxNodes;
 

From f5bd860be104a486e6886bdf4d1eb9e0638fe16a Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Thu, 2 Aug 2012 20:32:55 -0700
Subject: [PATCH 144/543] TelemetryWidget: tweek datarate text locations.

---
 .../src/plugins/coreplugin/telemetrymonitorwidget.cpp     | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
index ad17b3580..0f96c06e5 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
@@ -140,11 +140,11 @@ void TelemetryMonitorWidget::showTelemetry()
         rxNode->update();
     }
 
-    txSpeed->setPos(graph->boundingRect().right() - 100, txNodes.at(0)->pos().y() - 10);
-    txSpeed->setPlainText(QString("%0").arg(txValue));
+    txSpeed->setPos(graph->boundingRect().right() - 110, txNodes.at(0)->pos().y() - 10);
+    txSpeed->setPlainText(QString("%0").arg(connected ? txValue : 0.0));
 
-    rxSpeed->setPos(graph->boundingRect().right() - 100, rxNodes.at(0)->pos().y() - 10);
-    rxSpeed->setPlainText(QString("%0").arg(rxValue));
+    rxSpeed->setPos(graph->boundingRect().right() - 110, rxNodes.at(0)->pos().y() - 10);
+    rxSpeed->setPlainText(QString("%0").arg(connected ? rxValue : 0.0));
 
     update();
 }

From 5320a73adc24d809b09f56474805d8ba18d8c59b Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Thu, 2 Aug 2012 21:19:25 -0700
Subject: [PATCH 145/543] TelemetryWidget: tweeks and bugfixes.

---
 .../coreplugin/telemetrymonitorwidget.cpp     | 33 +++++++++++--------
 .../coreplugin/telemetrymonitorwidget.h       |  4 +--
 2 files changed, 21 insertions(+), 16 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
index 0f96c06e5..19f5aaf00 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
@@ -125,25 +125,30 @@ void TelemetryMonitorWidget::showTelemetry()
     else
         this->setToolTip(QString("Disconnected"));
 
-    QGraphicsItem* txNode;
-    QGraphicsItem* rxNode;
+    int i;
+    int nodeMargin = 8;
+    int leftMargin = 60;
+    QGraphicsItem* node;
 
-    for (int i=0; i < NODE_NUMELEM; i++) {
-        txNode = txNodes.at(i);
-        txNode->setPos((i*(txNode->boundingRect().width() + 8)) + 60, (txNode->boundingRect().height()/2) - 2);
-        txNode->setVisible(connected && i < txIndex);
-        txNode->update();
-
-        rxNode = rxNodes.at(i);
-        rxNode->setPos((i*(rxNode->boundingRect().width() + 8)) + 60, (rxNode->boundingRect().height()*2) - 2);
-        rxNode->setVisible(connected && i < rxIndex);
-        rxNode->update();
+    for (i=0; i < txNodes.count(); i++) {
+        node = txNodes.at(i);
+        node->setPos((i*(node->boundingRect().width() + nodeMargin)) + leftMargin, (node->boundingRect().height()/2) - 2);
+        node->setVisible(connected && i < txIndex);
+        node->update();
     }
 
-    txSpeed->setPos(graph->boundingRect().right() - 110, txNodes.at(0)->pos().y() - 10);
+    for (i=0; i < rxNodes.count(); i++) {
+        node = rxNodes.at(i);
+        node->setPos((i*(node->boundingRect().width() + nodeMargin)) + leftMargin, (node->boundingRect().height()*2) - 2);
+        node->setVisible(connected && i < rxIndex);
+        node->update();
+    }
+
+    QRectF rect = graph->boundingRect();
+    txSpeed->setPos(rect.right() - 110, rect.top());
     txSpeed->setPlainText(QString("%0").arg(connected ? txValue : 0.0));
 
-    rxSpeed->setPos(graph->boundingRect().right() - 110, rxNodes.at(0)->pos().y() - 10);
+    rxSpeed->setPos(rect.right() - 110, rect.top() + (rect.height() / 2));
     rxSpeed->setPlainText(QString("%0").arg(connected ? rxValue : 0.0));
 
     update();
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.h b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.h
index dc7b1a1f9..803362230 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.h
@@ -38,8 +38,8 @@ protected:
 
 private:
    QGraphicsSvgItem *graph;
-   QGraphicsTextItem *txSpeed;
-   QGraphicsTextItem *rxSpeed;
+   QPointer<QGraphicsTextItem> txSpeed;
+   QPointer<QGraphicsTextItem> rxSpeed;
    QList<QGraphicsSvgItem*> txNodes;
    QList<QGraphicsSvgItem*> rxNodes;
 

From 4de9cd89f75dd0fe013a6e931afbe82fe454d1b9 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Thu, 2 Aug 2012 22:14:39 -0700
Subject: [PATCH 146/543] micro GCs layout, redesigned layouts again for stabi
 screen

---
 .../src/plugins/config/stabilization.ui       | 14787 +++++++---------
 1 file changed, 6540 insertions(+), 8247 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 4fe78abea..84ebef74b 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>786</width>
-    <height>950</height>
+    <width>992</width>
+    <height>885</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -453,9 +453,6 @@
    <bool>false</bool>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_2">
-   <property name="spacing">
-    <number>6</number>
-   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="sizePolicy">
@@ -597,3318 +594,18 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>764</width>
-            <height>818</height>
+            <width>962</width>
+            <height>754</height>
            </rect>
           </property>
-          <layout class="QGridLayout" name="gridLayout_4">
-           <item row="1" column="0">
-            <widget class="QGroupBox" name="RateStabilizationGroup_17">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>0</width>
-               <height>195</height>
-              </size>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>16777215</width>
-               <height>181</height>
-              </size>
-             </property>
-             <property name="palette">
-              <palette>
-               <active>
-                <colorrole role="WindowText">
-                 <brush brushstyle="SolidPattern">
-                  <color alpha="255">
-                   <red>0</red>
-                   <green>0</green>
-                   <blue>0</blue>
-                  </color>
-                 </brush>
-                </colorrole>
-                <colorrole role="Button">
-                 <brush brushstyle="LinearGradientPattern">
-                  <gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
-                   <gradientstop position="0.000000000000000">
-                    <color alpha="255">
-                     <red>243</red>
-                     <green>243</green>
-                     <blue>243</blue>
-                    </color>
-                   </gradientstop>
-                   <gradientstop position="1.000000000000000">
-                    <color alpha="255">
-                     <red>250</red>
-                     <green>250</green>
-                     <blue>250</blue>
-                    </color>
-                   </gradientstop>
-                  </gradient>
-                 </brush>
-                </colorrole>
-                <colorrole role="Light">
-                 <brush brushstyle="SolidPattern">
-                  <color alpha="255">
-                   <red>255</red>
-                   <green>255</green>
-                   <blue>255</blue>
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-                </colorrole>
-                <colorrole role="Midlight">
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-                   <red>251</red>
-                   <green>251</green>
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-                <colorrole role="Dark">
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-                   <red>124</red>
-                   <green>124</green>
-                   <blue>124</blue>
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-                </colorrole>
-                <colorrole role="Mid">
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-                   <red>165</red>
-                   <green>165</green>
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-                <colorrole role="Text">
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-                     <green>250</green>
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-                <colorrole role="Window">
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-                <colorrole role="ToolTipText">
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-                   <red>255</red>
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-                   <red>165</red>
-                   <green>165</green>
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-                   <red>255</red>
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-                  </color>
-                 </brush>
-                </colorrole>
-               </disabled>
-              </palette>
-             </property>
-             <property name="autoFillBackground">
-              <bool>false</bool>
-             </property>
-             <property name="title">
-              <string>Attitude Stabilization (Outer Loop)</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-             </property>
-             <layout class="QVBoxLayout" name="verticalLayout_3">
-              <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,0,0">
-                <property name="spacing">
-                 <number>4</number>
-                </property>
-                <item>
-                 <widget class="QCheckBox" name="checkBox_8">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="focusPolicy">
-                   <enum>Qt::StrongFocus</enum>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Link Roll and Pitch</string>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <spacer name="horizontalSpacer_4">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeType">
-                   <enum>QSizePolicy::MinimumExpanding</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>40</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item>
-                 <widget class="QPushButton" name="pushButton_22">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>81</width>
-                    <height>25</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Reset all values to GCS defaults</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Default</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>button:default</string>
-                    <string>buttongroup:2</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
-               </layout>
-              </item>
-              <item>
-               <widget class="QGroupBox" name="RateStabilizationGroup_18">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>131</height>
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-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="maximum">
-                    <number>100</number>
-                   </property>
-                   <property name="sliderPosition">
-                    <number>50</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="tickPosition">
-                    <enum>QSlider::TicksBelow</enum>
-                   </property>
-                   <property name="tickInterval">
-                    <number>25</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawPI</string>
-                     <string>element:Kp</string>
-                     <string>scale:0.1</string>
-                     <string>haslimits:yes</string>
-                     <string>buttongroup:2,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="6">
-                  <widget class="QSpinBox" name="spinBox_15">
-                   <property name="minimumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="maximum">
-                    <number>200</number>
-                   </property>
-                   <property name="value">
-                    <number>200</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawPI</string>
-                     <string>element:Kp</string>
-                     <string>scale:0.1</string>
-                     <string>haslimits:yes</string>
-                     <string>buttongroup:2,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="0">
-                  <widget class="QLabel" name="label_157">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Integral</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="1">
-                  <widget class="QSlider" name="horizontalSlider_85">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>25</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="maximum">
-                    <number>100</number>
-                   </property>
-                   <property name="sliderPosition">
-                    <number>50</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="tickPosition">
-                    <enum>QSlider::TicksBelow</enum>
-                   </property>
-                   <property name="tickInterval">
-                    <number>25</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:RollPI</string>
-                     <string>element:Ki</string>
-                     <string>scale:0.1</string>
-                     <string>haslimits:yes</string>
-                     <string>buttongroup:2,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="2">
-                  <widget class="QSpinBox" name="spinBox_18">
-                   <property name="minimumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="maximum">
-                    <number>200</number>
-                   </property>
-                   <property name="value">
-                    <number>200</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:RollPI</string>
-                     <string>element:Ki</string>
-                     <string>scale:0.1</string>
-                     <string>haslimits:yes</string>
-                     <string>buttongroup:2,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="3">
-                  <widget class="QSlider" name="horizontalSlider_86">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>25</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="maximum">
-                    <number>100</number>
-                   </property>
-                   <property name="sliderPosition">
-                    <number>50</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="tickPosition">
-                    <enum>QSlider::TicksBelow</enum>
-                   </property>
-                   <property name="tickInterval">
-                    <number>25</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchPI</string>
-                     <string>element:Ki</string>
-                     <string>scale:0.1</string>
-                     <string>haslimits:yes</string>
-                     <string>buttongroup:2,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="4">
-                  <widget class="QSpinBox" name="spinBox_19">
-                   <property name="minimumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="maximum">
-                    <number>200</number>
-                   </property>
-                   <property name="value">
-                    <number>200</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchPI</string>
-                     <string>element:Ki</string>
-                     <string>scale:0.1</string>
-                     <string>haslimits:yes</string>
-                     <string>buttongroup:2,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="5">
-                  <widget class="QSlider" name="horizontalSlider_87">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>25</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="maximum">
-                    <number>100</number>
-                   </property>
-                   <property name="sliderPosition">
-                    <number>50</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="tickPosition">
-                    <enum>QSlider::TicksBelow</enum>
-                   </property>
-                   <property name="tickInterval">
-                    <number>25</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawPI</string>
-                     <string>element:Ki</string>
-                     <string>scale:0.1</string>
-                     <string>haslimits:yes</string>
-                     <string>buttongroup:2,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="6">
-                  <widget class="QSpinBox" name="spinBox_20">
-                   <property name="minimumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="maximum">
-                    <number>200</number>
-                   </property>
-                   <property name="value">
-                    <number>200</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawPI</string>
-                     <string>element:Ki</string>
-                     <string>scale:0.1</string>
-                     <string>haslimits:yes</string>
-                     <string>buttongroup:2,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="0" column="2">
-                  <spacer name="horizontalSpacer_2">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="0" column="4">
-                  <spacer name="horizontalSpacer_5">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="0" column="0">
-                  <spacer name="horizontalSpacer_46">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="0" column="6">
-                  <spacer name="horizontalSpacer_47">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                </layout>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item row="0" column="0">
+          <layout class="QVBoxLayout" name="verticalLayout_12" stretch="1,1,0,0,1">
+           <property name="spacing">
+            <number>12</number>
+           </property>
+           <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_15">
              <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
                <verstretch>0</verstretch>
               </sizepolicy>
@@ -3931,11 +628,8 @@ border-radius: 5;</string>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
              </property>
-             <layout class="QGridLayout" name="gridLayout_16">
-              <property name="horizontalSpacing">
-               <number>6</number>
-              </property>
-              <item row="0" column="0">
+             <layout class="QVBoxLayout" name="verticalLayout_8">
+              <item>
                <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0">
                 <property name="spacing">
                  <number>4</number>
@@ -4017,7 +711,7 @@ border-radius: 5;</string>
                 </item>
                </layout>
               </item>
-              <item row="1" column="0">
+              <item>
                <widget class="QGroupBox" name="RateStabilizationGroup_16">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -4466,7 +1160,7 @@ border-radius: 5;</string>
                 <property name="flat">
                  <bool>true</bool>
                 </property>
-                <layout class="QGridLayout" name="gridLayout_11">
+                <layout class="QGridLayout" name="gridLayout_11" columnstretch="0,1,0,1,0,1,0">
                  <item row="0" column="0">
                   <spacer name="horizontalSpacer_44">
                    <property name="orientation">
@@ -6762,98 +3456,10 @@ value as the Kp.</string>
              </layout>
             </widget>
            </item>
-           <item row="5" column="0">
-            <spacer name="verticalSpacer_10">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::Preferred</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>180</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item row="4" column="0">
-            <widget class="QGroupBox" name="groupBox">
-             <property name="minimumSize">
-              <size>
-               <width>0</width>
-               <height>80</height>
-              </size>
-             </property>
-             <property name="title">
-              <string/>
-             </property>
-             <layout class="QVBoxLayout" name="verticalLayout_11">
-              <item>
-               <widget class="QCheckBox" name="lowThrottleZeroIntegral_8">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>300</width>
-                  <height>20</height>
-                 </size>
-                </property>
-                <property name="toolTip">
-                 <string>When the throttle is low, zero the intergral term to prevent intergral wind-up</string>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true"/>
-                </property>
-                <property name="text">
-                 <string>Zero the integral when throttle is low</string>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:StabilizationSettings</string>
-                  <string>fieldname:LowThrottleZeroIntegral</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QCheckBox" name="realTimeUpdates_6">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>136</width>
-                  <height>20</height>
-                 </size>
-                </property>
-                <property name="toolTip">
-                 <string>If you check this, the GCS will udpate the stabilization factors
-automatically every 300ms, which will help for fast tuning.</string>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true"/>
-                </property>
-                <property name="text">
-                 <string>Update in real time</string>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item row="2" column="0">
-            <widget class="QGroupBox" name="RateStabilizationGroup_19">
+           <item>
+            <widget class="QGroupBox" name="RateStabilizationGroup_17">
              <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
                <verstretch>0</verstretch>
               </sizepolicy>
@@ -6861,13 +3467,13 @@ automatically every 300ms, which will help for fast tuning.</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>225</height>
+               <height>195</height>
               </size>
              </property>
              <property name="maximumSize">
               <size>
                <width>16777215</width>
-               <height>211</height>
+               <height>181</height>
               </size>
              </property>
              <property name="palette">
@@ -7384,20 +3990,42 @@ automatically every 300ms, which will help for fast tuning.</string>
                </disabled>
               </palette>
              </property>
+             <property name="autoFillBackground">
+              <bool>false</bool>
+             </property>
              <property name="title">
-              <string>Stick Range and Limits</string>
+              <string>Attitude Stabilization (Outer Loop)</string>
              </property>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
              </property>
-             <layout class="QVBoxLayout" name="verticalLayout_4">
+             <layout class="QVBoxLayout" name="verticalLayout_3">
               <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_3" stretch="0,0">
+               <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,0,0">
                 <property name="spacing">
                  <number>4</number>
                 </property>
                 <item>
-                 <spacer name="horizontalSpacer_22">
+                 <widget class="QCheckBox" name="checkBox_8">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true"/>
+                  </property>
+                  <property name="text">
+                   <string>Link Roll and Pitch</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_4">
                   <property name="orientation">
                    <enum>Qt::Horizontal</enum>
                   </property>
@@ -7413,7 +4041,7 @@ automatically every 300ms, which will help for fast tuning.</string>
                  </spacer>
                 </item>
                 <item>
-                 <widget class="QPushButton" name="pushButton_24">
+                 <widget class="QPushButton" name="pushButton_22">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
                     <horstretch>0</horstretch>
@@ -7438,7 +4066,7 @@ automatically every 300ms, which will help for fast tuning.</string>
                   <property name="objrelation" stdset="0">
                    <stringlist>
                     <string>button:default</string>
-                    <string>buttongroup:3</string>
+                    <string>buttongroup:2</string>
                    </stringlist>
                   </property>
                  </widget>
@@ -7446,7 +4074,7 @@ automatically every 300ms, which will help for fast tuning.</string>
                </layout>
               </item>
               <item>
-               <widget class="QGroupBox" name="RateStabilizationGroup_20">
+               <widget class="QGroupBox" name="RateStabilizationGroup_18">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                   <horstretch>0</horstretch>
@@ -7456,13 +4084,7 @@ automatically every 300ms, which will help for fast tuning.</string>
                 <property name="minimumSize">
                  <size>
                   <width>0</width>
-                  <height>161</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>180</height>
+                  <height>131</height>
                  </size>
                 </property>
                 <property name="palette">
@@ -7892,9 +4514,9 @@ automatically every 300ms, which will help for fast tuning.</string>
                 <property name="flat">
                  <bool>true</bool>
                 </property>
-                <layout class="QGridLayout" name="gridLayout_13">
+                <layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1,0,1,0,1,0">
                  <item row="0" column="1">
-                  <widget class="QLabel" name="label_162">
+                  <widget class="QLabel" name="label_150">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -8443,8 +5065,8 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="0" column="4">
-                  <widget class="QLabel" name="label_163">
+                 <item row="0" column="3">
+                  <widget class="QLabel" name="label_151">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -8993,8 +5615,8 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="0" column="7">
-                  <widget class="QLabel" name="label_164">
+                 <item row="0" column="5">
+                  <widget class="QLabel" name="label_152">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -9544,7 +6166,7 @@ border-radius: 5;</string>
                   </widget>
                  </item>
                  <item row="1" column="0">
-                  <widget class="QLabel" name="label_165">
+                  <widget class="QLabel" name="label_153">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                      <horstretch>0</horstretch>
@@ -9553,16 +6175,15 @@ border-radius: 5;</string>
                    </property>
                    <property name="minimumSize">
                     <size>
-                     <width>69</width>
-                     <height>29</height>
+                     <width>78</width>
+                     <height>16</height>
                     </size>
                    </property>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
                    <property name="text">
-                    <string>Full Stick
-Angle (deg)</string>
+                    <string>Proportional</string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -9570,7 +6191,7 @@ Angle (deg)</string>
                   </widget>
                  </item>
                  <item row="1" column="1">
-                  <widget class="QSlider" name="horizontalSlider_88">
+                  <widget class="QSlider" name="horizontalSlider_82">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -9590,7 +6211,7 @@ Angle (deg)</string>
                     <string notr="true"/>
                    </property>
                    <property name="maximum">
-                    <number>180</number>
+                    <number>100</number>
                    </property>
                    <property name="sliderPosition">
                     <number>50</number>
@@ -9607,16 +6228,17 @@ Angle (deg)</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:RollMax</string>
+                     <string>fieldname:RollPI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.1</string>
                      <string>haslimits:yes</string>
-                     <string>scale:1.0</string>
-                     <string>buttongroup:3,10</string>
+                     <string>buttongroup:2,10</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
                  <item row="1" column="2">
-                  <widget class="QSpinBox" name="spinBox_16">
+                  <widget class="QSpinBox" name="spinBox_13">
                    <property name="minimumSize">
                     <size>
                      <width>50</width>
@@ -9633,40 +6255,25 @@ Angle (deg)</string>
                     <enum>Qt::StrongFocus</enum>
                    </property>
                    <property name="maximum">
-                    <number>180</number>
+                    <number>200</number>
                    </property>
                    <property name="value">
-                    <number>180</number>
+                    <number>200</number>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:RollMax</string>
+                     <string>fieldname:RollPI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.1</string>
                      <string>haslimits:yes</string>
-                     <string>scale:1.0</string>
-                     <string>buttongroup:3,10</string>
+                     <string>buttongroup:2,10</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
                  <item row="1" column="3">
-                  <spacer name="horizontalSpacer_38">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>3</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="1" column="4">
-                  <widget class="QSlider" name="horizontalSlider_89">
+                  <widget class="QSlider" name="horizontalSlider_83">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -9686,7 +6293,7 @@ Angle (deg)</string>
                     <string notr="true"/>
                    </property>
                    <property name="maximum">
-                    <number>180</number>
+                    <number>100</number>
                    </property>
                    <property name="sliderPosition">
                     <number>50</number>
@@ -9703,66 +6310,52 @@ Angle (deg)</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchMax</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.1</string>
                      <string>haslimits:yes</string>
-                     <string>scale:1.0</string>
-                     <string>buttongroup:3,10</string>
+                     <string>buttongroup:2,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="4">
+                  <widget class="QSpinBox" name="spinBox_14">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
                  <item row="1" column="5">
-                  <widget class="QSpinBox" name="spinBox_17">
-                   <property name="minimumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="maximum">
-                    <number>180</number>
-                   </property>
-                   <property name="value">
-                    <number>180</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchMax</string>
-                     <string>haslimits:yes</string>
-                     <string>scale:1.0</string>
-                     <string>buttongroup:3,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="6">
-                  <spacer name="horizontalSpacer_39">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>3</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="1" column="7">
-                  <widget class="QSlider" name="horizontalSlider_90">
+                  <widget class="QSlider" name="horizontalSlider_84">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -9782,7 +6375,7 @@ Angle (deg)</string>
                     <string notr="true"/>
                    </property>
                    <property name="maximum">
-                    <number>180</number>
+                    <number>100</number>
                    </property>
                    <property name="sliderPosition">
                     <number>50</number>
@@ -9799,16 +6392,17 @@ Angle (deg)</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawMax</string>
+                     <string>fieldname:YawPI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.1</string>
                      <string>haslimits:yes</string>
-                     <string>scale:1.0</string>
-                     <string>buttongroup:3,10</string>
+                     <string>buttongroup:2,10</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="8">
-                  <widget class="QSpinBox" name="spinBox_21">
+                 <item row="1" column="6">
+                  <widget class="QSpinBox" name="spinBox_15">
                    <property name="minimumSize">
                     <size>
                      <width>50</width>
@@ -9825,42 +6419,36 @@ Angle (deg)</string>
                     <enum>Qt::StrongFocus</enum>
                    </property>
                    <property name="maximum">
-                    <number>180</number>
+                    <number>200</number>
                    </property>
                    <property name="value">
-                    <number>180</number>
+                    <number>200</number>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawMax</string>
+                     <string>fieldname:YawPI</string>
+                     <string>element:Kp</string>
+                     <string>scale:0.1</string>
                      <string>haslimits:yes</string>
-                     <string>scale:1.0</string>
-                     <string>buttongroup:3,10</string>
+                     <string>buttongroup:2,10</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
                  <item row="2" column="0">
-                  <widget class="QLabel" name="label_169">
+                  <widget class="QLabel" name="label_157">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                      <horstretch>0</horstretch>
                      <verstretch>0</verstretch>
                     </sizepolicy>
                    </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>69</width>
-                     <height>29</height>
-                    </size>
-                   </property>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
                    <property name="text">
-                    <string>Full Stick
-Rate (deg/s)</string>
+                    <string>Integral</string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -9868,7 +6456,7 @@ Rate (deg/s)</string>
                   </widget>
                  </item>
                  <item row="2" column="1">
-                  <widget class="QSlider" name="horizontalSlider_91">
+                  <widget class="QSlider" name="horizontalSlider_85">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -9888,7 +6476,7 @@ Rate (deg/s)</string>
                     <string notr="true"/>
                    </property>
                    <property name="maximum">
-                    <number>500</number>
+                    <number>100</number>
                    </property>
                    <property name="sliderPosition">
                     <number>50</number>
@@ -9905,17 +6493,17 @@ Rate (deg/s)</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:ManualRate</string>
-                     <string>element:Roll</string>
+                     <string>fieldname:RollPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
                      <string>haslimits:yes</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:3,10</string>
+                     <string>buttongroup:2,10</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
                  <item row="2" column="2">
-                  <widget class="QSpinBox" name="spinBox_22">
+                  <widget class="QSpinBox" name="spinBox_18">
                    <property name="minimumSize">
                     <size>
                      <width>50</width>
@@ -9932,72 +6520,72 @@ Rate (deg/s)</string>
                     <enum>Qt::StrongFocus</enum>
                    </property>
                    <property name="maximum">
-                    <number>500</number>
+                    <number>200</number>
                    </property>
                    <property name="value">
-                    <number>180</number>
+                    <number>200</number>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:ManualRate</string>
-                     <string>element:Roll</string>
+                     <string>fieldname:RollPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
                      <string>haslimits:yes</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:3,10</string>
+                     <string>buttongroup:2,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="3">
+                  <widget class="QSlider" name="horizontalSlider_86">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
+                     <string>haslimits:yes</string>
+                     <string>buttongroup:2,10</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
                  <item row="2" column="4">
-                  <widget class="QSlider" name="horizontalSlider_92">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>25</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="maximum">
-                    <number>500</number>
-                   </property>
-                   <property name="sliderPosition">
-                    <number>50</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="tickPosition">
-                    <enum>QSlider::TicksBelow</enum>
-                   </property>
-                   <property name="tickInterval">
-                    <number>25</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:ManualRate</string>
-                     <string>element:Pitch</string>
-                     <string>haslimits:yes</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:3,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="5" colspan="2">
-                  <widget class="QSpinBox" name="spinBox_23">
+                  <widget class="QSpinBox" name="spinBox_19">
                    <property name="minimumSize">
                     <size>
                      <width>50</width>
@@ -10014,197 +6602,7 @@ Rate (deg/s)</string>
                     <enum>Qt::StrongFocus</enum>
                    </property>
                    <property name="maximum">
-                    <number>500</number>
-                   </property>
-                   <property name="value">
-                    <number>180</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:ManualRate</string>
-                     <string>element:Pitch</string>
-                     <string>haslimits:yes</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:3,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="7">
-                  <widget class="QSlider" name="horizontalSlider_93">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>25</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="maximum">
-                    <number>500</number>
-                   </property>
-                   <property name="sliderPosition">
-                    <number>50</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="tickPosition">
-                    <enum>QSlider::TicksBelow</enum>
-                   </property>
-                   <property name="tickInterval">
-                    <number>25</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:ManualRate</string>
-                     <string>element:Yaw</string>
-                     <string>haslimits:yes</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:3,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="8">
-                  <widget class="QSpinBox" name="spinBox_24">
-                   <property name="minimumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="maximum">
-                    <number>500</number>
-                   </property>
-                   <property name="value">
-                    <number>180</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:ManualRate</string>
-                     <string>element:Yaw</string>
-                     <string>haslimits:yes</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:3,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="0">
-                  <widget class="QLabel" name="label_173">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>69</width>
-                     <height>29</height>
-                    </size>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Max Rate in
-Attitude</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="1">
-                  <widget class="QSlider" name="horizontalSlider_94">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>25</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="maximum">
-                    <number>500</number>
-                   </property>
-                   <property name="sliderPosition">
-                    <number>50</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="tickPosition">
-                    <enum>QSlider::TicksBelow</enum>
-                   </property>
-                   <property name="tickInterval">
-                    <number>25</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:MaximumRate</string>
-                     <string>element:Roll</string>
-                     <string>haslimits:yes</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:3,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="2">
-                  <widget class="QSpinBox" name="spinBox_25">
-                   <property name="minimumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>50</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="maximum">
-                    <number>500</number>
+                    <number>200</number>
                    </property>
                    <property name="value">
                     <number>200</number>
@@ -10212,17 +6610,17 @@ Attitude</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:MaximumRate</string>
-                     <string>element:Roll</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
                      <string>haslimits:yes</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:3,10</string>
+                     <string>buttongroup:2,10</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
-                 <item row="3" column="4">
-                  <widget class="QSlider" name="horizontalSlider_95">
+                 <item row="2" column="5">
+                  <widget class="QSlider" name="horizontalSlider_87">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -10242,7 +6640,7 @@ Attitude</string>
                     <string notr="true"/>
                    </property>
                    <property name="maximum">
-                    <number>500</number>
+                    <number>100</number>
                    </property>
                    <property name="sliderPosition">
                     <number>50</number>
@@ -10259,17 +6657,17 @@ Attitude</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:MaximumRate</string>
-                     <string>element:Pitch</string>
+                     <string>fieldname:YawPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
                      <string>haslimits:yes</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:3,10</string>
+                     <string>buttongroup:2,10</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
-                 <item row="3" column="5">
-                  <widget class="QSpinBox" name="spinBox_26">
+                 <item row="2" column="6">
+                  <widget class="QSpinBox" name="spinBox_20">
                    <property name="minimumSize">
                     <size>
                      <width>50</width>
@@ -10286,7 +6684,7 @@ Attitude</string>
                     <enum>Qt::StrongFocus</enum>
                    </property>
                    <property name="maximum">
-                    <number>500</number>
+                    <number>200</number>
                    </property>
                    <property name="value">
                     <number>200</number>
@@ -10294,99 +6692,17 @@ Attitude</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:MaximumRate</string>
-                     <string>element:Pitch</string>
+                     <string>fieldname:YawPI</string>
+                     <string>element:Ki</string>
+                     <string>scale:0.1</string>
                      <string>haslimits:yes</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:3,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="7">
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-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
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-                   <property name="minimumSize">
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-                     <height>25</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
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-                   </property>
-                   <property name="styleSheet">
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-                   </property>
-                   <property name="maximum">
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-                   </property>
-                   <property name="sliderPosition">
-                    <number>50</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="tickPosition">
-                    <enum>QSlider::TicksBelow</enum>
-                   </property>
-                   <property name="tickInterval">
-                    <number>25</number>
-                   </property>
-                   <property name="objrelation" stdset="0">
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-                     <string>fieldname:MaximumRate</string>
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-                     <string>scale:1</string>
-                     <string>buttongroup:3,10</string>
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-                     <height>22</height>
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-                     <height>22</height>
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-                   </property>
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-                     <string>fieldname:MaximumRate</string>
-                     <string>element:Yaw</string>
-                     <string>haslimits:yes</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:3,10</string>
+                     <string>buttongroup:2,10</string>
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                    </property>
                   </widget>
                  </item>
                  <item row="0" column="2">
-                  <spacer name="horizontalSpacer_42">
+                  <spacer name="horizontalSpacer_2">
                    <property name="orientation">
                     <enum>Qt::Horizontal</enum>
                    </property>
@@ -10398,8 +6714,8 @@ Attitude</string>
                    </property>
                   </spacer>
                  </item>
-                 <item row="0" column="5">
-                  <spacer name="horizontalSpacer_43">
+                 <item row="0" column="4">
+                  <spacer name="horizontalSpacer_5">
                    <property name="orientation">
                     <enum>Qt::Horizontal</enum>
                    </property>
@@ -10412,7 +6728,7 @@ Attitude</string>
                   </spacer>
                  </item>
                  <item row="0" column="0">
-                  <spacer name="horizontalSpacer_48">
+                  <spacer name="horizontalSpacer_46">
                    <property name="orientation">
                     <enum>Qt::Horizontal</enum>
                    </property>
@@ -10424,8 +6740,8 @@ Attitude</string>
                    </property>
                   </spacer>
                  </item>
-                 <item row="0" column="8">
-                  <spacer name="horizontalSpacer_49">
+                 <item row="0" column="6">
+                  <spacer name="horizontalSpacer_47">
                    <property name="orientation">
                     <enum>Qt::Horizontal</enum>
                    </property>
@@ -10443,8 +6759,8 @@ Attitude</string>
              </layout>
             </widget>
            </item>
-           <item row="3" column="0">
-            <spacer name="verticalSpacer">
+           <item>
+            <spacer name="verticalSpacer_4">
              <property name="orientation">
               <enum>Qt::Vertical</enum>
              </property>
@@ -10453,12 +6769,77 @@ Attitude</string>
              </property>
              <property name="sizeHint" stdset="0">
               <size>
-               <width>10</width>
+               <width>20</width>
                <height>12</height>
               </size>
              </property>
             </spacer>
            </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>62</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Integral</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_11">
+              <item>
+               <widget class="QCheckBox" name="lowThrottleZeroIntegral_8">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>300</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>When the throttle is low, zero the intergral term to prevent intergral wind-up</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Zero the integral when throttle is low</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:StabilizationSettings</string>
+                  <string>fieldname:LowThrottleZeroIntegral</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </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>
         </widget>
@@ -10553,14 +6934,3300 @@ Attitude</string>
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             <x>0</x>
             <y>0</y>
-            <width>748</width>
-            <height>821</height>
+            <width>962</width>
+            <height>754</height>
            </rect>
           </property>
           <property name="autoFillBackground">
            <bool>true</bool>
           </property>
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+          <layout class="QGridLayout" name="gridLayout_5" rowstretch="0,0,0,0,0" columnstretch="0">
+           <item row="2" column="0" rowspan="2">
+            <widget class="QGroupBox" name="RateStabilizationGroup_6">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>230</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>16777215</height>
+              </size>
+             </property>
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+                   <property name="font">
+                    <font>
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+                     <bold>true</bold>
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+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
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+color: rgb(255, 255, 255);
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+                   <property name="text">
+                    <string>Pitch</string>
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+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
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+                 </item>
+                 <item row="1" column="0">
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+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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+                 <item row="2" column="4">
+                  <widget class="QDoubleSpinBox" name="ratePitchKi_4">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
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+                   <property name="minimumSize">
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+                     <height>22</height>
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+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
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+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:ManualRate</string>
+                     <string>element:Pitch</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
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+                  <spacer name="horizontalSpacer_29">
+                   <property name="orientation">
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+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
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+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
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+                        </gradient>
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+                      </colorrole>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
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+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
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+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
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+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
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+                         <red>26</red>
+                         <green>26</green>
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+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
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+                        </gradient>
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+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
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+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </inactive>
+                     <disabled>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
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+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
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+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
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+                        </gradient>
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+                       <brush brushstyle="LinearGradientPattern">
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+                           <green>74</green>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Roll</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="2">
+                  <widget class="QDoubleSpinBox" name="rateRollKi_3">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:ManualRate</string>
+                     <string>element:Roll</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="2">
+                  <widget class="QDoubleSpinBox" name="rateRollKp_3">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollMax</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="6">
+                  <widget class="QDoubleSpinBox" name="rateYawILimit_3">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:MaximumRate</string>
+                     <string>element:Yaw</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_40">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Full stick rate (deg/s)</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
            <item row="0" column="0">
             <widget class="QGroupBox" name="RateStabilizationGroup_8">
              <property name="sizePolicy">
@@ -11614,12 +11281,37 @@ Attitude</string>
                 <property name="flat">
                  <bool>true</bool>
                 </property>
-                <layout class="QGridLayout" name="gridLayout_3">
+                <layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0,1,0,1,0,1">
                  <property name="bottomMargin">
                   <number>2</number>
                  </property>
-                 <item row="0" column="0">
-                  <spacer name="horizontalSpacer_24">
+                 <item row="1" column="0">
+                  <widget class="QLabel" name="label_43">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>69</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Proportional</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="1">
+                  <spacer name="horizontalSpacer_26">
                    <property name="orientation">
                     <enum>Qt::Horizontal</enum>
                    </property>
@@ -11628,12 +11320,171 @@ Attitude</string>
                    </property>
                    <property name="sizeHint" stdset="0">
                     <size>
-                     <width>110</width>
-                     <height>13</height>
+                     <width>10</width>
+                     <height>10</height>
                     </size>
                    </property>
                   </spacer>
                  </item>
+                 <item row="3" column="2">
+                  <widget class="QDoubleSpinBox" name="RollRateKd">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>6</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000001000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Kd</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="4">
+                  <widget class="QDoubleSpinBox" name="RatePitchKi">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Ki at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="3">
+                  <spacer name="horizontalSpacer_27">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="4">
+                  <widget class="QDoubleSpinBox" name="RatePitchKp">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
                  <item row="0" column="2">
                   <widget class="QLabel" name="label_30">
                    <property name="sizePolicy">
@@ -12184,6 +12035,73 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_44">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Integral</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="6">
+                  <widget class="QDoubleSpinBox" name="RateYawKi">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Ki at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
                  <item row="0" column="4">
                   <widget class="QLabel" name="label_34">
                    <property name="sizePolicy">
@@ -12734,6 +12652,306 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
+                 <item row="1" column="6">
+                  <widget class="QDoubleSpinBox" name="RateYawKp">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+
+You can usually go for higher values for Yaw factors.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="5">
+                  <spacer name="horizontalSpacer_28">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="3" column="6">
+                  <widget class="QDoubleSpinBox" name="YawRateKd">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>6</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000001000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Kd</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="4">
+                  <widget class="QDoubleSpinBox" name="PitchRateKd">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>6</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000001000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Kd</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="2">
+                  <widget class="QDoubleSpinBox" name="RateRollKp_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="2">
+                  <widget class="QDoubleSpinBox" name="RateRollKi_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Ki at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="0">
+                  <widget class="QLabel" name="label_24">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>58</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Derivative</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="0">
+                  <spacer name="horizontalSpacer_24">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>60</width>
+                     <height>13</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
                  <item row="0" column="6">
                   <widget class="QLabel" name="label_42">
                    <property name="sizePolicy">
@@ -13284,735 +13502,6 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="0">
-                  <widget class="QLabel" name="label_43">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>69</width>
-                     <height>16</height>
-                    </size>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Proportional</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="2">
-                  <widget class="QDoubleSpinBox" name="RateRollKp_2">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
-Then lower the value by 20% or so.</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>5</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.000100000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:RollRatePID</string>
-                     <string>element:Kp</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="4">
-                  <widget class="QDoubleSpinBox" name="RatePitchKp">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
-Then lower the value by 20% or so.</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>5</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.000100000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchRatePID</string>
-                     <string>element:Kp</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="6">
-                  <widget class="QDoubleSpinBox" name="RateYawKp">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
-Then lower the value by 20% or so.
-
-You can usually go for higher values for Yaw factors.</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>5</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.000100000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawRatePID</string>
-                     <string>element:Kp</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="0">
-                  <widget class="QLabel" name="label_44">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Integral</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="1">
-                  <spacer name="horizontalSpacer_26">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>10</width>
-                     <height>10</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="2" column="2">
-                  <widget class="QDoubleSpinBox" name="RateRollKi_2">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>As a rule of thumb, you can set the Ki at roughly the same
-value as the Kp.</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>5</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.000100000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:RollRatePID</string>
-                     <string>element:Ki</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="3">
-                  <spacer name="horizontalSpacer_27">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>10</width>
-                     <height>10</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="2" column="4">
-                  <widget class="QDoubleSpinBox" name="RatePitchKi">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>As a rule of thumb, you can set the Ki at roughly the same
-value as the Kp.</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>5</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.000100000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchRatePID</string>
-                     <string>element:Ki</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="5">
-                  <spacer name="horizontalSpacer_28">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>10</width>
-                     <height>10</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="2" column="6">
-                  <widget class="QDoubleSpinBox" name="RateYawKi">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>As a rule of thumb, you can set the Ki at roughly the same
-value as the Kp.</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>5</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.000100000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawRatePID</string>
-                     <string>element:Ki</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="0">
-                  <widget class="QLabel" name="label_24">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>58</width>
-                     <height>0</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>16777215</height>
-                    </size>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Derivative</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="2">
-                  <widget class="QDoubleSpinBox" name="RollRateKd">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>6</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.000001000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:RollRatePID</string>
-                     <string>element:Kd</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="4">
-                  <widget class="QDoubleSpinBox" name="PitchRateKd">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>6</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.000001000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchRatePID</string>
-                     <string>element:Kd</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="6">
-                  <widget class="QDoubleSpinBox" name="YawRateKd">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>6</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.000001000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawRatePID</string>
-                     <string>element:Kd</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="4" column="0">
-                  <widget class="QLabel" name="label_23">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>50</width>
-                     <height>0</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>16777215</height>
-                    </size>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>ILimit</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="4" column="2">
-                  <widget class="QDoubleSpinBox" name="RateRollILimit_2">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>4</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.001000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:RollRatePID</string>
-                     <string>element:ILimit</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="4" column="4">
-                  <widget class="QDoubleSpinBox" name="RatePitchILimit">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>4</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.001000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchRatePID</string>
-                     <string>element:ILimit</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="4" column="6">
-                  <widget class="QDoubleSpinBox" name="RateYawILimit">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>4</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.001000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawRatePID</string>
-                     <string>element:ILimit</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
                 </layout>
                </widget>
               </item>
@@ -14030,7 +13519,7 @@ value as the Kp.</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>200</height>
+               <height>210</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -15075,25 +14564,9 @@ value as the Kp.</string>
                 <property name="flat">
                  <bool>true</bool>
                 </property>
-                <layout class="QGridLayout" name="gridLayout_2">
-                 <item row="0" column="0">
-                  <spacer name="horizontalSpacer_8">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>110</width>
-                     <height>13</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="0" column="2">
-                  <widget class="QLabel" name="label_27">
+                <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1,0,1,0,1">
+                 <item row="0" column="6">
+                  <widget class="QLabel" name="label_29">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -15635,7 +15108,7 @@ color: rgb(255, 255, 255);
 border-radius: 5;</string>
                    </property>
                    <property name="text">
-                    <string>Roll</string>
+                    <string>Yaw</string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignCenter</set>
@@ -16192,737 +15665,21 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="0" column="6">
-                  <widget class="QLabel" name="label_29">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
+                 <item row="0" column="0">
+                  <spacer name="horizontalSpacer_8">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
                    </property>
-                   <property name="minimumSize">
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Preferred</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
                     <size>
-                     <width>0</width>
-                     <height>16</height>
+                     <width>60</width>
+                     <height>13</height>
                     </size>
                    </property>
-                   <property name="palette">
-                    <palette>
-                     <active>
-                      <colorrole role="WindowText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>255</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Button">
-                       <brush brushstyle="LinearGradientPattern">
-                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                         <gradientstop position="0.208955000000000">
-                          <color alpha="255">
-                           <red>74</red>
-                           <green>74</green>
-                           <blue>74</blue>
-                          </color>
-                         </gradientstop>
-                         <gradientstop position="0.786070000000000">
-                          <color alpha="255">
-                           <red>36</red>
-                           <green>36</green>
-                           <blue>36</blue>
-                          </color>
-                         </gradientstop>
-                        </gradient>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Light">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>58</red>
-                         <green>58</green>
-                         <blue>58</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Midlight">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>48</red>
-                         <green>48</green>
-                         <blue>48</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Dark">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>19</red>
-                         <green>19</green>
-                         <blue>19</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Mid">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>26</red>
-                         <green>26</green>
-                         <blue>26</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Text">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>255</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="BrightText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>255</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="ButtonText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>255</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Base">
-                       <brush brushstyle="LinearGradientPattern">
-                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                         <gradientstop position="0.208955000000000">
-                          <color alpha="255">
-                           <red>74</red>
-                           <green>74</green>
-                           <blue>74</blue>
-                          </color>
-                         </gradientstop>
-                         <gradientstop position="0.786070000000000">
-                          <color alpha="255">
-                           <red>36</red>
-                           <green>36</green>
-                           <blue>36</blue>
-                          </color>
-                         </gradientstop>
-                        </gradient>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Window">
-                       <brush brushstyle="LinearGradientPattern">
-                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                         <gradientstop position="0.208955000000000">
-                          <color alpha="255">
-                           <red>74</red>
-                           <green>74</green>
-                           <blue>74</blue>
-                          </color>
-                         </gradientstop>
-                         <gradientstop position="0.786070000000000">
-                          <color alpha="255">
-                           <red>36</red>
-                           <green>36</green>
-                           <blue>36</blue>
-                          </color>
-                         </gradientstop>
-                        </gradient>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Shadow">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>0</red>
-                         <green>0</green>
-                         <blue>0</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="AlternateBase">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>19</red>
-                         <green>19</green>
-                         <blue>19</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="ToolTipBase">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>220</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="ToolTipText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>0</red>
-                         <green>0</green>
-                         <blue>0</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                     </active>
-                     <inactive>
-                      <colorrole role="WindowText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>255</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Button">
-                       <brush brushstyle="LinearGradientPattern">
-                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                         <gradientstop position="0.208955000000000">
-                          <color alpha="255">
-                           <red>74</red>
-                           <green>74</green>
-                           <blue>74</blue>
-                          </color>
-                         </gradientstop>
-                         <gradientstop position="0.786070000000000">
-                          <color alpha="255">
-                           <red>36</red>
-                           <green>36</green>
-                           <blue>36</blue>
-                          </color>
-                         </gradientstop>
-                        </gradient>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Light">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>58</red>
-                         <green>58</green>
-                         <blue>58</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Midlight">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>48</red>
-                         <green>48</green>
-                         <blue>48</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="Dark">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>19</red>
-                         <green>19</green>
-                         <blue>19</blue>
-                        </color>
-                       </brush>
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@@ -16940,1413 +15697,8 @@ border-radius: 5;</string>
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@@ -18895,8 +16247,8 @@ border-radius: 5;</string>
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-                     <bold>true</bold>
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+                    <enum>Qt::StrongFocus</enum>
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-                    <string>Pitch</string>
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+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollPI</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
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                  </item>
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+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="2">
+                  <widget class="QDoubleSpinBox" name="AttitudeRollKp">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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-                      <colorrole role="Shadow">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>0</red>
-                         <green>0</green>
-                         <blue>0</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="AlternateBase">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>39</red>
-                         <green>39</green>
-                         <blue>39</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="ToolTipBase">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>220</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                      <colorrole role="ToolTipText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>0</red>
-                         <green>0</green>
-                         <blue>0</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                     </disabled>
-                    </palette>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
                    </property>
-                   <property name="font">
-                    <font>
-                     <weight>75</weight>
-                     <bold>true</bold>
-                    </font>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
                    </property>
-                   <property name="autoFillBackground">
-                    <bool>false</bool>
+                   <property name="toolTip">
+                    <string/>
                    </property>
                    <property name="styleSheet">
-                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;</string>
+                    <string notr="true"/>
                    </property>
-                   <property name="text">
-                    <string>Yaw</string>
+                   <property name="decimals">
+                    <number>3</number>
                    </property>
-                   <property name="alignment">
-                    <set>Qt::AlignCenter</set>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollPI</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
+                    </stringlist>
                    </property>
                   </widget>
                  </item>
                  <item row="1" column="0">
-                  <widget class="QLabel" name="label_39">
+                  <widget class="QLabel" name="label_31">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -20006,72 +16368,22 @@ border-radius: 5;</string>
                    <property name="minimumSize">
                     <size>
                      <width>69</width>
-                     <height>30</height>
+                     <height>16</height>
                     </size>
                    </property>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
                    <property name="text">
-                    <string>Full stick
-angle(deg)</string>
+                    <string>Proportional</string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="2">
-                  <widget class="QDoubleSpinBox" name="rateRollKp_3">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>0</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1000000.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:RollMax</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:6,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
                  <item row="1" column="4">
-                  <widget class="QDoubleSpinBox" name="ratePitchKp_4">
+                  <widget class="QDoubleSpinBox" name="AttitudePitchKp_2">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -20097,69 +16409,25 @@ angle(deg)</string>
                     <string notr="true"/>
                    </property>
                    <property name="decimals">
-                    <number>0</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1000000.000000000000000</double>
+                    <number>3</number>
                    </property>
                    <property name="singleStep">
-                    <double>1.000000000000000</double>
+                    <double>0.100000000000000</double>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchMax</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:Kp</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:6,20</string>
+                     <string>buttongroup:5,20</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
-                 <item row="2" column="0">
-                  <widget class="QLabel" name="label_40">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>30</height>
-                    </size>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Full stick rate
-rate(deg/s)</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="1">
-                  <spacer name="horizontalSpacer_30">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>10</width>
-                     <height>10</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="2" column="2">
-                  <widget class="QDoubleSpinBox" name="rateRollKi_3">
+                 <item row="2" column="6">
+                  <widget class="QDoubleSpinBox" name="AttitudeYawKi">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -20188,44 +16456,25 @@ rate(deg/s)</string>
                     <string notr="true"/>
                    </property>
                    <property name="decimals">
-                    <number>0</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1000000.000000000000000</double>
+                    <number>3</number>
                    </property>
                    <property name="singleStep">
-                    <double>1.000000000000000</double>
+                    <double>0.100000000000000</double>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:ManualRate</string>
-                     <string>element:Roll</string>
+                     <string>fieldname:YawPI</string>
+                     <string>element:Ki</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:6,20</string>
+                     <string>buttongroup:5,20</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
-                 <item row="2" column="3">
-                  <spacer name="horizontalSpacer_31">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>10</width>
-                     <height>10</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
                  <item row="2" column="4">
-                  <widget class="QDoubleSpinBox" name="ratePitchKi_4">
+                  <widget class="QDoubleSpinBox" name="AttitudePitchKi_2">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -20251,28 +16500,25 @@ rate(deg/s)</string>
                     <string notr="true"/>
                    </property>
                    <property name="decimals">
-                    <number>0</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1000000.000000000000000</double>
+                    <number>3</number>
                    </property>
                    <property name="singleStep">
-                    <double>1.000000000000000</double>
+                    <double>0.100000000000000</double>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:ManualRate</string>
-                     <string>element:Pitch</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:Ki</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:6,20</string>
+                     <string>buttongroup:5,20</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
                  <item row="2" column="5">
-                  <spacer name="horizontalSpacer_32">
+                  <spacer name="horizontalSpacer_11">
                    <property name="orientation">
                     <enum>Qt::Horizontal</enum>
                    </property>
@@ -20287,8 +16533,8 @@ rate(deg/s)</string>
                    </property>
                   </spacer>
                  </item>
-                 <item row="2" column="6">
-                  <widget class="QDoubleSpinBox" name="rateYawKi_3">
+                 <item row="1" column="6">
+                  <widget class="QDoubleSpinBox" name="AttitudeYawKp">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -20317,266 +16563,2282 @@ rate(deg/s)</string>
                     <string notr="true"/>
                    </property>
                    <property name="decimals">
-                    <number>0</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1000000.000000000000000</double>
+                    <number>3</number>
                    </property>
                    <property name="singleStep">
-                    <double>1.000000000000000</double>
+                    <double>0.100000000000000</double>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:ManualRate</string>
-                     <string>element:Yaw</string>
+                     <string>fieldname:YawPI</string>
+                     <string>element:Kp</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:6,20</string>
+                     <string>buttongroup:5,20</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
-                 <item row="3" column="0">
-                  <widget class="QLabel" name="label_22">
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_32">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                      <horstretch>0</horstretch>
                      <verstretch>0</verstretch>
                     </sizepolicy>
                    </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>125</width>
-                     <height>30</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>16777215</height>
-                    </size>
-                   </property>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
                    <property name="text">
-                    <string>Max rate in attitude
- mode(deg/s)</string>
+                    <string>Integral</string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
                    </property>
                   </widget>
                  </item>
-                 <item row="3" column="2">
-                  <widget class="QDoubleSpinBox" name="rateRollILimit_3">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>0</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1000000.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:MaximumRate</string>
-                     <string>element:Roll</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:6,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="4">
-                  <widget class="QDoubleSpinBox" name="ratePitchILimit_4">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>0</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1000000.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:MaximumRate</string>
-                     <string>element:Pitch</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:6,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="6">
-                  <widget class="QDoubleSpinBox" name="rateYawILimit_3">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>0</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1000000.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:MaximumRate</string>
-                     <string>element:Yaw</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:6,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="6">
-                  <widget class="QDoubleSpinBox" name="rateYawKp_3">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>0</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1000000.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawMax</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:6,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
                 </layout>
                </widget>
               </item>
              </layout>
             </widget>
            </item>
-           <item row="3" column="0">
-            <widget class="QGroupBox" name="RateStabilizationGroup_23">
+           <item row="4" column="0">
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="Advanced">
+      <attribute name="title">
+       <string>Advanced</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_4">
+       <property name="spacing">
+        <number>12</number>
+       </property>
+       <property name="margin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea_3">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents_2">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>962</width>
+            <height>754</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_9">
+           <item>
+            <widget class="QGroupBox" name="groupBox_4">
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>125</height>
+               <height>100</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Axis Lock</string>
+             </property>
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+                 <size>
+                  <width>16777215</width>
+                  <height>22</height>
+                 </size>
+                </property>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string/>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="decimals">
+                 <number>4</number>
+                </property>
+                <property name="maximum">
+                 <double>1.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>0.001000000000000</double>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:StabilizationSettings</string>
+                  <string>fieldname:YawRatePID</string>
+                  <string>element:ILimit</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:4,20</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="label_23">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>50</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>ILimit Rate Mode</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_35">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
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+                        <red>36</red>
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+                      <red>58</red>
+                      <green>58</green>
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+                      <red>48</red>
+                      <green>48</green>
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+                    <brush brushstyle="SolidPattern">
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+                      <red>19</red>
+                      <green>19</green>
+                      <blue>19</blue>
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+                      <red>26</red>
+                      <green>26</green>
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+                      <red>255</red>
+                      <green>255</green>
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+                    <brush brushstyle="SolidPattern">
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+                      <red>255</red>
+                      <green>255</green>
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+                      <red>255</red>
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+                        <red>36</red>
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+                      <red>255</red>
+                      <green>255</green>
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+                      <red>255</red>
+                      <green>255</green>
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+                      <red>58</red>
+                      <green>58</green>
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+                      <green>48</green>
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+                      <gradientstop position="0.786070000000000">
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+                        <red>36</red>
+                        <green>36</green>
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+                   </colorrole>
+                   <colorrole role="Shadow">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
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+                      <green>0</green>
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+                   </colorrole>
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+                    <brush brushstyle="SolidPattern">
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+                      <red>39</red>
+                      <green>39</green>
+                      <blue>39</blue>
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+                    </brush>
+                   </colorrole>
+                   <colorrole role="ToolTipBase">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>220</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="ToolTipText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                  </disabled>
+                 </palette>
+                </property>
+                <property name="font">
+                 <font>
+                  <weight>75</weight>
+                  <bold>true</bold>
+                 </font>
+                </property>
+                <property name="autoFillBackground">
+                 <bool>false</bool>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                </property>
+                <property name="text">
+                 <string>Roll</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="RateStabilizationGroup_23">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>150</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -21108,7 +19370,7 @@ rate(deg/s)</string>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
              </property>
-             <layout class="QGridLayout" name="gridLayout">
+             <layout class="QGridLayout" name="gridLayout" columnstretch="0">
               <item row="0" column="0">
                <layout class="QHBoxLayout" name="horizontalLayout_7">
                 <property name="spacing">
@@ -23421,6 +21683,66 @@ border-radius: 5;</string>
              </layout>
             </widget>
            </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_3">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>60</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Real Time Updates</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_13">
+              <item>
+               <widget class="QCheckBox" name="realTimeUpdates_6">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>136</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>If you check this, the GCS will udpate the stabilization factors
+automatically every 300ms, which will help for fast tuning.</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Update in real time</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </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>149</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
           </layout>
          </widget>
         </widget>
@@ -24180,25 +22502,6 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>spinBox_19</tabstop>
   <tabstop>horizontalSlider_87</tabstop>
   <tabstop>spinBox_20</tabstop>
-  <tabstop>pushButton_24</tabstop>
-  <tabstop>horizontalSlider_88</tabstop>
-  <tabstop>spinBox_16</tabstop>
-  <tabstop>horizontalSlider_89</tabstop>
-  <tabstop>spinBox_17</tabstop>
-  <tabstop>horizontalSlider_90</tabstop>
-  <tabstop>spinBox_21</tabstop>
-  <tabstop>horizontalSlider_91</tabstop>
-  <tabstop>spinBox_22</tabstop>
-  <tabstop>horizontalSlider_92</tabstop>
-  <tabstop>spinBox_23</tabstop>
-  <tabstop>horizontalSlider_93</tabstop>
-  <tabstop>spinBox_24</tabstop>
-  <tabstop>horizontalSlider_94</tabstop>
-  <tabstop>spinBox_25</tabstop>
-  <tabstop>horizontalSlider_95</tabstop>
-  <tabstop>spinBox_26</tabstop>
-  <tabstop>horizontalSlider_96</tabstop>
-  <tabstop>spinBox_27</tabstop>
   <tabstop>stabilizationReloadBoardData_6</tabstop>
   <tabstop>saveStabilizationToRAM_6</tabstop>
   <tabstop>saveStabilizationToSD_6</tabstop>
@@ -24214,9 +22517,6 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>RollRateKd</tabstop>
   <tabstop>PitchRateKd</tabstop>
   <tabstop>YawRateKd</tabstop>
-  <tabstop>RateRollILimit_2</tabstop>
-  <tabstop>RatePitchILimit</tabstop>
-  <tabstop>RateYawILimit</tabstop>
   <tabstop>checkBox_2</tabstop>
   <tabstop>pushButton_2</tabstop>
   <tabstop>AttitudeRollKp</tabstop>
@@ -24225,9 +22525,6 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>AttitudeRollKi</tabstop>
   <tabstop>AttitudePitchKi_2</tabstop>
   <tabstop>AttitudeYawKi</tabstop>
-  <tabstop>AttitudeRollILimit</tabstop>
-  <tabstop>AttitudePitchILimit_2</tabstop>
-  <tabstop>AttitudeYawILimit</tabstop>
   <tabstop>pushButton_3</tabstop>
   <tabstop>rateRollKp_3</tabstop>
   <tabstop>ratePitchKp_4</tabstop>
@@ -24238,10 +22535,6 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>rateRollILimit_3</tabstop>
   <tabstop>ratePitchILimit_4</tabstop>
   <tabstop>rateYawILimit_3</tabstop>
-  <tabstop>pushButton_5</tabstop>
-  <tabstop>GyroTau</tabstop>
-  <tabstop>AccelKp</tabstop>
-  <tabstop>AccelKi</tabstop>
  </tabstops>
  <resources>
   <include location="../coreplugin/core.qrc"/>

From 9ce7d9b4ac35c8f9ae19d5329c5c478a39f13cde Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 29 Jul 2012 15:10:55 -0500
Subject: [PATCH 147/543] Add UAVOs for relay tuning

---
 flight/Revolution/UAVObjects.inc                      |  2 ++
 .../src/plugins/uavobjects/uavobjects.pro             |  4 ++++
 shared/uavobjectdefinition/relaytuning.xml            | 11 +++++++++++
 shared/uavobjectdefinition/relaytuningsettings.xml    | 10 ++++++++++
 4 files changed, 27 insertions(+)
 create mode 100644 shared/uavobjectdefinition/relaytuning.xml
 create mode 100644 shared/uavobjectdefinition/relaytuningsettings.xml

diff --git a/flight/Revolution/UAVObjects.inc b/flight/Revolution/UAVObjects.inc
index 462acfc34..bd0612412 100644
--- a/flight/Revolution/UAVObjects.inc
+++ b/flight/Revolution/UAVObjects.inc
@@ -62,6 +62,8 @@ UAVOBJSRCFILENAMES += overosyncstats
 UAVOBJSRCFILENAMES += positionactual
 UAVOBJSRCFILENAMES += positiondesired
 UAVOBJSRCFILENAMES += ratedesired
+UAVOBJSRCFILENAMES += relaytuning
+UAVOBJSRCFILENAMES += relaytuningsettings
 UAVOBJSRCFILENAMES += revocalibration
 UAVOBJSRCFILENAMES += sonaraltitude
 UAVOBJSRCFILENAMES += stabilizationdesired
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
index 720d36ebd..d252c654a 100755
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
@@ -63,6 +63,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/velocityactual.h \
     $$UAVOBJECT_SYNTHETICS/guidancesettings.h \
     $$UAVOBJECT_SYNTHETICS/positiondesired.h \
+    $$UAVOBJECT_SYNTHETICS/relaytuning.h \
+    $$UAVOBJECT_SYNTHETICS/relaytuningsettings.h \
     $$UAVOBJECT_SYNTHETICS/ratedesired.h \
     $$UAVOBJECT_SYNTHETICS/firmwareiapobj.h \
     $$UAVOBJECT_SYNTHETICS/i2cstats.h \
@@ -125,6 +127,8 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/velocityactual.cpp \
     $$UAVOBJECT_SYNTHETICS/guidancesettings.cpp \
     $$UAVOBJECT_SYNTHETICS/positiondesired.cpp \
+    $$UAVOBJECT_SYNTHETICS/relaytuningsettings.cpp \
+    $$UAVOBJECT_SYNTHETICS/relaytuning.cpp \
     $$UAVOBJECT_SYNTHETICS/ratedesired.cpp \
     $$UAVOBJECT_SYNTHETICS/firmwareiapobj.cpp \
     $$UAVOBJECT_SYNTHETICS/i2cstats.cpp \
diff --git a/shared/uavobjectdefinition/relaytuning.xml b/shared/uavobjectdefinition/relaytuning.xml
new file mode 100644
index 000000000..f13bfc9f2
--- /dev/null
+++ b/shared/uavobjectdefinition/relaytuning.xml
@@ -0,0 +1,11 @@
+<xml>
+    <object name="RelayTuning" singleinstance="true" settings="false">
+        <description>The input to the relay tuning.</description>
+	<field name="Value" units="deg/s" type="float" elements="1"/>
+	<field name="Axis" units="" type="enum" elements="1" options="None,Roll,Pitch" defaultvalue="None"/>
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="false" updatemode="manual" period="0"/>
+        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <logging updatemode="manual" period="0"/>
+    </object>
+</xml>
diff --git a/shared/uavobjectdefinition/relaytuningsettings.xml b/shared/uavobjectdefinition/relaytuningsettings.xml
new file mode 100644
index 000000000..46a5bc124
--- /dev/null
+++ b/shared/uavobjectdefinition/relaytuningsettings.xml
@@ -0,0 +1,10 @@
+<xml>
+    <object name="RelayTuningSettings" singleinstance="true" settings="true">
+        <description>Setting to run a relay tuning algorithm</description>
+	<field name="Amplitude" units="" type="float" elements="1" defaultvalue="0.05"/>
+	<access gcs="readwrite" flight="readwrite"/>
+	<telemetrygcs acked="true" updatemode="onchange" period="0"/>
+	<telemetryflight acked="true" updatemode="onchange" period="0"/>
+	<logging updatemode="manual" period="0"/>
+    </object>
+</xml>

From 17a0d3ebb41b0a8b5cd0819b5fb10da5ee0336e5 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 29 Jul 2012 15:21:14 -0500
Subject: [PATCH 148/543] Add a relay stabilization mode

---
 flight/Modules/ManualControl/manualcontrol.c         |  3 +++
 flight/Modules/Stabilization/stabilization.c         | 12 ++++++++++++
 shared/uavobjectdefinition/manualcontrolsettings.xml |  6 +++---
 shared/uavobjectdefinition/stabilizationdesired.xml  |  2 +-
 4 files changed, 19 insertions(+), 4 deletions(-)

diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index cad5d065d..3dc4c53bc 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -589,6 +589,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll :
+	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
 	     0; // this is an invalid mode
 					      ;
 	stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
@@ -597,6 +598,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch :
+	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
 	     0; // this is an invalid mode
 
 	stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
@@ -605,6 +607,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw :
+	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
 	     0; // this is an invalid mode
 
 	stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 43bb9b0d5..c49f5c103 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -36,6 +36,7 @@
 #include "stabilizationsettings.h"
 #include "actuatordesired.h"
 #include "ratedesired.h"
+#include "relaytuningsettings.h"
 #include "stabilizationdesired.h"
 #include "attitudeactual.h"
 #include "gyros.h"
@@ -231,6 +232,7 @@ static void stabilizationTask(void* parameters)
 		{
 			switch(stabDesired.StabilizationMode[i])
 			{
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
 					rateDesiredAxis[i] = attitudeDesiredAxis[i];
@@ -317,6 +319,16 @@ static void stabilizationTask(void* parameters)
 		{
 			switch(stabDesired.StabilizationMode[i])
 			{
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY:
+				{
+					RelayTuningSettingsData relay;
+					RelayTuningSettingsGet(&relay);
+					float error = rateDesiredAxis[i] - gyro_filtered[i];
+					float command = error > 0 ? relay.Amplitude : -relay.Amplitude;
+					actuatorDesiredAxis[i] = bound(command);
+					break;
+					break;
+				}
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml
index 09d4ca618..8a52b3b23 100644
--- a/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -18,9 +18,9 @@
         <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
 
 	<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
-        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Relay" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Relay" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Relay" defaultvalue="Attitude,Attitude,Rate"/>
 
 	<!-- Note these options values should be identical to those defined in FlightMode -->
         <field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
diff --git a/shared/uavobjectdefinition/stabilizationdesired.xml b/shared/uavobjectdefinition/stabilizationdesired.xml
index 02c63cd90..f24dd9eeb 100644
--- a/shared/uavobjectdefinition/stabilizationdesired.xml
+++ b/shared/uavobjectdefinition/stabilizationdesired.xml
@@ -6,7 +6,7 @@
         <field name="Yaw" units="degrees" type="float" elements="1"/>
         <field name="Throttle" units="%" type="float" elements="1"/>
 	<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
-        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar"/>
+        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Relay"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>

From 4ac8df6aa8ca194f31263ef9c6d0a634dfa5c55c Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 29 Jul 2012 21:08:46 -0500
Subject: [PATCH 149/543] Make the system perform an online estimate of the
 period and amplitude of the oscillation during relay tuning

---
 flight/Modules/Stabilization/stabilization.c | 57 ++++++++++++++++++--
 shared/uavobjectdefinition/relaytuning.xml   |  3 +-
 2 files changed, 55 insertions(+), 5 deletions(-)

diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index c49f5c103..3eb2c9c05 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -36,6 +36,7 @@
 #include "stabilizationsettings.h"
 #include "actuatordesired.h"
 #include "ratedesired.h"
+#include "relaytuning.h"
 #include "relaytuningsettings.h"
 #include "stabilizationdesired.h"
 #include "attitudeactual.h"
@@ -128,6 +129,8 @@ int32_t StabilizationInitialize()
 	// Initialize variables
 	StabilizationSettingsInitialize();
 	ActuatorDesiredInitialize();
+	RelayTuningSettingsInitialize();
+	RelayTuningInitialize();
 #if defined(DIAGNOSTICS)
 	RateDesiredInitialize();
 #endif
@@ -321,12 +324,58 @@ static void stabilizationTask(void* parameters)
 			{
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY:
 				{
-					RelayTuningSettingsData relay;
-					RelayTuningSettingsGet(&relay);
+					RelayTuningSettingsData relaySettings;
+					RelayTuningSettingsGet(&relaySettings);
 					float error = rateDesiredAxis[i] - gyro_filtered[i];
-					float command = error > 0 ? relay.Amplitude : -relay.Amplitude;
+					float command = error > 0 ? relaySettings.Amplitude : -relaySettings.Amplitude;
 					actuatorDesiredAxis[i] = bound(command);
-					break;
+
+					RelayTuningData relay;
+					RelayTuningGet(&relay);
+
+					static bool high = false;
+					static portTickType lastHighTime;
+					static portTickType lastLowTime;
+					portTickType thisTime = xTaskGetTickCount();
+
+					static float accum_cos, accum_sin;
+					static uint32_t accumulated = 0;
+
+					const uint16_t DEGLITCH_TIME = 20; // ms
+					const float AMPLITUDE_ALPHA = 0.95;
+					const float PERIOD_ALPHA = 0.95;
+
+					// Make sure the period can't go below limit
+					if (relay.Period[i] < DEGLITCH_TIME)
+						relay.Period[i] = DEGLITCH_TIME;
+
+					// Project the error onto a sine and cosine of the same frequency
+					// to accumulate the average amplitude
+					float dT = thisTime - lastHighTime;
+					float phase = dT * 2 * M_PI / relay.Period[i];
+					accum_cos += cosf(phase) * error;
+					accum_sin += sinf(phase) * error;
+					accumulated ++;
+
+					// Make susre we've had enough time since last transition then check for a change in the output
+					bool hysteresis = (high ? (thisTime - lastHighTime) : (thisTime - lastLowTime)) > DEGLITCH_TIME;
+					if ( !high && hysteresis && error > 0 ){ /* RISE DETECTED */
+						float this_amplitude = 2 * sqrtf(accum_cos*accum_cos + accum_sin*accum_sin) / accumulated;
+						accumulated = 0;
+						accum_cos = 0;
+						accum_sin = 0;
+
+						// Low pass filter each amplitude and period
+						relay.Amplitude[i] = relay.Amplitude[i] * AMPLITUDE_ALPHA + this_amplitude * (1 - AMPLITUDE_ALPHA);
+						relay.Period[i] = relay.Period[i] * PERIOD_ALPHA + dT * (1 - PERIOD_ALPHA);
+						lastHighTime = thisTime;
+						high = true;
+						RelayTuningSet(&relay);
+					} else if ( high && hysteresis && error < 0 ) { /* FALL DETECTED */
+						lastLowTime = thisTime;
+						high = false;
+					}
+
 					break;
 				}
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
diff --git a/shared/uavobjectdefinition/relaytuning.xml b/shared/uavobjectdefinition/relaytuning.xml
index f13bfc9f2..ef54f8b7f 100644
--- a/shared/uavobjectdefinition/relaytuning.xml
+++ b/shared/uavobjectdefinition/relaytuning.xml
@@ -2,7 +2,8 @@
     <object name="RelayTuning" singleinstance="true" settings="false">
         <description>The input to the relay tuning.</description>
 	<field name="Value" units="deg/s" type="float" elements="1"/>
-	<field name="Axis" units="" type="enum" elements="1" options="None,Roll,Pitch" defaultvalue="None"/>
+	<field name="Period" units="ms" type="float" elementnames="Roll,Pitch,Yaw"/>
+	<field name="Amplitude" units="deg/s" type="float" elementnames="Roll,Pitch,Yaw"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>

From e01c5d5f871a49d94ddf8b6e04df74a47322c087 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 30 Jul 2012 15:20:18 -0500
Subject: [PATCH 150/543] Get online estimation of period and amplitude working

---
 flight/Modules/Stabilization/stabilization.c | 37 +++++++++++++++-----
 1 file changed, 28 insertions(+), 9 deletions(-)

diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 3eb2c9c05..f47aefe9f 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -91,6 +91,9 @@ pid_type pids[PID_MAX];
 int8_t vbar_gyros_suppress;
 bool vbar_piro_comp = false;
 
+// TODO: Move this to flash
+static float sin_lookup[360];
+
 // Private functions
 static void stabilizationTask(void* parameters);
 static float ApplyPid(pid_type * pid, const float err, float dT);
@@ -107,6 +110,9 @@ int32_t StabilizationStart()
 	// Create object queue
 	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
 
+	for(uint32_t i = 0; i < 360; i++)
+		sin_lookup[i] = sinf((float)i * 2 * M_PI / 360.0f);
+
 	// Listen for updates.
 	//	AttitudeActualConnectQueue(queue);
 	GyrosConnectQueue(queue);
@@ -316,6 +322,8 @@ static void stabilizationTask(void* parameters)
 #if defined(DIAGNOSTICS)
 		RateDesiredSet(&rateDesired);
 #endif
+		
+		static bool rateRelayRunning[3] = {false, false, false};
 		ActuatorDesiredGet(&actuatorDesired);
 		//Calculate desired command
 		for(uint32_t i = 0; i < MAX_AXES; i++)
@@ -338,7 +346,7 @@ static void stabilizationTask(void* parameters)
 					static portTickType lastLowTime;
 					portTickType thisTime = xTaskGetTickCount();
 
-					static float accum_cos, accum_sin;
+					static float accum_sin, accum_cos;
 					static uint32_t accumulated = 0;
 
 					const uint16_t DEGLITCH_TIME = 20; // ms
@@ -352,22 +360,30 @@ static void stabilizationTask(void* parameters)
 					// Project the error onto a sine and cosine of the same frequency
 					// to accumulate the average amplitude
 					float dT = thisTime - lastHighTime;
-					float phase = dT * 2 * M_PI / relay.Period[i];
-					accum_cos += cosf(phase) * error;
-					accum_sin += sinf(phase) * error;
+					uint32_t phase = 360 * dT / relay.Period[i];
+					if(phase >= 360)
+						phase = 1;
+					accum_sin += sin_lookup[phase] * error;
+					accum_cos += sin_lookup[(phase + 90) % 360] * error;
 					accumulated ++;
 
 					// Make susre we've had enough time since last transition then check for a change in the output
 					bool hysteresis = (high ? (thisTime - lastHighTime) : (thisTime - lastLowTime)) > DEGLITCH_TIME;
 					if ( !high && hysteresis && error > 0 ){ /* RISE DETECTED */
-						float this_amplitude = 2 * sqrtf(accum_cos*accum_cos + accum_sin*accum_sin) / accumulated;
+						float this_amplitude = 2 * sqrtf(accum_sin*accum_sin + accum_cos*accum_cos) / accumulated;
 						accumulated = 0;
-						accum_cos = 0;
 						accum_sin = 0;
+						accum_cos = 0;
 
-						// Low pass filter each amplitude and period
-						relay.Amplitude[i] = relay.Amplitude[i] * AMPLITUDE_ALPHA + this_amplitude * (1 - AMPLITUDE_ALPHA);
-						relay.Period[i] = relay.Period[i] * PERIOD_ALPHA + dT * (1 - PERIOD_ALPHA);
+						if(rateRelayRunning[i] == false) {
+							rateRelayRunning[i] = true;
+							relay.Period[i] = 200;
+							relay.Amplitude[i] = 0;
+						} else {
+							// Low pass filter each amplitude and period
+							relay.Amplitude[i] = relay.Amplitude[i] * AMPLITUDE_ALPHA + this_amplitude * (1 - AMPLITUDE_ALPHA);
+							relay.Period[i] = relay.Period[i] * PERIOD_ALPHA + dT * (1 - PERIOD_ALPHA);
+						}
 						lastHighTime = thisTime;
 						high = true;
 						RelayTuningSet(&relay);
@@ -383,12 +399,14 @@ static void stabilizationTask(void* parameters)
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
 				{
+					rateRelayRunning[i] = false;
 					float command = ApplyPid(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
 					actuatorDesiredAxis[i] = bound(command);
 					break;
 				}
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
 				{
+					rateRelayRunning[i] = false;
 					// Track the angle of the virtual flybar which includes a slow decay
 					vbar_integral[i] = vbar_integral[i] * vbar_decay + gyro_filtered[i] * dT;
 					if (vbar_integral[i] > settings.VbarMaxAngle)
@@ -410,6 +428,7 @@ static void stabilizationTask(void* parameters)
 					break;
 				}
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE:
+					rateRelayRunning[i] = false;
 					switch (i)
 				{
 					case ROLL:

From 44e72d0a700bda4fe5f5d0cd2a064d83ca9e8900 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 30 Jul 2012 20:55:43 -0500
Subject: [PATCH 151/543] A big refactoring of stabilization.c to get rid of
 the two separate loops and move them into one big structure.  This makes it
 easier to implement other modes.

---
 flight/Modules/Stabilization/stabilization.c | 454 +++++++++++--------
 1 file changed, 273 insertions(+), 181 deletions(-)

diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index f47aefe9f..87bee87cd 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -97,7 +97,7 @@ static float sin_lookup[360];
 // Private functions
 static void stabilizationTask(void* parameters);
 static float ApplyPid(pid_type * pid, const float err, float dT);
-static float bound(float val);
+static float bound(float val, float range);
 static void ZeroPids(void);
 static void SettingsUpdatedCb(UAVObjEvent * ev);
 
@@ -116,10 +116,10 @@ int32_t StabilizationStart()
 	// Listen for updates.
 	//	AttitudeActualConnectQueue(queue);
 	GyrosConnectQueue(queue);
-
+	
 	StabilizationSettingsConnectCallback(SettingsUpdatedCb);
 	SettingsUpdatedCb(StabilizationSettingsHandle());
-
+	
 	// Start main task
 	xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
 	TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle);
@@ -140,7 +140,7 @@ int32_t StabilizationInitialize()
 #if defined(DIAGNOSTICS)
 	RateDesiredInitialize();
 #endif
-
+	
 	return 0;
 }
 
@@ -152,73 +152,73 @@ MODULE_INITCALL(StabilizationInitialize, StabilizationStart)
 static void stabilizationTask(void* parameters)
 {
 	UAVObjEvent ev;
-
+	
 	uint32_t timeval = PIOS_DELAY_GetRaw();
-
+	
 	ActuatorDesiredData actuatorDesired;
 	StabilizationDesiredData stabDesired;
 	RateDesiredData rateDesired;
 	AttitudeActualData attitudeActual;
 	GyrosData gyrosData;
 	FlightStatusData flightStatus;
-
+	
 	SettingsUpdatedCb((UAVObjEvent *) NULL);
-
+	
 	// Main task loop
 	ZeroPids();
 	while(1) {
 		float dT;
-
+		
 		PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
-
+		
 		// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
 		if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
 		{
 			AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
 			continue;
 		}
-
+		
 		dT = PIOS_DELAY_DiffuS(timeval) * 1.0e-6f;
 		timeval = PIOS_DELAY_GetRaw();
-
+		
 		FlightStatusGet(&flightStatus);
 		StabilizationDesiredGet(&stabDesired);
 		AttitudeActualGet(&attitudeActual);
 		GyrosGet(&gyrosData);
-
+		
 #if defined(DIAGNOSTICS)
 		RateDesiredGet(&rateDesired);
 #endif
-
+		
 #if defined(PIOS_QUATERNION_STABILIZATION)
 		// Quaternion calculation of error in each axis.  Uses more memory.
 		float rpy_desired[3];
 		float q_desired[4];
 		float q_error[4];
 		float local_error[3];
-
+		
 		// Essentially zero errors for anything in rate or none
 		if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
 			rpy_desired[0] = stabDesired.Roll;
 		else
 			rpy_desired[0] = attitudeActual.Roll;
-
+		
 		if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
 			rpy_desired[1] = stabDesired.Pitch;
 		else
 			rpy_desired[1] = attitudeActual.Pitch;
-
+		
 		if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
 			rpy_desired[2] = stabDesired.Yaw;
 		else
 			rpy_desired[2] = attitudeActual.Yaw;
-
+		
 		RPY2Quaternion(rpy_desired, q_desired);
 		quat_inverse(q_desired);
 		quat_mult(q_desired, &attitudeActual.q1, q_error);
 		quat_inverse(q_error);
 		Quaternion2RPY(q_error, local_error);
-
+		
 #else
 		// Simpler algorithm for CC, less memory
 		float local_error[3] = {stabDesired.Roll - attitudeActual.Roll,
@@ -227,7 +227,6 @@ static void stabilizationTask(void* parameters)
 		local_error[2] = fmodf(local_error[2] + 180, 360) - 180;
 #endif
 
-
 		gyro_filtered[0] = gyro_filtered[0] * gyro_alpha + gyrosData.x * (1 - gyro_alpha);
 		gyro_filtered[1] = gyro_filtered[1] * gyro_alpha + gyrosData.y * (1 - gyro_alpha);
 		gyro_filtered[2] = gyro_filtered[2] * gyro_alpha + gyrosData.z * (1 - gyro_alpha);
@@ -236,50 +235,98 @@ static void stabilizationTask(void* parameters)
 		float *actuatorDesiredAxis = &actuatorDesired.Roll;
 		float *rateDesiredAxis = &rateDesired.Roll;
 
-		//Calculate desired rate
+		ActuatorDesiredGet(&actuatorDesired);
+
+		// A flag to track which stabilization mode each axis is in
+		static uint8_t previous_mode[MAX_AXES] = {255,255,255};
+		bool error = false;
+
+		//Run the selected stabilization algorithm on each axis:
 		for(uint8_t i=0; i< MAX_AXES; i++)
 		{
+			// Check whether this axis mode needs to be reinitialized
+			bool reinit = (stabDesired.StabilizationMode[i] == previous_mode[i]);
+			previous_mode[i] = stabDesired.StabilizationMode[i];
+
+			// Apply the selected control law
 			switch(stabDesired.StabilizationMode[i])
 			{
-				case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
+					if(reinit)
+						pids[PID_RATE_ROLL + i].iAccumulator = 0;
+
+					// Store to rate desired variable for storing to UAVO
+					rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate[i]);
+
+					// Compute the inner loop
+					actuatorDesiredAxis[i] = ApplyPid(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
+					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
+
+					break;
+
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
+					if(reinit) {
+						pids[PID_ROLL + i].iAccumulator = 0;
+						pids[PID_RATE_ROLL + i].iAccumulator = 0;
+					}
+
+					// Compute the outer loop
+					rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i], dT);
+					rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]);
+
+					// Compute the inner loop
+					actuatorDesiredAxis[i] = ApplyPid(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
+					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
+
+					break;
+
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
+				{
+					if(reinit)
+						vbar_integral[i] = 0;
+
 					rateDesiredAxis[i] = attitudeDesiredAxis[i];
 
-					// Zero attitude and axis lock accumulators
-					pids[PID_ROLL + i].iAccumulator = 0;
-					axis_lock_accum[i] = 0;
-					break;
+					// Track the angle of the virtual flybar which includes a slow decay
+					vbar_integral[i] = vbar_integral[i] * vbar_decay + gyro_filtered[i] * dT;
+					vbar_integral[i] = bound(vbar_integral[i], settings.VbarMaxAngle);
 
-				case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
-				{
-					float weak_leveling = local_error[i] * weak_leveling_kp;
+					// Command signal can indicate how much to disregard the gyro feedback (fast flips)
+					float gyro_gain = 1.0f;
+					if (vbar_gyros_suppress > 0) {
+						gyro_gain = (1.0f - fabs(rateDesiredAxis[i]) * vbar_gyros_suppress / 100.0f);
+						gyro_gain = (gyro_gain < 0) ? 0 : gyro_gain;
+					}
 
-					if(weak_leveling > weak_leveling_max)
-						weak_leveling = weak_leveling_max;
-					if(weak_leveling < -weak_leveling_max)
-						weak_leveling = -weak_leveling_max;
+					// Command signal is composed of stick input added to the gyro and virtual flybar
+					actuatorDesiredAxis[i] = rateDesiredAxis[i] * vbar_sensitivity[i] - 
+					gyro_gain * (vbar_integral[i] * pids[PID_VBAR_ROLL + i].i +
+								 gyro_filtered[i] * pids[PID_VBAR_ROLL + i].p);
 
-					rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
+					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
 
-					// Zero attitude and axis lock accumulators
-					pids[PID_ROLL + i].iAccumulator = 0;
-					axis_lock_accum[i] = 0;
 					break;
 				}
-				case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
-					rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i], dT);
-					
-					if(rateDesiredAxis[i] > settings.MaximumRate[i])
-						rateDesiredAxis[i] = settings.MaximumRate[i];
-					else if(rateDesiredAxis[i] < -settings.MaximumRate[i])
-						rateDesiredAxis[i] = -settings.MaximumRate[i];
-					
-					
-					axis_lock_accum[i] = 0;
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
+				{
+					if (reinit)
+						pids[PID_RATE_ROLL + i].iAccumulator = 0;
+
+					float weak_leveling = local_error[i] * weak_leveling_kp;
+					weak_leveling = bound(weak_leveling, weak_leveling_max);
+
+					// Compute desired rate as input biased towards leveling
+					rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
+					actuatorDesiredAxis[i] = ApplyPid(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
+					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
+
 					break;
+				}
 
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
+					if (reinit)
+						pids[PID_RATE_ROLL + i].iAccumulator = 0;
+
 					if(fabs(attitudeDesiredAxis[i]) > max_axislock_rate) {
 						// While getting strong commands act like rate mode
 						rateDesiredAxis[i] = attitudeDesiredAxis[i];
@@ -287,59 +334,46 @@ static void stabilizationTask(void* parameters)
 					} else {
 						// For weaker commands or no command simply attitude lock (almost) on no gyro change
 						axis_lock_accum[i] += (attitudeDesiredAxis[i] - gyro_filtered[i]) * dT;
-						if(axis_lock_accum[i] > max_axis_lock)
-							axis_lock_accum[i] = max_axis_lock;
-						else if(axis_lock_accum[i] < -max_axis_lock)
-							axis_lock_accum[i] = -max_axis_lock;
-
+						axis_lock_accum[i] = bound(axis_lock_accum[i], max_axis_lock);
 						rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i], dT);
 					}
-					
-					if(rateDesiredAxis[i] > settings.MaximumRate[i])
-						rateDesiredAxis[i] = settings.MaximumRate[i];
-					else if(rateDesiredAxis[i] < -settings.MaximumRate[i])
-						rateDesiredAxis[i] = -settings.MaximumRate[i];
+
+					rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]);
+
+					actuatorDesiredAxis[i] = ApplyPid(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
+					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
 
 					break;
-			}
-		}
 
-		// Piro compensation rotates the virtual flybar by yaw step to keep it
-		// rotated to external world
-		if (vbar_piro_comp) {
-			const float F_PI = 3.14159f;
-			float cy = cosf(gyro_filtered[2] / 180.0f * F_PI * dT);
-			float sy = sinf(gyro_filtered[2] / 180.0f * F_PI * dT);
-			
-			float vbar_pitch = cy * vbar_integral[1] - sy * vbar_integral[0];
-			float vbar_roll = sy * vbar_integral[1] + cy * vbar_integral[0];
-			
-			vbar_integral[1] = vbar_pitch;
-			vbar_integral[0] = vbar_roll;
-		}
-
-		uint8_t shouldUpdate = 1;
-#if defined(DIAGNOSTICS)
-		RateDesiredSet(&rateDesired);
-#endif
-		
-		static bool rateRelayRunning[3] = {false, false, false};
-		ActuatorDesiredGet(&actuatorDesired);
-		//Calculate desired command
-		for(uint32_t i = 0; i < MAX_AXES; i++)
-		{
-			switch(stabDesired.StabilizationMode[i])
-			{
-				case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY:
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE:
 				{
+					RelayTuningData relay;
+					RelayTuningGet(&relay);
+
+					static bool rateRelayRunning[MAX_AXES];
+
+					// On first run initialize estimates to something reasonable
+					if(reinit) {
+						pids[PID_ROLL + i].iAccumulator = 0;
+						rateRelayRunning[i] = false;
+						relay.Period[i] = 200;
+						relay.Gain[i] = 0;
+					}
+					// Replace the rate PID with a relay to measure the critical properties of this axis
+					// i.e. period and gain
+
+					// Compute the outer loop
+					rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i], dT);
+					rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]);
+
+					// Store to rate desired variable for storing to UAVO
+					rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate[i]);
+
 					RelayTuningSettingsData relaySettings;
 					RelayTuningSettingsGet(&relaySettings);
 					float error = rateDesiredAxis[i] - gyro_filtered[i];
 					float command = error > 0 ? relaySettings.Amplitude : -relaySettings.Amplitude;
-					actuatorDesiredAxis[i] = bound(command);
-
-					RelayTuningData relay;
-					RelayTuningGet(&relay);
+					actuatorDesiredAxis[i] = bound(command,1.0f);
 
 					static bool high = false;
 					static portTickType lastHighTime;
@@ -371,6 +405,8 @@ static void stabilizationTask(void* parameters)
 					bool hysteresis = (high ? (thisTime - lastHighTime) : (thisTime - lastLowTime)) > DEGLITCH_TIME;
 					if ( !high && hysteresis && error > 0 ){ /* RISE DETECTED */
 						float this_amplitude = 2 * sqrtf(accum_sin*accum_sin + accum_cos*accum_cos) / accumulated;
+						float this_gain = this_amplitude / relaySettings.Amplitude;
+
 						accumulated = 0;
 						accum_sin = 0;
 						accum_cos = 0;
@@ -378,10 +414,10 @@ static void stabilizationTask(void* parameters)
 						if(rateRelayRunning[i] == false) {
 							rateRelayRunning[i] = true;
 							relay.Period[i] = 200;
-							relay.Amplitude[i] = 0;
+							relay.Gain[i] = 0;
 						} else {
 							// Low pass filter each amplitude and period
-							relay.Amplitude[i] = relay.Amplitude[i] * AMPLITUDE_ALPHA + this_amplitude * (1 - AMPLITUDE_ALPHA);
+							relay.Gain[i] = relay.Gain[i] * AMPLITUDE_ALPHA + this_gain * (1 - AMPLITUDE_ALPHA);
 							relay.Period[i] = relay.Period[i] * PERIOD_ALPHA + dT * (1 - PERIOD_ALPHA);
 						}
 						lastHighTime = thisTime;
@@ -394,110 +430,165 @@ static void stabilizationTask(void* parameters)
 
 					break;
 				}
-				case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
-				case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
-				case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
-				case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE:
 				{
-					rateRelayRunning[i] = false;
-					float command = ApplyPid(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
-					actuatorDesiredAxis[i] = bound(command);
-					break;
-				}
-				case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
-				{
-					rateRelayRunning[i] = false;
-					// Track the angle of the virtual flybar which includes a slow decay
-					vbar_integral[i] = vbar_integral[i] * vbar_decay + gyro_filtered[i] * dT;
-					if (vbar_integral[i] > settings.VbarMaxAngle)
-						vbar_integral[i] = settings.VbarMaxAngle;
-					if (-vbar_integral[i] < -settings.VbarMaxAngle)
-						vbar_integral[i] = -settings.VbarMaxAngle;
+					RelayTuningData relay;
+					RelayTuningGet(&relay);
 
-					// Command signal is composed of stick input added to the gyro and virtual flybar
-					float gyro_gain = 1.0f;
-					if (vbar_gyros_suppress > 0) {
-						gyro_gain = (1.0f - fabs(rateDesiredAxis[i]) * vbar_gyros_suppress / 100.0f);
-						gyro_gain = (gyro_gain < 0) ? 0 : gyro_gain;
+					static bool rateRelayRunning[MAX_AXES];
+
+					// On first run initialize estimates to something reasonable
+					if(reinit) {
+						pids[PID_ROLL + i].iAccumulator = 0;
+						rateRelayRunning[i] = false;
+						relay.Period[i] = 200;
+						relay.Gain[i] = 0;
 					}
-					float command = rateDesiredAxis[i] * vbar_sensitivity[i] - gyro_gain * (
-							vbar_integral[i] * pids[PID_VBAR_ROLL + i].i +
-							gyro_filtered[i] * pids[PID_VBAR_ROLL + i].p);
 
-					actuatorDesiredAxis[i] = bound(command);
-					break;
+					// Replace the rate PID with a relay to measure the critical properties of this axis
+					// i.e. period and gain
+
+					// Store to rate desired variable for storing to UAVO
+					rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate[i]);
+
+					RelayTuningSettingsData relaySettings;
+					RelayTuningSettingsGet(&relaySettings);
+					float error = rateDesiredAxis[i] - gyro_filtered[i];
+					float command = error > 0 ? relaySettings.Amplitude : -relaySettings.Amplitude;
+					actuatorDesiredAxis[i] = bound(command,1.0);
+
+					static bool high = false;
+					static portTickType lastHighTime;
+					static portTickType lastLowTime;
+					portTickType thisTime = xTaskGetTickCount();
+
+					static float accum_sin, accum_cos;
+					static uint32_t accumulated = 0;
+
+					const uint16_t DEGLITCH_TIME = 20; // ms
+					const float AMPLITUDE_ALPHA = 0.95;
+					const float PERIOD_ALPHA = 0.95;
+
+					// Make sure the period can't go below limit
+					if (relay.Period[i] < DEGLITCH_TIME)
+						relay.Period[i] = DEGLITCH_TIME;
+
+					// Project the error onto a sine and cosine of the same frequency
+					// to accumulate the average amplitude
+					float dT = thisTime - lastHighTime;
+					uint32_t phase = 360 * dT / relay.Period[i];
+					if(phase >= 360)
+						phase = 1;
+					accum_sin += sin_lookup[phase] * error;
+					accum_cos += sin_lookup[(phase + 90) % 360] * error;
+					accumulated ++;
+
+					// Make susre we've had enough time since last transition then check for a change in the output
+					bool hysteresis = (high ? (thisTime - lastHighTime) : (thisTime - lastLowTime)) > DEGLITCH_TIME;
+					if ( !high && hysteresis && error > 0 ){ /* RISE DETECTED */
+						float this_amplitude = 2 * sqrtf(accum_sin*accum_sin + accum_cos*accum_cos) / accumulated;
+						float this_gain = this_amplitude / relaySettings.Amplitude;
+
+						accumulated = 0;
+						accum_sin = 0;
+						accum_cos = 0;
+
+						if(rateRelayRunning[i] == false) {
+							rateRelayRunning[i] = true;
+							relay.Period[i] = 200;
+							relay.Gain[i] = 0;
+						} else {
+							// Low pass filter each amplitude and period
+							relay.Gain[i] = relay.Gain[i] * AMPLITUDE_ALPHA + this_gain * (1 - AMPLITUDE_ALPHA);
+							relay.Period[i] = relay.Period[i] * PERIOD_ALPHA + dT * (1 - PERIOD_ALPHA);
+						}
+						lastHighTime = thisTime;
+						high = true;
+						RelayTuningSet(&relay);
+					} else if ( high && hysteresis && error < 0 ) { /* FALL DETECTED */
+						lastLowTime = thisTime;
+						high = false;
+					}
 				}
+					break;
+
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE:
-					rateRelayRunning[i] = false;
-					switch (i)
-				{
-					case ROLL:
-						actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i]);
-						shouldUpdate = 1;
-						pids[PID_RATE_ROLL].iAccumulator = 0;
-						pids[PID_ROLL].iAccumulator = 0;
-						break;
-					case PITCH:
-						actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i]);
-						shouldUpdate = 1;
-						pids[PID_RATE_PITCH].iAccumulator = 0;
-						pids[PID_PITCH].iAccumulator = 0;
-						break;
-					case YAW:
-						actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i]);
-						shouldUpdate = 1;
-						pids[PID_RATE_YAW].iAccumulator = 0;
-						pids[PID_YAW].iAccumulator = 0;
-						break;
-				}
+					actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i],1.0f);
+					break;
+				default:
+					error = true;
 					break;
-
 			}
 		}
 
+		// Piro compensation rotates the virtual flybar by yaw step to keep it
+		// rotated to external world
+		if (vbar_piro_comp) {
+			const float F_PI = 3.14159f;
+			float cy = cosf(gyro_filtered[2] / 180.0f * F_PI * dT);
+			float sy = sinf(gyro_filtered[2] / 180.0f * F_PI * dT);
+
+			float vbar_pitch = cy * vbar_integral[1] - sy * vbar_integral[0];
+			float vbar_roll = sy * vbar_integral[1] + cy * vbar_integral[0];
+
+			vbar_integral[1] = vbar_pitch;
+			vbar_integral[0] = vbar_roll;
+		}
+
+#if defined(DIAGNOSTICS)
+		RateDesiredSet(&rateDesired);
+#endif
+
 		// Save dT
 		actuatorDesired.UpdateTime = dT * 1000;
+		actuatorDesired.Throttle = stabDesired.Throttle;
 
-		if(PARSE_FLIGHT_MODE(flightStatus.FlightMode) == FLIGHTMODE_MANUAL)
-			shouldUpdate = 0;
-
-		if(shouldUpdate)
-		{
-			actuatorDesired.Throttle = stabDesired.Throttle;
-			if(dT > 15)
-				actuatorDesired.NumLongUpdates++;
+		if(PARSE_FLIGHT_MODE(flightStatus.FlightMode) != FLIGHTMODE_MANUAL) {
 			ActuatorDesiredSet(&actuatorDesired);
+		} else {
+			// Force all axes to reinitialize when engaged
+			for(uint8_t i=0; i< MAX_AXES; i++)
+				previous_mode[i] = 255;
 		}
 
 		if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED ||
-		   (lowThrottleZeroIntegral && stabDesired.Throttle < 0) ||
-		   !shouldUpdate)
+		   (lowThrottleZeroIntegral && stabDesired.Throttle < 0))
 		{
-			ZeroPids();
+			// Force all axes to reinitialize when engaged
+			for(uint8_t i=0; i< MAX_AXES; i++)
+				previous_mode[i] = 255;
 		}
 
-
-		// Clear alarms
-		AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
+		// Clear or set alarms.  Done like this to prevent toggline each cycle
+		// and hammering system alarms
+		if (error)
+			AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_ERROR);
+		else
+			AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
 	}
 }
 
+/**
+ * Update one of the PID structures with the input error and timestep
+ * @param pid Pointer to the PID structure
+ * @param[in] err The error on for this controller
+ * @param[in] dT The time step since the last update
+ */
 float ApplyPid(pid_type * pid, const float err, float dT)
 {
 	float diff = (err - pid->lastErr);
 	pid->lastErr = err;
-
+	
 	// Scale up accumulator by 1000 while computing to avoid losing precision
 	pid->iAccumulator += err * (pid->i * dT * 1000.0f);
-	if(pid->iAccumulator > (pid->iLim * 1000.0f)) {
-		pid->iAccumulator = pid->iLim * 1000.0f;
-	} else if (pid->iAccumulator < -(pid->iLim * 1000.0f)) {
-		pid->iAccumulator = -pid->iLim * 1000.0f;
-	}
+	pid->iAccumulator = bound(pid->iAccumulator, pid->iLim * 1000.0f);
 	return ((err * pid->p) + pid->iAccumulator / 1000.0f + (diff * pid->d / dT));
 }
 
 
+/**
+ * Clear the accumulators and derivatives for all the axes
+ */
 static void ZeroPids(void)
 {
 	for(int8_t ct = 0; ct < PID_MAX; ct++) {
@@ -512,12 +603,12 @@ static void ZeroPids(void)
 /**
  * Bound input value between limits
  */
-static float bound(float val)
+static float bound(float val, float range)
 {
-	if(val < -1.0f) {
-		val = -1.0f;
-	} else if(val > 1.0f) {
-		val = 1.0f;
+	if(val < -range) {
+		val = -range;
+	} else if(val > range) {
+		val = range;
 	}
 	return val;
 }
@@ -525,40 +616,40 @@ static float bound(float val)
 static void SettingsUpdatedCb(UAVObjEvent * ev)
 {
 	StabilizationSettingsGet(&settings);
-
+	
 	// Set the roll rate PID constants
 	pids[PID_RATE_ROLL].p = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP];
 	pids[PID_RATE_ROLL].i = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI];
 	pids[PID_RATE_ROLL].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD];
 	pids[PID_RATE_ROLL].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT];
-
+	
 	// Set the pitch rate PID constants
 	pids[PID_RATE_PITCH].p = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP];
 	pids[PID_RATE_PITCH].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI];
 	pids[PID_RATE_PITCH].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD];
 	pids[PID_RATE_PITCH].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT];
-
+	
 	// Set the yaw rate PID constants
 	pids[PID_RATE_YAW].p = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP];
 	pids[PID_RATE_YAW].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI];
 	pids[PID_RATE_YAW].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD];
 	pids[PID_RATE_YAW].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT];
-
+	
 	// Set the roll attitude PI constants
 	pids[PID_ROLL].p = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP];
 	pids[PID_ROLL].i = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI];
 	pids[PID_ROLL].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT];
-
+	
 	// Set the pitch attitude PI constants
 	pids[PID_PITCH].p = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP];
 	pids[PID_PITCH].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI];
 	pids[PID_PITCH].iLim = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT];
-
+	
 	// Set the yaw attitude PI constants
 	pids[PID_YAW].p = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP];
 	pids[PID_YAW].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI];
 	pids[PID_YAW].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT];
-
+	
 	// Set the roll attitude PI constants
 	pids[PID_VBAR_ROLL].p = settings.VbarRollPI[STABILIZATIONSETTINGS_VBARROLLPI_KP];
 	pids[PID_VBAR_ROLL].i = settings.VbarRollPI[STABILIZATIONSETTINGS_VBARROLLPI_KI];
@@ -570,23 +661,23 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
 	// Set the yaw attitude PI constants
 	pids[PID_VBAR_YAW].p = settings.VbarYawPI[STABILIZATIONSETTINGS_VBARYAWPI_KP];
 	pids[PID_VBAR_YAW].i = settings.VbarYawPI[STABILIZATIONSETTINGS_VBARYAWPI_KI];
-
+	
 	// Need to store the vbar sensitivity
 	vbar_sensitivity[0] = settings.VbarSensitivity[0];
 	vbar_sensitivity[1] = settings.VbarSensitivity[1];
 	vbar_sensitivity[2] = settings.VbarSensitivity[2];
-
+	
 	// Maximum deviation to accumulate for axis lock
 	max_axis_lock = settings.MaxAxisLock;
 	max_axislock_rate = settings.MaxAxisLockRate;
-
+	
 	// Settings for weak leveling
 	weak_leveling_kp = settings.WeakLevelingKp;
 	weak_leveling_max = settings.MaxWeakLevelingRate;
-
+	
 	// Whether to zero the PID integrals while throttle is low
 	lowThrottleZeroIntegral = settings.LowThrottleZeroIntegral == STABILIZATIONSETTINGS_LOWTHROTTLEZEROINTEGRAL_TRUE;
-
+	
 	// The dT has some jitter iteration to iteration that we don't want to
 	// make thie result unpredictable.  Still, it's nicer to specify the constant
 	// based on a time (in ms) rather than a fixed multiplier.  The error between
@@ -597,7 +688,7 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
 		gyro_alpha = 0;   // not trusting this to resolve to 0
 	else
 		gyro_alpha = expf(-fakeDt  / settings.GyroTau);
-
+	
 	// Compute time constant for vbar decay term based on a tau
 	vbar_decay = expf(-fakeDt / settings.VbarTau);
 	vbar_gyros_suppress = settings.VbarGyroSuppress;
@@ -609,3 +700,4 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
  * @}
  * @}
  */
+

From a9af53b4f364fcad455e61570eca7be0f0de21f3 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 31 Jul 2012 02:04:36 -0500
Subject: [PATCH 152/543] Create new autotuning module which rotates through
 the axes for autotuning and then computes new stabilization settings.

---
 flight/Modules/Autotune/autotune.c            | 291 ++++++++++++++++++
 flight/Modules/Autotune/inc/autotune.h        |  37 +++
 shared/uavobjectdefinition/flightstatus.xml   |   2 +-
 .../manualcontrolsettings.xml                 |   2 +-
 4 files changed, 330 insertions(+), 2 deletions(-)
 create mode 100644 flight/Modules/Autotune/autotune.c
 create mode 100644 flight/Modules/Autotune/inc/autotune.h

diff --git a/flight/Modules/Autotune/autotune.c b/flight/Modules/Autotune/autotune.c
new file mode 100644
index 000000000..3fc9246e4
--- /dev/null
+++ b/flight/Modules/Autotune/autotune.c
@@ -0,0 +1,291 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup Autotuning module
+ * @brief Reads from @ref ManualControlCommand and fakes a rate mode while 
+ *        toggling the channels to relay mode
+ * @{
+ *
+ * @file       autotune.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Module to handle all comms to the AHRS on a periodic basis.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ ******************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/**
+ * Input objects: None, takes sensor data via pios
+ * Output objects: @ref AttitudeRaw @ref AttitudeActual
+ *
+ * This module computes an attitude estimate from the sensor data
+ *
+ * The module executes in its own thread.
+ *
+ * UAVObjects are automatically generated by the UAVObjectGenerator from
+ * the object definition XML file.
+ *
+ * Modules have no API, all communication to other modules is done through UAVObjects.
+ * However modules may use the API exposed by shared libraries.
+ * See the OpenPilot wiki for more details.
+ * http://www.openpilot.org/OpenPilot_Application_Architecture
+ *
+ */
+
+#include "pios.h"
+#include "flightstatus.h"
+#include "manualcontrolcommand.h"
+#include "manualcontrolsettings.h"
+#include "relaytuning.h"
+#include "relaytuningsettings.h"
+#include "stabilizationdesired.h"
+#include "stabilizationsettings.h"
+#include <pios_board_info.h>
+ 
+// Private constants
+#define STACK_SIZE_BYTES 1024
+#define TASK_PRIORITY (tskIDLE_PRIORITY+2)
+
+// Private types
+enum AUTOTUNE_STATE {AT_INIT, AT_START, AT_ROLL, AT_PITCH, AT_FINISHED, AT_SET};
+
+// Private variables
+static xTaskHandle taskHandle;
+
+// Private functions
+static void AutotuneTask(void *parameters);
+static void update_stabilization_settings();
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t AutotuneInitialize(void)
+{
+	// Create a queue, connect to manual control command and flightstatus
+
+	return 0;
+}
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t AutotuneStart(void)
+{
+	
+	// Start main task
+	xTaskCreate(AutotuneTask, (signed char *)"Autotune", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
+
+	//TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
+	//PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
+	
+	return 0;
+}
+
+MODULE_INITCALL(AutotuneInitialize, AutotuneStart)
+
+/**
+ * Module thread, should not return.
+ */
+static void AutotuneTask(void *parameters)
+{
+	//AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
+	
+	enum AUTOTUNE_STATE state = AT_INIT;
+
+	portTickType lastUpdateTime = xTaskGetTickCount();
+
+	while(1) {
+		// TODO:
+		// 1. get from queue
+		// 2. based on whether it is flightstatus or manualcontrol
+
+		portTickType diffTime;
+
+		const uint32_t PREPARE_TIME = 2000;
+		const uint32_t MEAURE_TIME = 10000;
+
+		FlightStatusData flightStatus;
+		FlightStatusGet(&flightStatus);
+
+		// Only allow this module to run when autotuning
+		if (flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE) {
+			state = AT_INIT;
+			vTaskDelay(50);
+			continue;
+		}
+
+		StabilizationDesiredData stabDesired;
+		StabilizationDesiredGet(&stabDesired);
+
+		StabilizationSettingsData stabSettings;
+		StabilizationSettingsGet(&stabSettings);
+
+		ManualControlSettingsData manualSettings;
+		ManualControlSettingsGet(&manualSettings);
+
+		ManualControlCommandData manualControl;
+		ManualControlCommandGet(&manualControl);
+
+		stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL]  = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
+		stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
+		stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW]   = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
+
+		stabDesired.Roll = manualControl.Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL];
+		stabDesired.Pitch = manualControl.Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH];
+		stabDesired.Yaw = manualControl.Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW];
+		stabDesired.Throttle = manualControl.Throttle;
+
+		switch(state) {
+			case AT_INIT:
+
+				lastUpdateTime = xTaskGetTickCount();
+
+				// Only start when armed and flying
+				if (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED && stabDesired.Throttle > 0)
+					state = AT_START;
+				break;
+
+			case AT_START:
+
+				diffTime = xTaskGetTickCount() - lastUpdateTime;
+
+				// Spend the first block of time in normal rate mode to get airborne
+				if (diffTime > PREPARE_TIME) {
+					state = AT_ROLL;
+					lastUpdateTime = xTaskGetTickCount();
+				}
+				break;
+
+			case AT_ROLL:
+
+				diffTime = xTaskGetTickCount() - lastUpdateTime;
+
+				// Run relay mode on the roll axis for the measurement time
+				stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY;
+				if (diffTime > MEAURE_TIME) { // Move on to next state
+					state = AT_PITCH;
+					lastUpdateTime = xTaskGetTickCount();
+				}
+				break;
+
+			case AT_PITCH:
+
+				diffTime = xTaskGetTickCount() - lastUpdateTime;
+
+				// Run relay mode on the pitch axis for the measurement time
+				stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY;
+				if (diffTime > MEAURE_TIME) { // Move on to next state
+					state = AT_FINISHED;
+					lastUpdateTime = xTaskGetTickCount();
+				}
+				break;
+
+			case AT_FINISHED:
+
+				// Wait until disarmed and landed before updating the settings
+				if (flightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED && stabDesired.Throttle <= 0)
+					state = AT_SET;
+
+				break;
+
+			case AT_SET:
+				update_stabilization_settings();
+				state = AT_INIT;
+				break;
+
+			default:
+				// Set an alarm or some shit like that
+				break;
+		}
+
+		StabilizationDesiredSet(&stabDesired);
+
+		vTaskDelay(10);
+	}
+}
+
+/**
+ * Called after measuring roll and pitch to update the
+ * stabilization settings
+ * 
+ * takes in @ref RelayTuning and outputs @ref StabilizationSettings
+ */
+static void update_stabilization_settings()
+{
+	RelayTuningData relayTuning;
+	RelayTuningGet(&relayTuning);
+
+	RelayTuningSettingsData relaySettings;
+	RelayTuningSettingsGet(&relaySettings);
+
+	StabilizationSettingsData stabSettings;
+	StabilizationSettingsGet(&stabSettings);
+
+	// Eventually get these settings from RelayTuningSettings
+	const float gain_ratio_r = 1.0f / 3.0f;
+	const float zero_ratio_r = 1.0f / 3.0f;
+	const float gain_ratio_p = 1.0f / 5.0f;
+	const float zero_ratio_p = 1.0f / 5.0f;
+
+	float input = relaySettings.Amplitude * 4.0f / M_PI;      // amplitude of input (fundamental component of fourier series for the square wave)
+
+	// For now just run over roll and pitch
+	for (uint i = 0; i < 2; i++) {
+		float output = relayTuning.Amplitude[i];               // amplitude of sinusoidal oscillation in output
+		float wu = 1000.0f * 2 * M_PI / relayTuning.Period[i]; // ultimate freq = output osc freq (rad/s)
+
+		float wc = wu * gain_ratio_r;      // target openloop crossover frequency (rad/s)
+		float zc = wc * zero_ratio_r;      // controller zero location (rad/s)
+		float kpu = input / output;        // ultimate gain, i.e. the proportional gain for instablity
+		float kp = kpu * gain_ratio_r;     // proportional gain
+		float ki = zc * kp;                // integral gain
+
+		// Now calculate gains for the next loop out knowing it is the integral of
+	 	// the inner loop -- the plant is position/velocity = scale*1/s
+		float wc2 = wc * gain_ratio_p;          // crossover of the attitude loop
+		float kp2 = wc2;                       // kp of attitude
+		float ki2 = wc2 * zero_ratio_p * kp2;  // ki of attitude
+
+		switch(i) {
+			case 0: // roll
+				stabSettings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP] = kp;
+				stabSettings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI] = ki;
+				stabSettings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP] = kp2;
+				stabSettings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI] = ki2;
+				break;
+			case 1: // Pitch
+				stabSettings.PitchRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP] = kp;
+				stabSettings.PitchRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI] = ki;
+				stabSettings.PitchPI[STABILIZATIONSETTINGS_ROLLPI_KP] = kp2;
+				stabSettings.PitchPI[STABILIZATIONSETTINGS_ROLLPI_KI] = ki2;
+				break;
+			default:
+				// Oh shit oh shit oh shit
+				break;
+		}
+	}
+	StabilizationSettingsSet(&stabSettings);
+}
+
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/Modules/Autotune/inc/autotune.h b/flight/Modules/Autotune/inc/autotune.h
new file mode 100644
index 000000000..3f90e56a6
--- /dev/null
+++ b/flight/Modules/Autotune/inc/autotune.h
@@ -0,0 +1,37 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup Attitude Attitude Module
+ * @{ 
+ *
+ * @file       attitude.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Acquires sensor data and fuses it into attitude estimate for CC
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef ATTITUDE_H
+#define ATTITUDE_H
+
+#include "openpilot.h"
+
+int32_t AttitudeInitialize(void);
+
+#endif // ATTITUDE_H
diff --git a/shared/uavobjectdefinition/flightstatus.xml b/shared/uavobjectdefinition/flightstatus.xml
index 22c4f9360..ba24d9bff 100644
--- a/shared/uavobjectdefinition/flightstatus.xml
+++ b/shared/uavobjectdefinition/flightstatus.xml
@@ -4,7 +4,7 @@
         <field name="Armed" units="" type="enum" elements="1" options="Disarmed,Arming,Armed" defaultvalue="Disarmed"/>
 
 	<!-- Note these enumerated values should be the same as ManualControlSettings -->
-        <field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold"/>
+        <field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold,Autotune"/>
 
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml
index 8a52b3b23..b9babcc4d 100644
--- a/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -24,7 +24,7 @@
 
 	<!-- Note these options values should be identical to those defined in FlightMode -->
         <field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
-        <field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"/>
+        <field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold,Autotune" defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"/>
 
         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
         <access gcs="readwrite" flight="readwrite"/>

From 48362f56f6fb7b7d7816d16d303a0cdc9f1dbb35 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 31 Jul 2012 02:35:33 -0500
Subject: [PATCH 153/543] Enable autotune as an optional CC module

---
 flight/CopterControl/Makefile | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 7c5498806..721ec1896 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -68,6 +68,7 @@ USE_GPS ?= YES
 USE_TXPID ?= YES
 USE_I2C ?= NO
 USE_ALTITUDE ?= NO
+USE_AUTOTUNE ?= NO
 TEST_FAULTS ?= NO
 
 # List of optional modules to include
@@ -94,6 +95,9 @@ endif
 ifeq ($(TEST_FAULTS), YES)
 OPTMODULES += Fault
 endif
+ifeq ($(USE_AUTOTUNE), YES)
+OPTMODULES += Autotune
+endif
 
 # List of mandatory modules to include
 MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP
@@ -204,6 +208,8 @@ SRC += $(OPUAVSYNTHDIR)/gpssettings.c
 SRC += $(OPUAVSYNTHDIR)/hwsettings.c
 SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
 SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
+SRC += $(OPUAVSYNTHDIR)/relaytuningsettings.c
+SRC += $(OPUAVSYNTHDIR)/relaytuning.c
 SRC += $(OPUAVSYNTHDIR)/taskinfo.c
 SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
 SRC += $(OPUAVSYNTHDIR)/ratedesired.c

From 17878b32f30ebe6dce7db72bae3a4ca6df111be1 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 31 Jul 2012 09:49:17 -0500
Subject: [PATCH 154/543] Make autotune run within an attitude loop instead of
 direct rate mode.  Easier for beginners.

---
 flight/Modules/Autotune/autotune.c           | 19 ++++++++++++++-----
 flight/Modules/Stabilization/stabilization.c | 12 ++++++++++++
 2 files changed, 26 insertions(+), 5 deletions(-)

diff --git a/flight/Modules/Autotune/autotune.c b/flight/Modules/Autotune/autotune.c
index 3fc9246e4..754136b83 100644
--- a/flight/Modules/Autotune/autotune.c
+++ b/flight/Modules/Autotune/autotune.c
@@ -144,12 +144,21 @@ static void AutotuneTask(void *parameters)
 		ManualControlCommandData manualControl;
 		ManualControlCommandGet(&manualControl);
 
-		stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL]  = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
-		stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
-		stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW]   = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
+		if (0) { // rate mode
+			stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL]  = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
+			stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
 
-		stabDesired.Roll = manualControl.Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL];
-		stabDesired.Pitch = manualControl.Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH];
+			stabDesired.Roll = manualControl.Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL];
+			stabDesired.Pitch = manualControl.Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH];
+		} else {
+			stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL]  = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
+			stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
+
+			stabDesired.Roll = manualControl.Roll * stabSettings.RollMax;
+			stabDesired.Pitch = manualControl.Pitch * stabSettings.PitchMax;
+		}
+
+		stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW]   = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
 		stabDesired.Yaw = manualControl.Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW];
 		stabDesired.Throttle = manualControl.Throttle;
 
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 87bee87cd..0b15b60cd 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -322,6 +322,18 @@ static void stabilizationTask(void* parameters)
 
 					break;
 				}
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY:
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
+					rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i], dT);
+					
+					if(rateDesiredAxis[i] > settings.MaximumRate[i])
+						rateDesiredAxis[i] = settings.MaximumRate[i];
+					else if(rateDesiredAxis[i] < -settings.MaximumRate[i])
+						rateDesiredAxis[i] = -settings.MaximumRate[i];
+					
+					
+					axis_lock_accum[i] = 0;
+					break;
 
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
 					if (reinit)

From c365a9c7ffb86613d2a3c886d0e9fbd9081f7f3d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 31 Jul 2012 17:38:21 -0500
Subject: [PATCH 155/543] Add stub for the autotune configuration widget

---
 .../src/plugins/config/autotune.ui            | 940 ++++++++++++++++++
 .../src/plugins/config/config.pro             |  16 +-
 .../plugins/config/configautotunewidget.cpp   |  31 +
 .../src/plugins/config/configautotunewidget.h |  55 +
 .../src/plugins/config/configgadgetwidget.cpp |   4 +
 .../src/plugins/config/configgadgetwidget.h   |   2 +-
 6 files changed, 1044 insertions(+), 4 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/config/autotune.ui
 create mode 100644 ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/config/configautotunewidget.h

diff --git a/ground/openpilotgcs/src/plugins/config/autotune.ui b/ground/openpilotgcs/src/plugins/config/autotune.ui
new file mode 100644
index 000000000..120caab94
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/autotune.ui
@@ -0,0 +1,940 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>AutotuneWidget</class>
+ <widget class="QWidget" name="AutotuneWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>443</width>
+    <height>505</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QGroupBox" name="groupBox">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>10</y>
+     <width>401</width>
+     <height>121</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>Tuning Aggressiveness</string>
+   </property>
+   <layout class="QGridLayout" name="gridLayout_2">
+    <item row="0" column="0">
+     <widget class="QLabel" name="label">
+      <property name="text">
+       <string>Rate Tuning:</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="1">
+     <widget class="QSlider" name="rateTuning">
+      <property name="orientation">
+       <enum>Qt::Horizontal</enum>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="0">
+     <widget class="QLabel" name="label_2">
+      <property name="text">
+       <string>Attitude Tuning:</string>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="1">
+     <widget class="QSlider" name="attitudeTuning">
+      <property name="orientation">
+       <enum>Qt::Horizontal</enum>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QGroupBox" name="groupBox_2">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>250</y>
+     <width>401</width>
+     <height>131</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>Computed Values</string>
+   </property>
+   <layout class="QGridLayout" name="gridLayout_3">
+    <item row="0" column="1">
+     <widget class="QLabel" name="label_5">
+      <property name="text">
+       <string>RateKp</string>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="0">
+     <widget class="QLabel" name="label_4">
+      <property name="text">
+       <string>Roll</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="2">
+     <widget class="QLabel" name="label_9">
+      <property name="text">
+       <string>RateKi</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="3">
+     <widget class="QLabel" name="label_10">
+      <property name="text">
+       <string>AttitudeKp</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="4">
+     <widget class="QLabel" name="label_11">
+      <property name="text">
+       <string>AttitudeKi</string>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="0">
+     <widget class="QLabel" name="label_12">
+      <property name="text">
+       <string>Pitch</string>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="1">
+     <widget class="QLabel" name="label_13">
+      <property name="text">
+       <string>0</string>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="1">
+     <widget class="QLabel" name="label_14">
+      <property name="text">
+       <string>0</string>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="2">
+     <widget class="QLabel" name="label_15">
+      <property name="text">
+       <string>0</string>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="2">
+     <widget class="QLabel" name="label_16">
+      <property name="text">
+       <string>0</string>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="3">
+     <widget class="QLabel" name="label_17">
+      <property name="text">
+       <string>0</string>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="3">
+     <widget class="QLabel" name="label_18">
+      <property name="text">
+       <string>0</string>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="4">
+     <widget class="QLabel" name="label_19">
+      <property name="text">
+       <string>0</string>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="4">
+     <widget class="QLabel" name="label_20">
+      <property name="text">
+       <string>0</string>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QGroupBox" name="groupBox_3">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>140</y>
+     <width>401</width>
+     <height>101</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>Measured Values</string>
+   </property>
+   <layout class="QGridLayout" name="gridLayout">
+    <item row="1" column="0">
+     <widget class="QLabel" name="label_3">
+      <property name="text">
+       <string>Roll:</string>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="1">
+     <widget class="QLabel" name="measuredRollPeriod">
+      <property name="text">
+       <string>0</string>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="2">
+     <widget class="QLabel" name="measuredRollAmplitude">
+      <property name="text">
+       <string>0</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="1">
+     <widget class="QLabel" name="label_6">
+      <property name="text">
+       <string>Period</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="2">
+     <widget class="QLabel" name="label_7">
+      <property name="text">
+       <string>Amplitude</string>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="0">
+     <widget class="QLabel" name="label_8">
+      <property name="text">
+       <string>Pitch</string>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="1">
+     <widget class="QLabel" name="measuredPitchPeriod">
+      <property name="text">
+       <string>0</string>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="2">
+     <widget class="QLabel" name="measuredPitchPeriod_2">
+      <property name="text">
+       <string>0</string>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QGroupBox" name="RateStabilizationGroup_21">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>400</y>
+     <width>401</width>
+     <height>79</height>
+    </rect>
+   </property>
+   <property name="sizePolicy">
+    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+     <horstretch>0</horstretch>
+     <verstretch>0</verstretch>
+    </sizepolicy>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>0</width>
+     <height>79</height>
+    </size>
+   </property>
+   <property name="maximumSize">
+    <size>
+     <width>16777215</width>
+     <height>79</height>
+    </size>
+   </property>
+   <property name="palette">
+    <palette>
+     <active>
+      <colorrole role="WindowText">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>0</red>
+         <green>0</green>
+         <blue>0</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="Button">
+       <brush brushstyle="LinearGradientPattern">
+        <gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
+         <gradientstop position="0.000000000000000">
+          <color alpha="255">
+           <red>243</red>
+           <green>243</green>
+           <blue>243</blue>
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+         </gradientstop>
+         <gradientstop position="1.000000000000000">
+          <color alpha="255">
+           <red>250</red>
+           <green>250</green>
+           <blue>250</blue>
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+         </gradientstop>
+        </gradient>
+       </brush>
+      </colorrole>
+      <colorrole role="Light">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>255</red>
+         <green>255</green>
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+         <red>124</red>
+         <green>124</green>
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+      <colorrole role="Mid">
+       <brush brushstyle="SolidPattern">
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+         <red>165</red>
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+       <brush brushstyle="SolidPattern">
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+         <red>0</red>
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+      <colorrole role="BrightText">
+       <brush brushstyle="SolidPattern">
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+         <red>255</red>
+         <green>255</green>
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+      </colorrole>
+      <colorrole role="ButtonText">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>0</red>
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+           <red>250</red>
+           <green>250</green>
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+       <brush brushstyle="LinearGradientPattern">
+        <gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
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+           <red>243</red>
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+         <gradientstop position="1.000000000000000">
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+           <red>250</red>
+           <green>250</green>
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+        </gradient>
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+      <colorrole role="Shadow">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>0</red>
+         <green>0</green>
+         <blue>0</blue>
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+      </colorrole>
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+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>251</red>
+         <green>251</green>
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+      </colorrole>
+      <colorrole role="ToolTipBase">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>255</red>
+         <green>255</green>
+         <blue>220</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="ToolTipText">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>0</red>
+         <green>0</green>
+         <blue>0</blue>
+        </color>
+       </brush>
+      </colorrole>
+     </active>
+     <inactive>
+      <colorrole role="WindowText">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>0</red>
+         <green>0</green>
+         <blue>0</blue>
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+          <color alpha="255">
+           <red>243</red>
+           <green>243</green>
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+           <red>250</red>
+           <green>250</green>
+           <blue>250</blue>
+          </color>
+         </gradientstop>
+        </gradient>
+       </brush>
+      </colorrole>
+      <colorrole role="Light">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>255</red>
+         <green>255</green>
+         <blue>255</blue>
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+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>251</red>
+         <green>251</green>
+         <blue>251</blue>
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+      </colorrole>
+      <colorrole role="Dark">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>124</red>
+         <green>124</green>
+         <blue>124</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="Mid">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>165</red>
+         <green>165</green>
+         <blue>165</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="Text">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>0</red>
+         <green>0</green>
+         <blue>0</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="BrightText">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>255</red>
+         <green>255</green>
+         <blue>255</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="ButtonText">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>0</red>
+         <green>0</green>
+         <blue>0</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="Base">
+       <brush brushstyle="LinearGradientPattern">
+        <gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
+         <gradientstop position="0.000000000000000">
+          <color alpha="255">
+           <red>243</red>
+           <green>243</green>
+           <blue>243</blue>
+          </color>
+         </gradientstop>
+         <gradientstop position="1.000000000000000">
+          <color alpha="255">
+           <red>250</red>
+           <green>250</green>
+           <blue>250</blue>
+          </color>
+         </gradientstop>
+        </gradient>
+       </brush>
+      </colorrole>
+      <colorrole role="Window">
+       <brush brushstyle="LinearGradientPattern">
+        <gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
+         <gradientstop position="0.000000000000000">
+          <color alpha="255">
+           <red>243</red>
+           <green>243</green>
+           <blue>243</blue>
+          </color>
+         </gradientstop>
+         <gradientstop position="1.000000000000000">
+          <color alpha="255">
+           <red>250</red>
+           <green>250</green>
+           <blue>250</blue>
+          </color>
+         </gradientstop>
+        </gradient>
+       </brush>
+      </colorrole>
+      <colorrole role="Shadow">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>0</red>
+         <green>0</green>
+         <blue>0</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="AlternateBase">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>251</red>
+         <green>251</green>
+         <blue>251</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="ToolTipBase">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>255</red>
+         <green>255</green>
+         <blue>220</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="ToolTipText">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>0</red>
+         <green>0</green>
+         <blue>0</blue>
+        </color>
+       </brush>
+      </colorrole>
+     </inactive>
+     <disabled>
+      <colorrole role="WindowText">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>124</red>
+         <green>124</green>
+         <blue>124</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="Button">
+       <brush brushstyle="LinearGradientPattern">
+        <gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
+         <gradientstop position="0.000000000000000">
+          <color alpha="255">
+           <red>243</red>
+           <green>243</green>
+           <blue>243</blue>
+          </color>
+         </gradientstop>
+         <gradientstop position="1.000000000000000">
+          <color alpha="255">
+           <red>250</red>
+           <green>250</green>
+           <blue>250</blue>
+          </color>
+         </gradientstop>
+        </gradient>
+       </brush>
+      </colorrole>
+      <colorrole role="Light">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>255</red>
+         <green>255</green>
+         <blue>255</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="Midlight">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>251</red>
+         <green>251</green>
+         <blue>251</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="Dark">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>124</red>
+         <green>124</green>
+         <blue>124</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="Mid">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>165</red>
+         <green>165</green>
+         <blue>165</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="Text">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>124</red>
+         <green>124</green>
+         <blue>124</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="BrightText">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>255</red>
+         <green>255</green>
+         <blue>255</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="ButtonText">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>124</red>
+         <green>124</green>
+         <blue>124</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="Base">
+       <brush brushstyle="LinearGradientPattern">
+        <gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
+         <gradientstop position="0.000000000000000">
+          <color alpha="255">
+           <red>243</red>
+           <green>243</green>
+           <blue>243</blue>
+          </color>
+         </gradientstop>
+         <gradientstop position="1.000000000000000">
+          <color alpha="255">
+           <red>250</red>
+           <green>250</green>
+           <blue>250</blue>
+          </color>
+         </gradientstop>
+        </gradient>
+       </brush>
+      </colorrole>
+      <colorrole role="Window">
+       <brush brushstyle="LinearGradientPattern">
+        <gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
+         <gradientstop position="0.000000000000000">
+          <color alpha="255">
+           <red>243</red>
+           <green>243</green>
+           <blue>243</blue>
+          </color>
+         </gradientstop>
+         <gradientstop position="1.000000000000000">
+          <color alpha="255">
+           <red>250</red>
+           <green>250</green>
+           <blue>250</blue>
+          </color>
+         </gradientstop>
+        </gradient>
+       </brush>
+      </colorrole>
+      <colorrole role="Shadow">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>0</red>
+         <green>0</green>
+         <blue>0</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="AlternateBase">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>248</red>
+         <green>248</green>
+         <blue>248</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="ToolTipBase">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>255</red>
+         <green>255</green>
+         <blue>220</blue>
+        </color>
+       </brush>
+      </colorrole>
+      <colorrole role="ToolTipText">
+       <brush brushstyle="SolidPattern">
+        <color alpha="255">
+         <red>0</red>
+         <green>0</green>
+         <blue>0</blue>
+        </color>
+       </brush>
+      </colorrole>
+     </disabled>
+    </palette>
+   </property>
+   <property name="autoFillBackground">
+    <bool>false</bool>
+   </property>
+   <property name="title">
+    <string/>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+   </property>
+   <layout class="QGridLayout" name="gridLayout_10">
+    <item row="0" column="0">
+     <spacer name="horizontalSpacer_3">
+      <property name="orientation">
+       <enum>Qt::Horizontal</enum>
+      </property>
+      <property name="sizeHint" stdset="0">
+       <size>
+        <width>111</width>
+        <height>10</height>
+       </size>
+      </property>
+     </spacer>
+    </item>
+    <item row="0" column="1">
+     <widget class="QPushButton" name="stabilizationReloadBoardData_6">
+      <property name="minimumSize">
+       <size>
+        <width>120</width>
+        <height>28</height>
+       </size>
+      </property>
+      <property name="toolTip">
+       <string>Reloads the saved settings into GCS.
+Useful if you have accidentally changed some settings.</string>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+      </property>
+      <property name="text">
+       <string>Reload Board Data</string>
+      </property>
+      <property name="objrelation" stdset="0">
+       <stringlist>
+        <string>button:reload</string>
+        <string>buttongroup:10</string>
+       </stringlist>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="2">
+     <widget class="QPushButton" name="saveStabilizationToRAM_6">
+      <property name="minimumSize">
+       <size>
+        <width>60</width>
+        <height>28</height>
+       </size>
+      </property>
+      <property name="toolTip">
+       <string>Send settings to the board but do not save to the non-volatile memory</string>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+      </property>
+      <property name="text">
+       <string>Apply</string>
+      </property>
+      <property name="objrelation" stdset="0">
+       <stringlist>
+        <string>button:apply</string>
+       </stringlist>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="3">
+     <widget class="QPushButton" name="saveStabilizationToSD_6">
+      <property name="minimumSize">
+       <size>
+        <width>60</width>
+        <height>28</height>
+       </size>
+      </property>
+      <property name="toolTip">
+       <string>Send settings to the board and save to the non-volatile memory</string>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+      </property>
+      <property name="text">
+       <string>Save</string>
+      </property>
+      <property name="objrelation" stdset="0">
+       <stringlist>
+        <string>button:save</string>
+       </stringlist>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/config/config.pro b/ground/openpilotgcs/src/plugins/config/config.pro
index 8e49cb54d..1e0bdb3cb 100644
--- a/ground/openpilotgcs/src/plugins/config/config.pro
+++ b/ground/openpilotgcs/src/plugins/config/config.pro
@@ -36,7 +36,8 @@ HEADERS += configplugin.h \
     cfg_vehicletypes/configfixedwingwidget.h \
     cfg_vehicletypes/vehicleconfig.h \
     configrevowidget.h \
-    config_global.h
+    config_global.h \
+    configautotunewidget.h
 SOURCES += configplugin.cpp \
     configgadgetconfiguration.cpp \
     configgadgetwidget.cpp \
@@ -67,7 +68,8 @@ SOURCES += configplugin.cpp \
     cfg_vehicletypes/configfixedwingwidget.cpp \
     cfg_vehicletypes/configccpmwidget.cpp \
     outputchannelform.cpp \
-    cfg_vehicletypes/vehicleconfig.cpp
+    cfg_vehicletypes/vehicleconfig.cpp \
+    configautotunewidget.cpp
 FORMS += airframe.ui \
     cc_hw_settings.ui \
     pro_hw_settings.ui \
@@ -83,5 +85,13 @@ FORMS += airframe.ui \
     outputchannelform.ui \
     revosensors.ui \
     txpid.ui \
-    pipxtreme.ui
+    pipxtreme.ui \
+    autotune.ui
 RESOURCES += configgadget.qrc
+
+
+
+
+
+
+
diff --git a/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp b/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp
new file mode 100644
index 000000000..a64787580
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp
@@ -0,0 +1,31 @@
+
+#include "configautotunewidget.h"
+
+#include <QDebug>
+#include <QStringList>
+#include <QtGui/QWidget>
+#include <QtGui/QTextEdit>
+#include <QtGui/QVBoxLayout>
+#include <QtGui/QPushButton>
+#include <QDesktopServices>
+#include <QUrl>
+#include <QList>
+
+ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
+    ConfigTaskWidget(parent)
+{
+    m_autotune = new Ui_AutotuneWidget();
+    m_autotune->setupUi(this);
+
+    autoLoadWidgets();
+
+    disableMouseWheelEvents();
+}
+
+ConfigAutotuneWidget::~ConfigAutotuneWidget()
+{
+    // Do nothing
+}
+
+
+
diff --git a/ground/openpilotgcs/src/plugins/config/configautotunewidget.h b/ground/openpilotgcs/src/plugins/config/configautotunewidget.h
new file mode 100644
index 000000000..bdaa615de
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/config/configautotunewidget.h
@@ -0,0 +1,55 @@
+/**
+ ******************************************************************************
+ *
+ * @file       configautotunewidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief The Configuration Gadget used to adjust or recalculate autotuning
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef CONFIGAUTOTUNE_H
+#define CONFIGAUTOTUNE_H
+
+#include "ui_autotune.h"
+#include "../uavobjectwidgetutils/configtaskwidget.h"
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjectmanager.h"
+#include "uavobject.h"
+#include "stabilizationsettings.h"
+#include "relaytuningsettings.h"
+#include "relaytuning.h"
+#include <QtGui/QWidget>
+#include <QTimer>
+
+class ConfigAutotuneWidget : public ConfigTaskWidget
+{
+    Q_OBJECT
+public:
+    explicit ConfigAutotuneWidget(QWidget *parent = 0);
+
+private:
+    Ui_AutotuneWidget *m_autotune;
+signals:
+
+public slots:
+
+};
+
+#endif // CONFIGAUTOTUNE_H
diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
index c12dbaee8..5c4a38117 100644
--- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
@@ -32,6 +32,7 @@
 #include "configinputwidget.h"
 #include "configoutputwidget.h"
 #include "configstabilizationwidget.h"
+#include "configautotunewidget.h"
 #include "configcamerastabilizationwidget.h"
 #include "configtxpidwidget.h"
 #include "config_pro_hw_widget.h"
@@ -84,6 +85,9 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     qwd = new ConfigStabilizationWidget(this);
     ftw->insertTab(ConfigGadgetWidget::stabilization, qwd, QIcon(":/configgadget/images/gyroscope.png"), QString("Stabilization"));
 
+    qwd = new ConfigAutotuneWidget(this);
+    ftw->insertTab(ConfigGadgetWidget::autotune, qwd, QIcon(":/configgadget/images/gyroscope.png"), QString("Autotune"));
+
     qwd = new ConfigCameraStabilizationWidget(this);
     ftw->insertTab(ConfigGadgetWidget::camerastabilization, qwd, QIcon(":/configgadget/images/camera.png"), QString("Camera Stab"));
 
diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
index 5e9dc6e67..0479f5928 100644
--- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
@@ -50,7 +50,7 @@ class ConfigGadgetWidget: public QWidget
 public:
     ConfigGadgetWidget(QWidget *parent = 0);
     ~ConfigGadgetWidget();
-    enum widgetTabs {hardware=0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, pipxtreme};
+    enum widgetTabs {hardware=0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, pipxtreme, autotune};
 
 public slots:
     void onAutopilotConnect();

From dfd1aceb06be44c3ae019664c89877ac932dcd58 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 31 Jul 2012 18:04:42 -0500
Subject: [PATCH 156/543] More work on autotune from GCS

---
 .../src/plugins/config/autotune.ui            | 105 ++++++++++++++----
 .../plugins/config/configautotunewidget.cpp   |   6 -
 .../relaytuningsettings.xml                   |   2 +
 3 files changed, 87 insertions(+), 26 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/autotune.ui b/ground/openpilotgcs/src/plugins/config/autotune.ui
index 120caab94..55e4448a0 100644
--- a/ground/openpilotgcs/src/plugins/config/autotune.ui
+++ b/ground/openpilotgcs/src/plugins/config/autotune.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>443</width>
-    <height>505</height>
+    <height>560</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -19,39 +19,77 @@
      <x>20</x>
      <y>10</y>
      <width>401</width>
-     <height>121</height>
+     <height>131</height>
     </rect>
    </property>
    <property name="title">
     <string>Tuning Aggressiveness</string>
    </property>
    <layout class="QGridLayout" name="gridLayout_2">
-    <item row="0" column="0">
+    <item row="1" column="0">
      <widget class="QLabel" name="label">
       <property name="text">
        <string>Rate Tuning:</string>
       </property>
      </widget>
     </item>
-    <item row="0" column="1">
+    <item row="1" column="1">
      <widget class="QSlider" name="rateTuning">
       <property name="orientation">
        <enum>Qt::Horizontal</enum>
       </property>
+      <property name="objrelation" stdset="0">
+       <stringlist>
+        <string>obj1name:RelayTuningSettings</string>
+        <string>fieldname:RateGain</string>
+        <string>scale:0.01</string>
+        <string>haslimits:yes</string>
+       </stringlist>
+      </property>
      </widget>
     </item>
-    <item row="1" column="0">
+    <item row="2" column="0">
      <widget class="QLabel" name="label_2">
       <property name="text">
        <string>Attitude Tuning:</string>
       </property>
      </widget>
     </item>
-    <item row="1" column="1">
+    <item row="2" column="1">
      <widget class="QSlider" name="attitudeTuning">
       <property name="orientation">
        <enum>Qt::Horizontal</enum>
       </property>
+      <property name="objrelation" stdset="0">
+       <stringlist>
+        <string>obj1name:RelayTuningSettings</string>
+        <string>fieldname:AttitudeGain</string>
+        <string>elemescale:0.01</string>
+        <string>haslimits:yes</string>
+       </stringlist>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="0">
+     <widget class="QLabel" name="label_21">
+      <property name="text">
+       <string>StepSize</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="1">
+     <widget class="QSlider" name="stepSizeSlider">
+      <property name="orientation">
+       <enum>Qt::Horizontal</enum>
+      </property>
+      <property name="objrelation" stdset="0">
+       <stringlist>
+        <string>obj1name:RelatyTuningSettings</string>
+        <string>fieldname:Amplitude</string>
+        <string>scale:0.01</string>
+        <string>haslimits:yes</string>
+       </stringlist>
+      </property>
      </widget>
     </item>
    </layout>
@@ -62,7 +100,7 @@
      <x>20</x>
      <y>250</y>
      <width>401</width>
-     <height>131</height>
+     <height>121</height>
     </rect>
    </property>
    <property name="title">
@@ -112,56 +150,56 @@
      </widget>
     </item>
     <item row="1" column="1">
-     <widget class="QLabel" name="label_13">
+     <widget class="QLabel" name="rollRateKp">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="1">
-     <widget class="QLabel" name="label_14">
+     <widget class="QLabel" name="pitchRateKp">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="1" column="2">
-     <widget class="QLabel" name="label_15">
+     <widget class="QLabel" name="rollRateKi">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="2">
-     <widget class="QLabel" name="label_16">
+     <widget class="QLabel" name="pitchRateKi">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="1" column="3">
-     <widget class="QLabel" name="label_17">
+     <widget class="QLabel" name="rollAttitudeKp">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="3">
-     <widget class="QLabel" name="label_18">
+     <widget class="QLabel" name="pitchAttitudeKp">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="1" column="4">
-     <widget class="QLabel" name="label_19">
+     <widget class="QLabel" name="rollAttitudeKi">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="4">
-     <widget class="QLabel" name="label_20">
+     <widget class="QLabel" name="pitchAttitudeKi">
       <property name="text">
        <string>0</string>
       </property>
@@ -175,11 +213,11 @@
      <x>20</x>
      <y>140</y>
      <width>401</width>
-     <height>101</height>
+     <height>111</height>
     </rect>
    </property>
    <property name="title">
-    <string>Measured Values</string>
+    <string>Measured Properties</string>
    </property>
    <layout class="QGridLayout" name="gridLayout">
     <item row="1" column="0">
@@ -206,14 +244,14 @@
     <item row="0" column="1">
      <widget class="QLabel" name="label_6">
       <property name="text">
-       <string>Period</string>
+       <string>Period (ms)</string>
       </property>
      </widget>
     </item>
     <item row="0" column="2">
      <widget class="QLabel" name="label_7">
       <property name="text">
-       <string>Amplitude</string>
+       <string>Amplitude (deg/s)</string>
       </property>
      </widget>
     </item>
@@ -244,7 +282,7 @@
    <property name="geometry">
     <rect>
      <x>20</x>
-     <y>400</y>
+     <y>480</y>
      <width>401</width>
      <height>79</height>
     </rect>
@@ -934,6 +972,33 @@ border-radius: 4;
     </item>
    </layout>
   </widget>
+  <widget class="QLabel" name="label_22">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>440</y>
+     <width>371</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>The buttons below change the autotuning settings which
+will alter thingsfor the next autotuning flight</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="useComputedValues">
+   <property name="geometry">
+    <rect>
+     <x>270</x>
+     <y>380</y>
+     <width>161</width>
+     <height>24</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Use Computed Values</string>
+   </property>
+  </widget>
  </widget>
  <resources/>
  <connections/>
diff --git a/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp b/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp
index a64787580..4e61f473b 100644
--- a/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp
@@ -22,10 +22,4 @@ ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
     disableMouseWheelEvents();
 }
 
-ConfigAutotuneWidget::~ConfigAutotuneWidget()
-{
-    // Do nothing
-}
-
-
 
diff --git a/shared/uavobjectdefinition/relaytuningsettings.xml b/shared/uavobjectdefinition/relaytuningsettings.xml
index 46a5bc124..c73f786e7 100644
--- a/shared/uavobjectdefinition/relaytuningsettings.xml
+++ b/shared/uavobjectdefinition/relaytuningsettings.xml
@@ -1,6 +1,8 @@
 <xml>
     <object name="RelayTuningSettings" singleinstance="true" settings="true">
         <description>Setting to run a relay tuning algorithm</description>
+	<field name="RateGain" units="" type="float" elements="1" defaultvalue="0.5"/>
+	<field name="AttitudeGain" units="" type="float" elements="1" defaultvalue="0.5"/>
 	<field name="Amplitude" units="" type="float" elements="1" defaultvalue="0.05"/>
 	<access gcs="readwrite" flight="readwrite"/>
 	<telemetrygcs acked="true" updatemode="onchange" period="0"/>

From 52ffec0be4ec8beb208845984e9407e1b23996d1 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 31 Jul 2012 21:39:26 -0500
Subject: [PATCH 157/543] Increase the initial tuning amplitude to 0.15

---
 shared/uavobjectdefinition/relaytuningsettings.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/shared/uavobjectdefinition/relaytuningsettings.xml b/shared/uavobjectdefinition/relaytuningsettings.xml
index c73f786e7..37b60f740 100644
--- a/shared/uavobjectdefinition/relaytuningsettings.xml
+++ b/shared/uavobjectdefinition/relaytuningsettings.xml
@@ -3,7 +3,7 @@
         <description>Setting to run a relay tuning algorithm</description>
 	<field name="RateGain" units="" type="float" elements="1" defaultvalue="0.5"/>
 	<field name="AttitudeGain" units="" type="float" elements="1" defaultvalue="0.5"/>
-	<field name="Amplitude" units="" type="float" elements="1" defaultvalue="0.05"/>
+	<field name="Amplitude" units="" type="float" elements="1" defaultvalue="0.15"/>
 	<access gcs="readwrite" flight="readwrite"/>
 	<telemetrygcs acked="true" updatemode="onchange" period="0"/>
 	<telemetryflight acked="true" updatemode="onchange" period="0"/>

From 5c00451c9ed2d0901f0af79aaaf4c24e31204a3e Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 1 Aug 2012 01:13:05 -0500
Subject: [PATCH 158/543] Remove unused value field from the relaytuning object

---
 shared/uavobjectdefinition/relaytuning.xml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/shared/uavobjectdefinition/relaytuning.xml b/shared/uavobjectdefinition/relaytuning.xml
index ef54f8b7f..297b44686 100644
--- a/shared/uavobjectdefinition/relaytuning.xml
+++ b/shared/uavobjectdefinition/relaytuning.xml
@@ -1,7 +1,6 @@
 <xml>
     <object name="RelayTuning" singleinstance="true" settings="false">
         <description>The input to the relay tuning.</description>
-	<field name="Value" units="deg/s" type="float" elements="1"/>
 	<field name="Period" units="ms" type="float" elementnames="Roll,Pitch,Yaw"/>
 	<field name="Amplitude" units="deg/s" type="float" elementnames="Roll,Pitch,Yaw"/>
         <access gcs="readwrite" flight="readwrite"/>

From 7ea14ecc22fa0dac3155f9bbb06209d5ae255d04 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 1 Aug 2012 01:21:57 -0500
Subject: [PATCH 159/543] Track the output gain instead of amplitude so the
 measured values are consistent if the settings are changed afterwards.

---
 flight/Modules/Autotune/autotune.c         | 5 +----
 shared/uavobjectdefinition/relaytuning.xml | 2 +-
 2 files changed, 2 insertions(+), 5 deletions(-)

diff --git a/flight/Modules/Autotune/autotune.c b/flight/Modules/Autotune/autotune.c
index 754136b83..41e8a9542 100644
--- a/flight/Modules/Autotune/autotune.c
+++ b/flight/Modules/Autotune/autotune.c
@@ -254,16 +254,13 @@ static void update_stabilization_settings()
 	const float gain_ratio_p = 1.0f / 5.0f;
 	const float zero_ratio_p = 1.0f / 5.0f;
 
-	float input = relaySettings.Amplitude * 4.0f / M_PI;      // amplitude of input (fundamental component of fourier series for the square wave)
-
 	// For now just run over roll and pitch
 	for (uint i = 0; i < 2; i++) {
-		float output = relayTuning.Amplitude[i];               // amplitude of sinusoidal oscillation in output
 		float wu = 1000.0f * 2 * M_PI / relayTuning.Period[i]; // ultimate freq = output osc freq (rad/s)
 
 		float wc = wu * gain_ratio_r;      // target openloop crossover frequency (rad/s)
 		float zc = wc * zero_ratio_r;      // controller zero location (rad/s)
-		float kpu = input / output;        // ultimate gain, i.e. the proportional gain for instablity
+		float kpu = 4.0f / M_PI / relayTuning.Gain[i];  // ultimate gain, i.e. the proportional gain for instablity
 		float kp = kpu * gain_ratio_r;     // proportional gain
 		float ki = zc * kp;                // integral gain
 
diff --git a/shared/uavobjectdefinition/relaytuning.xml b/shared/uavobjectdefinition/relaytuning.xml
index 297b44686..d781e45ca 100644
--- a/shared/uavobjectdefinition/relaytuning.xml
+++ b/shared/uavobjectdefinition/relaytuning.xml
@@ -2,7 +2,7 @@
     <object name="RelayTuning" singleinstance="true" settings="false">
         <description>The input to the relay tuning.</description>
 	<field name="Period" units="ms" type="float" elementnames="Roll,Pitch,Yaw"/>
-	<field name="Amplitude" units="deg/s" type="float" elementnames="Roll,Pitch,Yaw"/>
+	<field name="Gain" units="(deg/s)/output" type="float" elementnames="Roll,Pitch,Yaw"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>

From 28539a80d19edc861cecd8b2ed0d25e32e4936ac Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 1 Aug 2012 01:38:40 -0500
Subject: [PATCH 160/543] Change default tuning settings

---
 shared/uavobjectdefinition/relaytuningsettings.xml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/shared/uavobjectdefinition/relaytuningsettings.xml b/shared/uavobjectdefinition/relaytuningsettings.xml
index 37b60f740..abfa78a2a 100644
--- a/shared/uavobjectdefinition/relaytuningsettings.xml
+++ b/shared/uavobjectdefinition/relaytuningsettings.xml
@@ -1,9 +1,11 @@
 <xml>
     <object name="RelayTuningSettings" singleinstance="true" settings="true">
         <description>Setting to run a relay tuning algorithm</description>
-	<field name="RateGain" units="" type="float" elements="1" defaultvalue="0.5"/>
-	<field name="AttitudeGain" units="" type="float" elements="1" defaultvalue="0.5"/>
+	<field name="RateGain" units="" type="float" elements="1" defaultvalue="0.3333"/>
+	<field name="AttitudeGain" units="" type="float" elements="1" defaultvalue="0.2"/>
 	<field name="Amplitude" units="" type="float" elements="1" defaultvalue="0.15"/>
+	<field name="Mode" units="" type="enum" elements="1" options="Rate,Attitude" defaultvalue="Rate"/>
+	<field name="Behavior" units="" type="enum" elements="1" options="Measure,Compute,Save" defaultvalue="Compute"/>
 	<access gcs="readwrite" flight="readwrite"/>
 	<telemetrygcs acked="true" updatemode="onchange" period="0"/>
 	<telemetryflight acked="true" updatemode="onchange" period="0"/>

From 24d9e50c0808aaff47a23b36517958ba9b984f07 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 1 Aug 2012 02:09:10 -0500
Subject: [PATCH 161/543] Based on the selected behavior either apply or save
 the stabilization settings

---
 flight/Modules/Autotune/autotune.c | 14 +++++++++++++-
 1 file changed, 13 insertions(+), 1 deletion(-)

diff --git a/flight/Modules/Autotune/autotune.c b/flight/Modules/Autotune/autotune.c
index 41e8a9542..1a26115ff 100644
--- a/flight/Modules/Autotune/autotune.c
+++ b/flight/Modules/Autotune/autotune.c
@@ -288,7 +288,19 @@ static void update_stabilization_settings()
 				break;
 		}
 	}
-	StabilizationSettingsSet(&stabSettings);
+	switch(relaySettings.Behavior) {
+		case RELAYTUNINGSETTINGS_BEHAVIOR_MEASURE:
+			// Just measure, don't update the stab settings
+			break;
+		case RELAYTUNINGSETTINGS_BEHAVIOR_COMPUTE:
+			StabilizationSettingsSet(&stabSettings);
+			break;
+		case RELAYTUNINGSETTINGS_BEHAVIOR_SAVE:
+			StabilizationSettingsSet(&stabSettings);
+			UAVObjSave(StabilizationSettingsHandle(), 0);
+			break;
+	}
+	
 }
 
 /**

From 2ccd6605a465d9183352ad997e62f676dc8ac05c Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 1 Aug 2012 02:56:08 -0500
Subject: [PATCH 162/543] Now the stabilization refactor is in we can make
 swapping between tuning the system in rate or attitude mode software
 configurable.

---
 flight/Modules/Autotune/autotune.c                  | 13 ++++++++++---
 flight/Modules/ManualControl/manualcontrol.c        |  9 ++++++---
 .../uavobjectdefinition/manualcontrolsettings.xml   |  6 +++---
 shared/uavobjectdefinition/stabilizationdesired.xml |  2 +-
 4 files changed, 20 insertions(+), 10 deletions(-)

diff --git a/flight/Modules/Autotune/autotune.c b/flight/Modules/Autotune/autotune.c
index 1a26115ff..776e9b842 100644
--- a/flight/Modules/Autotune/autotune.c
+++ b/flight/Modules/Autotune/autotune.c
@@ -144,7 +144,12 @@ static void AutotuneTask(void *parameters)
 		ManualControlCommandData manualControl;
 		ManualControlCommandGet(&manualControl);
 
-		if (0) { // rate mode
+		RelayTuningSettingsData relaySettings;
+		RelayTuningSettingsGet(&relaySettings);
+
+		bool rate = relaySettings.Mode == RELAYTUNINGSETTINGS_MODE_RATE;
+
+		if (rate) { // rate mode
 			stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL]  = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
 			stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
 
@@ -188,7 +193,8 @@ static void AutotuneTask(void *parameters)
 				diffTime = xTaskGetTickCount() - lastUpdateTime;
 
 				// Run relay mode on the roll axis for the measurement time
-				stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY;
+				stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = rate ? STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE :
+					STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE;
 				if (diffTime > MEAURE_TIME) { // Move on to next state
 					state = AT_PITCH;
 					lastUpdateTime = xTaskGetTickCount();
@@ -200,7 +206,8 @@ static void AutotuneTask(void *parameters)
 				diffTime = xTaskGetTickCount() - lastUpdateTime;
 
 				// Run relay mode on the pitch axis for the measurement time
-				stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY;
+				stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = rate ? STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE :
+					STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE;
 				if (diffTime > MEAURE_TIME) { // Move on to next state
 					state = AT_FINISHED;
 					lastUpdateTime = xTaskGetTickCount();
diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index 3dc4c53bc..22ced4c82 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -589,7 +589,8 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll :
-	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
+	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
+	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Roll * stabSettings.RollMax :
 	     0; // this is an invalid mode
 					      ;
 	stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
@@ -598,7 +599,8 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch :
-	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
+	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
+	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
 	     0; // this is an invalid mode
 
 	stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
@@ -607,7 +609,8 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw :
-	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
+	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
+	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
 	     0; // this is an invalid mode
 
 	stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml
index b9babcc4d..6a4dab0a9 100644
--- a/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -18,9 +18,9 @@
         <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
 
 	<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
-        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Relay" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Relay" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Relay" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
 
 	<!-- Note these options values should be identical to those defined in FlightMode -->
         <field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
diff --git a/shared/uavobjectdefinition/stabilizationdesired.xml b/shared/uavobjectdefinition/stabilizationdesired.xml
index f24dd9eeb..8c400e68d 100644
--- a/shared/uavobjectdefinition/stabilizationdesired.xml
+++ b/shared/uavobjectdefinition/stabilizationdesired.xml
@@ -6,7 +6,7 @@
         <field name="Yaw" units="degrees" type="float" elements="1"/>
         <field name="Throttle" units="%" type="float" elements="1"/>
 	<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
-        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Relay"/>
+        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>

From c3df203d7ccc4b2a2650fed7686de00fc567c76a Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 1 Aug 2012 02:56:54 -0500
Subject: [PATCH 163/543] Make the autotune UI allow recomputing the values
 based on the measured system properties.

---
 .../src/plugins/config/autotune.ui            | 163 +++++++++++++-----
 .../plugins/config/configautotunewidget.cpp   | 113 +++++++++++-
 .../src/plugins/config/configautotunewidget.h |   5 +
 3 files changed, 238 insertions(+), 43 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/autotune.ui b/ground/openpilotgcs/src/plugins/config/autotune.ui
index 55e4448a0..113144535 100644
--- a/ground/openpilotgcs/src/plugins/config/autotune.ui
+++ b/ground/openpilotgcs/src/plugins/config/autotune.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>443</width>
-    <height>560</height>
+    <height>575</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -26,68 +26,52 @@
     <string>Tuning Aggressiveness</string>
    </property>
    <layout class="QGridLayout" name="gridLayout_2">
-    <item row="1" column="0">
+    <item row="0" column="0">
      <widget class="QLabel" name="label">
       <property name="text">
        <string>Rate Tuning:</string>
       </property>
      </widget>
     </item>
-    <item row="1" column="1">
-     <widget class="QSlider" name="rateTuning">
-      <property name="orientation">
-       <enum>Qt::Horizontal</enum>
-      </property>
-      <property name="objrelation" stdset="0">
-       <stringlist>
-        <string>obj1name:RelayTuningSettings</string>
-        <string>fieldname:RateGain</string>
-        <string>scale:0.01</string>
-        <string>haslimits:yes</string>
-       </stringlist>
-      </property>
-     </widget>
-    </item>
-    <item row="2" column="0">
+    <item row="1" column="0">
      <widget class="QLabel" name="label_2">
       <property name="text">
        <string>Attitude Tuning:</string>
       </property>
      </widget>
     </item>
-    <item row="2" column="1">
-     <widget class="QSlider" name="attitudeTuning">
+    <item row="0" column="1">
+     <widget class="QSlider" name="rateTuning">
+      <property name="maximum">
+       <number>100</number>
+      </property>
       <property name="orientation">
        <enum>Qt::Horizontal</enum>
       </property>
       <property name="objrelation" stdset="0">
        <stringlist>
-        <string>obj1name:RelayTuningSettings</string>
-        <string>fieldname:AttitudeGain</string>
-        <string>elemescale:0.01</string>
-        <string>haslimits:yes</string>
+        <string>objname:RelayTuningSettings</string>
+        <string>fieldname:RateGain</string>
+        <string>scale:0.01</string>
+        <string>haslimits:no</string>
        </stringlist>
       </property>
      </widget>
     </item>
-    <item row="0" column="0">
-     <widget class="QLabel" name="label_21">
-      <property name="text">
-       <string>StepSize</string>
+    <item row="1" column="1">
+     <widget class="QSlider" name="attitudeTuning">
+      <property name="maximum">
+       <number>100</number>
       </property>
-     </widget>
-    </item>
-    <item row="0" column="1">
-     <widget class="QSlider" name="stepSizeSlider">
       <property name="orientation">
        <enum>Qt::Horizontal</enum>
       </property>
       <property name="objrelation" stdset="0">
        <stringlist>
-        <string>obj1name:RelatyTuningSettings</string>
-        <string>fieldname:Amplitude</string>
+        <string>objname:RelayTuningSettings</string>
+        <string>fieldname:AttitudeGain</string>
         <string>scale:0.01</string>
-        <string>haslimits:yes</string>
+        <string>haslimits:no</string>
        </stringlist>
       </property>
      </widget>
@@ -232,13 +216,33 @@
       <property name="text">
        <string>0</string>
       </property>
+      <property name="alignment">
+       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+      </property>
+      <property name="objrelation" stdset="0">
+       <stringlist>
+        <string>objname:RelayTuning</string>
+        <string>fieldname:Period</string>
+        <string>element:Roll</string>
+       </stringlist>
+      </property>
      </widget>
     </item>
     <item row="1" column="2">
-     <widget class="QLabel" name="measuredRollAmplitude">
+     <widget class="QLabel" name="measuredRollGain">
       <property name="text">
        <string>0</string>
       </property>
+      <property name="alignment">
+       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+      </property>
+      <property name="objrelation" stdset="0">
+       <stringlist>
+        <string>objname:RelayTuning</string>
+        <string>fieldname:Gain</string>
+        <string>element:Roll</string>
+       </stringlist>
+      </property>
      </widget>
     </item>
     <item row="0" column="1">
@@ -251,7 +255,7 @@
     <item row="0" column="2">
      <widget class="QLabel" name="label_7">
       <property name="text">
-       <string>Amplitude (deg/s)</string>
+       <string>Gain (deg/s) / output</string>
       </property>
      </widget>
     </item>
@@ -267,13 +271,33 @@
       <property name="text">
        <string>0</string>
       </property>
+      <property name="alignment">
+       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+      </property>
+      <property name="objrelation" stdset="0">
+       <stringlist>
+        <string>objname:RelayTuning</string>
+        <string>fieldname:Period</string>
+        <string>element:Pitch</string>
+       </stringlist>
+      </property>
      </widget>
     </item>
     <item row="2" column="2">
-     <widget class="QLabel" name="measuredPitchPeriod_2">
+     <widget class="QLabel" name="measuredPitchGain">
       <property name="text">
        <string>0</string>
       </property>
+      <property name="alignment">
+       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+      </property>
+      <property name="objrelation" stdset="0">
+       <stringlist>
+        <string>objname:RelayTuning</string>
+        <string>fieldname:Gain</string>
+        <string>element:Pitch</string>
+       </stringlist>
+      </property>
      </widget>
     </item>
    </layout>
@@ -989,14 +1013,69 @@ will alter thingsfor the next autotuning flight</string>
   <widget class="QPushButton" name="useComputedValues">
    <property name="geometry">
     <rect>
-     <x>270</x>
+     <x>250</x>
      <y>380</y>
-     <width>161</width>
-     <height>24</height>
+     <width>171</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+   </property>
+   <property name="text">
+    <string>Apply Computed Values</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_21">
+   <property name="geometry">
+    <rect>
+     <x>40</x>
+     <y>410</y>
+     <width>104</width>
+     <height>20</height>
     </rect>
    </property>
    <property name="text">
-    <string>Use Computed Values</string>
+    <string>Step Size</string>
+   </property>
+  </widget>
+  <widget class="QSlider" name="stepSizeSlider">
+   <property name="geometry">
+    <rect>
+     <x>149</x>
+     <y>410</y>
+     <width>266</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="orientation">
+    <enum>Qt::Horizontal</enum>
+   </property>
+   <property name="objrelation" stdset="0">
+    <stringlist>
+     <string>objname:RelayTuningSettings</string>
+     <string>fieldname:Amplitude</string>
+     <string>scale:0.01</string>
+     <string>haslimits:no</string>
+    </stringlist>
    </property>
   </widget>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp b/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp
index 4e61f473b..6bef18130 100644
--- a/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp
@@ -10,6 +10,9 @@
 #include <QDesktopServices>
 #include <QUrl>
 #include <QList>
+#include "relaytuningsettings.h"
+#include "relaytuning.h"
+#include "stabilizationsettings.h"
 
 ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
     ConfigTaskWidget(parent)
@@ -17,9 +20,117 @@ ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
     m_autotune = new Ui_AutotuneWidget();
     m_autotune->setupUi(this);
 
+    // Connect automatic signals
     autoLoadWidgets();
-
     disableMouseWheelEvents();
+
+    // Whenever any value changes compute new potential stabilization settings
+    connect(m_autotune->rateTuning, SIGNAL(valueChanged(int)), this, SLOT(recomputeStabilization()));
+    connect(m_autotune->attitudeTuning, SIGNAL(valueChanged(int)), this, SLOT(recomputeStabilization()));
+
+    RelayTuning *relayTuning = RelayTuning::GetInstance(getObjectManager());
+    Q_ASSERT(relayTuning);
+    if(relayTuning)
+        connect(relayTuning, SIGNAL(updateRequested(UAVObject*)), this, SLOT(recomputeStabilization()));
+
+    // Connect the apply button for the stabilization settings
+    connect(m_autotune->useComputedValues, SIGNAL(pressed()), this, SLOT(saveStabilization()));
 }
 
+/**
+  * Apply the stabilization settings computed
+  */
+void ConfigAutotuneWidget::saveStabilization()
+{
+    StabilizationSettings *stabilizationSettings = StabilizationSettings::GetInstance(getObjectManager());
+    Q_ASSERT(stabilizationSettings);
+    if(!stabilizationSettings)
+        return;
 
+    // Make sure to recompute in case the other stab settings changed since
+    // the last time
+    recomputeStabilization();
+
+    // Apply this data to the board
+    stabilizationSettings->setData(stabSettings);
+    stabilizationSettings->updated();
+}
+
+/**
+  * Called whenever the gain ratios or measured values
+  * are changed
+  */
+void ConfigAutotuneWidget::recomputeStabilization()
+{
+    RelayTuningSettings *relayTuningSettings = RelayTuningSettings::GetInstance(getObjectManager());
+    Q_ASSERT(relayTuningSettings);
+    if (!relayTuningSettings)
+        return;
+
+    RelayTuning *relayTuning = RelayTuning::GetInstance(getObjectManager());
+    Q_ASSERT(relayTuning);
+    if(!relayTuning)
+        return;
+
+    StabilizationSettings *stabilizationSettings = StabilizationSettings::GetInstance(getObjectManager());
+    Q_ASSERT(stabilizationSettings);
+    if(!stabilizationSettings)
+        return;
+
+    RelayTuning::DataFields relayTuningData = relayTuning->getData();
+    RelayTuningSettings::DataFields tuningSettingsData = relayTuningSettings->getData();
+    stabSettings = stabilizationSettings->getData();
+
+    // Need to divide these by 100 because that is what the .ui file does
+    // to get the UAVO
+    const double gain_ratio_r = m_autotune->rateTuning->value() / 100.0;
+    const double zero_ratio_r = m_autotune->rateTuning->value() / 100.0;
+    const double gain_ratio_p = m_autotune->attitudeTuning->value() / 100.0;
+    const double zero_ratio_p = m_autotune->attitudeTuning->value() / 100.0;
+
+    // For now just run over roll and pitch
+    for (int i = 0; i < 2; i++) {
+        if (relayTuningData.Period[i] == 0 || relayTuningData.Gain[i] == 0)
+            continue;
+
+        double wu = 1000.0 * 2 * M_PI / relayTuningData.Period[i]; // ultimate freq = output osc freq (rad/s)
+
+        double wc = wu * gain_ratio_r;      // target openloop crossover frequency (rad/s)
+        double zc = wc * zero_ratio_r;      // controller zero location (rad/s)
+        double kpu = 4.0f / M_PI / relayTuningData.Gain[i];  // ultimate gain, i.e. the proportional gain for instablity
+        double kp = kpu * gain_ratio_r;     // proportional gain
+        double ki = zc * kp;                // integral gain
+
+        // Now calculate gains for the next loop out knowing it is the integral of
+        // the inner loop -- the plant is position/velocity = scale*1/s
+        double wc2 = wc * gain_ratio_p;          // crossover of the attitude loop
+        double kp2 = wc2;                       // kp of attitude
+        double ki2 = wc2 * zero_ratio_p * kp2;  // ki of attitude
+
+        switch(i) {
+        case 0: // Roll
+
+            stabSettings.RollRatePID[StabilizationSettings::ROLLRATEPID_KP] = kp;
+            stabSettings.RollRatePID[StabilizationSettings::ROLLRATEPID_KI] = ki;
+            stabSettings.RollPI[StabilizationSettings::ROLLPI_KP] = kp2;
+            stabSettings.RollPI[StabilizationSettings::ROLLPI_KI] = ki2;
+            break;
+        case 1: // Pitch
+            stabSettings.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP] = kp;
+            stabSettings.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI] = ki;
+            stabSettings.PitchPI[StabilizationSettings::PITCHPI_KP] = kp2;
+            stabSettings.PitchPI[StabilizationSettings::PITCHPI_KI] = ki2;
+            break;
+        }
+    }
+
+    // Display these computed settings
+    m_autotune->rollRateKp->setText(QString().number(stabSettings.RollRatePID[StabilizationSettings::ROLLRATEPID_KP]));
+    m_autotune->rollRateKi->setText(QString().number(stabSettings.RollRatePID[StabilizationSettings::ROLLRATEPID_KI]));
+    m_autotune->rollAttitudeKp->setText(QString().number(stabSettings.RollPI[StabilizationSettings::ROLLPI_KP]));
+    m_autotune->rollAttitudeKi->setText(QString().number(stabSettings.RollPI[StabilizationSettings::ROLLPI_KI]));
+    m_autotune->pitchRateKp->setText(QString().number(stabSettings.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP]));
+    m_autotune->pitchRateKi->setText(QString().number(stabSettings.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI]));
+    m_autotune->pitchAttitudeKp->setText(QString().number(stabSettings.PitchPI[StabilizationSettings::PITCHPI_KP]));
+    m_autotune->pitchAttitudeKi->setText(QString().number(stabSettings.PitchPI[StabilizationSettings::PITCHPI_KI]));
+}
diff --git a/ground/openpilotgcs/src/plugins/config/configautotunewidget.h b/ground/openpilotgcs/src/plugins/config/configautotunewidget.h
index bdaa615de..7a89ed373 100644
--- a/ground/openpilotgcs/src/plugins/config/configautotunewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configautotunewidget.h
@@ -46,10 +46,15 @@ public:
 
 private:
     Ui_AutotuneWidget *m_autotune;
+    StabilizationSettings::DataFields stabSettings;
+
 signals:
 
 public slots:
 
+private slots:
+    void recomputeStabilization();
+    void saveStabilization();
 };
 
 #endif // CONFIGAUTOTUNE_H

From d0ef95ff9a9269171c2589359b96ba5651834bc1 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 1 Aug 2012 03:08:51 -0500
Subject: [PATCH 164/543] Fix idiotic bug in the stab_refactor

---
 flight/Modules/Stabilization/stabilization.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 0b15b60cd..6f398ed3e 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -245,7 +245,7 @@ static void stabilizationTask(void* parameters)
 		for(uint8_t i=0; i< MAX_AXES; i++)
 		{
 			// Check whether this axis mode needs to be reinitialized
-			bool reinit = (stabDesired.StabilizationMode[i] == previous_mode[i]);
+			bool reinit = (stabDesired.StabilizationMode[i] != previous_mode[i]);
 			previous_mode[i] = stabDesired.StabilizationMode[i];
 
 			// Apply the selected control law

From 652647fc87ab8f8138d29896bce17b8346fc9f0b Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 1 Aug 2012 11:04:37 -0500
Subject: [PATCH 165/543] Make autotuning module optional

---
 flight/Modules/Autotune/autotune.c        | 29 ++++++++++++++++++-----
 flight/PiOS/Boards/STM32103CB_CC_Rev1.h   |  1 +
 shared/uavobjectdefinition/hwsettings.xml |  2 +-
 shared/uavobjectdefinition/taskinfo.xml   |  6 ++---
 4 files changed, 28 insertions(+), 10 deletions(-)

diff --git a/flight/Modules/Autotune/autotune.c b/flight/Modules/Autotune/autotune.c
index 776e9b842..ec44a7b72 100644
--- a/flight/Modules/Autotune/autotune.c
+++ b/flight/Modules/Autotune/autotune.c
@@ -50,6 +50,7 @@
 
 #include "pios.h"
 #include "flightstatus.h"
+#include "hwsettings.h"
 #include "manualcontrolcommand.h"
 #include "manualcontrolsettings.h"
 #include "relaytuning.h"
@@ -67,6 +68,7 @@ enum AUTOTUNE_STATE {AT_INIT, AT_START, AT_ROLL, AT_PITCH, AT_FINISHED, AT_SET};
 
 // Private variables
 static xTaskHandle taskHandle;
+static bool autotuneEnabled;
 
 // Private functions
 static void AutotuneTask(void *parameters);
@@ -79,6 +81,19 @@ static void update_stabilization_settings();
 int32_t AutotuneInitialize(void)
 {
 	// Create a queue, connect to manual control command and flightstatus
+#ifdef MODULE_AUTOTUNE_BUILTIN
+	autotuneEnabled = true;
+#else
+	HwSettingsInitialize();
+	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
+
+	HwSettingsOptionalModulesGet(optionalModules);
+
+	if (optionalModules[HWSETTINGS_OPTIONALMODULES_AUTOTUNE] == HWSETTINGS_OPTIONALMODULES_ENABLED)
+		autotuneEnabled = true;
+	else
+		autotuneEnabled = false;
+#endif
 
 	return 0;
 }
@@ -89,13 +104,13 @@ int32_t AutotuneInitialize(void)
  */
 int32_t AutotuneStart(void)
 {
-	
-	// Start main task
-	xTaskCreate(AutotuneTask, (signed char *)"Autotune", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
+	// Start main task if it is enabled
+	if(autotuneEnabled) {
+		xTaskCreate(AutotuneTask, (signed char *)"Autotune", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
 
-	//TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
-	//PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
-	
+		TaskMonitorAdd(TASKINFO_RUNNING_AUTOTUNE, taskHandle);
+		PIOS_WDG_RegisterFlag(PIOS_WDG_AUTOTUNE);
+	}
 	return 0;
 }
 
@@ -113,6 +128,8 @@ static void AutotuneTask(void *parameters)
 	portTickType lastUpdateTime = xTaskGetTickCount();
 
 	while(1) {
+
+		PIOS_WDG_UpdateFlag(PIOS_WDG_AUTOTUNE);
 		// TODO:
 		// 1. get from queue
 		// 2. based on whether it is flightstatus or manualcontrol
diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
index 10a7a41cd..85143fc17 100644
--- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
+++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
@@ -74,6 +74,7 @@ TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
 #define PIOS_WDG_STABILIZATION   0x0002
 #define PIOS_WDG_ATTITUDE        0x0004
 #define PIOS_WDG_MANUAL          0x0008
+#define PIOS_WDG_AUTOTUNE        0x0010
 
 //------------------------
 // TELEMETRY
diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml
index 0cee2a6d9..0a09a7620 100644
--- a/shared/uavobjectdefinition/hwsettings.xml
+++ b/shared/uavobjectdefinition/hwsettings.xml
@@ -18,7 +18,7 @@
 		<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,Disabled" defaultvalue="USBTelemetry"/>
 		<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/>
 
-		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,TxPID" options="Disabled,Enabled" defaultvalue="Disabled"/>
+		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,TxPID,Autotune" options="Disabled,Enabled" defaultvalue="Disabled"/>
 		<field name="DSMxBind" units=""  type="uint8"  elements="1" defaultvalue="0"/>
 
 		<access gcs="readwrite" flight="readwrite"/>
diff --git a/shared/uavobjectdefinition/taskinfo.xml b/shared/uavobjectdefinition/taskinfo.xml
index 40f0d4bdf..97582f7e5 100644
--- a/shared/uavobjectdefinition/taskinfo.xml
+++ b/shared/uavobjectdefinition/taskinfo.xml
@@ -1,9 +1,9 @@
 <xml>
     <object name="TaskInfo" singleinstance="true" settings="false">
         <description>Task information</description>
-        <field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
-	<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
-	<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
+        <field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune"/>
+	<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune"/>
+	<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="periodic" period="10000"/>

From 561cf994b0cbba6c756fad3f653e6cf84d6bd7d0 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 1 Aug 2012 12:07:52 -0500
Subject: [PATCH 166/543] Reduce the memory footprint of the sin lookup table
 by using sin(x+pi) = -sin(x).  Still just needs to move into flash and have
 some options about precision when in its own library function.

---
 flight/Modules/Autotune/autotune.c           |  2 +-
 flight/Modules/Stabilization/stabilization.c | 21 ++++++++++++++------
 2 files changed, 16 insertions(+), 7 deletions(-)

diff --git a/flight/Modules/Autotune/autotune.c b/flight/Modules/Autotune/autotune.c
index ec44a7b72..7073d6395 100644
--- a/flight/Modules/Autotune/autotune.c
+++ b/flight/Modules/Autotune/autotune.c
@@ -60,7 +60,7 @@
 #include <pios_board_info.h>
  
 // Private constants
-#define STACK_SIZE_BYTES 1024
+#define STACK_SIZE_BYTES 824
 #define TASK_PRIORITY (tskIDLE_PRIORITY+2)
 
 // Private types
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 6f398ed3e..a37b1aca5 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -92,7 +92,7 @@ int8_t vbar_gyros_suppress;
 bool vbar_piro_comp = false;
 
 // TODO: Move this to flash
-static float sin_lookup[360];
+static float sin_lookup[180];
 
 // Private functions
 static void stabilizationTask(void* parameters);
@@ -101,6 +101,15 @@ static float bound(float val, float range);
 static void ZeroPids(void);
 static void SettingsUpdatedCb(UAVObjEvent * ev);
 
+//! Uses the lookup table to calculate sine (angle is in degrees)
+static float sin_l(int angle) {
+	angle = angle % 360;
+	if (angle > 180)
+		return - sin_lookup[angle-180];
+	else
+		return sin_lookup[angle];
+}
+
 /**
  * Module initialization
  */
@@ -110,7 +119,7 @@ int32_t StabilizationStart()
 	// Create object queue
 	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
 
-	for(uint32_t i = 0; i < 360; i++)
+	for(uint32_t i = 0; i < 180; i++)
 		sin_lookup[i] = sinf((float)i * 2 * M_PI / 360.0f);
 
 	// Listen for updates.
@@ -409,8 +418,8 @@ static void stabilizationTask(void* parameters)
 					uint32_t phase = 360 * dT / relay.Period[i];
 					if(phase >= 360)
 						phase = 1;
-					accum_sin += sin_lookup[phase] * error;
-					accum_cos += sin_lookup[(phase + 90) % 360] * error;
+					accum_sin += sin_l(phase) * error;
+					accum_cos += sin_l(phase + 90) * error;
 					accumulated ++;
 
 					// Make susre we've had enough time since last transition then check for a change in the output
@@ -491,8 +500,8 @@ static void stabilizationTask(void* parameters)
 					uint32_t phase = 360 * dT / relay.Period[i];
 					if(phase >= 360)
 						phase = 1;
-					accum_sin += sin_lookup[phase] * error;
-					accum_cos += sin_lookup[(phase + 90) % 360] * error;
+					accum_sin += sin_l(phase) * error;
+					accum_cos += sin_l(phase + 90) * error;
 					accumulated ++;
 
 					// Make susre we've had enough time since last transition then check for a change in the output

From ee4bb84e362aa4032eaf6de08ed3a0ddfdef3f23 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 1 Aug 2012 12:20:36 -0500
Subject: [PATCH 167/543] Fix: Increase teh memory for autotune back to 1024
 which leaves 100 free.

---
 flight/Modules/Autotune/autotune.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flight/Modules/Autotune/autotune.c b/flight/Modules/Autotune/autotune.c
index 7073d6395..ec44a7b72 100644
--- a/flight/Modules/Autotune/autotune.c
+++ b/flight/Modules/Autotune/autotune.c
@@ -60,7 +60,7 @@
 #include <pios_board_info.h>
  
 // Private constants
-#define STACK_SIZE_BYTES 824
+#define STACK_SIZE_BYTES 1024
 #define TASK_PRIORITY (tskIDLE_PRIORITY+2)
 
 // Private types

From 8565dfbcc3c415b20775101d7a8452b2cc7991d7 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 1 Aug 2012 17:52:53 -0500
Subject: [PATCH 168/543] Factor the relay tuning out of the main
 stabilization.c file into it's own tool.

---
 .../Modules/Stabilization/inc/relay_tuning.h  |  40 ++++
 flight/Modules/Stabilization/relay_tuning.c   | 179 ++++++++++++++++
 flight/Modules/Stabilization/stabilization.c  | 192 ++----------------
 3 files changed, 239 insertions(+), 172 deletions(-)
 create mode 100644 flight/Modules/Stabilization/inc/relay_tuning.h
 create mode 100644 flight/Modules/Stabilization/relay_tuning.c

diff --git a/flight/Modules/Stabilization/inc/relay_tuning.h b/flight/Modules/Stabilization/inc/relay_tuning.h
new file mode 100644
index 000000000..d788ae62e
--- /dev/null
+++ b/flight/Modules/Stabilization/inc/relay_tuning.h
@@ -0,0 +1,40 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup StabilizationModule Stabilization Module
+ * @brief Relay tuning controller
+ * @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the
+ * PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeActual "Attitude Actual"
+ * @{
+ *
+ * @file       relay_tuning.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Attitude stabilization module.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef RELAY_TUNING_H
+#define RELAY_TUNING_H
+
+int stabilization_relay_init();
+int stabilization_relay_rate(float err, float *output, int axis, bool reinit);
+
+#endif
\ No newline at end of file
diff --git a/flight/Modules/Stabilization/relay_tuning.c b/flight/Modules/Stabilization/relay_tuning.c
new file mode 100644
index 000000000..ad4c7e064
--- /dev/null
+++ b/flight/Modules/Stabilization/relay_tuning.c
@@ -0,0 +1,179 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup StabilizationModule Stabilization Module
+ * @brief Relay tuning controller
+ * @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the
+ * PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeActual "Attitude Actual"
+ * @{
+ *
+ * @file       stabilization.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Attitude stabilization module.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "stabilization.h"
+#include "stabilizationsettings.h"
+#include "actuatordesired.h"
+#include "ratedesired.h"
+#include "relaytuning.h"
+#include "relaytuningsettings.h"
+#include "stabilizationdesired.h"
+#include "attitudeactual.h"
+#include "gyros.h"
+#include "flightstatus.h"
+#include "manualcontrol.h" // Just to get a macro
+#include "CoordinateConversions.h"
+
+//! Private variables
+static float *sin_lookup; // TODO: Move this to flash
+static const int SIN_RESOLUTION = 180;
+
+//! Private methods
+static float sin_l(int angle);
+
+#define MAX_AXES 3
+
+int stabilization_relay_init()
+{
+	sin_lookup = (float *) pvPortMalloc(sizeof(float) * SIN_RESOLUTION);
+	if (sin_lookup == NULL)
+		return -1;
+
+	for(uint32_t i = 0; i < 180; i++)
+		sin_lookup[i] = sinf((float)i * 2 * M_PI / 360.0f);
+
+	return 0;
+}
+
+/**
+ * Apply a step function for the stabilization controller and monitor the 
+ * result
+ *
+ * Used to  Replace the rate PID with a relay to measure the critical properties of this axis
+ * i.e. period and gain
+ */
+int stabilization_relay_rate(float error, float *output, int axis, bool reinit)
+{
+	RelayTuningData relay;
+	RelayTuningGet(&relay);
+
+	static bool high = false;
+	static portTickType lastHighTime;
+	static portTickType lastLowTime;
+
+	static float accum_sin, accum_cos;
+	static uint32_t accumulated = 0;
+
+	const uint16_t DEGLITCH_TIME = 20; // ms
+	const float AMPLITUDE_ALPHA = 0.95;
+	const float PERIOD_ALPHA = 0.95;
+
+	portTickType thisTime = xTaskGetTickCount();
+
+	static bool rateRelayRunning[MAX_AXES];
+
+	// On first run initialize estimates to something reasonable
+	if(reinit) {
+		rateRelayRunning[axis] = false;
+		relay.Period[axis] = 200;
+		relay.Gain[axis] = 0;
+
+		accum_sin = 0;
+		accum_cos = 0;
+		accumulated = 0;
+
+		// These should get reinitialized anyway
+		high = true;
+		lastHighTime = thisTime;
+		lastLowTime = thisTime;
+		RelayTuningSet(&relay);
+	}
+
+
+	RelayTuningSettingsData relaySettings;
+	RelayTuningSettingsGet(&relaySettings);
+
+	// Compute output, simple threshold on error
+	*output = error > 0 ? relaySettings.Amplitude : -relaySettings.Amplitude;
+
+	/**** The code below here is to estimate the properties of the oscillation ****/
+
+	// Make sure the period can't go below limit
+	if (relay.Period[axis] < DEGLITCH_TIME)
+		relay.Period[axis] = DEGLITCH_TIME;
+
+	// Project the error onto a sine and cosine of the same frequency
+	// to accumulate the average amplitude
+	int dT = thisTime - lastHighTime;
+	uint32_t phase = 360 * dT / relay.Period[axis];
+	if(phase >= 360)
+		phase = 1;
+	accum_sin += sin_l(phase) * error;
+	accum_cos += sin_l(phase + 90) * error;
+	accumulated ++;
+
+	// Make sure we've had enough time since last transition then check for a change in the output
+	bool hysteresis = (high ? (thisTime - lastHighTime) : (thisTime - lastLowTime)) > DEGLITCH_TIME;
+	if ( !high && hysteresis && error > 0 ){ /* RISE DETECTED */
+		float this_amplitude = 2 * sqrtf(accum_sin*accum_sin + accum_cos*accum_cos) / accumulated;
+		float this_gain = this_amplitude / relaySettings.Amplitude;
+
+		accumulated = 0;
+		accum_sin = 0;
+		accum_cos = 0;
+
+		if(rateRelayRunning[axis] == false) {
+			rateRelayRunning[axis] = true;
+			relay.Period[axis] = 200;
+			relay.Gain[axis] = 0;
+		} else {
+			// Low pass filter each amplitude and period
+			relay.Gain[axis] = relay.Gain[axis] * AMPLITUDE_ALPHA + this_gain * (1 - AMPLITUDE_ALPHA);
+			relay.Period[axis] = relay.Period[axis] * PERIOD_ALPHA + dT * (1 - PERIOD_ALPHA);
+		}
+		lastHighTime = thisTime;
+		high = true;
+		RelayTuningSet(&relay);
+	} else if ( high && hysteresis && error < 0 ) { /* FALL DETECTED */
+		lastLowTime = thisTime;
+		high = false;
+	}
+
+	return 0;
+}
+
+
+/**
+ * Uses the lookup table to calculate sine (angle is in degrees)
+ * @param[in] angle in degrees
+ * @returns sin(angle)
+ */
+static float sin_l(int angle) {
+	angle = angle % 360;
+	if (angle > 180)
+		return - sin_lookup[angle-180];
+	else
+		return sin_lookup[angle];
+}
+
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index a37b1aca5..4ffe9b944 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -45,6 +45,9 @@
 #include "manualcontrol.h" // Just to get a macro
 #include "CoordinateConversions.h"
 
+// Includes for various stabilization algorithms
+#include "relay_tuning.h"
+
 // Private constants
 #define MAX_QUEUE_SIZE 1
 
@@ -91,9 +94,6 @@ pid_type pids[PID_MAX];
 int8_t vbar_gyros_suppress;
 bool vbar_piro_comp = false;
 
-// TODO: Move this to flash
-static float sin_lookup[180];
-
 // Private functions
 static void stabilizationTask(void* parameters);
 static float ApplyPid(pid_type * pid, const float err, float dT);
@@ -101,15 +101,6 @@ static float bound(float val, float range);
 static void ZeroPids(void);
 static void SettingsUpdatedCb(UAVObjEvent * ev);
 
-//! Uses the lookup table to calculate sine (angle is in degrees)
-static float sin_l(int angle) {
-	angle = angle % 360;
-	if (angle > 180)
-		return - sin_lookup[angle-180];
-	else
-		return sin_lookup[angle];
-}
-
 /**
  * Module initialization
  */
@@ -119,8 +110,8 @@ int32_t StabilizationStart()
 	// Create object queue
 	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
 
-	for(uint32_t i = 0; i < 180; i++)
-		sin_lookup[i] = sinf((float)i * 2 * M_PI / 360.0f);
+	// This prepares this optional algorithm
+	stabilization_relay_init();
 
 	// Listen for updates.
 	//	AttitudeActualConnectQueue(queue);
@@ -366,171 +357,28 @@ static void stabilizationTask(void* parameters)
 
 					break;
 
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE:
+					// Store to rate desired variable for storing to UAVO
+					rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate[i]);
+
+					// Run the relay controller which also estimates the oscillation parameters
+					stabilization_relay_rate(rateDesiredAxis[i] - gyro_filtered[i], &actuatorDesiredAxis[i], i, reinit);
+					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0);
+
+					break;
+
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE:
-				{
-					RelayTuningData relay;
-					RelayTuningGet(&relay);
-
-					static bool rateRelayRunning[MAX_AXES];
-
-					// On first run initialize estimates to something reasonable
-					if(reinit) {
+					if(reinit)
 						pids[PID_ROLL + i].iAccumulator = 0;
-						rateRelayRunning[i] = false;
-						relay.Period[i] = 200;
-						relay.Gain[i] = 0;
-					}
-					// Replace the rate PID with a relay to measure the critical properties of this axis
-					// i.e. period and gain
 
-					// Compute the outer loop
+					// Compute the outer loop like attitude mode
 					rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i], dT);
 					rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]);
 
-					// Store to rate desired variable for storing to UAVO
-					rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate[i]);
+					// Run the relay controller which also estimates the oscillation parameters
+					stabilization_relay_rate(rateDesiredAxis[i] - gyro_filtered[i], &actuatorDesiredAxis[i], i, reinit);
+					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0);
 
-					RelayTuningSettingsData relaySettings;
-					RelayTuningSettingsGet(&relaySettings);
-					float error = rateDesiredAxis[i] - gyro_filtered[i];
-					float command = error > 0 ? relaySettings.Amplitude : -relaySettings.Amplitude;
-					actuatorDesiredAxis[i] = bound(command,1.0f);
-
-					static bool high = false;
-					static portTickType lastHighTime;
-					static portTickType lastLowTime;
-					portTickType thisTime = xTaskGetTickCount();
-
-					static float accum_sin, accum_cos;
-					static uint32_t accumulated = 0;
-
-					const uint16_t DEGLITCH_TIME = 20; // ms
-					const float AMPLITUDE_ALPHA = 0.95;
-					const float PERIOD_ALPHA = 0.95;
-
-					// Make sure the period can't go below limit
-					if (relay.Period[i] < DEGLITCH_TIME)
-						relay.Period[i] = DEGLITCH_TIME;
-
-					// Project the error onto a sine and cosine of the same frequency
-					// to accumulate the average amplitude
-					float dT = thisTime - lastHighTime;
-					uint32_t phase = 360 * dT / relay.Period[i];
-					if(phase >= 360)
-						phase = 1;
-					accum_sin += sin_l(phase) * error;
-					accum_cos += sin_l(phase + 90) * error;
-					accumulated ++;
-
-					// Make susre we've had enough time since last transition then check for a change in the output
-					bool hysteresis = (high ? (thisTime - lastHighTime) : (thisTime - lastLowTime)) > DEGLITCH_TIME;
-					if ( !high && hysteresis && error > 0 ){ /* RISE DETECTED */
-						float this_amplitude = 2 * sqrtf(accum_sin*accum_sin + accum_cos*accum_cos) / accumulated;
-						float this_gain = this_amplitude / relaySettings.Amplitude;
-
-						accumulated = 0;
-						accum_sin = 0;
-						accum_cos = 0;
-
-						if(rateRelayRunning[i] == false) {
-							rateRelayRunning[i] = true;
-							relay.Period[i] = 200;
-							relay.Gain[i] = 0;
-						} else {
-							// Low pass filter each amplitude and period
-							relay.Gain[i] = relay.Gain[i] * AMPLITUDE_ALPHA + this_gain * (1 - AMPLITUDE_ALPHA);
-							relay.Period[i] = relay.Period[i] * PERIOD_ALPHA + dT * (1 - PERIOD_ALPHA);
-						}
-						lastHighTime = thisTime;
-						high = true;
-						RelayTuningSet(&relay);
-					} else if ( high && hysteresis && error < 0 ) { /* FALL DETECTED */
-						lastLowTime = thisTime;
-						high = false;
-					}
-
-					break;
-				}
-				case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE:
-				{
-					RelayTuningData relay;
-					RelayTuningGet(&relay);
-
-					static bool rateRelayRunning[MAX_AXES];
-
-					// On first run initialize estimates to something reasonable
-					if(reinit) {
-						pids[PID_ROLL + i].iAccumulator = 0;
-						rateRelayRunning[i] = false;
-						relay.Period[i] = 200;
-						relay.Gain[i] = 0;
-					}
-
-					// Replace the rate PID with a relay to measure the critical properties of this axis
-					// i.e. period and gain
-
-					// Store to rate desired variable for storing to UAVO
-					rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate[i]);
-
-					RelayTuningSettingsData relaySettings;
-					RelayTuningSettingsGet(&relaySettings);
-					float error = rateDesiredAxis[i] - gyro_filtered[i];
-					float command = error > 0 ? relaySettings.Amplitude : -relaySettings.Amplitude;
-					actuatorDesiredAxis[i] = bound(command,1.0);
-
-					static bool high = false;
-					static portTickType lastHighTime;
-					static portTickType lastLowTime;
-					portTickType thisTime = xTaskGetTickCount();
-
-					static float accum_sin, accum_cos;
-					static uint32_t accumulated = 0;
-
-					const uint16_t DEGLITCH_TIME = 20; // ms
-					const float AMPLITUDE_ALPHA = 0.95;
-					const float PERIOD_ALPHA = 0.95;
-
-					// Make sure the period can't go below limit
-					if (relay.Period[i] < DEGLITCH_TIME)
-						relay.Period[i] = DEGLITCH_TIME;
-
-					// Project the error onto a sine and cosine of the same frequency
-					// to accumulate the average amplitude
-					float dT = thisTime - lastHighTime;
-					uint32_t phase = 360 * dT / relay.Period[i];
-					if(phase >= 360)
-						phase = 1;
-					accum_sin += sin_l(phase) * error;
-					accum_cos += sin_l(phase + 90) * error;
-					accumulated ++;
-
-					// Make susre we've had enough time since last transition then check for a change in the output
-					bool hysteresis = (high ? (thisTime - lastHighTime) : (thisTime - lastLowTime)) > DEGLITCH_TIME;
-					if ( !high && hysteresis && error > 0 ){ /* RISE DETECTED */
-						float this_amplitude = 2 * sqrtf(accum_sin*accum_sin + accum_cos*accum_cos) / accumulated;
-						float this_gain = this_amplitude / relaySettings.Amplitude;
-
-						accumulated = 0;
-						accum_sin = 0;
-						accum_cos = 0;
-
-						if(rateRelayRunning[i] == false) {
-							rateRelayRunning[i] = true;
-							relay.Period[i] = 200;
-							relay.Gain[i] = 0;
-						} else {
-							// Low pass filter each amplitude and period
-							relay.Gain[i] = relay.Gain[i] * AMPLITUDE_ALPHA + this_gain * (1 - AMPLITUDE_ALPHA);
-							relay.Period[i] = relay.Period[i] * PERIOD_ALPHA + dT * (1 - PERIOD_ALPHA);
-						}
-						lastHighTime = thisTime;
-						high = true;
-						RelayTuningSet(&relay);
-					} else if ( high && hysteresis && error < 0 ) { /* FALL DETECTED */
-						lastLowTime = thisTime;
-						high = false;
-					}
-				}
 					break;
 
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE:

From 924c91ce1e7055fb3e2ff6fa186d3284113d16fd Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 2 Aug 2012 01:20:57 -0500
Subject: [PATCH 169/543] Fix mistake from previous merge with duplicate the
 STABILIZATIONOMDE_ATTITUDE case

---
 flight/Modules/Stabilization/stabilization.c | 13 -------------
 1 file changed, 13 deletions(-)

diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 4ffe9b944..bc6887081 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -322,19 +322,6 @@ static void stabilizationTask(void* parameters)
 
 					break;
 				}
-				case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAY:
-				case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
-					rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i], dT);
-					
-					if(rateDesiredAxis[i] > settings.MaximumRate[i])
-						rateDesiredAxis[i] = settings.MaximumRate[i];
-					else if(rateDesiredAxis[i] < -settings.MaximumRate[i])
-						rateDesiredAxis[i] = -settings.MaximumRate[i];
-					
-					
-					axis_lock_accum[i] = 0;
-					break;
-
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
 					if (reinit)
 						pids[PID_RATE_ROLL + i].iAccumulator = 0;

From aae0e562c67841f1be16e99b133758f658a3c313 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 2 Aug 2012 01:53:55 -0500
Subject: [PATCH 170/543] Create a sine lookup table that is cached in flash
 and make relay tuning start ot use this.

---
 flight/CopterControl/Makefile                 |  2 +
 flight/Libraries/math/sin_lookup.c            | 99 +++++++++++++++++++
 flight/Libraries/math/sin_lookup.h            | 39 ++++++++
 .../Modules/Stabilization/inc/relay_tuning.h  |  1 -
 flight/Modules/Stabilization/relay_tuning.c   | 44 +--------
 flight/Modules/Stabilization/stabilization.c  |  3 -
 6 files changed, 143 insertions(+), 45 deletions(-)
 create mode 100644 flight/Libraries/math/sin_lookup.c
 create mode 100644 flight/Libraries/math/sin_lookup.h

diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 721ec1896..957089c12 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -268,6 +268,7 @@ SRC += $(PIOSCOMMON)/printf-stdarg.c
 ## Libraries for flight calculations
 SRC += $(FLIGHTLIB)/fifo_buffer.c
 SRC += $(FLIGHTLIB)/CoordinateConversions.c
+SRC += $(FLIGHTLIB)/math/sin_lookup.c
 SRC += $(FLIGHTLIB)/taskmonitor.c
 
 ## CMSIS for STM32
@@ -369,6 +370,7 @@ EXTRAINCDIRS  += $(OPUAVSYNTHDIR)
 EXTRAINCDIRS  += $(PIOS)
 EXTRAINCDIRS  += $(PIOSINC)
 EXTRAINCDIRS  += $(FLIGHTLIBINC)
+EXTRAINCDIRS  += $(FLIGHTLIB)/math
 EXTRAINCDIRS  += $(PIOSSTM32F10X)
 EXTRAINCDIRS  += $(PIOSCOMMON)
 EXTRAINCDIRS  += $(PIOSBOARDS)
diff --git a/flight/Libraries/math/sin_lookup.c b/flight/Libraries/math/sin_lookup.c
new file mode 100644
index 000000000..575f171d3
--- /dev/null
+++ b/flight/Libraries/math/sin_lookup.c
@@ -0,0 +1,99 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilot Math Utilities
+ * @{
+ * @addtogroup Sine and cosine methods that use a cached lookup table
+ * @{
+ *
+ * @file       sin_lookup.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Sine lookup table from flash with 1 degree resolution
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "math.h"
+#include "stdint.h"
+
+ // This is a precomputed sin lookup table over 90 degrees that
+ const float sin_table[] = {
+ 	0.000000f,0.017452f,0.034899f,0.052336f,0.069756f,0.087156f,0.104528f,0.121869f,0.139173f,0.156434f,
+ 	0.173648f,0.190809f,0.207912f,0.224951f,0.241922f,0.258819f,0.275637f,0.292372f,0.309017f,0.325568f,
+ 	0.342020f,0.358368f,0.374607f,0.390731f,0.406737f,0.422618f,0.438371f,0.453990f,0.469472f,0.484810f,
+ 	0.500000f,0.515038f,0.529919f,0.544639f,0.559193f,0.573576f,0.587785f,0.601815f,0.615661f,0.629320f,
+ 	0.642788f,0.656059f,0.669131f,0.681998f,0.694658f,0.707107f,0.719340f,0.731354f,0.743145f,0.754710f,
+ 	0.766044f,0.777146f,0.788011f,0.798636f,0.809017f,0.819152f,0.829038f,0.838671f,0.848048f,0.857167f,
+ 	0.866025f,0.874620f,0.882948f,0.891007f,0.898794f,0.906308f,0.913545f,0.920505f,0.927184f,0.933580f,
+ 	0.939693f,0.945519f,0.951057f,0.956305f,0.961262f,0.965926f,0.970296f,0.974370f,0.978148f,0.981627f,
+ 	0.984808f,0.987688f,0.990268f,0.992546f,0.994522f,0.996195f,0.997564f,0.998630f,0.999391f,0.999848f
+ };
+
+/**
+ * Use the lookup table to return sine(angle) where angle is in radians
+ * to save flash this cheats and uses trig functions to only save
+ * 90 values
+ * @param[in] angle Angle in degrees
+ * @returns sin(angle)
+*/
+float sin_lookup_deg(float angle)
+{
+	int i_ang = ((int32_t) angle) % 360;
+	if(i_ang > 270)            // for 270 to 360 deg
+		return -sin_table[360 - i_ang];
+	else if (i_ang > 180)      // for 180 to 270 deg
+		return -sin_table[i_ang - 180];
+	else if (i_ang > 90)       // for 90 to 170 deg
+		return sin_table[180 - i_ang];
+	else                       // for 0 to 90 deg
+		return sin_table[i_ang];
+
+	return 0;
+}
+
+/**
+ * Get cos(angle) using the sine lookup table
+ * @param[in] angle Angle in degrees
+ * @returns cos(angle)
+ */
+float cos_lookup_deg(float angle)
+{
+	return sin_lookup_deg(angle + 90);
+}
+
+/**
+ * Use the lookup table to return sine(angle) where angle is in radians
+ * @param[in] angle Angle in radians
+ * @returns sin(angle)
+ */
+float sin_lookup_rad(float angle)
+{
+	int degrees = angle * 180.0f / M_PI;
+	return sin_lookup_deg(degrees);
+}
+
+/**
+ * Use the lookup table to return sine(angle) where angle is in radians
+ * @param[in] angle Angle in radians
+ * @returns cos(angle)
+ */
+float cos_lookup_rad(float angle)
+{
+	int degrees = angle * 180.0f / M_PI;
+	return cos_lookup_deg(degrees);
+}
\ No newline at end of file
diff --git a/flight/Libraries/math/sin_lookup.h b/flight/Libraries/math/sin_lookup.h
new file mode 100644
index 000000000..0e0edb274
--- /dev/null
+++ b/flight/Libraries/math/sin_lookup.h
@@ -0,0 +1,39 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilot Math Utilities
+ * @{
+ * @addtogroup Sine and cosine methods that use a cached lookup table
+ * @{
+ *
+ * @file       sin_lookup.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Sine lookup table from flash with 1 degree resolution
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef SIN_LOOKUP_H
+#define SIN_LOOKUP_H
+
+float sin_lookup_deg(float angle);
+float cos_lookup_deg(float angle);
+float sin_lookup_rad(float angle);
+float cos_lookup_rad(float angle);
+
+#endif
\ No newline at end of file
diff --git a/flight/Modules/Stabilization/inc/relay_tuning.h b/flight/Modules/Stabilization/inc/relay_tuning.h
index d788ae62e..9044986c5 100644
--- a/flight/Modules/Stabilization/inc/relay_tuning.h
+++ b/flight/Modules/Stabilization/inc/relay_tuning.h
@@ -34,7 +34,6 @@
 #ifndef RELAY_TUNING_H
 #define RELAY_TUNING_H
 
-int stabilization_relay_init();
 int stabilization_relay_rate(float err, float *output, int axis, bool reinit);
 
 #endif
\ No newline at end of file
diff --git a/flight/Modules/Stabilization/relay_tuning.c b/flight/Modules/Stabilization/relay_tuning.c
index ad4c7e064..16b4351fd 100644
--- a/flight/Modules/Stabilization/relay_tuning.c
+++ b/flight/Modules/Stabilization/relay_tuning.c
@@ -32,40 +32,15 @@
  */
 
 #include "openpilot.h"
-#include "stabilization.h"
-#include "stabilizationsettings.h"
-#include "actuatordesired.h"
-#include "ratedesired.h"
 #include "relaytuning.h"
 #include "relaytuningsettings.h"
-#include "stabilizationdesired.h"
-#include "attitudeactual.h"
-#include "gyros.h"
-#include "flightstatus.h"
-#include "manualcontrol.h" // Just to get a macro
-#include "CoordinateConversions.h"
+#include "sin_lookup.h"
 
 //! Private variables
-static float *sin_lookup; // TODO: Move this to flash
 static const int SIN_RESOLUTION = 180;
 
-//! Private methods
-static float sin_l(int angle);
-
 #define MAX_AXES 3
 
-int stabilization_relay_init()
-{
-	sin_lookup = (float *) pvPortMalloc(sizeof(float) * SIN_RESOLUTION);
-	if (sin_lookup == NULL)
-		return -1;
-
-	for(uint32_t i = 0; i < 180; i++)
-		sin_lookup[i] = sinf((float)i * 2 * M_PI / 360.0f);
-
-	return 0;
-}
-
 /**
  * Apply a step function for the stabilization controller and monitor the 
  * result
@@ -129,8 +104,8 @@ int stabilization_relay_rate(float error, float *output, int axis, bool reinit)
 	uint32_t phase = 360 * dT / relay.Period[axis];
 	if(phase >= 360)
 		phase = 1;
-	accum_sin += sin_l(phase) * error;
-	accum_cos += sin_l(phase + 90) * error;
+	accum_sin += sin_lookup_deg(phase) * error;
+	accum_cos += sin_lookup_deg(phase + 90) * error;
 	accumulated ++;
 
 	// Make sure we've had enough time since last transition then check for a change in the output
@@ -164,16 +139,3 @@ int stabilization_relay_rate(float error, float *output, int axis, bool reinit)
 }
 
 
-/**
- * Uses the lookup table to calculate sine (angle is in degrees)
- * @param[in] angle in degrees
- * @returns sin(angle)
- */
-static float sin_l(int angle) {
-	angle = angle % 360;
-	if (angle > 180)
-		return - sin_lookup[angle-180];
-	else
-		return sin_lookup[angle];
-}
-
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index bc6887081..c72348aa8 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -110,9 +110,6 @@ int32_t StabilizationStart()
 	// Create object queue
 	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
 
-	// This prepares this optional algorithm
-	stabilization_relay_init();
-
 	// Listen for updates.
 	//	AttitudeActualConnectQueue(queue);
 	GyrosConnectQueue(queue);

From 2723ff4be3081c1488428da20aad169c8588c423 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 2 Aug 2012 03:24:18 -0500
Subject: [PATCH 171/543] Factor the virtual flybar code out of the
 stabilization module

---
 .../Modules/Stabilization/inc/stabilization.h |   2 +
 .../Modules/Stabilization/inc/virtualflybar.h |  42 +++++++
 flight/Modules/Stabilization/stabilization.c  |  50 ++------
 flight/Modules/Stabilization/virtualflybar.c  | 119 ++++++++++++++++++
 4 files changed, 170 insertions(+), 43 deletions(-)
 create mode 100644 flight/Modules/Stabilization/inc/virtualflybar.h
 create mode 100644 flight/Modules/Stabilization/virtualflybar.c

diff --git a/flight/Modules/Stabilization/inc/stabilization.h b/flight/Modules/Stabilization/inc/stabilization.h
index 89a816c24..ec0ae4e9f 100644
--- a/flight/Modules/Stabilization/inc/stabilization.h
+++ b/flight/Modules/Stabilization/inc/stabilization.h
@@ -33,6 +33,8 @@
 #ifndef STABILIZATION_H
 #define STABILIZATION_H
 
+enum {ROLL,PITCH,YAW,MAX_AXES};
+
 int32_t StabilizationInitialize();
 
 #endif // STABILIZATION_H
diff --git a/flight/Modules/Stabilization/inc/virtualflybar.h b/flight/Modules/Stabilization/inc/virtualflybar.h
new file mode 100644
index 000000000..8ef54ce52
--- /dev/null
+++ b/flight/Modules/Stabilization/inc/virtualflybar.h
@@ -0,0 +1,42 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup StabilizationModule Stabilization Module
+ * @brief Virtual flybar mode
+ * @note This file implements the logic for a virtual flybar
+ * @{
+ *
+ * @file       virtualflybar.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Attitude stabilization module.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+ #ifndef VIRTUALFLYBAR_H
+ #define VIRTUALFLYBAR_H
+
+#include "openpilot.h"
+#include "stabilizationsettings.h"
+
+int stabilization_virtual_flybar(float gyro, float command, float *output, float dT, bool reinit, uint32_t axis, StabilizationSettingsData *settings);
+int stabilization_virtual_flybar_pirocomp(float z_gyro, float dT);
+
+ #endif /* VIRTUALFLYBAR_H */
\ No newline at end of file
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index c72348aa8..d36505d1d 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -47,6 +47,7 @@
 
 // Includes for various stabilization algorithms
 #include "relay_tuning.h"
+#include "virtualflybar.h"
 
 // Private constants
 #define MAX_QUEUE_SIZE 1
@@ -62,9 +63,6 @@
 
 enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_VBAR_ROLL, PID_VBAR_PITCH, PID_VBAR_YAW, PID_MAX};
 
-enum {ROLL,PITCH,YAW,MAX_AXES};
-
-
 // Private types
 typedef struct {
 	float p;
@@ -80,7 +78,6 @@ static xTaskHandle taskHandle;
 static StabilizationSettingsData settings;
 static xQueueHandle queue;
 float gyro_alpha = 0;
-float gyro_filtered[3] = {0,0,0};
 float axis_lock_accum[3] = {0,0,0};
 float vbar_sensitivity[3] = {1, 1, 1};
 uint8_t max_axis_lock = 0;
@@ -88,11 +85,8 @@ uint8_t max_axislock_rate = 0;
 float weak_leveling_kp = 0;
 uint8_t weak_leveling_max = 0;
 bool lowThrottleZeroIntegral;
-float vbar_integral[3] = {0, 0, 0};
 float vbar_decay = 0.991f;
 pid_type pids[PID_MAX];
-int8_t vbar_gyros_suppress;
-bool vbar_piro_comp = false;
 
 // Private functions
 static void stabilizationTask(void* parameters);
@@ -224,6 +218,7 @@ static void stabilizationTask(void* parameters)
 		local_error[2] = fmodf(local_error[2] + 180, 360) - 180;
 #endif
 
+		float gyro_filtered[3];
 		gyro_filtered[0] = gyro_filtered[0] * gyro_alpha + gyrosData.x * (1 - gyro_alpha);
 		gyro_filtered[1] = gyro_filtered[1] * gyro_alpha + gyrosData.y * (1 - gyro_alpha);
 		gyro_filtered[2] = gyro_filtered[2] * gyro_alpha + gyrosData.z * (1 - gyro_alpha);
@@ -278,32 +273,14 @@ static void stabilizationTask(void* parameters)
 					break;
 
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
-				{
-					if(reinit)
-						vbar_integral[i] = 0;
 
+					// Store for debugging output
 					rateDesiredAxis[i] = attitudeDesiredAxis[i];
 
-					// Track the angle of the virtual flybar which includes a slow decay
-					vbar_integral[i] = vbar_integral[i] * vbar_decay + gyro_filtered[i] * dT;
-					vbar_integral[i] = bound(vbar_integral[i], settings.VbarMaxAngle);
-
-					// Command signal can indicate how much to disregard the gyro feedback (fast flips)
-					float gyro_gain = 1.0f;
-					if (vbar_gyros_suppress > 0) {
-						gyro_gain = (1.0f - fabs(rateDesiredAxis[i]) * vbar_gyros_suppress / 100.0f);
-						gyro_gain = (gyro_gain < 0) ? 0 : gyro_gain;
-					}
-
-					// Command signal is composed of stick input added to the gyro and virtual flybar
-					actuatorDesiredAxis[i] = rateDesiredAxis[i] * vbar_sensitivity[i] - 
-					gyro_gain * (vbar_integral[i] * pids[PID_VBAR_ROLL + i].i +
-								 gyro_filtered[i] * pids[PID_VBAR_ROLL + i].p);
-
-					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
+					// Run a virtual flybar stabilization algorithm on this axis
+					stabilization_virtual_flybar(gyro_filtered[i], rateDesiredAxis[i], &actuatorDesiredAxis[i], dT, reinit, i, &settings);
 
 					break;
-				}
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
 				{
 					if (reinit)
@@ -374,19 +351,8 @@ static void stabilizationTask(void* parameters)
 			}
 		}
 
-		// Piro compensation rotates the virtual flybar by yaw step to keep it
-		// rotated to external world
-		if (vbar_piro_comp) {
-			const float F_PI = 3.14159f;
-			float cy = cosf(gyro_filtered[2] / 180.0f * F_PI * dT);
-			float sy = sinf(gyro_filtered[2] / 180.0f * F_PI * dT);
-
-			float vbar_pitch = cy * vbar_integral[1] - sy * vbar_integral[0];
-			float vbar_roll = sy * vbar_integral[1] + cy * vbar_integral[0];
-
-			vbar_integral[1] = vbar_pitch;
-			vbar_integral[0] = vbar_roll;
-		}
+		if (settings.VbarPiroComp == STABILIZATIONSETTINGS_VBARPIROCOMP_TRUE)
+			stabilization_virtual_flybar_pirocomp(gyro_filtered[2], dT);
 
 #if defined(DIAGNOSTICS)
 		RateDesiredSet(&rateDesired);
@@ -544,8 +510,6 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
 	
 	// Compute time constant for vbar decay term based on a tau
 	vbar_decay = expf(-fakeDt / settings.VbarTau);
-	vbar_gyros_suppress = settings.VbarGyroSuppress;
-	vbar_piro_comp = settings.VbarPiroComp == STABILIZATIONSETTINGS_VBARPIROCOMP_TRUE;
 }
 
 
diff --git a/flight/Modules/Stabilization/virtualflybar.c b/flight/Modules/Stabilization/virtualflybar.c
new file mode 100644
index 000000000..bbfe69eae
--- /dev/null
+++ b/flight/Modules/Stabilization/virtualflybar.c
@@ -0,0 +1,119 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup StabilizationModule Stabilization Module
+ * @brief Virtual flybar mode
+ * @note This file implements the logic for a virtual flybar
+ * @{
+ *
+ * @file       virtualflybar.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Attitude stabilization module.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "stabilization.h"
+#include "stabilizationsettings.h"
+
+//! Private variables
+static float vbar_integral[MAX_AXES];
+static float vbar_decay = 0.991f;
+
+//! Private methods
+static float bound(float val, float range);
+
+int stabilization_virtual_flybar(float gyro, float command, float *output, float dT, bool reinit, uint32_t axis, StabilizationSettingsData *settings)
+{
+	float gyro_gain = 1.0f;
+	float kp = 0, ki = 0;
+
+	if(reinit)
+		vbar_integral[axis] = 0;
+
+	// Track the angle of the virtual flybar which includes a slow decay
+	vbar_integral[axis] = vbar_integral[axis] * vbar_decay + gyro * dT;
+	vbar_integral[axis] = bound(vbar_integral[axis], settings->VbarMaxAngle);
+
+	// Command signal can indicate how much to disregard the gyro feedback (fast flips)
+	if (settings->VbarGyroSuppress > 0) {
+		gyro_gain = (1.0f - fabs(command) * settings->VbarGyroSuppress / 100.0f);
+		gyro_gain = (gyro_gain < 0) ? 0 : gyro_gain;
+	}
+
+	// Get the settings for the correct axis
+	switch(axis)
+	{
+		case ROLL:
+			kp = settings->VbarRollPI[STABILIZATIONSETTINGS_VBARROLLPI_KP];
+			ki = settings->VbarRollPI[STABILIZATIONSETTINGS_VBARROLLPI_KI];
+			break;
+		case PITCH:
+			kp = settings->VbarPitchPI[STABILIZATIONSETTINGS_VBARROLLPI_KP];
+			ki = settings->VbarPitchPI[STABILIZATIONSETTINGS_VBARROLLPI_KI];
+			break;
+		case YAW:
+			kp = settings->VbarYawPI[STABILIZATIONSETTINGS_VBARROLLPI_KP];
+			ki = settings->VbarYawPI[STABILIZATIONSETTINGS_VBARROLLPI_KI];
+			break;
+		default:
+			PIOS_DEBUG_Assert(0);
+	}
+
+	// Command signal is composed of stick input added to the gyro and virtual flybar
+	*output = command * settings->VbarSensitivity[axis] - 
+	    gyro_gain * (vbar_integral[axis] * ki + gyro * kp);
+
+	return 0;
+}
+
+/**
+ * Want to keep the virtual flybar fixed in world coordinates as we pirouette
+ * @param[in] z_gyro The deg/s of rotation along the z axis
+ * @param[in] dT The time since last sample
+ */
+int stabilization_virtual_flybar_pirocomp(float z_gyro, float dT)
+{
+	const float F_PI = (float) M_PI;
+	float cy = cosf(z_gyro / 180.0f * F_PI * dT);
+	float sy = sinf(z_gyro / 180.0f * F_PI * dT);
+
+	float vbar_pitch = cy * vbar_integral[1] - sy * vbar_integral[0];
+	float vbar_roll = sy * vbar_integral[1] + cy * vbar_integral[0];
+
+	vbar_integral[1] = vbar_pitch;
+	vbar_integral[0] = vbar_roll;
+
+	return 0;
+}
+
+/**
+ * Bound input value between limits
+ */
+static float bound(float val, float range)
+{
+	if(val < -range) {
+		val = -range;
+	} else if(val > range) {
+		val = range;
+	}
+	return val;
+}

From 50c764116255f9a7b7e38d4d0122777685e710cf Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 2 Aug 2012 04:12:12 -0500
Subject: [PATCH 172/543] Move the PID methods into a standalone library

---
 flight/CopterControl/Makefile                |   7 +-
 flight/Libraries/math/pid.c                  |  91 +++++++++++++++
 flight/Libraries/math/pid.h                  |  49 ++++++++
 flight/Modules/Stabilization/stabilization.c | 116 ++++++-------------
 4 files changed, 181 insertions(+), 82 deletions(-)
 create mode 100644 flight/Libraries/math/pid.c
 create mode 100644 flight/Libraries/math/pid.h

diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 957089c12..7a56df860 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -115,6 +115,8 @@ OPTESTS  = ./Tests
 OPMODULEDIR = ../Modules
 FLIGHTLIB = ../Libraries
 FLIGHTLIBINC = $(FLIGHTLIB)/inc
+MATHLIB = ../Libraries/math
+MATHLIBINC = ../Libraries/math
 PIOS = ../PiOS
 PIOSINC = $(PIOS)/inc
 PIOSSTM32F10X = $(PIOS)/STM32F10x
@@ -268,8 +270,9 @@ SRC += $(PIOSCOMMON)/printf-stdarg.c
 ## Libraries for flight calculations
 SRC += $(FLIGHTLIB)/fifo_buffer.c
 SRC += $(FLIGHTLIB)/CoordinateConversions.c
-SRC += $(FLIGHTLIB)/math/sin_lookup.c
 SRC += $(FLIGHTLIB)/taskmonitor.c
+SRC += $(MATHLIB)/sin_lookup.c
+SRC += $(MATHLIB)/pid.c
 
 ## CMSIS for STM32
 SRC += $(CMSISDIR)/core_cm3.c
@@ -370,7 +373,7 @@ EXTRAINCDIRS  += $(OPUAVSYNTHDIR)
 EXTRAINCDIRS  += $(PIOS)
 EXTRAINCDIRS  += $(PIOSINC)
 EXTRAINCDIRS  += $(FLIGHTLIBINC)
-EXTRAINCDIRS  += $(FLIGHTLIB)/math
+EXTRAINCDIRS  += $(MATHLIBINC)
 EXTRAINCDIRS  += $(PIOSSTM32F10X)
 EXTRAINCDIRS  += $(PIOSCOMMON)
 EXTRAINCDIRS  += $(PIOSBOARDS)
diff --git a/flight/Libraries/math/pid.c b/flight/Libraries/math/pid.c
new file mode 100644
index 000000000..58f15ad1f
--- /dev/null
+++ b/flight/Libraries/math/pid.c
@@ -0,0 +1,91 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilot Math Utilities
+ * @{
+ * @addtogroup Sine and cosine methods that use a cached lookup table
+ * @{
+ *
+ * @file       pid.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Methods to work with PID structure
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "pid.h"
+
+//! Private method
+static float bound(float val, float range);
+
+float pid_apply(struct pid *pid, const float err, float dT)
+{
+	float diff = (err - pid->lastErr);
+	pid->lastErr = err;
+	
+	// Scale up accumulator by 1000 while computing to avoid losing precision
+	pid->iAccumulator += err * (pid->i * dT * 1000.0f);
+	pid->iAccumulator = bound(pid->iAccumulator, pid->iLim * 1000.0f);
+	return ((err * pid->p) + pid->iAccumulator / 1000.0f + (diff * pid->d / dT));
+}
+
+/**
+ * Reset a bit
+ * @param[in] pid The pid to reset
+ */
+void pid_zero(struct pid *pid)
+{
+	if (!pid)
+		return;
+
+	pid->iAccumulator = 0;
+	pid->lastErr = 0;
+}
+
+/**
+ * Configure the settings for a pid structure
+ * @param[out] pid The PID structure to configure
+ * @param[in] p The proportional term
+ * @param[in] i The integral term
+ * @param[in] d The derivative term
+ */
+void pid_configure(struct pid *pid, float p, float i, float d, float iLim)
+{
+	if (!pid)
+		return;
+
+	pid->p = p;
+	pid->i = i;
+	pid->d = d;
+	pid->iLim = iLim;
+}
+
+/**
+ * Bound input value between limits
+ */
+static float bound(float val, float range)
+{
+	if(val < -range) {
+		val = -range;
+	} else if(val > range) {
+		val = range;
+	}
+	return val;
+}
+
diff --git a/flight/Libraries/math/pid.h b/flight/Libraries/math/pid.h
new file mode 100644
index 000000000..71f9eb56e
--- /dev/null
+++ b/flight/Libraries/math/pid.h
@@ -0,0 +1,49 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilot Math Utilities
+ * @{
+ * @addtogroup Sine and cosine methods that use a cached lookup table
+ * @{
+ *
+ * @file       pid.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Methods to work with PID structure
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PID_H
+#define PID_H
+
+//! 
+struct pid {
+	float p;
+	float i;
+	float d;
+	float iLim;
+	float iAccumulator;
+	float lastErr;
+};
+
+//! Methods to use the pid structures
+float pid_apply(struct pid *pid, const float err, float dT);
+void pid_zero(struct pid *pid);
+void pid_configure(struct pid *pid, float p, float i, float d, float iLim);
+
+#endif /* PID_H */
\ No newline at end of file
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index d36505d1d..188f556c8 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -43,7 +43,10 @@
 #include "gyros.h"
 #include "flightstatus.h"
 #include "manualcontrol.h" // Just to get a macro
+
+// Math libraries
 #include "CoordinateConversions.h"
+#include "pid.h"
 
 // Includes for various stabilization algorithms
 #include "relay_tuning.h"
@@ -61,17 +64,7 @@
 #define TASK_PRIORITY (tskIDLE_PRIORITY+4)
 #define FAILSAFE_TIMEOUT_MS 30
 
-enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_VBAR_ROLL, PID_VBAR_PITCH, PID_VBAR_YAW, PID_MAX};
-
-// Private types
-typedef struct {
-	float p;
-	float i;
-	float d;
-	float iLim;
-	float iAccumulator;
-	float lastErr;
-} pid_type;
+enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX};
 
 // Private variables
 static xTaskHandle taskHandle;
@@ -79,18 +72,16 @@ static StabilizationSettingsData settings;
 static xQueueHandle queue;
 float gyro_alpha = 0;
 float axis_lock_accum[3] = {0,0,0};
-float vbar_sensitivity[3] = {1, 1, 1};
 uint8_t max_axis_lock = 0;
 uint8_t max_axislock_rate = 0;
 float weak_leveling_kp = 0;
 uint8_t weak_leveling_max = 0;
 bool lowThrottleZeroIntegral;
 float vbar_decay = 0.991f;
-pid_type pids[PID_MAX];
+struct pid pids[PID_MAX];
 
 // Private functions
 static void stabilizationTask(void* parameters);
-static float ApplyPid(pid_type * pid, const float err, float dT);
 static float bound(float val, float range);
 static void ZeroPids(void);
 static void SettingsUpdatedCb(UAVObjEvent * ev);
@@ -251,7 +242,7 @@ static void stabilizationTask(void* parameters)
 					rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate[i]);
 
 					// Compute the inner loop
-					actuatorDesiredAxis[i] = ApplyPid(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
+					actuatorDesiredAxis[i] = pid_apply(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
 					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
 
 					break;
@@ -263,11 +254,11 @@ static void stabilizationTask(void* parameters)
 					}
 
 					// Compute the outer loop
-					rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i], dT);
+					rateDesiredAxis[i] = pid_apply(&pids[PID_ROLL + i], local_error[i], dT);
 					rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]);
 
 					// Compute the inner loop
-					actuatorDesiredAxis[i] = ApplyPid(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
+					actuatorDesiredAxis[i] = pid_apply(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
 					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
 
 					break;
@@ -291,7 +282,7 @@ static void stabilizationTask(void* parameters)
 
 					// Compute desired rate as input biased towards leveling
 					rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
-					actuatorDesiredAxis[i] = ApplyPid(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
+					actuatorDesiredAxis[i] = pid_apply(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
 					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
 
 					break;
@@ -308,12 +299,12 @@ static void stabilizationTask(void* parameters)
 						// For weaker commands or no command simply attitude lock (almost) on no gyro change
 						axis_lock_accum[i] += (attitudeDesiredAxis[i] - gyro_filtered[i]) * dT;
 						axis_lock_accum[i] = bound(axis_lock_accum[i], max_axis_lock);
-						rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i], dT);
+						rateDesiredAxis[i] = pid_apply(&pids[PID_ROLL + i], axis_lock_accum[i], dT);
 					}
 
 					rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]);
 
-					actuatorDesiredAxis[i] = ApplyPid(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
+					actuatorDesiredAxis[i] = pid_apply(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
 					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
 
 					break;
@@ -333,7 +324,7 @@ static void stabilizationTask(void* parameters)
 						pids[PID_ROLL + i].iAccumulator = 0;
 
 					// Compute the outer loop like attitude mode
-					rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i], dT);
+					rateDesiredAxis[i] = pid_apply(&pids[PID_ROLL + i], local_error[i], dT);
 					rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]);
 
 					// Run the relay controller which also estimates the oscillation parameters
@@ -387,33 +378,15 @@ static void stabilizationTask(void* parameters)
 	}
 }
 
-/**
- * Update one of the PID structures with the input error and timestep
- * @param pid Pointer to the PID structure
- * @param[in] err The error on for this controller
- * @param[in] dT The time step since the last update
- */
-float ApplyPid(pid_type * pid, const float err, float dT)
-{
-	float diff = (err - pid->lastErr);
-	pid->lastErr = err;
-	
-	// Scale up accumulator by 1000 while computing to avoid losing precision
-	pid->iAccumulator += err * (pid->i * dT * 1000.0f);
-	pid->iAccumulator = bound(pid->iAccumulator, pid->iLim * 1000.0f);
-	return ((err * pid->p) + pid->iAccumulator / 1000.0f + (diff * pid->d / dT));
-}
-
 
 /**
  * Clear the accumulators and derivatives for all the axes
  */
 static void ZeroPids(void)
 {
-	for(int8_t ct = 0; ct < PID_MAX; ct++) {
-		pids[ct].iAccumulator = 0.0f;
-		pids[ct].lastErr = 0.0f;
-	}
+	for(uint32_t i = 0; i < PID_MAX; i++)
+		pid_zero(&pids[i]);
+
 	for(uint8_t i = 0; i < 3; i++)
 		axis_lock_accum[i] = 0.0f;
 }
@@ -437,54 +410,37 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
 	StabilizationSettingsGet(&settings);
 	
 	// Set the roll rate PID constants
-	pids[PID_RATE_ROLL].p = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP];
-	pids[PID_RATE_ROLL].i = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI];
-	pids[PID_RATE_ROLL].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD];
-	pids[PID_RATE_ROLL].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT];
+	pid_configure(&pids[PID_RATE_ROLL], settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP], 
+		settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI],
+		pids[PID_RATE_ROLL].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD],
+		pids[PID_RATE_ROLL].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT]);
 	
 	// Set the pitch rate PID constants
-	pids[PID_RATE_PITCH].p = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP];
-	pids[PID_RATE_PITCH].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI];
-	pids[PID_RATE_PITCH].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD];
-	pids[PID_RATE_PITCH].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT];
+	pid_configure(&pids[PID_RATE_PITCH], settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], 
+		pids[PID_RATE_PITCH].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI],
+		pids[PID_RATE_PITCH].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD],
+		pids[PID_RATE_PITCH].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT]);
 	
 	// Set the yaw rate PID constants
-	pids[PID_RATE_YAW].p = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP];
-	pids[PID_RATE_YAW].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI];
-	pids[PID_RATE_YAW].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD];
-	pids[PID_RATE_YAW].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT];
+	pid_configure(&pids[PID_RATE_YAW], settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP],
+		pids[PID_RATE_YAW].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI],
+		pids[PID_RATE_YAW].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD],
+		pids[PID_RATE_YAW].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT]);
 	
 	// Set the roll attitude PI constants
-	pids[PID_ROLL].p = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP];
-	pids[PID_ROLL].i = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI];
-	pids[PID_ROLL].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT];
+	pid_configure(&pids[PID_ROLL], settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP],
+		settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], 0,
+		pids[PID_ROLL].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT]);
 	
 	// Set the pitch attitude PI constants
-	pids[PID_PITCH].p = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP];
-	pids[PID_PITCH].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI];
-	pids[PID_PITCH].iLim = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT];
+	pid_configure(&pids[PID_PITCH], settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP],
+		pids[PID_PITCH].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], 0,
+		settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT]);
 	
 	// Set the yaw attitude PI constants
-	pids[PID_YAW].p = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP];
-	pids[PID_YAW].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI];
-	pids[PID_YAW].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT];
-	
-	// Set the roll attitude PI constants
-	pids[PID_VBAR_ROLL].p = settings.VbarRollPI[STABILIZATIONSETTINGS_VBARROLLPI_KP];
-	pids[PID_VBAR_ROLL].i = settings.VbarRollPI[STABILIZATIONSETTINGS_VBARROLLPI_KI];
-	
-	// Set the pitch attitude PI constants
-	pids[PID_VBAR_PITCH].p = settings.VbarPitchPI[STABILIZATIONSETTINGS_VBARPITCHPI_KP];
-	pids[PID_VBAR_PITCH].i = settings.VbarPitchPI[STABILIZATIONSETTINGS_VBARPITCHPI_KI];
-	
-	// Set the yaw attitude PI constants
-	pids[PID_VBAR_YAW].p = settings.VbarYawPI[STABILIZATIONSETTINGS_VBARYAWPI_KP];
-	pids[PID_VBAR_YAW].i = settings.VbarYawPI[STABILIZATIONSETTINGS_VBARYAWPI_KI];
-	
-	// Need to store the vbar sensitivity
-	vbar_sensitivity[0] = settings.VbarSensitivity[0];
-	vbar_sensitivity[1] = settings.VbarSensitivity[1];
-	vbar_sensitivity[2] = settings.VbarSensitivity[2];
+	pid_configure(&pids[PID_YAW], settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP],
+		settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI], 0,
+		settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT]);
 	
 	// Maximum deviation to accumulate for axis lock
 	max_axis_lock = settings.MaxAxisLock;

From fc2f8376bc1dbf56279e72296fb1bd6fd0240358 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 2 Aug 2012 04:31:17 -0500
Subject: [PATCH 173/543] Prevent an alarm from ManualControlCommand when using
 autotuning mode.

---
 flight/Modules/ManualControl/inc/manualcontrol.h | 5 +++--
 flight/Modules/ManualControl/manualcontrol.c     | 4 ++++
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/flight/Modules/ManualControl/inc/manualcontrol.h b/flight/Modules/ManualControl/inc/manualcontrol.h
index f71cdebde..b67366f92 100644
--- a/flight/Modules/ManualControl/inc/manualcontrol.h
+++ b/flight/Modules/ManualControl/inc/manualcontrol.h
@@ -32,7 +32,7 @@
 
 #include "manualcontrolcommand.h"
 
-typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABILIZED = 2, FLIGHTMODE_GUIDANCE = 3} flightmode_path;
+typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABILIZED = 2, FLIGHTMODE_GUIDANCE = 3, FLIGHTMODE_TUNING = 4} flightmode_path;
 
 #define PARSE_FLIGHT_MODE(x) ( \
 	(x == FLIGHTSTATUS_FLIGHTMODE_MANUAL) ? FLIGHTMODE_MANUAL : \
@@ -41,7 +41,8 @@ typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABIL
 	(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) ? FLIGHTMODE_STABILIZED : \
 	(x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) ? FLIGHTMODE_GUIDANCE : \
 	(x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) ? FLIGHTMODE_GUIDANCE : \
-	(x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) ? FLIGHTMODE_GUIDANCE : FLIGHTMODE_UNDEFINED \
+	(x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) ? FLIGHTMODE_GUIDANCE : \
+	(x == FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE) ? FLIGHTMODE_TUNING : FLIGHTMODE_UNDEFINED \
 	)
 
 int32_t ManualControlInitialize();
diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index 22ced4c82..02c54b4a3 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -388,6 +388,10 @@ static void manualControlTask(void *parameters)
 			case FLIGHTMODE_STABILIZED:
 				updateStabilizationDesired(&cmd, &settings);
 				break;
+			case FLIGHTMODE_TUNING:
+				// Tuning takes settings directly from manualcontrolcommand.  No need to
+				// call anything else.  This just avoids errors.
+				break;
 			case FLIGHTMODE_GUIDANCE:
 				switch(flightStatus.FlightMode) {
 					case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD:

From 3982ad0046fe1e59512e2cfb547a6a15cfd1aabb Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 2 Aug 2012 04:32:59 -0500
Subject: [PATCH 174/543] Enable AUTOTUNE by default for CC

---
 flight/CopterControl/Makefile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 7a56df860..8b74935c4 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -68,7 +68,7 @@ USE_GPS ?= YES
 USE_TXPID ?= YES
 USE_I2C ?= NO
 USE_ALTITUDE ?= NO
-USE_AUTOTUNE ?= NO
+USE_AUTOTUNE ?= YES
 TEST_FAULTS ?= NO
 
 # List of optional modules to include

From 83c920799d47b827c9a3420142d8be2a798e3ae4 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 3 Aug 2012 09:24:26 -0700
Subject: [PATCH 175/543] TelemetryWidget: rescaled .svg; transparent
 background; hide data rates when not connected.

---
 .../src/plugins/coreplugin/images/tx-rx.svg   | 35 ++++++++++++-------
 .../coreplugin/telemetrymonitorwidget.cpp     | 19 +++++-----
 2 files changed, 33 insertions(+), 21 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/images/tx-rx.svg b/ground/openpilotgcs/src/plugins/coreplugin/images/tx-rx.svg
index 42d0f6d30..e69e36e19 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/images/tx-rx.svg
+++ b/ground/openpilotgcs/src/plugins/coreplugin/images/tx-rx.svg
@@ -9,11 +9,11 @@
    xmlns="http://www.w3.org/2000/svg"
    xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
    xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   width="990"
-   height="765"
+   width="620.10828"
+   height="82.577499"
    id="svg2"
    version="1.1"
-   inkscape:version="0.48.2 r9819"
+   inkscape:version="0.48.3.1 r9886"
    sodipodi:docname="tx-rx.svg">
   <defs
      id="defs4" />
@@ -25,25 +25,32 @@
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
      inkscape:zoom="0.58"
-     inkscape:cx="243.88087"
-     inkscape:cy="482.05004"
+     inkscape:cx="89.172147"
+     inkscape:cy="14.870213"
      inkscape:document-units="px"
      inkscape:current-layer="txrxBackground"
      showgrid="false"
      showguides="false"
      inkscape:guide-bbox="true"
-     inkscape:window-width="1463"
+     inkscape:window-width="1440"
      inkscape:window-height="686"
      inkscape:window-x="200"
      inkscape:window-y="200"
-     inkscape:window-maximized="0">
+     inkscape:window-maximized="0"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0"
+     borderlayer="false"
+     inkscape:showpageshadow="false"
+     showborder="true">
     <sodipodi:guide
        orientation="1,0"
-       position="159.7561,421.95122"
+       position="5.047377,-45.228607"
        id="guide3775" />
     <sodipodi:guide
        orientation="0,1"
-       position="339.02439,473.17073"
+       position="184.31566,5.990903"
        id="guide3912" />
   </sodipodi:namedview>
   <metadata
@@ -62,7 +69,7 @@
      inkscape:label="bg"
      inkscape:groupmode="layer"
      id="layer1"
-     transform="translate(0,-287.36218)"
+     transform="translate(-154.70873,-502.60486)"
      style="display:inline">
     <g
        id="g3963">
@@ -213,7 +220,7 @@
              sodipodi:role="line">Tx</tspan></text>
         <text
            xml:space="preserve"
-           style="font-size:40px;font-style:normal;font-weight:bold;line-height:125%;letter-spacing:0px;word-spacing:0px;fill:#ffffff;fill-opacity:1;stroke:none;font-family:Sans;-inkscape-font-specification:Sans Bold;font-stretch:normal;font-variant:normal;text-anchor:start;text-align:start;writing-mode:lr"
+           style="font-size:40px;font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;text-align:start;line-height:125%;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#ffffff;fill-opacity:1;stroke:none;font-family:Sans;-inkscape-font-specification:Sans Bold"
            x="163.79311"
            y="572.0863"
            id="text3044"
@@ -229,7 +236,8 @@
      inkscape:groupmode="layer"
      id="layer3"
      inkscape:label="tx"
-     style="display:inline">
+     style="display:inline"
+     transform="translate(-154.70873,-215.24268)">
     <rect
        style="fill:#00c200;fill-opacity:1;stroke:none;display:inline"
        id="tx0"
@@ -310,7 +318,8 @@
      inkscape:groupmode="layer"
      id="layer2"
      inkscape:label="rx"
-     style="display:inline">
+     style="display:inline"
+     transform="translate(-154.70873,-215.24268)">
     <rect
        style="fill:#00c200;fill-opacity:1;stroke:none;display:inline"
        id="rx0"
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
index 19f5aaf00..5aff56e0a 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
@@ -7,16 +7,17 @@
 
 TelemetryMonitorWidget::TelemetryMonitorWidget(QWidget *parent) : QGraphicsView(parent)
 {
-    setMinimumSize(160,80);
-    setMaximumSize(160,80);
+    setMinimumSize(180,100);
+    setMaximumSize(180,100);
     setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
     setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     setFrameStyle(QFrame::NoFrame);
-    setBackgroundBrush(Qt::transparent);
+    setStyleSheet("background:transparent;");
+    setAttribute(Qt::WA_TranslucentBackground);
+    setWindowFlags(Qt::FramelessWindowHint);
 
-    QGraphicsScene *scene = new QGraphicsScene(0,0,160,80, this);
-    scene->setBackgroundBrush(Qt::transparent);
+    QGraphicsScene *scene = new QGraphicsScene(0,0,180,100, this);
 
     QSvgRenderer *renderer = new QSvgRenderer();
     if (renderer->load(QString(":/core/images/tx-rx.svg"))) {
@@ -146,10 +147,12 @@ void TelemetryMonitorWidget::showTelemetry()
 
     QRectF rect = graph->boundingRect();
     txSpeed->setPos(rect.right() - 110, rect.top());
-    txSpeed->setPlainText(QString("%0").arg(connected ? txValue : 0.0));
+    txSpeed->setPlainText(QString("%0").arg(txValue));
+    txSpeed->setVisible(connected);
 
     rxSpeed->setPos(rect.right() - 110, rect.top() + (rect.height() / 2));
-    rxSpeed->setPlainText(QString("%0").arg(connected ? rxValue : 0.0));
+    rxSpeed->setPlainText(QString("%0").arg(rxValue));
+    rxSpeed->setVisible(connected);
 
     update();
 }
@@ -165,7 +168,7 @@ void TelemetryMonitorWidget::resizeEvent(QResizeEvent* event)
 {
     Q_UNUSED(event);
 
-    graph->setPos(0,-100);
+    graph->setPos(0,-130);
     fitInView(graph, Qt::KeepAspectRatio);
 }
 

From 490955dbeaaaf016bcad0814adffaad3f2b21851 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 3 Aug 2012 11:34:05 -0500
Subject: [PATCH 176/543] Use cos_lookup instead of sin_looup(x+90)

---
 flight/Modules/Stabilization/relay_tuning.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/flight/Modules/Stabilization/relay_tuning.c b/flight/Modules/Stabilization/relay_tuning.c
index 16b4351fd..5dc538b4a 100644
--- a/flight/Modules/Stabilization/relay_tuning.c
+++ b/flight/Modules/Stabilization/relay_tuning.c
@@ -100,12 +100,12 @@ int stabilization_relay_rate(float error, float *output, int axis, bool reinit)
 
 	// Project the error onto a sine and cosine of the same frequency
 	// to accumulate the average amplitude
-	int dT = thisTime - lastHighTime;
-	uint32_t phase = 360 * dT / relay.Period[axis];
+	int32_t dT = thisTime - lastHighTime;
+	int32_t phase = (360 * dT) / relay.Period[axis];
 	if(phase >= 360)
-		phase = 1;
+		phase = 0;
 	accum_sin += sin_lookup_deg(phase) * error;
-	accum_cos += sin_lookup_deg(phase + 90) * error;
+	accum_cos += cos_lookup_deg(phase) * error;
 	accumulated ++;
 
 	// Make sure we've had enough time since last transition then check for a change in the output

From 9f3c8dddd39b503a5e1b085e7a62397ddf07c68a Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 3 Aug 2012 12:15:57 -0500
Subject: [PATCH 177/543] Add a version of the sin lookup table that is in ram
 instead of flash

---
 flight/Libraries/math/sin_lookup.c           | 50 ++++++++++++++++++++
 flight/Libraries/math/sin_lookup.h           |  1 +
 flight/Modules/Stabilization/relay_tuning.c  |  4 +-
 flight/Modules/Stabilization/stabilization.c | 10 ++--
 4 files changed, 60 insertions(+), 5 deletions(-)

diff --git a/flight/Libraries/math/sin_lookup.c b/flight/Libraries/math/sin_lookup.c
index 575f171d3..2a5508fce 100644
--- a/flight/Libraries/math/sin_lookup.c
+++ b/flight/Libraries/math/sin_lookup.c
@@ -28,9 +28,14 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include "openpilot.h"
 #include "math.h"
+#include "stdbool.h"
 #include "stdint.h"
 
+#ifdef FLASH_TABLE
+ /** Version of the code which precomputes the lookup table in flash **/
+
  // This is a precomputed sin lookup table over 90 degrees that
  const float sin_table[] = {
  	0.000000f,0.017452f,0.034899f,0.052336f,0.069756f,0.087156f,0.104528f,0.121869f,0.139173f,0.156434f,
@@ -44,6 +49,11 @@
  	0.984808f,0.987688f,0.990268f,0.992546f,0.994522f,0.996195f,0.997564f,0.998630f,0.999391f,0.999848f
  };
 
+int sin_lookup_initalize()
+{
+	return 0;
+}
+
 /**
  * Use the lookup table to return sine(angle) where angle is in radians
  * to save flash this cheats and uses trig functions to only save
@@ -66,6 +76,46 @@ float sin_lookup_deg(float angle)
 	return 0;
 }
 
+#else
+/** Version of the code which allocates the lookup table in heap **/
+
+const int SIN_RESOLUTION = 180;
+
+static float *sin_table;
+int sin_lookup_initalize()
+{
+	// Previously initialized
+	if (sin_table)
+		return 0;
+
+	sin_table = (float *) pvPortMalloc(sizeof(float) * SIN_RESOLUTION);
+	if (sin_table == NULL)
+		return -1;
+
+	for(uint32_t i = 0; i < 180; i++)
+		sin_table[i] = sinf((float)i * 2 * M_PI / 360.0f);
+
+	return 0;
+}
+
+
+ 
+/**
+ * Uses the lookup table to calculate sine (angle is in degrees)
+ * @param[in] angle in degrees
+ * @returns sin(angle)
+ */
+float sin_lookup_deg(float angle) {
+	int i_ang = ((int32_t)angle) % 360;
+	if (i_ang > 180)
+		return - sin_table[i_ang-180];
+	else
+	return sin_table[i_ang];
+}
+
+#endif
+
+
 /**
  * Get cos(angle) using the sine lookup table
  * @param[in] angle Angle in degrees
diff --git a/flight/Libraries/math/sin_lookup.h b/flight/Libraries/math/sin_lookup.h
index 0e0edb274..adc29f66a 100644
--- a/flight/Libraries/math/sin_lookup.h
+++ b/flight/Libraries/math/sin_lookup.h
@@ -31,6 +31,7 @@
 #ifndef SIN_LOOKUP_H
 #define SIN_LOOKUP_H
 
+int sin_lookup_initalize();
 float sin_lookup_deg(float angle);
 float cos_lookup_deg(float angle);
 float sin_lookup_rad(float angle);
diff --git a/flight/Modules/Stabilization/relay_tuning.c b/flight/Modules/Stabilization/relay_tuning.c
index 5dc538b4a..0f0bb9d55 100644
--- a/flight/Modules/Stabilization/relay_tuning.c
+++ b/flight/Modules/Stabilization/relay_tuning.c
@@ -101,11 +101,11 @@ int stabilization_relay_rate(float error, float *output, int axis, bool reinit)
 	// Project the error onto a sine and cosine of the same frequency
 	// to accumulate the average amplitude
 	int32_t dT = thisTime - lastHighTime;
-	int32_t phase = (360 * dT) / relay.Period[axis];
+	float phase = ((float)360 * (float)dT) / relay.Period[axis];
 	if(phase >= 360)
 		phase = 0;
 	accum_sin += sin_lookup_deg(phase) * error;
-	accum_cos += cos_lookup_deg(phase) * error;
+	accum_cos += sin_lookup_deg(phase + 90) * error;
 	accumulated ++;
 
 	// Make sure we've had enough time since last transition then check for a change in the output
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 188f556c8..c4cc801e8 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -47,6 +47,7 @@
 // Math libraries
 #include "CoordinateConversions.h"
 #include "pid.h"
+#include "sin_lookup.h"
 
 // Includes for various stabilization algorithms
 #include "relay_tuning.h"
@@ -117,12 +118,15 @@ int32_t StabilizationInitialize()
 	// Initialize variables
 	StabilizationSettingsInitialize();
 	ActuatorDesiredInitialize();
-	RelayTuningSettingsInitialize();
-	RelayTuningInitialize();
 #if defined(DIAGNOSTICS)
 	RateDesiredInitialize();
 #endif
-	
+
+	// Code required for relay tuning
+	sin_lookup_initalize();
+	RelayTuningSettingsInitialize();
+	RelayTuningInitialize();
+
 	return 0;
 }
 

From f3dc2dc2ad43ff4364e60f7803edb612dc99c758 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 3 Aug 2012 12:31:15 -0500
Subject: [PATCH 178/543] Store 180 deg in flash now and even make the flash
 and ram version share a lookup method.  Still don't get the same results.

---
 flight/Libraries/math/sin_lookup.c | 66 +++++++++++++-----------------
 1 file changed, 28 insertions(+), 38 deletions(-)

diff --git a/flight/Libraries/math/sin_lookup.c b/flight/Libraries/math/sin_lookup.c
index 2a5508fce..a536f3f34 100644
--- a/flight/Libraries/math/sin_lookup.c
+++ b/flight/Libraries/math/sin_lookup.c
@@ -33,6 +33,7 @@
 #include "stdbool.h"
 #include "stdint.h"
 
+//#define FLASH_TABLE
 #ifdef FLASH_TABLE
  /** Version of the code which precomputes the lookup table in flash **/
 
@@ -46,7 +47,16 @@
  	0.766044f,0.777146f,0.788011f,0.798636f,0.809017f,0.819152f,0.829038f,0.838671f,0.848048f,0.857167f,
  	0.866025f,0.874620f,0.882948f,0.891007f,0.898794f,0.906308f,0.913545f,0.920505f,0.927184f,0.933580f,
  	0.939693f,0.945519f,0.951057f,0.956305f,0.961262f,0.965926f,0.970296f,0.974370f,0.978148f,0.981627f,
- 	0.984808f,0.987688f,0.990268f,0.992546f,0.994522f,0.996195f,0.997564f,0.998630f,0.999391f,0.999848f
+ 	0.984808f,0.987688f,0.990268f,0.992546f,0.994522f,0.996195f,0.997564f,0.998630f,0.999391f,0.999848f,
+ 	1.000000f,0.999848f,0.999391f,0.998630f,0.997564f,0.996195f,0.994522f,0.992546f,0.990268f,0.987688f,
+ 	0.984808f,0.981627f,0.978148f,0.974370f,0.970296f,0.965926f,0.961262f,0.956305f,0.951057f,0.945519f,
+ 	0.939693f,0.933580f,0.927184f,0.920505f,0.913545f,0.906308f,0.898794f,0.891007f,0.882948f,0.874620f,
+ 	0.866025f,0.857167f,0.848048f,0.838671f,0.829038f,0.819152f,0.809017f,0.798636f,0.788011f,0.777146f,
+ 	0.766044f,0.754710f,0.743145f,0.731354f,0.719340f,0.707107f,0.694658f,0.681998f,0.669131f,0.656059f,
+ 	0.642788f,0.629320f,0.615661f,0.601815f,0.587785f,0.573576f,0.559193f,0.544639f,0.529919f,0.515038f,
+ 	0.500000f,0.484810f,0.469472f,0.453990f,0.438371f,0.422618f,0.406737f,0.390731f,0.374607f,0.358368f,
+ 	0.342020f,0.325568f,0.309017f,0.292372f,0.275637f,0.258819f,0.241922f,0.224951f,0.207912f,0.190809f,
+ 	0.173648f,0.156434f,0.139173f,0.121869f,0.104528f,0.087156f,0.069756f,0.052336f,0.034899f,0.017452f
  };
 
 int sin_lookup_initalize()
@@ -54,28 +64,6 @@ int sin_lookup_initalize()
 	return 0;
 }
 
-/**
- * Use the lookup table to return sine(angle) where angle is in radians
- * to save flash this cheats and uses trig functions to only save
- * 90 values
- * @param[in] angle Angle in degrees
- * @returns sin(angle)
-*/
-float sin_lookup_deg(float angle)
-{
-	int i_ang = ((int32_t) angle) % 360;
-	if(i_ang > 270)            // for 270 to 360 deg
-		return -sin_table[360 - i_ang];
-	else if (i_ang > 180)      // for 180 to 270 deg
-		return -sin_table[i_ang - 180];
-	else if (i_ang > 90)       // for 90 to 170 deg
-		return sin_table[180 - i_ang];
-	else                       // for 0 to 90 deg
-		return sin_table[i_ang];
-
-	return 0;
-}
-
 #else
 /** Version of the code which allocates the lookup table in heap **/
 
@@ -98,23 +86,25 @@ int sin_lookup_initalize()
 	return 0;
 }
 
-
- 
-/**
- * Uses the lookup table to calculate sine (angle is in degrees)
- * @param[in] angle in degrees
- * @returns sin(angle)
- */
-float sin_lookup_deg(float angle) {
-	int i_ang = ((int32_t)angle) % 360;
-	if (i_ang > 180)
-		return - sin_table[i_ang-180];
-	else
-	return sin_table[i_ang];
-}
-
 #endif
 
+/**
+ * Use the lookup table to return sine(angle) where angle is in radians
+ * to save flash this cheats and uses trig functions to only save
+ * 90 values
+ * @param[in] angle Angle in degrees
+ * @returns sin(angle)
+*/
+float sin_lookup_deg(float angle)
+{
+	int i_ang = ((int32_t) angle) % 360;
+	if (i_ang > 180)      // for 180 to 270 deg
+		return -sin_table[i_ang - 180];
+	else                       // for 0 to 90 deg
+		return sin_table[i_ang];
+
+	return 0;
+}
 
 /**
  * Get cos(angle) using the sine lookup table

From ccbbda1b519e88fce3b796476d5bfde928d86826 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 3 Aug 2012 12:41:00 -0500
Subject: [PATCH 179/543] Make default tuning mode Attitude to make it easier
 on people like me :)

---
 shared/uavobjectdefinition/relaytuningsettings.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/shared/uavobjectdefinition/relaytuningsettings.xml b/shared/uavobjectdefinition/relaytuningsettings.xml
index abfa78a2a..4ee3cb11b 100644
--- a/shared/uavobjectdefinition/relaytuningsettings.xml
+++ b/shared/uavobjectdefinition/relaytuningsettings.xml
@@ -4,7 +4,7 @@
 	<field name="RateGain" units="" type="float" elements="1" defaultvalue="0.3333"/>
 	<field name="AttitudeGain" units="" type="float" elements="1" defaultvalue="0.2"/>
 	<field name="Amplitude" units="" type="float" elements="1" defaultvalue="0.15"/>
-	<field name="Mode" units="" type="enum" elements="1" options="Rate,Attitude" defaultvalue="Rate"/>
+	<field name="Mode" units="" type="enum" elements="1" options="Rate,Attitude" defaultvalue="Attitude"/>
 	<field name="Behavior" units="" type="enum" elements="1" options="Measure,Compute,Save" defaultvalue="Compute"/>
 	<access gcs="readwrite" flight="readwrite"/>
 	<telemetrygcs acked="true" updatemode="onchange" period="0"/>

From 8eac518a9c5bb5445f02b58708018ce4bf14265e Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 3 Aug 2012 12:43:50 -0500
Subject: [PATCH 180/543] If the sin table is empty don't attempt to use it and
 return 0.

---
 flight/Libraries/math/sin_lookup.c | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/flight/Libraries/math/sin_lookup.c b/flight/Libraries/math/sin_lookup.c
index a536f3f34..79798b3d4 100644
--- a/flight/Libraries/math/sin_lookup.c
+++ b/flight/Libraries/math/sin_lookup.c
@@ -97,6 +97,9 @@ int sin_lookup_initalize()
 */
 float sin_lookup_deg(float angle)
 {
+	if (sin_table == NULL)
+		return 0;
+
 	int i_ang = ((int32_t) angle) % 360;
 	if (i_ang > 180)      // for 180 to 270 deg
 		return -sin_table[i_ang - 180];

From 38e521fc1a2e38ffe4d6b8fdbe9dffc40c04eed4 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 3 Aug 2012 13:52:35 -0700
Subject: [PATCH 181/543] TelemetryWidget: set AlignCenter, chasing osx render
 correctness.

---
 .../src/plugins/coreplugin/telemetrymonitorwidget.cpp            | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
index 5aff56e0a..d7f6b052c 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/telemetrymonitorwidget.cpp
@@ -12,6 +12,7 @@ TelemetryMonitorWidget::TelemetryMonitorWidget(QWidget *parent) : QGraphicsView(
     setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
     setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+    setAlignment(Qt::AlignCenter);
     setFrameStyle(QFrame::NoFrame);
     setStyleSheet("background:transparent;");
     setAttribute(Qt::WA_TranslucentBackground);

From b621b057b60e426ff191f1a983406b9134b514a8 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Fri, 3 Aug 2012 14:31:54 -0700
Subject: [PATCH 182/543] remove overo?

---
 overo | 1 -
 1 file changed, 1 deletion(-)
 delete mode 160000 overo

diff --git a/overo b/overo
deleted file mode 160000
index 335a3486d..000000000
--- a/overo
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 335a3486dd41e48345209d0a65d49a8cc8b442a1

From 0d2e3078852a54caad993a9261eacbfdaaf24680 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Fri, 3 Aug 2012 22:01:54 -0700
Subject: [PATCH 183/543] resized the save area on stabi page, added axislock
 and weakleveling to advanced menu

---
 .../src/plugins/config/stabilization.ui       | 18439 ++++++++--------
 1 file changed, 9675 insertions(+), 8764 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index f00d8cdbf..84a668f09 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>992</width>
-    <height>885</height>
+    <width>677</width>
+    <height>862</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -594,8 +594,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>962</width>
-            <height>754</height>
+            <width>647</width>
+            <height>761</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_12" stretch="1,1,0,0,1">
@@ -6934,15 +6934,6739 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>962</width>
-            <height>754</height>
+            <width>632</width>
+            <height>823</height>
            </rect>
           </property>
           <property name="autoFillBackground">
            <bool>true</bool>
           </property>
-          <layout class="QGridLayout" name="gridLayout_5" rowstretch="0,0,0,0,0" columnstretch="0">
-           <item row="2" column="0" rowspan="2">
+          <layout class="QVBoxLayout" name="verticalLayout_16">
+           <item>
+            <widget class="QGroupBox" name="RateStabilizationGroup_8">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>230</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="palette">
+              <palette>
+               <active>
+                <colorrole role="WindowText">
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+             </property>
+             <property name="title">
+              <string>Rate Stabization Coefficients (Inner Loop)</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+             </property>
+             <property name="flat">
+              <bool>false</bool>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_5">
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_4">
+                <property name="spacing">
+                 <number>4</number>
+                </property>
+                <item>
+                 <widget class="QCheckBox" name="checkBox_3">
+                  <property name="styleSheet">
+                   <string notr="true"/>
+                  </property>
+                  <property name="text">
+                   <string>Link Roll and Pitch</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_6">
+                  <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="pushButton_4">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>81</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="toolTip">
+                   <string>Reset all values to GCS defaults</string>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true"/>
+                  </property>
+                  <property name="text">
+                   <string>Default</string>
+                  </property>
+                  <property name="objrelation" stdset="0">
+                   <stringlist>
+                    <string>objname:StabilizationSettings</string>
+                    <string>button:default</string>
+                    <string>buttongroup:4</string>
+                   </stringlist>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <widget class="QGroupBox" name="RateStabilizationGroup_9">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>151</height>
+                 </size>
+                </property>
+                <property name="palette">
+                 <palette>
+                  <active>
+                   <colorrole role="WindowText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Button">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="0">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Light">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>255</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Midlight">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>251</red>
+                      <green>251</green>
+                      <blue>251</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Dark">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>124</red>
+                      <green>124</green>
+                      <blue>124</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Mid">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>165</red>
+                      <green>165</green>
+                      <blue>165</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Text">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="BrightText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>255</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="ButtonText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Base">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="0">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Window">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="0">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Shadow">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="AlternateBase">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>251</red>
+                      <green>251</green>
+                      <blue>251</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="ToolTipBase">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>220</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="ToolTipText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                  </active>
+                  <inactive>
+                   <colorrole role="WindowText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Button">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="0">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Light">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>255</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Midlight">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>251</red>
+                      <green>251</green>
+                      <blue>251</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Dark">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>124</red>
+                      <green>124</green>
+                      <blue>124</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Mid">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>165</red>
+                      <green>165</green>
+                      <blue>165</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Text">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="BrightText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>255</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="ButtonText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Base">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="0">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Window">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="0">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Shadow">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="AlternateBase">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>251</red>
+                      <green>251</green>
+                      <blue>251</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="ToolTipBase">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>220</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="ToolTipText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                  </inactive>
+                  <disabled>
+                   <colorrole role="WindowText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>124</red>
+                      <green>124</green>
+                      <blue>124</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Button">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="0">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Light">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>255</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Midlight">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>251</red>
+                      <green>251</green>
+                      <blue>251</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Dark">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>124</red>
+                      <green>124</green>
+                      <blue>124</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Mid">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>165</red>
+                      <green>165</green>
+                      <blue>165</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Text">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>124</red>
+                      <green>124</green>
+                      <blue>124</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="BrightText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>255</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="ButtonText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>124</red>
+                      <green>124</green>
+                      <blue>124</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Base">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="0">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Window">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="0">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Shadow">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="AlternateBase">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>248</red>
+                      <green>248</green>
+                      <blue>248</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="ToolTipBase">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>220</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="ToolTipText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                  </disabled>
+                 </palette>
+                </property>
+                <property name="autoFillBackground">
+                 <bool>false</bool>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="title">
+                 <string/>
+                </property>
+                <property name="flat">
+                 <bool>true</bool>
+                </property>
+                <layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0,1,0,1,0,1">
+                 <property name="bottomMargin">
+                  <number>2</number>
+                 </property>
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_44">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Integral</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="2">
+                  <widget class="QDoubleSpinBox" name="RollRateKd">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>6</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000001000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Kd</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="6">
+                  <widget class="QDoubleSpinBox" name="RateYawKi">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Ki at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="4">
+                  <widget class="QDoubleSpinBox" name="RatePitchKi">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Ki at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="6">
+                  <widget class="QDoubleSpinBox" name="RateYawKp">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+
+You can usually go for higher values for Yaw factors.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="6">
+                  <widget class="QDoubleSpinBox" name="YawRateKd">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>6</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000001000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Kd</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="4">
+                  <widget class="QLabel" name="label_34">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
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+                           <green>74</green>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
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+                         </gradientstop>
+                        </gradient>
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+                      <colorrole role="Light">
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+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
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+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
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+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
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+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
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+                       <brush brushstyle="LinearGradientPattern">
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+                          <color alpha="255">
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+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
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+                        </gradient>
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+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
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+                        </gradient>
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+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
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+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
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+                        </gradient>
+                       </brush>
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+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
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+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
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+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
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+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
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+                         <gradientstop position="0.786070000000000">
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+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
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+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Roll</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="5">
+                  <spacer name="horizontalSpacer_28">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QLabel" name="label_43">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>69</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Proportional</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="1">
+                  <spacer name="horizontalSpacer_26">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="2" column="3">
+                  <spacer name="horizontalSpacer_27">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="4">
+                  <widget class="QDoubleSpinBox" name="RatePitchKp">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="4">
+                  <widget class="QDoubleSpinBox" name="PitchRateKd">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>6</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000001000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Kd</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="2">
+                  <widget class="QDoubleSpinBox" name="RateRollKp_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="2">
+                  <widget class="QDoubleSpinBox" name="RateRollKi_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Ki at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="0">
+                  <widget class="QLabel" name="label_24">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>58</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Derivative</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="0">
+                  <spacer name="horizontalSpacer_24">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>60</width>
+                     <height>13</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="0" column="6">
+                  <widget class="QLabel" name="label_42">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                      <colorrole role="Button">
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+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
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-                <item>
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-                  <property name="text">
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-                 </widget>
-                </item>
-                <item>
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-                <property name="font">
-                 <font>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="autoFillBackground">
-                 <bool>false</bool>
-                </property>
-                <property name="styleSheet">
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-color: rgb(255, 255, 255);
-border-radius: 5;</string>
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-                <property name="text">
-                 <string>Roll</string>
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-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
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-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_23">
              <property name="sizePolicy">
@@ -21683,6 +19808,2778 @@ border-radius: 5;</string>
              </layout>
             </widget>
            </item>
+           <item>
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="Advanced">
+      <attribute name="title">
+       <string>Advanced</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_4">
+       <property name="spacing">
+        <number>12</number>
+       </property>
+       <property name="margin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea_3">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
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+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
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+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
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+            <colorrole role="Window">
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+               <green>240</green>
+               <blue>240</blue>
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+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
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+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents_2">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>647</width>
+            <height>761</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_9">
+           <item>
+            <widget class="QGroupBox" name="groupBox_4">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>100</height>
+              </size>
+             </property>
+             <property name="autoFillBackground">
+              <bool>false</bool>
+             </property>
+             <property name="title">
+              <string>Weak Leveling</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_14">
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_8">
+                <item>
+                 <spacer name="horizontalSpacer_13">
+                  <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="pushButton_6">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>81</width>
+                    <height>25</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="toolTip">
+                   <string>Reset all values to GCS defaults</string>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true"/>
+                  </property>
+                  <property name="text">
+                   <string>Default</string>
+                  </property>
+                  <property name="objrelation" stdset="0">
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+                    <bold>true</bold>
+                   </font>
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+color: rgb(255, 255, 255);
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+                  <property name="text">
+                   <string>Weak Leveling Rate (deg/s)</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="4">
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+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
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+              </item>
+             </layout>
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+           </item>
+           <item>
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+             <property name="title">
+              <string>Axis Lock</string>
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+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_9">
+                <item>
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+                <item>
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+                  <property name="minimumSize">
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+                    <height>25</height>
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+                  <property name="maximumSize">
+                   <size>
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+                    <height>16777215</height>
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+                  <property name="toolTip">
+                   <string>Reset all values to GCS defaults</string>
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+                  <property name="styleSheet">
+                   <string notr="true"/>
+                  </property>
+                  <property name="text">
+                   <string>Default</string>
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+                  <property name="objrelation" stdset="0">
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+                    <string>objname:StabilizationSettings</string>
+                    <string>button:default</string>
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+                    <height>20</height>
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+                  </property>
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+                </item>
+                <item row="0" column="3">
+                 <widget class="QLabel" name="label_52">
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+                     </colorrole>
+                     <colorrole role="BrightText">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>255</red>
+                        <green>255</green>
+                        <blue>255</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="ButtonText">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>255</red>
+                        <green>255</green>
+                        <blue>255</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="Base">
+                      <brush brushstyle="LinearGradientPattern">
+                       <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                        <gradientstop position="0.208955000000000">
+                         <color alpha="255">
+                          <red>74</red>
+                          <green>74</green>
+                          <blue>74</blue>
+                         </color>
+                        </gradientstop>
+                        <gradientstop position="0.786070000000000">
+                         <color alpha="255">
+                          <red>36</red>
+                          <green>36</green>
+                          <blue>36</blue>
+                         </color>
+                        </gradientstop>
+                       </gradient>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="Window">
+                      <brush brushstyle="LinearGradientPattern">
+                       <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                        <gradientstop position="0.208955000000000">
+                         <color alpha="255">
+                          <red>74</red>
+                          <green>74</green>
+                          <blue>74</blue>
+                         </color>
+                        </gradientstop>
+                        <gradientstop position="0.786070000000000">
+                         <color alpha="255">
+                          <red>36</red>
+                          <green>36</green>
+                          <blue>36</blue>
+                         </color>
+                        </gradientstop>
+                       </gradient>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="Shadow">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>0</red>
+                        <green>0</green>
+                        <blue>0</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="AlternateBase">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>19</red>
+                        <green>19</green>
+                        <blue>19</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="ToolTipBase">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>255</red>
+                        <green>255</green>
+                        <blue>220</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="ToolTipText">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>0</red>
+                        <green>0</green>
+                        <blue>0</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                    </inactive>
+                    <disabled>
+                     <colorrole role="WindowText">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>255</red>
+                        <green>255</green>
+                        <blue>255</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="Button">
+                      <brush brushstyle="LinearGradientPattern">
+                       <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                        <gradientstop position="0.208955000000000">
+                         <color alpha="255">
+                          <red>74</red>
+                          <green>74</green>
+                          <blue>74</blue>
+                         </color>
+                        </gradientstop>
+                        <gradientstop position="0.786070000000000">
+                         <color alpha="255">
+                          <red>36</red>
+                          <green>36</green>
+                          <blue>36</blue>
+                         </color>
+                        </gradientstop>
+                       </gradient>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="Light">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>58</red>
+                        <green>58</green>
+                        <blue>58</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="Midlight">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>48</red>
+                        <green>48</green>
+                        <blue>48</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="Dark">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>19</red>
+                        <green>19</green>
+                        <blue>19</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="Mid">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>26</red>
+                        <green>26</green>
+                        <blue>26</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="Text">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>255</red>
+                        <green>255</green>
+                        <blue>255</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="BrightText">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>255</red>
+                        <green>255</green>
+                        <blue>255</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="ButtonText">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>255</red>
+                        <green>255</green>
+                        <blue>255</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="Base">
+                      <brush brushstyle="LinearGradientPattern">
+                       <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                        <gradientstop position="0.208955000000000">
+                         <color alpha="255">
+                          <red>74</red>
+                          <green>74</green>
+                          <blue>74</blue>
+                         </color>
+                        </gradientstop>
+                        <gradientstop position="0.786070000000000">
+                         <color alpha="255">
+                          <red>36</red>
+                          <green>36</green>
+                          <blue>36</blue>
+                         </color>
+                        </gradientstop>
+                       </gradient>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="Window">
+                      <brush brushstyle="LinearGradientPattern">
+                       <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                        <gradientstop position="0.208955000000000">
+                         <color alpha="255">
+                          <red>74</red>
+                          <green>74</green>
+                          <blue>74</blue>
+                         </color>
+                        </gradientstop>
+                        <gradientstop position="0.786070000000000">
+                         <color alpha="255">
+                          <red>36</red>
+                          <green>36</green>
+                          <blue>36</blue>
+                         </color>
+                        </gradientstop>
+                       </gradient>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="Shadow">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>0</red>
+                        <green>0</green>
+                        <blue>0</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="AlternateBase">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>39</red>
+                        <green>39</green>
+                        <blue>39</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="ToolTipBase">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>255</red>
+                        <green>255</green>
+                        <blue>220</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                     <colorrole role="ToolTipText">
+                      <brush brushstyle="SolidPattern">
+                       <color alpha="255">
+                        <red>0</red>
+                        <green>0</green>
+                        <blue>0</blue>
+                       </color>
+                      </brush>
+                     </colorrole>
+                    </disabled>
+                   </palette>
+                  </property>
+                  <property name="font">
+                   <font>
+                    <weight>75</weight>
+                    <bold>true</bold>
+                   </font>
+                  </property>
+                  <property name="autoFillBackground">
+                   <bool>false</bool>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                  </property>
+                  <property name="text">
+                   <string>Max Axis Lock (deg)</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="0">
+                 <spacer name="horizontalSpacer_21">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="1" column="3">
+                 <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>22</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>22</height>
+                   </size>
+                  </property>
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
+                  </property>
+                  <property name="toolTip">
+                   <string/>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true"/>
+                  </property>
+                  <property name="decimals">
+                   <number>0</number>
+                  </property>
+                  <property name="minimum">
+                   <double>1.000000000000000</double>
+                  </property>
+                  <property name="maximum">
+                   <double>360.000000000000000</double>
+                  </property>
+                  <property name="singleStep">
+                   <double>1.000000000000000</double>
+                  </property>
+                  <property name="objrelation" stdset="0">
+                   <stringlist>
+                    <string>objname:StabilizationSettings</string>
+                    <string>fieldname:MaxAxisLockRate</string>
+                    <string>haslimits:no</string>
+                    <string>scale:1</string>
+                    <string>buttongroup:11</string>
+                   </stringlist>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="4">
+                 <spacer name="horizontalSpacer_22">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+             </layout>
+            </widget>
+           </item>
            <item>
             <widget class="QGroupBox" name="groupBox_3">
              <property name="sizePolicy">
@@ -21762,13 +22659,13 @@ automatically every 300ms, which will help for fast tuning.</string>
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>75</height>
+       <height>25</height>
       </size>
      </property>
      <property name="maximumSize">
       <size>
        <width>16777215</width>
-       <height>75</height>
+       <height>45</height>
       </size>
      </property>
      <property name="palette">
@@ -22294,9 +23191,12 @@ automatically every 300ms, which will help for fast tuning.</string>
      <property name="alignment">
       <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_15">
-      <property name="spacing">
-       <number>4</number>
+     <layout class="QHBoxLayout" name="horizontalLayout_3">
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
       </property>
       <item>
        <spacer name="horizontalSpacer">
@@ -22305,166 +23205,177 @@ automatically every 300ms, which will help for fast tuning.</string>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
-          <width>40</width>
+          <width>269</width>
           <height>20</height>
          </size>
         </property>
        </spacer>
       </item>
       <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_14">
-        <property name="spacing">
-         <number>4</number>
+       <widget class="QPushButton" name="pushButton_23">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
         </property>
-        <item>
-         <widget class="QPushButton" name="pushButton_23">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="minimumSize">
-           <size>
-            <width>0</width>
-            <height>0</height>
-           </size>
-          </property>
-          <property name="maximumSize">
-           <size>
-            <width>32</width>
-            <height>32</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>Takes you to the wiki page</string>
-          </property>
-          <property name="styleSheet">
-           <string notr="true"/>
-          </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>
-          <property name="objrelation" stdset="0">
-           <stringlist>
-            <string>button:help</string>
-            <string>url:http://wiki.openpilot.org/x/DAO9</string>
-           </stringlist>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="stabilizationReloadBoardData_6">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="minimumSize">
-           <size>
-            <width>140</width>
-            <height>25</height>
-           </size>
-          </property>
-          <property name="maximumSize">
-           <size>
-            <width>16777215</width>
-            <height>16777215</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>Reloads the saved settings into GCS.
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>32</width>
+          <height>32</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Takes you to the wiki page</string>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="icon">
+         <iconset resource="../coreplugin/core.qrc">
+          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>25</width>
+          <height>25</height>
+         </size>
+        </property>
+        <property name="flat">
+         <bool>true</bool>
+        </property>
+        <property name="objrelation" stdset="0">
+         <stringlist>
+          <string>button:help</string>
+          <string>url:http://wiki.openpilot.org/x/DAO9</string>
+         </stringlist>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="stabilizationReloadBoardData_6">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>140</width>
+          <height>16</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Reloads the saved settings into GCS.
 Useful if you have accidentally changed some settings.</string>
-          </property>
-          <property name="styleSheet">
-           <string notr="true"/>
-          </property>
-          <property name="text">
-           <string>Reload Board Data</string>
-          </property>
-          <property name="objrelation" stdset="0">
-           <stringlist>
-            <string>button:reload</string>
-            <string>buttongroup:10</string>
-           </stringlist>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="saveStabilizationToRAM_6">
-          <property name="minimumSize">
-           <size>
-            <width>60</width>
-            <height>25</height>
-           </size>
-          </property>
-          <property name="maximumSize">
-           <size>
-            <width>16777215</width>
-            <height>16777215</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>Send settings to the board but do not save to the non-volatile memory</string>
-          </property>
-          <property name="styleSheet">
-           <string notr="true"/>
-          </property>
-          <property name="text">
-           <string>Apply</string>
-          </property>
-          <property name="objrelation" stdset="0">
-           <stringlist>
-            <string>button:apply</string>
-           </stringlist>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="saveStabilizationToSD_6">
-          <property name="minimumSize">
-           <size>
-            <width>60</width>
-            <height>25</height>
-           </size>
-          </property>
-          <property name="maximumSize">
-           <size>
-            <width>16777215</width>
-            <height>16777215</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>Send settings to the board and save to the non-volatile memory</string>
-          </property>
-          <property name="styleSheet">
-           <string notr="true"/>
-          </property>
-          <property name="text">
-           <string>Save</string>
-          </property>
-          <property name="objrelation" stdset="0">
-           <stringlist>
-            <string>button:save</string>
-           </stringlist>
-          </property>
-         </widget>
-        </item>
-       </layout>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Reload Board Data</string>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>16</width>
+          <height>16</height>
+         </size>
+        </property>
+        <property name="objrelation" stdset="0">
+         <stringlist>
+          <string>button:reload</string>
+          <string>buttongroup:10</string>
+         </stringlist>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="saveStabilizationToRAM_6">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>16</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Send settings to the board but do not save to the non-volatile memory</string>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Apply</string>
+        </property>
+        <property name="objrelation" stdset="0">
+         <stringlist>
+          <string>button:apply</string>
+         </stringlist>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="saveStabilizationToSD_6">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>16</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Send settings to the board and save to the non-volatile memory</string>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Save</string>
+        </property>
+        <property name="objrelation" stdset="0">
+         <stringlist>
+          <string>button:save</string>
+         </stringlist>
+        </property>
+       </widget>
       </item>
      </layout>
     </widget>

From d6c485459ff570e71d3ca9a2195f7da825fd89ff Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 4 Aug 2012 00:31:45 -0500
Subject: [PATCH 184/543] Fix error Stac caught in sin_lookup

---
 flight/Libraries/math/sin_lookup.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/flight/Libraries/math/sin_lookup.c b/flight/Libraries/math/sin_lookup.c
index 79798b3d4..4444d10d2 100644
--- a/flight/Libraries/math/sin_lookup.c
+++ b/flight/Libraries/math/sin_lookup.c
@@ -101,9 +101,9 @@ float sin_lookup_deg(float angle)
 		return 0;
 
 	int i_ang = ((int32_t) angle) % 360;
-	if (i_ang > 180)      // for 180 to 270 deg
+	if (i_ang >= 180)          // for 180 to 360 deg
 		return -sin_table[i_ang - 180];
-	else                       // for 0 to 90 deg
+	else                       // for 0 to 179 deg
 		return sin_table[i_ang];
 
 	return 0;

From 096f940fee2ea037d3ec701fe5ed48630f01d7db Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 4 Aug 2012 12:03:41 -0500
Subject: [PATCH 185/543] Reenable the flash version now Stac's fix is tested.

---
 flight/Libraries/math/sin_lookup.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flight/Libraries/math/sin_lookup.c b/flight/Libraries/math/sin_lookup.c
index 4444d10d2..1e703b87f 100644
--- a/flight/Libraries/math/sin_lookup.c
+++ b/flight/Libraries/math/sin_lookup.c
@@ -33,7 +33,7 @@
 #include "stdbool.h"
 #include "stdint.h"
 
-//#define FLASH_TABLE
+#define FLASH_TABLE
 #ifdef FLASH_TABLE
  /** Version of the code which precomputes the lookup table in flash **/
 

From d201cad7689d16b845ca5b5a1e983f483e50247f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 4 Aug 2012 12:03:53 -0500
Subject: [PATCH 186/543] Connect correct signal to relay tuning so the UI
 populates the calculated stabilization settings.

---
 ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp b/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp
index 6bef18130..33106be4c 100644
--- a/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configautotunewidget.cpp
@@ -31,7 +31,7 @@ ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
     RelayTuning *relayTuning = RelayTuning::GetInstance(getObjectManager());
     Q_ASSERT(relayTuning);
     if(relayTuning)
-        connect(relayTuning, SIGNAL(updateRequested(UAVObject*)), this, SLOT(recomputeStabilization()));
+        connect(relayTuning, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(recomputeStabilization()));
 
     // Connect the apply button for the stabilization settings
     connect(m_autotune->useComputedValues, SIGNAL(pressed()), this, SLOT(saveStabilization()));

From 72749a1ce1e6940b50e2d7348ac9a9f0c3b88205 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sat, 4 Aug 2012 23:03:00 -0700
Subject: [PATCH 187/543] resized the default buttons areas, moved the entire
 sensor tuning to expert, still WIP

---
 .../src/plugins/config/stabilization.ui       | 11793 ++++++++++------
 1 file changed, 7176 insertions(+), 4617 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 84a668f09..e91732607 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>677</width>
-    <height>862</height>
+    <width>792</width>
+    <height>828</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -483,7 +483,7 @@
       <enum>QTabWidget::Rounded</enum>
      </property>
      <property name="currentIndex">
-      <number>0</number>
+      <number>1</number>
      </property>
      <property name="documentMode">
       <bool>false</bool>
@@ -594,11 +594,11 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>647</width>
-            <height>761</height>
+            <width>762</width>
+            <height>727</height>
            </rect>
           </property>
-          <layout class="QVBoxLayout" name="verticalLayout_12" stretch="1,1,0,0,1">
+          <layout class="QVBoxLayout" name="verticalLayout_12" stretch="0,0,0,0,0">
            <property name="spacing">
             <number>12</number>
            </property>
@@ -628,90 +628,86 @@
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
              </property>
-             <layout class="QVBoxLayout" name="verticalLayout_8">
-              <item>
-               <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0">
-                <property name="spacing">
-                 <number>4</number>
+             <layout class="QGridLayout" name="gridLayout_19">
+              <property name="horizontalSpacing">
+               <number>4</number>
+              </property>
+              <item row="0" column="0">
+               <widget class="QCheckBox" name="checkBox_7">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
                 </property>
-                <item>
-                 <widget class="QCheckBox" name="checkBox_7">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="focusPolicy">
-                   <enum>Qt::StrongFocus</enum>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Link Roll and Pitch</string>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <spacer name="horizontalSpacer_3">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeType">
-                   <enum>QSizePolicy::MinimumExpanding</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>40</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item>
-                 <widget class="QPushButton" name="pushButton_20">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>81</width>
-                    <height>25</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>16777215</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Reset all values to GCS defaults</string>
-                  </property>
-                  <property name="autoFillBackground">
-                   <bool>false</bool>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Default</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>button:default</string>
-                    <string>buttongroup:1</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
-               </layout>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Link Roll and Pitch</string>
+                </property>
+               </widget>
               </item>
-              <item>
+              <item row="0" column="1">
+               <spacer name="horizontalSpacer_3">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Preferred</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>497</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="2">
+               <widget class="QPushButton" name="pushButton_20">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>81</width>
+                  <height>25</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Reset all values to GCS defaults</string>
+                </property>
+                <property name="autoFillBackground">
+                 <bool>false</bool>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Default</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>button:default</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0" colspan="3">
                <widget class="QGroupBox" name="RateStabilizationGroup_16">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -3999,81 +3995,77 @@ value as the Kp.</string>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
              </property>
-             <layout class="QVBoxLayout" name="verticalLayout_3">
-              <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,0,0">
-                <property name="spacing">
-                 <number>4</number>
+             <layout class="QGridLayout" name="gridLayout_20">
+              <property name="horizontalSpacing">
+               <number>4</number>
+              </property>
+              <item row="0" column="0">
+               <widget class="QCheckBox" name="checkBox_8">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
                 </property>
-                <item>
-                 <widget class="QCheckBox" name="checkBox_8">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="focusPolicy">
-                   <enum>Qt::StrongFocus</enum>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Link Roll and Pitch</string>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <spacer name="horizontalSpacer_4">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeType">
-                   <enum>QSizePolicy::MinimumExpanding</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>40</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item>
-                 <widget class="QPushButton" name="pushButton_22">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>81</width>
-                    <height>25</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Reset all values to GCS defaults</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Default</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>button:default</string>
-                    <string>buttongroup:2</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
-               </layout>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Link Roll and Pitch</string>
+                </property>
+               </widget>
               </item>
-              <item>
+              <item row="0" column="1">
+               <spacer name="horizontalSpacer_4">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Preferred</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>497</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="2">
+               <widget class="QPushButton" name="pushButton_22">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>81</width>
+                  <height>25</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Reset all values to GCS defaults</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Default</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>button:default</string>
+                  <string>buttongroup:2</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0" colspan="3">
                <widget class="QGroupBox" name="RateStabilizationGroup_18">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -6846,9 +6838,9 @@ border-radius: 5;</string>
        </item>
       </layout>
      </widget>
-     <widget class="QWidget" name="Expert">
+     <widget class="QWidget" name="Advanced">
       <attribute name="title">
-       <string>Expert</string>
+       <string>Advanced</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_10">
        <property name="spacing">
@@ -6934,8 +6926,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>632</width>
-            <height>823</height>
+            <width>762</width>
+            <height>727</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -6953,7 +6945,7 @@ border-radius: 5;</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>230</height>
+               <height>210</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -7485,76 +7477,72 @@ border-radius: 5;</string>
              <property name="flat">
               <bool>false</bool>
              </property>
-             <layout class="QVBoxLayout" name="verticalLayout_5">
-              <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_4">
-                <property name="spacing">
-                 <number>4</number>
+             <layout class="QGridLayout" name="gridLayout_16">
+              <property name="horizontalSpacing">
+               <number>4</number>
+              </property>
+              <item row="0" column="0">
+               <widget class="QCheckBox" name="checkBox_3">
+                <property name="styleSheet">
+                 <string notr="true"/>
                 </property>
-                <item>
-                 <widget class="QCheckBox" name="checkBox_3">
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Link Roll and Pitch</string>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <spacer name="horizontalSpacer_6">
-                  <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="pushButton_4">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>81</width>
-                    <height>25</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>16777215</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Reset all values to GCS defaults</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Default</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>objname:StabilizationSettings</string>
-                    <string>button:default</string>
-                    <string>buttongroup:4</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
-               </layout>
+                <property name="text">
+                 <string>Link Roll and Pitch</string>
+                </property>
+               </widget>
               </item>
-              <item>
+              <item row="0" column="1">
+               <spacer name="horizontalSpacer_6">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>497</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="2">
+               <widget class="QPushButton" name="pushButton_4">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>81</width>
+                  <height>25</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Reset all values to GCS defaults</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Default</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:StabilizationSettings</string>
+                  <string>button:default</string>
+                  <string>buttongroup:4</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0" colspan="3">
                <widget class="QGroupBox" name="RateStabilizationGroup_9">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -7565,7 +7553,7 @@ border-radius: 5;</string>
                 <property name="minimumSize">
                  <size>
                   <width>0</width>
-                  <height>151</height>
+                  <height>140</height>
                  </size>
                 </property>
                 <property name="palette">
@@ -7996,30 +7984,14 @@ border-radius: 5;</string>
                  <bool>true</bool>
                 </property>
                 <layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0,1,0,1,0,1">
+                 <property name="leftMargin">
+                  <number>0</number>
+                 </property>
                  <property name="bottomMargin">
                   <number>2</number>
                  </property>
-                 <item row="2" column="0">
-                  <widget class="QLabel" name="label_44">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Integral</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="2">
-                  <widget class="QDoubleSpinBox" name="RollRateKd">
+                 <item row="3" column="4">
+                  <widget class="QDoubleSpinBox" name="PitchRateKd">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -8041,9 +8013,6 @@ border-radius: 5;</string>
                    <property name="focusPolicy">
                     <enum>Qt::StrongFocus</enum>
                    </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
@@ -8056,7 +8025,7 @@ border-radius: 5;</string>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
-                     <string>fieldname:RollRatePID</string>
+                     <string>fieldname:PitchRatePID</string>
                      <string>element:Kd</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
@@ -8065,6 +8034,575 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
+                 <item row="0" column="6">
+                  <widget class="QLabel" name="label_42">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
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+                         <red>48</red>
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+                         <red>19</red>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Yaw</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_44">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Integral</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
                  <item row="2" column="6">
                   <widget class="QDoubleSpinBox" name="RateYawKi">
                    <property name="sizePolicy">
@@ -9415,114 +9953,6 @@ border-radius: 5;</string>
                    </property>
                   </spacer>
                  </item>
-                 <item row="2" column="3">
-                  <spacer name="horizontalSpacer_27">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>10</width>
-                     <height>10</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="1" column="4">
-                  <widget class="QDoubleSpinBox" name="RatePitchKp">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
-Then lower the value by 20% or so.</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>5</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.000100000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchRatePID</string>
-                     <string>element:Kp</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="4">
-                  <widget class="QDoubleSpinBox" name="PitchRateKd">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>6</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.000001000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchRatePID</string>
-                     <string>element:Kd</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
                  <item row="1" column="2">
                   <widget class="QDoubleSpinBox" name="RateRollKp_2">
                    <property name="sizePolicy">
@@ -9571,6 +10001,22 @@ Then lower the value by 20% or so.</string>
                    </property>
                   </widget>
                  </item>
+                 <item row="0" column="0">
+                  <spacer name="horizontalSpacer_24">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>150</width>
+                     <height>13</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
                  <item row="2" column="2">
                   <widget class="QDoubleSpinBox" name="RateRollKi_2">
                    <property name="sizePolicy">
@@ -9650,8 +10096,103 @@ value as the Kp.</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="0" column="0">
-                  <spacer name="horizontalSpacer_24">
+                 <item row="1" column="4">
+                  <widget class="QDoubleSpinBox" name="RatePitchKp">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
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@@ -9660,740 +10201,12 @@ value as the Kp.</string>
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-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>50</width>
-                     <height>0</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>16777215</height>
-                    </size>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>ILimit</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="4" column="6">
-                  <widget class="QDoubleSpinBox" name="RateYawILimit">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>4</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.001000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawRatePID</string>
-                     <string>element:ILimit</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:4,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
                 </layout>
                </widget>
               </item>
@@ -10411,7 +10224,7 @@ border-radius: 5;</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>210</height>
+               <height>170</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -10946,76 +10759,72 @@ border-radius: 5;</string>
              <property name="flat">
               <bool>false</bool>
              </property>
-             <layout class="QVBoxLayout" name="verticalLayout_6">
-              <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_5">
-                <property name="spacing">
-                 <number>6</number>
+             <layout class="QGridLayout" name="gridLayout_17">
+              <property name="horizontalSpacing">
+               <number>4</number>
+              </property>
+              <item row="0" column="0">
+               <widget class="QCheckBox" name="checkBox_2">
+                <property name="styleSheet">
+                 <string notr="true"/>
                 </property>
-                <item>
-                 <widget class="QCheckBox" name="checkBox_2">
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Link Roll and Pitch</string>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <spacer name="horizontalSpacer_7">
-                  <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="pushButton_2">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>81</width>
-                    <height>25</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>16777215</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Reset all values to GCS defaults</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Default</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>objname:StabilizationSettings</string>
-                    <string>button:default</string>
-                    <string>buttongroup:5</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
-               </layout>
+                <property name="text">
+                 <string>Link Roll and Pitch</string>
+                </property>
+               </widget>
               </item>
-              <item>
+              <item row="0" column="1">
+               <spacer name="horizontalSpacer_7">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>497</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="2">
+               <widget class="QPushButton" name="pushButton_2">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>81</width>
+                  <height>25</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Reset all values to GCS defaults</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Default</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:StabilizationSettings</string>
+                  <string>button:default</string>
+                  <string>buttongroup:5</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0" colspan="3">
                <widget class="QGroupBox" name="RateStabilizationGroup_5">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -11026,7 +10835,7 @@ border-radius: 5;</string>
                 <property name="minimumSize">
                  <size>
                   <width>0</width>
-                  <height>131</height>
+                  <height>110</height>
                  </size>
                 </property>
                 <property name="palette">
@@ -11457,146 +11266,11 @@ border-radius: 5;</string>
                  <bool>true</bool>
                 </property>
                 <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1,0,1,0,1">
-                 <item row="1" column="6">
-                  <widget class="QDoubleSpinBox" name="AttitudeYawKp">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>3</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.100000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawPI</string>
-                     <string>element:Kp</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:5,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="6">
-                  <widget class="QDoubleSpinBox" name="AttitudeYawKi">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>3</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.100000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:YawPI</string>
-                     <string>element:Ki</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:5,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="4">
-                  <widget class="QDoubleSpinBox" name="AttitudePitchKi_2">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>3</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.100000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchPI</string>
-                     <string>element:Ki</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:5,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="2" column="5">
-                  <spacer name="horizontalSpacer_11">
+                 <property name="leftMargin">
+                  <number>0</number>
+                 </property>
+                 <item row="0" column="0">
+                  <spacer name="horizontalSpacer_8">
                    <property name="orientation">
                     <enum>Qt::Horizontal</enum>
                    </property>
@@ -11605,155 +11279,14 @@ border-radius: 5;</string>
                    </property>
                    <property name="sizeHint" stdset="0">
                     <size>
-                     <width>10</width>
-                     <height>10</height>
+                     <width>150</width>
+                     <height>13</height>
                     </size>
                    </property>
                   </spacer>
                  </item>
-                 <item row="2" column="0">
-                  <widget class="QLabel" name="label_32">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Integral</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="4">
-                  <widget class="QDoubleSpinBox" name="AttitudePitchKp_2">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>3</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.100000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchPI</string>
-                     <string>element:Kp</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:5,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="2">
-                  <widget class="QDoubleSpinBox" name="AttitudeRollILimit">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>2</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.100000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:RollPI</string>
-                     <string>element:ILimit</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:5,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="0">
-                  <widget class="QLabel" name="label_21">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>50</width>
-                     <height>0</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>16777215</height>
-                    </size>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>ILimit</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="0" column="6">
-                  <widget class="QLabel" name="label_29">
+                 <item row="0" column="2">
+                  <widget class="QLabel" name="label_27">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -12295,7 +11828,7 @@ color: rgb(255, 255, 255);
 border-radius: 5;</string>
                    </property>
                    <property name="text">
-                    <string>Yaw</string>
+                    <string>Roll</string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignCenter</set>
@@ -12852,40 +12385,8 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="0" column="0">
-                  <spacer name="horizontalSpacer_8">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Preferred</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>60</width>
-                     <height>13</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="2" column="1">
-                  <spacer name="horizontalSpacer_9">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>10</width>
-                     <height>10</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="0" column="2">
-                  <widget class="QLabel" name="label_27">
+                 <item row="0" column="6">
+                  <widget class="QLabel" name="label_29">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -13427,13 +12928,211 @@ color: rgb(255, 255, 255);
 border-radius: 5;</string>
                    </property>
                    <property name="text">
-                    <string>Roll</string>
+                    <string>Yaw</string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignCenter</set>
                    </property>
                   </widget>
                  </item>
+                 <item row="1" column="0">
+                  <widget class="QLabel" name="label_31">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>69</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Proportional</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="2">
+                  <widget class="QDoubleSpinBox" name="AttitudeRollKp">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>3</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollPI</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="4">
+                  <widget class="QDoubleSpinBox" name="AttitudePitchKp_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>3</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="6">
+                  <widget class="QDoubleSpinBox" name="AttitudeYawKp">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>3</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawPI</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_32">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Integral</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="1">
+                  <spacer name="horizontalSpacer_9">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>13</width>
+                     <height>13</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
                  <item row="2" column="2">
                   <widget class="QDoubleSpinBox" name="AttitudeRollKi">
                    <property name="sizePolicy">
@@ -13491,14 +13190,74 @@ border-radius: 5;</string>
                    </property>
                    <property name="sizeHint" stdset="0">
                     <size>
-                     <width>10</width>
-                     <height>10</height>
+                     <width>13</width>
+                     <height>13</height>
                     </size>
                    </property>
                   </spacer>
                  </item>
-                 <item row="1" column="2">
-                  <widget class="QDoubleSpinBox" name="AttitudeRollKp">
+                 <item row="2" column="4">
+                  <widget class="QDoubleSpinBox" name="AttitudePitchKi_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>3</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.100000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchPI</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:5,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="5">
+                  <spacer name="horizontalSpacer_11">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>13</width>
+                     <height>13</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="2" column="6">
+                  <widget class="QDoubleSpinBox" name="AttitudeYawKi">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -13532,127 +13291,11 @@ border-radius: 5;</string>
                    <property name="singleStep">
                     <double>0.100000000000000</double>
                    </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:RollPI</string>
-                     <string>element:Kp</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:5,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="0">
-                  <widget class="QLabel" name="label_31">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>69</width>
-                     <height>16</height>
-                    </size>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>Proportional</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="4">
-                  <widget class="QDoubleSpinBox" name="AttitudePitchILimit_2">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>2</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.100000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:PitchPI</string>
-                     <string>element:ILimit</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:5,20</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="3" column="6">
-                  <widget class="QDoubleSpinBox" name="AttitudeYawILimit">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>2</number>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.100000000000000</double>
-                   </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
                      <string>objname:StabilizationSettings</string>
                      <string>fieldname:YawPI</string>
-                     <string>element:ILimit</string>
+                     <string>element:Ki</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
                      <string>buttongroup:5,20</string>
@@ -13677,7 +13320,7 @@ border-radius: 5;</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>230</height>
+               <height>190</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -14206,69 +13849,65 @@ border-radius: 5;</string>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
              </property>
-             <layout class="QVBoxLayout" name="verticalLayout_7">
-              <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_6">
-                <property name="spacing">
-                 <number>6</number>
+             <layout class="QGridLayout" name="gridLayout_18">
+              <property name="horizontalSpacing">
+               <number>4</number>
+              </property>
+              <item row="0" column="0">
+               <spacer name="horizontalSpacer_14">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
                 </property>
-                <item>
-                 <spacer name="horizontalSpacer_14">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeType">
-                   <enum>QSizePolicy::Expanding</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>40</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item>
-                 <widget class="QPushButton" name="pushButton_3">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>81</width>
-                    <height>25</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>16777215</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Reset all values to GCS defaults</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Default</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>objname:StabilizationSettings</string>
-                    <string>button:default</string>
-                    <string>buttongroup:6</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
-               </layout>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Expanding</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>632</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
               </item>
-              <item>
+              <item row="0" column="1">
+               <widget class="QPushButton" name="pushButton_3">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>81</width>
+                  <height>25</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Reset all values to GCS defaults</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Default</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:StabilizationSettings</string>
+                  <string>button:default</string>
+                  <string>buttongroup:6</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0" colspan="2">
                <widget class="QGroupBox" name="RateStabilizationGroup_7">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -14279,7 +13918,7 @@ border-radius: 5;</string>
                 <property name="minimumSize">
                  <size>
                   <width>0</width>
-                  <height>160</height>
+                  <height>140</height>
                  </size>
                 </property>
                 <property name="palette">
@@ -14710,6 +14349,9 @@ border-radius: 5;</string>
                  <bool>true</bool>
                 </property>
                 <layout class="QGridLayout" name="gridLayout_6" rowstretch="0,0,0,0" columnstretch="0,0,1,0,1,0,1">
+                 <property name="leftMargin">
+                  <number>0</number>
+                 </property>
                  <property name="verticalSpacing">
                   <number>0</number>
                  </property>
@@ -16216,7 +15858,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="sizeHint" stdset="0">
                     <size>
-                     <width>60</width>
+                     <width>140</width>
                      <height>16</height>
                     </size>
                    </property>
@@ -16952,10 +16594,5651 @@ border-radius: 5;</string>
              </layout>
             </widget>
            </item>
+           <item>
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>200</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="Expert">
+      <attribute name="title">
+       <string>Expert</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_4">
+       <property name="spacing">
+        <number>12</number>
+       </property>
+       <property name="margin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea_3">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents_2">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>762</width>
+            <height>727</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_9">
+           <item>
+            <widget class="QGroupBox" name="groupBox_4">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>150</height>
+              </size>
+             </property>
+             <property name="autoFillBackground">
+              <bool>false</bool>
+             </property>
+             <property name="title">
+              <string>Weak Leveling</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_10" rowstretch="0,0">
+              <property name="horizontalSpacing">
+               <number>4</number>
+              </property>
+              <item row="0" column="0">
+               <spacer name="horizontalSpacer_13">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>632</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="1">
+               <widget class="QPushButton" name="pushButton_6">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>81</width>
+                  <height>25</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Reset all values to GCS defaults</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Default</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:StabilizationSettings</string>
+                  <string>button:default</string>
+                  <string>buttongroup:10</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0" colspan="2">
+               <widget class="QGroupBox" name="groupBox_7">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>60</height>
+                 </size>
+                </property>
+                <property name="palette">
+                 <palette>
+                  <active>
+                   <colorrole role="WindowText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Button">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>255</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Midlight">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>255</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Dark">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>125</red>
+                      <green>125</green>
+                      <blue>125</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Mid">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>166</red>
+                      <green>166</green>
+                      <blue>166</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Text">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="ButtonText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Shadow">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                  </active>
+                  <inactive>
+                   <colorrole role="WindowText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>69</red>
+                      <green>69</green>
+                      <blue>69</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Button">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
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+color: rgb(255, 255, 255);
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+                   <property name="text">
+                    <string>Weak Leveling Rate (deg/s)</string>
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+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
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+                 <item row="1" column="1">
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+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
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+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
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+                   <property name="toolTip">
+                    <string/>
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+                   <property name="styleSheet">
+                    <string notr="true"/>
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+                   <property name="decimals">
+                    <number>2</number>
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+                   <property name="minimum">
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+                   <property name="maximum">
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+                   <property name="singleStep">
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+                 </item>
+                 <item row="1" column="3">
+                  <widget class="QDoubleSpinBox" name="WeakLevelingRate">
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+                     <string>buttongroup:10</string>
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+              </item>
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+           </item>
+           <item>
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+             </property>
+             <property name="autoFillBackground">
+              <bool>false</bool>
+             </property>
+             <property name="title">
+              <string>Axis Lock</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_13">
+              <property name="horizontalSpacing">
+               <number>4</number>
+              </property>
+              <item row="0" column="0">
+               <spacer name="horizontalSpacer_15">
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+                <property name="sizeHint" stdset="0">
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+                  <height>20</height>
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+                </property>
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+              </item>
+              <item row="0" column="1">
+               <widget class="QPushButton" name="pushButton_7">
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+                <property name="minimumSize">
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+                <property name="maximumSize">
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+                  <height>16777215</height>
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+                <property name="toolTip">
+                 <string>Reset all values to GCS defaults</string>
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+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Default</string>
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+                  <string>objname:StabilizationSettings</string>
+                  <string>button:default</string>
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+               </widget>
+              </item>
+              <item row="1" column="0" colspan="2">
+               <widget class="QGroupBox" name="groupBox_8">
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+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Max Axis Lock (deg)</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="3">
+                  <widget class="QLabel" name="label_52">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>220</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </active>
+                     <inactive>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </inactive>
+                     <disabled>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
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+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
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+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
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+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Max Axis Lock Rate (deg/s)</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="0">
+                  <spacer name="horizontalSpacer_21">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>91</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="1">
+                  <widget class="QDoubleSpinBox" name="MaAxisLock">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="minimum">
+                    <double>0.000000000000000</double>
+                   </property>
+                   <property name="maximum">
+                    <double>360.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="value">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:MaxAxisLock</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:11</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="2">
+                  <spacer name="horizontalSpacer_17">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="3">
+                  <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="minimum">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="maximum">
+                    <double>360.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:MaxAxisLockRate</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:11</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="4">
+                  <spacer name="horizontalSpacer_22">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_5">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>180</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Ilimits</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_9">
+              <property name="horizontalSpacing">
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+              <item row="0" column="0">
+               <spacer name="horizontalSpacer_36">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>632</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="1">
+               <widget class="QPushButton" name="pushButton_9">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
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+                <property name="minimumSize">
+                 <size>
+                  <width>81</width>
+                  <height>25</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Reset all values to GCS defaults</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Default</string>
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+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:StabilizationSettings</string>
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+                 <string/>
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+                <property name="flat">
+                 <bool>true</bool>
+                </property>
+                <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,0,1,0,1,0,1,0">
+                 <property name="leftMargin">
+                  <number>0</number>
+                 </property>
+                 <item row="1" column="4">
+                  <widget class="QDoubleSpinBox" name="RatePitchILimit">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
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+                   <property name="minimumSize">
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+                   <property name="maximumSize">
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+                     <width>16777215</width>
+                     <height>22</height>
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+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
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+                   <property name="styleSheet">
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+                   <property name="decimals">
+                    <number>4</number>
+                   </property>
+                   <property name="maximum">
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+                   <property name="singleStep">
+                    <double>0.001000000000000</double>
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+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
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+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:13</string>
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+                   </property>
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+                  <widget class="QDoubleSpinBox" name="RateRollILimit_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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+                   <property name="minimumSize">
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+                   <property name="focusPolicy">
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+                   <property name="toolTip">
+                    <string/>
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+                   <property name="styleSheet">
+                    <string notr="true"/>
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+                   <property name="decimals">
+                    <number>4</number>
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+                   <property name="maximum">
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+                   <property name="singleStep">
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+                   <property name="objrelation" stdset="0">
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+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
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+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Roll</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="6">
+                  <widget class="QLabel" name="label_45">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </active>
+                     <inactive>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </inactive>
+                     <disabled>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Yaw</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Pitch</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="6">
+                  <widget class="QDoubleSpinBox" name="RateYawILimit">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>4</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.001000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:ILimit</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:13</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="7">
+                  <spacer name="horizontalSpacer_43">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="1">
+                  <spacer name="horizontalSpacer_25">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>1</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_23">
              <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                <horstretch>0</horstretch>
                <verstretch>0</verstretch>
               </sizepolicy>
@@ -17495,69 +22778,62 @@ border-radius: 5;</string>
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
              </property>
-             <layout class="QGridLayout" name="gridLayout" columnstretch="0">
+             <layout class="QGridLayout" name="gridLayout">
               <item row="0" column="0">
-               <layout class="QHBoxLayout" name="horizontalLayout_7">
-                <property name="spacing">
-                 <number>6</number>
+               <spacer name="horizontalSpacer_40">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
                 </property>
-                <item>
-                 <spacer name="horizontalSpacer_40">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeType">
-                   <enum>QSizePolicy::Expanding</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>459</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item>
-                 <widget class="QPushButton" name="pushButton_5">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>81</width>
-                    <height>25</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>16777215</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Reset all values to GCS defaults</string>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Default</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>objname:StabilizationSettings</string>
-                    <string>button:default</string>
-                    <string>buttongroup:8</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
-               </layout>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Expanding</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>619</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
               </item>
-              <item row="1" column="0">
+              <item row="0" column="1">
+               <widget class="QPushButton" name="pushButton_5">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>81</width>
+                  <height>25</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Reset all values to GCS defaults</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Default</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:StabilizationSettings</string>
+                  <string>button:default</string>
+                  <string>buttongroup:8</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0" colspan="2">
                <widget class="QGroupBox" name="RateStabilizationGroup_10">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -17568,7 +22844,7 @@ border-radius: 5;</string>
                 <property name="minimumSize">
                  <size>
                   <width>0</width>
-                  <height>70</height>
+                  <height>60</height>
                  </size>
                 </property>
                 <property name="maximumSize">
@@ -18004,8 +23280,86 @@ border-radius: 5;</string>
                 <property name="flat">
                  <bool>true</bool>
                 </property>
-                <layout class="QGridLayout" name="gridLayout_14">
-                 <item row="0" column="0">
+                <layout class="QGridLayout" name="gridLayout_14" columnstretch="0,1,0,1,0,1,0">
+                 <item row="1" column="2">
+                  <spacer name="horizontalSpacer_41">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="0">
+                  <spacer name="horizontalSpacer_39">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>91</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="3">
+                  <widget class="QDoubleSpinBox" name="AccelKp">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>The proportional term for the accelerometer, the higher this term the more weight the  accel is given</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>3</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.010000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:AttitudeSettings</string>
+                     <string>fieldname:AccelKp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:8,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="1">
                   <widget class="QLabel" name="label_46">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -18555,7 +23909,7 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="0" column="1">
+                 <item row="0" column="3">
                   <widget class="QLabel" name="label_47">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -19105,8 +24459,8 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="0" column="2">
-                  <widget class="QLabel" name="label_48">
+                 <item row="1" column="1">
+                  <widget class="QDoubleSpinBox" name="GyroTau">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -19116,6 +24470,68 @@ border-radius: 5;</string>
                    <property name="minimumSize">
                     <size>
                      <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>GyroTau is a gyro filter, the higher the factor the more filtering is applied to the gyros</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="decimals">
+                    <number>3</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.001000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:GyroTau</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:8,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="4">
+                  <spacer name="horizontalSpacer_42">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="0" column="5">
+                  <widget class="QLabel" name="label_48">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>90</width>
                      <height>16</height>
                     </size>
                    </property>
@@ -19655,115 +25071,17 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="0">
-                  <widget class="QDoubleSpinBox" name="GyroTau">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>GyroTau is a gyro filter, the higher the factor the more filtering is applied to the gyros</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>3</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1000000.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.001000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:GyroTau</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:8,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="1">
-                  <widget class="QDoubleSpinBox" name="AccelKp">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string>The proportional term for the accelerometer, the higher this term the more weight the  accel is given</string>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="decimals">
-                    <number>3</number>
-                   </property>
-                   <property name="maximum">
-                    <double>1000000.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>0.010000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:AttitudeSettings</string>
-                     <string>fieldname:AccelKp</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:8,10</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="2">
+                 <item row="1" column="5">
                   <widget class="QDoubleSpinBox" name="AccelKi">
                    <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
                      <horstretch>0</horstretch>
                      <verstretch>0</verstretch>
                     </sizepolicy>
                    </property>
                    <property name="minimumSize">
                     <size>
-                     <width>0</width>
+                     <width>90</width>
                      <height>22</height>
                     </size>
                    </property>
@@ -19797,2789 +25115,30 @@ border-radius: 5;</string>
                      <string>fieldname:AccelKi</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:8,10</string>
+                     <string>buttongroup:8</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
+                 <item row="1" column="6">
+                  <spacer name="horizontalSpacer_23">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
                 </layout>
                </widget>
               </item>
              </layout>
             </widget>
            </item>
-           <item>
-            <spacer name="verticalSpacer_2">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>40</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </widget>
-        </widget>
-       </item>
-      </layout>
-     </widget>
-     <widget class="QWidget" name="Advanced">
-      <attribute name="title">
-       <string>Advanced</string>
-      </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_4">
-       <property name="spacing">
-        <number>12</number>
-       </property>
-       <property name="margin">
-        <number>0</number>
-       </property>
-       <item>
-        <widget class="QScrollArea" name="scrollArea_3">
-         <property name="palette">
-          <palette>
-           <active>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>240</red>
-               <green>240</green>
-               <blue>240</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </active>
-           <inactive>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>240</red>
-               <green>240</green>
-               <blue>240</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </inactive>
-           <disabled>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>240</red>
-               <green>240</green>
-               <blue>240</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>240</red>
-               <green>240</green>
-               <blue>240</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </disabled>
-          </palette>
-         </property>
-         <property name="frameShape">
-          <enum>QFrame::NoFrame</enum>
-         </property>
-         <property name="frameShadow">
-          <enum>QFrame::Plain</enum>
-         </property>
-         <property name="widgetResizable">
-          <bool>true</bool>
-         </property>
-         <widget class="QWidget" name="scrollAreaWidgetContents_2">
-          <property name="geometry">
-           <rect>
-            <x>0</x>
-            <y>0</y>
-            <width>647</width>
-            <height>761</height>
-           </rect>
-          </property>
-          <layout class="QVBoxLayout" name="verticalLayout_9">
-           <item>
-            <widget class="QGroupBox" name="groupBox_4">
-             <property name="minimumSize">
-              <size>
-               <width>0</width>
-               <height>100</height>
-              </size>
-             </property>
-             <property name="autoFillBackground">
-              <bool>false</bool>
-             </property>
-             <property name="title">
-              <string>Weak Leveling</string>
-             </property>
-             <layout class="QVBoxLayout" name="verticalLayout_14">
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-                        </gradientstop>
-                       </gradient>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Light">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>58</red>
-                        <green>58</green>
-                        <blue>58</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Midlight">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>48</red>
-                        <green>48</green>
-                        <blue>48</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Dark">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>19</red>
-                        <green>19</green>
-                        <blue>19</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Mid">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>26</red>
-                        <green>26</green>
-                        <blue>26</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Text">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>255</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="BrightText">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>255</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="ButtonText">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>255</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Base">
-                      <brush brushstyle="LinearGradientPattern">
-                       <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                        <gradientstop position="0.208955000000000">
-                         <color alpha="255">
-                          <red>74</red>
-                          <green>74</green>
-                          <blue>74</blue>
-                         </color>
-                        </gradientstop>
-                        <gradientstop position="0.786070000000000">
-                         <color alpha="255">
-                          <red>36</red>
-                          <green>36</green>
-                          <blue>36</blue>
-                         </color>
-                        </gradientstop>
-                       </gradient>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Window">
-                      <brush brushstyle="LinearGradientPattern">
-                       <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                        <gradientstop position="0.208955000000000">
-                         <color alpha="255">
-                          <red>74</red>
-                          <green>74</green>
-                          <blue>74</blue>
-                         </color>
-                        </gradientstop>
-                        <gradientstop position="0.786070000000000">
-                         <color alpha="255">
-                          <red>36</red>
-                          <green>36</green>
-                          <blue>36</blue>
-                         </color>
-                        </gradientstop>
-                       </gradient>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Shadow">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="AlternateBase">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>19</red>
-                        <green>19</green>
-                        <blue>19</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="ToolTipBase">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>220</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="ToolTipText">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                    </inactive>
-                    <disabled>
-                     <colorrole role="WindowText">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>255</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Button">
-                      <brush brushstyle="LinearGradientPattern">
-                       <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                        <gradientstop position="0.208955000000000">
-                         <color alpha="255">
-                          <red>74</red>
-                          <green>74</green>
-                          <blue>74</blue>
-                         </color>
-                        </gradientstop>
-                        <gradientstop position="0.786070000000000">
-                         <color alpha="255">
-                          <red>36</red>
-                          <green>36</green>
-                          <blue>36</blue>
-                         </color>
-                        </gradientstop>
-                       </gradient>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Light">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>58</red>
-                        <green>58</green>
-                        <blue>58</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Midlight">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>48</red>
-                        <green>48</green>
-                        <blue>48</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Dark">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>19</red>
-                        <green>19</green>
-                        <blue>19</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Mid">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>26</red>
-                        <green>26</green>
-                        <blue>26</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Text">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>255</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="BrightText">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>255</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="ButtonText">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>255</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Base">
-                      <brush brushstyle="LinearGradientPattern">
-                       <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                        <gradientstop position="0.208955000000000">
-                         <color alpha="255">
-                          <red>74</red>
-                          <green>74</green>
-                          <blue>74</blue>
-                         </color>
-                        </gradientstop>
-                        <gradientstop position="0.786070000000000">
-                         <color alpha="255">
-                          <red>36</red>
-                          <green>36</green>
-                          <blue>36</blue>
-                         </color>
-                        </gradientstop>
-                       </gradient>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Window">
-                      <brush brushstyle="LinearGradientPattern">
-                       <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
-                        <gradientstop position="0.208955000000000">
-                         <color alpha="255">
-                          <red>74</red>
-                          <green>74</green>
-                          <blue>74</blue>
-                         </color>
-                        </gradientstop>
-                        <gradientstop position="0.786070000000000">
-                         <color alpha="255">
-                          <red>36</red>
-                          <green>36</green>
-                          <blue>36</blue>
-                         </color>
-                        </gradientstop>
-                       </gradient>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="Shadow">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="AlternateBase">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>39</red>
-                        <green>39</green>
-                        <blue>39</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="ToolTipBase">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>255</red>
-                        <green>255</green>
-                        <blue>220</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                     <colorrole role="ToolTipText">
-                      <brush brushstyle="SolidPattern">
-                       <color alpha="255">
-                        <red>0</red>
-                        <green>0</green>
-                        <blue>0</blue>
-                       </color>
-                      </brush>
-                     </colorrole>
-                    </disabled>
-                   </palette>
-                  </property>
-                  <property name="font">
-                   <font>
-                    <weight>75</weight>
-                    <bold>true</bold>
-                   </font>
-                  </property>
-                  <property name="autoFillBackground">
-                   <bool>false</bool>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;</string>
-                  </property>
-                  <property name="text">
-                   <string>Max Axis Lock (deg)</string>
-                  </property>
-                  <property name="alignment">
-                   <set>Qt::AlignCenter</set>
-                  </property>
-                 </widget>
-                </item>
-                <item row="1" column="0">
-                 <spacer name="horizontalSpacer_21">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>40</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item row="1" column="3">
-                 <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>0</width>
-                    <height>22</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>16777215</width>
-                    <height>22</height>
-                   </size>
-                  </property>
-                  <property name="focusPolicy">
-                   <enum>Qt::StrongFocus</enum>
-                  </property>
-                  <property name="toolTip">
-                   <string/>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="decimals">
-                   <number>0</number>
-                  </property>
-                  <property name="minimum">
-                   <double>1.000000000000000</double>
-                  </property>
-                  <property name="maximum">
-                   <double>360.000000000000000</double>
-                  </property>
-                  <property name="singleStep">
-                   <double>1.000000000000000</double>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>objname:StabilizationSettings</string>
-                    <string>fieldname:MaxAxisLockRate</string>
-                    <string>haslimits:no</string>
-                    <string>scale:1</string>
-                    <string>buttongroup:11</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
-                <item row="1" column="4">
-                 <spacer name="horizontalSpacer_22">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>40</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-               </layout>
-              </item>
-             </layout>
-            </widget>
-           </item>
            <item>
             <widget class="QGroupBox" name="groupBox_3">
              <property name="sizePolicy">

From 17bcdb61132a9fe9b339164626430a8e36ef941e Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sat, 4 Aug 2012 23:03:56 -0700
Subject: [PATCH 188/543] resized the default buttons areas, moved the entire
 sensor tuning to expert, fixed apply layout spacing

---
 ground/openpilotgcs/src/plugins/config/stabilization.ui | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index e91732607..34a811237 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -483,7 +483,7 @@
       <enum>QTabWidget::Rounded</enum>
      </property>
      <property name="currentIndex">
-      <number>1</number>
+      <number>0</number>
      </property>
      <property name="documentMode">
       <bool>false</bool>
@@ -25751,6 +25751,9 @@ automatically every 300ms, which will help for fast tuning.</string>
       <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
      </property>
      <layout class="QHBoxLayout" name="horizontalLayout_3">
+      <property name="spacing">
+       <number>4</number>
+      </property>
       <property name="topMargin">
        <number>0</number>
       </property>

From 56dfed2e8b5c25f582c8614d0dedc6115d7f782f Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sun, 5 Aug 2012 12:41:19 -0700
Subject: [PATCH 189/543] pre-spinner value align shift

---
 .../src/plugins/config/stabilization.ui       | 27 ++++++++++---------
 1 file changed, 15 insertions(+), 12 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 34a811237..10005aa98 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>792</width>
-    <height>828</height>
+    <width>727</width>
+    <height>704</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -594,8 +594,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>762</width>
-            <height>727</height>
+            <width>697</width>
+            <height>603</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_12" stretch="0,0,0,0,0">
@@ -628,6 +628,9 @@
              <property name="alignment">
               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
              </property>
+             <property name="flat">
+              <bool>false</bool>
+             </property>
              <layout class="QGridLayout" name="gridLayout_19">
               <property name="horizontalSpacing">
                <number>4</number>
@@ -6926,8 +6929,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>762</width>
-            <height>727</height>
+            <width>697</width>
+            <height>603</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -8709,7 +8712,7 @@ value as the Kp.</string>
                    </property>
                    <property name="minimumSize">
                     <size>
-                     <width>0</width>
+                     <width>85</width>
                      <height>22</height>
                     </size>
                    </property>
@@ -9963,7 +9966,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="minimumSize">
                     <size>
-                     <width>0</width>
+                     <width>85</width>
                      <height>22</height>
                     </size>
                    </property>
@@ -10106,7 +10109,7 @@ value as the Kp.</string>
                    </property>
                    <property name="minimumSize">
                     <size>
-                     <width>0</width>
+                     <width>85</width>
                      <height>22</height>
                     </size>
                    </property>
@@ -16704,8 +16707,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>762</width>
-            <height>727</height>
+            <width>682</width>
+            <height>697</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_9">
@@ -19863,7 +19866,7 @@ border-radius: 5;</string>
               </size>
              </property>
              <property name="title">
-              <string>Ilimits</string>
+              <string>Integral Limits</string>
              </property>
              <layout class="QGridLayout" name="gridLayout_9">
               <property name="horizontalSpacing">

From bcb23bb7795af35151f139b47454ce235d5e1e8f Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sun, 5 Aug 2012 12:44:36 -0700
Subject: [PATCH 190/543] pre-spinner value align shift

---
 .../src/plugins/config/stabilization.ui       | 114 ++++++++++++++++++
 1 file changed, 114 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 10005aa98..789b72415 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -8019,6 +8019,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>6</number>
                    </property>
@@ -8636,6 +8639,9 @@ value as the Kp.</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>5</number>
                    </property>
@@ -8684,6 +8690,9 @@ value as the Kp.</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>5</number>
                    </property>
@@ -8734,6 +8743,9 @@ You can usually go for higher values for Yaw factors.</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>5</number>
                    </property>
@@ -8781,6 +8793,9 @@ You can usually go for higher values for Yaw factors.</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>6</number>
                    </property>
@@ -9986,6 +10001,9 @@ Then lower the value by 20% or so.</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>5</number>
                    </property>
@@ -10050,6 +10068,9 @@ value as the Kp.</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>5</number>
                    </property>
@@ -10129,6 +10150,9 @@ Then lower the value by 20% or so.</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>5</number>
                    </property>
@@ -10176,6 +10200,9 @@ Then lower the value by 20% or so.</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>6</number>
                    </property>
@@ -12992,6 +13019,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>3</number>
                    </property>
@@ -13036,6 +13066,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>3</number>
                    </property>
@@ -13083,6 +13116,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>3</number>
                    </property>
@@ -13165,6 +13201,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>3</number>
                    </property>
@@ -13225,6 +13264,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>3</number>
                    </property>
@@ -13288,6 +13330,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>3</number>
                    </property>
@@ -14384,6 +14429,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>0</number>
                    </property>
@@ -14464,6 +14512,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>0</number>
                    </property>
@@ -14530,6 +14581,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>0</number>
                    </property>
@@ -14580,6 +14634,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>0</number>
                    </property>
@@ -14626,6 +14683,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>0</number>
                    </property>
@@ -15830,6 +15890,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>0</number>
                    </property>
@@ -16446,6 +16509,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>0</number>
                    </property>
@@ -16496,6 +16562,12 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="buttonSymbols">
+                    <enum>QAbstractSpinBox::UpDownArrows</enum>
+                   </property>
                    <property name="decimals">
                     <number>0</number>
                    </property>
@@ -16545,6 +16617,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>0</number>
                    </property>
@@ -18173,6 +18248,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>2</number>
                    </property>
@@ -18238,6 +18316,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>0</number>
                    </property>
@@ -19741,6 +19822,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>0</number>
                    </property>
@@ -19809,6 +19893,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>0</number>
                    </property>
@@ -20193,6 +20280,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>4</number>
                    </property>
@@ -20243,6 +20333,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>4</number>
                    </property>
@@ -21393,6 +21486,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>2</number>
                    </property>
@@ -21468,6 +21564,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>2</number>
                    </property>
@@ -21575,6 +21674,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>2</number>
                    </property>
@@ -22185,6 +22287,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>4</number>
                    </property>
@@ -23342,6 +23447,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>3</number>
                    </property>
@@ -24491,6 +24599,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>3</number>
                    </property>
@@ -25103,6 +25214,9 @@ border-radius: 5;</string>
                    <property name="styleSheet">
                     <string notr="true"/>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
                    <property name="decimals">
                     <number>5</number>
                    </property>

From c600014f2f1514a08db6853857298df06bba5c8c Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sun, 5 Aug 2012 14:04:42 -0700
Subject: [PATCH 191/543] merged the weak leveling and axis lock to same group

---
 .../src/plugins/config/stabilization.ui       | 3864 ++++++++---------
 1 file changed, 1775 insertions(+), 2089 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 789b72415..783e4ee2a 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>727</width>
-    <height>704</height>
+    <width>942</width>
+    <height>703</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -594,8 +594,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>697</width>
-            <height>603</height>
+            <width>912</width>
+            <height>602</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_12" stretch="0,0,0,0,0">
@@ -6929,8 +6929,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>697</width>
-            <height>603</height>
+            <width>912</width>
+            <height>602</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -16782,8 +16782,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>682</width>
-            <height>697</height>
+            <width>912</width>
+            <height>602</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_9">
@@ -16805,7 +16805,7 @@ border-radius: 5;</string>
               <bool>false</bool>
              </property>
              <property name="title">
-              <string>Weak Leveling</string>
+              <string>Weak Leveling / Axis Lock</string>
              </property>
              <layout class="QGridLayout" name="gridLayout_10" rowstretch="0,0">
               <property name="horizontalSpacing">
@@ -17102,9 +17102,35 @@ border-radius: 5;</string>
                 <property name="flat">
                  <bool>true</bool>
                 </property>
-                <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1,0,1,0">
-                 <item row="0" column="1">
-                  <widget class="QLabel" name="label_50">
+                <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1,0,1,0,1,0,1,0">
+                 <item row="1" column="2">
+                  <spacer name="horizontalSpacer_15">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="4">
+                  <spacer name="horizontalSpacer_17">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="5">
+                  <widget class="QDoubleSpinBox" name="MaAxisLock">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
@@ -17113,543 +17139,51 @@ border-radius: 5;</string>
                    </property>
                    <property name="minimumSize">
                     <size>
-                     <width>220</width>
-                     <height>16</height>
+                     <width>25</width>
+                     <height>22</height>
                     </size>
                    </property>
-                   <property name="palette">
-                    <palette>
-                     <active>
-                      <colorrole role="WindowText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>255</blue>
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+                    <size>
+                     <width>175</width>
+                     <height>22</height>
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                    </property>
-                   <property name="font">
-                    <font>
-                     <weight>75</weight>
-                     <bold>true</bold>
-                    </font>
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+                    <enum>Qt::StrongFocus</enum>
                    </property>
-                   <property name="autoFillBackground">
-                    <bool>false</bool>
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-color: rgb(255, 255, 255);
-border-radius: 5;</string>
-                   </property>
-                   <property name="text">
-                    <string>Weak Leveling Kp ((deg/s)/deg)</string>
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                    <property name="alignment">
-                    <set>Qt::AlignCenter</set>
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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+                   <property name="objrelation" stdset="0">
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+                     <string>fieldname:MaxAxisLock</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:10</string>
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                   </widget>
                  </item>
@@ -17663,10 +17197,16 @@ border-radius: 5;</string>
                    </property>
                    <property name="minimumSize">
                     <size>
-                     <width>220</width>
+                     <width>144</width>
                      <height>16</height>
                     </size>
                    </property>
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                    <property name="palette">
                     <palette>
                      <active>
@@ -18196,7 +17736,563 @@ color: rgb(255, 255, 255);
 border-radius: 5;</string>
                    </property>
                    <property name="text">
-                    <string>Weak Leveling Rate (deg/s)</string>
+                    <string>Weak Leveling Rate </string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
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+                 </item>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Max Axis Lock </string>
                    </property>
                    <property name="alignment">
                     <set>Qt::AlignCenter</set>
@@ -18213,7 +18309,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="sizeHint" stdset="0">
                     <size>
-                     <width>91</width>
+                     <width>90</width>
                      <height>11</height>
                     </size>
                    </property>
@@ -18229,13 +18325,13 @@ border-radius: 5;</string>
                    </property>
                    <property name="minimumSize">
                     <size>
-                     <width>0</width>
+                     <width>5</width>
                      <height>22</height>
                     </size>
                    </property>
                    <property name="maximumSize">
                     <size>
-                     <width>16777215</width>
+                     <width>175</width>
                      <height>22</height>
                     </size>
                    </property>
@@ -18274,19 +18370,6 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="2">
-                  <spacer name="horizontalSpacer_12">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>11</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
                  <item row="1" column="3">
                   <widget class="QDoubleSpinBox" name="WeakLevelingRate">
                    <property name="sizePolicy">
@@ -18297,13 +18380,13 @@ border-radius: 5;</string>
                    </property>
                    <property name="minimumSize">
                     <size>
-                     <width>0</width>
+                     <width>25</width>
                      <height>22</height>
                     </size>
                    </property>
                    <property name="maximumSize">
                     <size>
-                     <width>16777215</width>
+                     <width>175</width>
                      <height>22</height>
                     </size>
                    </property>
@@ -18342,1529 +18425,7 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="4">
-                  <spacer name="horizontalSpacer_19">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>11</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                </layout>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <widget class="QGroupBox" name="groupBox_6">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>0</width>
-               <height>160</height>
-              </size>
-             </property>
-             <property name="autoFillBackground">
-              <bool>false</bool>
-             </property>
-             <property name="title">
-              <string>Axis Lock</string>
-             </property>
-             <layout class="QGridLayout" name="gridLayout_13">
-              <property name="horizontalSpacing">
-               <number>4</number>
-              </property>
-              <item row="0" column="0">
-               <spacer name="horizontalSpacer_15">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>632</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item row="0" column="1">
-               <widget class="QPushButton" name="pushButton_7">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>81</width>
-                  <height>25</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="toolTip">
-                 <string>Reset all values to GCS defaults</string>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true"/>
-                </property>
-                <property name="text">
-                 <string>Default</string>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:StabilizationSettings</string>
-                  <string>button:default</string>
-                  <string>buttongroup:11</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0" colspan="2">
-               <widget class="QGroupBox" name="groupBox_8">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>64</height>
-                 </size>
-                </property>
-                <property name="palette">
-                 <palette>
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-                      <red>0</red>
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-                    <brush brushstyle="SolidPattern">
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-                      <red>255</red>
-                      <green>255</green>
-                      <blue>255</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Midlight">
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-                     <color alpha="255">
-                      <red>255</red>
-                      <green>255</green>
-                      <blue>255</blue>
-                     </color>
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-                   </colorrole>
-                   <colorrole role="Dark">
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-                      <red>125</red>
-                      <green>125</green>
-                      <blue>125</blue>
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-                      <red>166</red>
-                      <green>166</green>
-                      <blue>166</blue>
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-                      <green>0</green>
-                      <blue>0</blue>
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-                      <red>0</red>
-                      <green>0</green>
-                      <blue>0</blue>
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-                   </colorrole>
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-                      <green>255</green>
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-                   <colorrole role="Dark">
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-                      <red>125</red>
-                      <green>125</green>
-                      <blue>125</blue>
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-                      <red>166</red>
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-                      <red>125</red>
-                      <green>125</green>
-                      <blue>125</blue>
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-                   <colorrole role="Mid">
-                    <brush brushstyle="SolidPattern">
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-                      <red>166</red>
-                      <green>166</green>
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-                      <red>125</red>
-                      <green>125</green>
-                      <blue>125</blue>
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-                      <red>125</red>
-                      <green>125</green>
-                      <blue>125</blue>
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-                    <brush brushstyle="SolidPattern">
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-                  </disabled>
-                 </palette>
-                </property>
-                <property name="title">
-                 <string/>
-                </property>
-                <property name="flat">
-                 <bool>true</bool>
-                </property>
-                <layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1,0,1,0">
-                 <item row="0" column="1">
-                  <widget class="QLabel" name="label_51">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>220</width>
-                     <height>16</height>
-                    </size>
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-                         <red>255</red>
-                         <green>255</green>
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-                         <gradientstop position="0.208955000000000">
-                          <color alpha="255">
-                           <red>74</red>
-                           <green>74</green>
-                           <blue>74</blue>
-                          </color>
-                         </gradientstop>
-                         <gradientstop position="0.786070000000000">
-                          <color alpha="255">
-                           <red>36</red>
-                           <green>36</green>
-                           <blue>36</blue>
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-                         </gradientstop>
-                        </gradient>
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-                      <colorrole role="Light">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>58</red>
-                         <green>58</green>
-                         <blue>58</blue>
-                        </color>
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-                      <colorrole role="Midlight">
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-                         <red>48</red>
-                         <green>48</green>
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-                         <red>19</red>
-                         <green>19</green>
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-                         <red>26</red>
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-                         <red>255</red>
-                         <green>255</green>
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-                      <colorrole role="ButtonText">
-                       <brush brushstyle="SolidPattern">
-                        <color alpha="255">
-                         <red>255</red>
-                         <green>255</green>
-                         <blue>255</blue>
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-                           <red>74</red>
-                           <green>74</green>
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-                         <gradientstop position="0.786070000000000">
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-                           <red>36</red>
-                           <green>36</green>
-                           <blue>36</blue>
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-                         <gradientstop position="0.786070000000000">
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-                           <red>36</red>
-                           <green>36</green>
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-                         <red>255</red>
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-                        </gradient>
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-                      </colorrole>
-                      <colorrole role="Shadow">
-                       <brush brushstyle="SolidPattern">
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-                         <green>255</green>
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-                      <colorrole role="ToolTipText">
-                       <brush brushstyle="SolidPattern">
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-                         <green>0</green>
-                         <blue>0</blue>
-                        </color>
-                       </brush>
-                      </colorrole>
-                     </disabled>
-                    </palette>
-                   </property>
-                   <property name="font">
-                    <font>
-                     <weight>75</weight>
-                     <bold>true</bold>
-                    </font>
-                   </property>
-                   <property name="autoFillBackground">
-                    <bool>false</bool>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;</string>
-                   </property>
-                   <property name="text">
-                    <string>Max Axis Lock Rate (deg/s)</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignCenter</set>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="0">
-                  <spacer name="horizontalSpacer_21">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>91</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="1" column="1">
-                  <widget class="QDoubleSpinBox" name="MaAxisLock">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="minimumSize">
-                    <size>
-                     <width>0</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>16777215</width>
-                     <height>22</height>
-                    </size>
-                   </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
-                   </property>
-                   <property name="toolTip">
-                    <string/>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                   </property>
-                   <property name="decimals">
-                    <number>0</number>
-                   </property>
-                   <property name="minimum">
-                    <double>0.000000000000000</double>
-                   </property>
-                   <property name="maximum">
-                    <double>360.000000000000000</double>
-                   </property>
-                   <property name="singleStep">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="value">
-                    <double>1.000000000000000</double>
-                   </property>
-                   <property name="objrelation" stdset="0">
-                    <stringlist>
-                     <string>objname:StabilizationSettings</string>
-                     <string>fieldname:MaxAxisLock</string>
-                     <string>haslimits:no</string>
-                     <string>scale:1</string>
-                     <string>buttongroup:11</string>
-                    </stringlist>
-                   </property>
-                  </widget>
-                 </item>
-                 <item row="1" column="2">
-                  <spacer name="horizontalSpacer_17">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="1" column="3">
+                 <item row="1" column="7">
                   <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
                    <property name="sizePolicy">
                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -19874,13 +18435,13 @@ border-radius: 5;</string>
                    </property>
                    <property name="minimumSize">
                     <size>
-                     <width>0</width>
+                     <width>25</width>
                      <height>22</height>
                     </size>
                    </property>
                    <property name="maximumSize">
                     <size>
-                     <width>16777215</width>
+                     <width>175</width>
                      <height>22</height>
                     </size>
                    </property>
@@ -19914,13 +18475,1138 @@ border-radius: 5;</string>
                      <string>fieldname:MaxAxisLockRate</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:11</string>
+                     <string>buttongroup:10</string>
                     </stringlist>
                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="4">
-                  <spacer name="horizontalSpacer_22">
+                 <item row="0" column="7">
+                  <widget class="QLabel" name="label_52">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>144</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>175</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                           <green>74</green>
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+                         <green>48</green>
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+                         <green>19</green>
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+                         <green>26</green>
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+                         <green>255</green>
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+                           <green>74</green>
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+                           <green>36</green>
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+                         <green>19</green>
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+                         <red>255</red>
+                         <green>255</green>
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+                         <green>255</green>
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+                           <green>36</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
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+                      </colorrole>
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+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
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+                        </color>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
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+                         <red>255</red>
+                         <green>255</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                         <green>255</green>
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+                         <green>255</green>
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+                         <red>58</red>
+                         <green>58</green>
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+                         <red>48</red>
+                         <green>48</green>
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+                         <red>19</red>
+                         <green>19</green>
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+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Max Axis Lock Rate </string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="1">
+                  <widget class="QLabel" name="label_50">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>144</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>175</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
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+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </active>
+                     <inactive>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </inactive>
+                     <disabled>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Weak Leveling Kp </string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="8">
+                  <spacer name="horizontalSpacer_12">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="6">
+                  <spacer name="horizontalSpacer_19">
                    <property name="orientation">
                     <enum>Qt::Horizontal</enum>
                    </property>

From 89a8b054224ca3960b49a53ea829d01d4019ecbd Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Mon, 6 Aug 2012 10:32:01 -0700
Subject: [PATCH 192/543] fixed tab order, a little spacing tweak onadvanced
 page

---
 .../src/plugins/config/stabilization.ui       | 39 ++++++++++++++-----
 1 file changed, 30 insertions(+), 9 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 783e4ee2a..d0bc5a6d2 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -25749,8 +25749,10 @@ Useful if you have accidentally changed some settings.</string>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <tabstops>
-  <tabstop>scrollArea</tabstop>
-  <tabstop>checkBox_7</tabstop>
+  <tabstop>stabilizationReloadBoardData_6</tabstop>
+  <tabstop>saveStabilizationToRAM_6</tabstop>
+  <tabstop>saveStabilizationToSD_6</tabstop>
+  <tabstop>pushButton_23</tabstop>
   <tabstop>pushButton_20</tabstop>
   <tabstop>horizontalSlider_76</tabstop>
   <tabstop>spinBox_7</tabstop>
@@ -25764,7 +25766,6 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>spinBox_9</tabstop>
   <tabstop>horizontalSlider_81</tabstop>
   <tabstop>spinBox_10</tabstop>
-  <tabstop>checkBox_8</tabstop>
   <tabstop>pushButton_22</tabstop>
   <tabstop>horizontalSlider_82</tabstop>
   <tabstop>spinBox_13</tabstop>
@@ -25778,11 +25779,9 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>spinBox_19</tabstop>
   <tabstop>horizontalSlider_87</tabstop>
   <tabstop>spinBox_20</tabstop>
-  <tabstop>stabilizationReloadBoardData_6</tabstop>
-  <tabstop>saveStabilizationToRAM_6</tabstop>
-  <tabstop>saveStabilizationToSD_6</tabstop>
-  <tabstop>scrollArea_2</tabstop>
-  <tabstop>checkBox_3</tabstop>
+  <tabstop>lowThrottleZeroIntegral_8</tabstop>
+  <tabstop>checkBox_7</tabstop>
+  <tabstop>checkBox_8</tabstop>
   <tabstop>pushButton_4</tabstop>
   <tabstop>RateRollKp_2</tabstop>
   <tabstop>RatePitchKp</tabstop>
@@ -25793,7 +25792,7 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>RollRateKd</tabstop>
   <tabstop>PitchRateKd</tabstop>
   <tabstop>YawRateKd</tabstop>
-  <tabstop>checkBox_2</tabstop>
+  <tabstop>scrollArea</tabstop>
   <tabstop>pushButton_2</tabstop>
   <tabstop>AttitudeRollKp</tabstop>
   <tabstop>AttitudePitchKp_2</tabstop>
@@ -25811,6 +25810,28 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>rateRollILimit_3</tabstop>
   <tabstop>ratePitchILimit_4</tabstop>
   <tabstop>rateYawILimit_3</tabstop>
+  <tabstop>checkBox_3</tabstop>
+  <tabstop>checkBox_2</tabstop>
+  <tabstop>pushButton_6</tabstop>
+  <tabstop>WeakLevelingKp</tabstop>
+  <tabstop>WeakLevelingRate</tabstop>
+  <tabstop>MaAxisLock</tabstop>
+  <tabstop>MaxAxisLockRate</tabstop>
+  <tabstop>pushButton_9</tabstop>
+  <tabstop>RateRollILimit_2</tabstop>
+  <tabstop>RatePitchILimit</tabstop>
+  <tabstop>RateYawILimit</tabstop>
+  <tabstop>AttitudeRollILimit</tabstop>
+  <tabstop>AttitudePitchILimit_2</tabstop>
+  <tabstop>AttitudeYawILimit</tabstop>
+  <tabstop>pushButton_5</tabstop>
+  <tabstop>GyroTau</tabstop>
+  <tabstop>AccelKp</tabstop>
+  <tabstop>AccelKi</tabstop>
+  <tabstop>realTimeUpdates_6</tabstop>
+  <tabstop>scrollArea_3</tabstop>
+  <tabstop>tabWidget</tabstop>
+  <tabstop>scrollArea_2</tabstop>
  </tabstops>
  <resources>
   <include location="../coreplugin/core.qrc"/>

From 9d707cef5bee63e7a3f484551b5fb2b50294622c Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 24 Feb 2011 03:35:19 -0600
Subject: [PATCH 193/543] Initial import of my androidgcs framework

---
 androidgcs/AndroidManifest.xml                |  18 +
 androidgcs/bin/OpieMobi.apk                   | Bin 0 -> 148198 bytes
 androidgcs/bin/classes.dex                    | Bin 0 -> 12640 bytes
 .../ObjBrowserExpandableListAdapter.class     | Bin 0 -> 3092 bytes
 .../openpilot/androidgcs/ObjectBrowser.class  | Bin 0 -> 951 bytes
 .../bin/org/openpilot/androidgcs/R$attr.class | Bin 0 -> 358 bytes
 .../org/openpilot/androidgcs/R$color.class    | Bin 0 -> 447 bytes
 .../org/openpilot/androidgcs/R$drawable.class | Bin 0 -> 418 bytes
 .../bin/org/openpilot/androidgcs/R$id.class   | Bin 0 -> 403 bytes
 .../org/openpilot/androidgcs/R$layout.class   | Bin 0 -> 449 bytes
 .../org/openpilot/androidgcs/R$string.class   | Bin 0 -> 445 bytes
 .../bin/org/openpilot/androidgcs/R.class      | Bin 0 -> 627 bytes
 .../org/openpilot/uavtalk/UAVDataObject.class | Bin 0 -> 1127 bytes
 .../org/openpilot/uavtalk/UAVMetaObject.class | Bin 0 -> 1440 bytes
 .../uavtalk/UAVObject$AccessMode.class        | Bin 0 -> 1199 bytes
 .../uavtalk/UAVObject$UpdateMode.class        | Bin 0 -> 1333 bytes
 .../bin/org/openpilot/uavtalk/UAVObject.class | Bin 0 -> 2255 bytes
 .../openpilot/uavtalk/UAVObjectManager.class  | Bin 0 -> 5422 bytes
 androidgcs/bin/resources.ap_                  | Bin 0 -> 140460 bytes
 androidgcs/default.properties                 |  11 +
 .../gen/org/openpilot/androidgcs/R.java       |  31 ++
 androidgcs/proguard.cfg                       |  36 ++
 androidgcs/res/drawable-hdpi/icon.png         | Bin 0 -> 48558 bytes
 androidgcs/res/drawable-ldpi/icon.png         | Bin 0 -> 48558 bytes
 androidgcs/res/drawable-mdpi/icon.png         | Bin 0 -> 48558 bytes
 androidgcs/res/layout/main.xml                |  12 +
 androidgcs/res/layout/objectbrowser.xml       |   8 +
 androidgcs/res/values/strings.xml             |   7 +
 .../ObjBrowserExpandableListAdapter.java      |  99 ++++++
 .../openpilot/androidgcs/ObjectBrowser.java   |  21 ++
 .../org/openpilot/uavtalk/UAVDataObject.java  |  27 ++
 .../org/openpilot/uavtalk/UAVMetaObject.java  |  50 +++
 .../src/org/openpilot/uavtalk/UAVObject.java  | 117 ++++++
 .../openpilot/uavtalk/UAVObjectManager.java   | 332 ++++++++++++++++++
 34 files changed, 769 insertions(+)
 create mode 100644 androidgcs/AndroidManifest.xml
 create mode 100644 androidgcs/bin/OpieMobi.apk
 create mode 100644 androidgcs/bin/classes.dex
 create mode 100644 androidgcs/bin/org/openpilot/androidgcs/ObjBrowserExpandableListAdapter.class
 create mode 100644 androidgcs/bin/org/openpilot/androidgcs/ObjectBrowser.class
 create mode 100644 androidgcs/bin/org/openpilot/androidgcs/R$attr.class
 create mode 100644 androidgcs/bin/org/openpilot/androidgcs/R$color.class
 create mode 100644 androidgcs/bin/org/openpilot/androidgcs/R$drawable.class
 create mode 100644 androidgcs/bin/org/openpilot/androidgcs/R$id.class
 create mode 100644 androidgcs/bin/org/openpilot/androidgcs/R$layout.class
 create mode 100644 androidgcs/bin/org/openpilot/androidgcs/R$string.class
 create mode 100644 androidgcs/bin/org/openpilot/androidgcs/R.class
 create mode 100644 androidgcs/bin/org/openpilot/uavtalk/UAVDataObject.class
 create mode 100644 androidgcs/bin/org/openpilot/uavtalk/UAVMetaObject.class
 create mode 100644 androidgcs/bin/org/openpilot/uavtalk/UAVObject$AccessMode.class
 create mode 100644 androidgcs/bin/org/openpilot/uavtalk/UAVObject$UpdateMode.class
 create mode 100644 androidgcs/bin/org/openpilot/uavtalk/UAVObject.class
 create mode 100644 androidgcs/bin/org/openpilot/uavtalk/UAVObjectManager.class
 create mode 100644 androidgcs/bin/resources.ap_
 create mode 100644 androidgcs/default.properties
 create mode 100644 androidgcs/gen/org/openpilot/androidgcs/R.java
 create mode 100644 androidgcs/proguard.cfg
 create mode 100644 androidgcs/res/drawable-hdpi/icon.png
 create mode 100644 androidgcs/res/drawable-ldpi/icon.png
 create mode 100644 androidgcs/res/drawable-mdpi/icon.png
 create mode 100644 androidgcs/res/layout/main.xml
 create mode 100644 androidgcs/res/layout/objectbrowser.xml
 create mode 100644 androidgcs/res/values/strings.xml
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/ObjBrowserExpandableListAdapter.java
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/UAVObject.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
new file mode 100644
index 000000000..83d19e96c
--- /dev/null
+++ b/androidgcs/AndroidManifest.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+      package="org.openpilot.androidgcs"
+      android:versionCode="1"
+      android:versionName="1.0">
+
+
+    <application android:icon="@drawable/icon" android:label="@string/app_name">
+        <activity android:name="ObjectBrowser"
+                  android:label="@string/app_name">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN" />
+                <category android:name="android.intent.category.LAUNCHER" />
+            </intent-filter>
+        </activity>
+
+    </application>
+</manifest>
\ No newline at end of file
diff --git a/androidgcs/bin/OpieMobi.apk b/androidgcs/bin/OpieMobi.apk
new file mode 100644
index 0000000000000000000000000000000000000000..87a15c5e83805a3bb48265a78f9bd9154813cd35
GIT binary patch
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diff --git a/androidgcs/bin/org/openpilot/androidgcs/ObjectBrowser.class b/androidgcs/bin/org/openpilot/androidgcs/ObjectBrowser.class
new file mode 100644
index 0000000000000000000000000000000000000000..2893e454b325e26f1349422ae8c74e5388c8b7ab
GIT binary patch
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diff --git a/androidgcs/bin/org/openpilot/androidgcs/R$attr.class b/androidgcs/bin/org/openpilot/androidgcs/R$attr.class
new file mode 100644
index 0000000000000000000000000000000000000000..f69a8e17560897ad1adaae18fd15a3f75ac850a4
GIT binary patch
literal 358
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diff --git a/androidgcs/bin/org/openpilot/androidgcs/R$color.class b/androidgcs/bin/org/openpilot/androidgcs/R$color.class
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index 0000000000000000000000000000000000000000..1c2575f48acf1343424cc660d935636ecd386924
GIT binary patch
literal 447
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diff --git a/androidgcs/bin/org/openpilot/androidgcs/R$drawable.class b/androidgcs/bin/org/openpilot/androidgcs/R$drawable.class
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GIT binary patch
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literal 0
HcmV?d00001

diff --git a/androidgcs/bin/org/openpilot/androidgcs/R$id.class b/androidgcs/bin/org/openpilot/androidgcs/R$id.class
new file mode 100644
index 0000000000000000000000000000000000000000..6e4cbafb9708b206e9ae0faf9cb3b172c6cd9c88
GIT binary patch
literal 403
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diff --git a/androidgcs/bin/org/openpilot/androidgcs/R$layout.class b/androidgcs/bin/org/openpilot/androidgcs/R$layout.class
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GIT binary patch
literal 449
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HcmV?d00001

diff --git a/androidgcs/bin/org/openpilot/androidgcs/R$string.class b/androidgcs/bin/org/openpilot/androidgcs/R$string.class
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GIT binary patch
literal 445
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diff --git a/androidgcs/bin/org/openpilot/androidgcs/R.class b/androidgcs/bin/org/openpilot/androidgcs/R.class
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GIT binary patch
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diff --git a/androidgcs/bin/org/openpilot/uavtalk/UAVDataObject.class b/androidgcs/bin/org/openpilot/uavtalk/UAVDataObject.class
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GIT binary patch
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diff --git a/androidgcs/bin/org/openpilot/uavtalk/UAVMetaObject.class b/androidgcs/bin/org/openpilot/uavtalk/UAVMetaObject.class
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GIT binary patch
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diff --git a/androidgcs/bin/org/openpilot/uavtalk/UAVObject$AccessMode.class b/androidgcs/bin/org/openpilot/uavtalk/UAVObject$AccessMode.class
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GIT binary patch
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diff --git a/androidgcs/bin/org/openpilot/uavtalk/UAVObject$UpdateMode.class b/androidgcs/bin/org/openpilot/uavtalk/UAVObject$UpdateMode.class
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GIT binary patch
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diff --git a/androidgcs/bin/org/openpilot/uavtalk/UAVObjectManager.class b/androidgcs/bin/org/openpilot/uavtalk/UAVObjectManager.class
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literal 0
HcmV?d00001

diff --git a/androidgcs/default.properties b/androidgcs/default.properties
new file mode 100644
index 000000000..e2e8061f2
--- /dev/null
+++ b/androidgcs/default.properties
@@ -0,0 +1,11 @@
+# This file is automatically generated by Android Tools.
+# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
+#
+# This file must be checked in Version Control Systems.
+#
+# To customize properties used by the Ant build system use,
+# "build.properties", and override values to adapt the script to your
+# project structure.
+
+# Project target.
+target=android-8
diff --git a/androidgcs/gen/org/openpilot/androidgcs/R.java b/androidgcs/gen/org/openpilot/androidgcs/R.java
new file mode 100644
index 000000000..31e90ffd1
--- /dev/null
+++ b/androidgcs/gen/org/openpilot/androidgcs/R.java
@@ -0,0 +1,31 @@
+/* AUTO-GENERATED FILE.  DO NOT MODIFY.
+ *
+ * This class was automatically generated by the
+ * aapt tool from the resource data it found.  It
+ * should not be modified by hand.
+ */
+
+package org.openpilot.androidgcs;
+
+public final class R {
+    public static final class attr {
+    }
+    public static final class color {
+        public static final int all_black=0x7f050001;
+        public static final int all_white=0x7f050000;
+    }
+    public static final class drawable {
+        public static final int icon=0x7f020000;
+    }
+    public static final class id {
+        public static final int objects=0x7f060000;
+    }
+    public static final class layout {
+        public static final int main=0x7f030000;
+        public static final int objectbrowser=0x7f030001;
+    }
+    public static final class string {
+        public static final int app_name=0x7f040001;
+        public static final int hello=0x7f040000;
+    }
+}
diff --git a/androidgcs/proguard.cfg b/androidgcs/proguard.cfg
new file mode 100644
index 000000000..12dd0392c
--- /dev/null
+++ b/androidgcs/proguard.cfg
@@ -0,0 +1,36 @@
+-optimizationpasses 5
+-dontusemixedcaseclassnames
+-dontskipnonpubliclibraryclasses
+-dontpreverify
+-verbose
+-optimizations !code/simplification/arithmetic,!field/*,!class/merging/*
+
+-keep public class * extends android.app.Activity
+-keep public class * extends android.app.Application
+-keep public class * extends android.app.Service
+-keep public class * extends android.content.BroadcastReceiver
+-keep public class * extends android.content.ContentProvider
+-keep public class * extends android.app.backup.BackupAgentHelper
+-keep public class * extends android.preference.Preference
+-keep public class com.android.vending.licensing.ILicensingService
+
+-keepclasseswithmembernames class * {
+    native <methods>;
+}
+
+-keepclasseswithmembernames class * {
+    public <init>(android.content.Context, android.util.AttributeSet);
+}
+
+-keepclasseswithmembernames class * {
+    public <init>(android.content.Context, android.util.AttributeSet, int);
+}
+
+-keepclassmembers enum * {
+    public static **[] values();
+    public static ** valueOf(java.lang.String);
+}
+
+-keep class * implements android.os.Parcelable {
+  public static final android.os.Parcelable$Creator *;
+}
diff --git a/androidgcs/res/drawable-hdpi/icon.png b/androidgcs/res/drawable-hdpi/icon.png
new file mode 100644
index 0000000000000000000000000000000000000000..eab1fc68fd7ad531ac025a53956f78de8d4e5180
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diff --git a/androidgcs/res/layout/main.xml b/androidgcs/res/layout/main.xml
new file mode 100644
index 000000000..3a5f117d3
--- /dev/null
+++ b/androidgcs/res/layout/main.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:orientation="vertical"
+    android:layout_width="fill_parent"
+    android:layout_height="fill_parent"
+    >
+<TextView  
+    android:layout_width="fill_parent" 
+    android:layout_height="wrap_content" 
+    android:text="@string/hello"
+    />
+</LinearLayout>
diff --git a/androidgcs/res/layout/objectbrowser.xml b/androidgcs/res/layout/objectbrowser.xml
new file mode 100644
index 000000000..02a3f5dd6
--- /dev/null
+++ b/androidgcs/res/layout/objectbrowser.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:orientation="vertical"
+    android:layout_width="fill_parent"
+    android:layout_height="fill_parent"
+    android:background="@color/all_white">
+<ExpandableListView android:layout_height="wrap_content" android:layout_width="match_parent" android:id="@+id/objects"></ExpandableListView>
+</LinearLayout>
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
new file mode 100644
index 000000000..eba6becf8
--- /dev/null
+++ b/androidgcs/res/values/strings.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <string name="hello">OpenPilot Android GCS</string>
+    <string name="app_name">OpieMobi</string>
+    <color name="all_white">#FFFFFF</color>
+    <color name="all_black">#000000</color>
+</resources>
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjBrowserExpandableListAdapter.java b/androidgcs/src/org/openpilot/androidgcs/ObjBrowserExpandableListAdapter.java
new file mode 100644
index 000000000..190668d80
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjBrowserExpandableListAdapter.java
@@ -0,0 +1,99 @@
+/**
+ * 
+ */
+package org.openpilot.androidgcs;
+
+import android.widget.AbsListView;
+import android.widget.TextView;
+import android.content.Context;
+import android.view.Gravity;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.BaseExpandableListAdapter;
+
+/**
+ * @author jcotton81
+ *
+ */
+public class ObjBrowserExpandableListAdapter extends BaseExpandableListAdapter {
+
+        // Sample data set. children[i] contains the children (String[]) for
+        // groups[i].
+        private String[] groups = { "Parent1", "Parent2", "Parent3" };
+        private String[][] children = { { "Child1" },{ "Child2" }, { "Child3" },{ "Child4" }, { "Child5" } };
+
+        private Context context;
+        
+        public ObjBrowserExpandableListAdapter(Context context) {
+        	this.context = context;
+        }
+        
+        public Object getChild(int groupPosition, int childPosition) {
+            return children[groupPosition][childPosition];
+        }
+
+        public long getChildId(int groupPosition, int childPosition) {
+            return childPosition;
+        }
+
+        public int getChildrenCount(int groupPosition) {
+            int i = 0;
+            try {
+            i = children[groupPosition].length;
+
+            } catch (Exception e) {
+            }
+
+            return i;
+        }
+
+        public TextView getGenericView() {
+            // Layout parameters for the ExpandableListView
+            AbsListView.LayoutParams lp = new AbsListView.LayoutParams(
+                ViewGroup.LayoutParams.FILL_PARENT, 64);
+
+            TextView textView = new TextView(context);
+            textView.setLayoutParams(lp);
+            // Center the text vertically
+            textView.setGravity(Gravity.CENTER_VERTICAL | Gravity.LEFT);
+            // Set the text starting position
+            textView.setPadding(36, 0, 0, 0);
+            return textView;
+        }
+        
+        public View getChildView(int groupPosition, int childPosition,
+            boolean isLastChild, View convertView, ViewGroup parent) {
+            TextView textView = getGenericView();
+            textView.setText(getChild(groupPosition, childPosition).toString());
+            return textView;
+        }
+
+        public Object getGroup(int groupPosition) {
+            return groups[groupPosition];
+        }
+
+        public int getGroupCount() {
+            return groups.length;
+        }
+
+        public long getGroupId(int groupPosition) {
+            return groupPosition;
+        }
+
+        public View getGroupView(int groupPosition, boolean isExpanded,
+            View convertView, ViewGroup parent) {
+            TextView textView = getGenericView();
+            textView.setText(getGroup(groupPosition).toString());
+            return textView;
+        }
+
+        public boolean isChildSelectable(int groupPosition, int childPosition) {
+            return true;
+        }
+
+        public boolean hasStableIds() {
+            return true;
+        }
+        
+
+}
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
new file mode 100644
index 000000000..19e9b2812
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -0,0 +1,21 @@
+package org.openpilot.androidgcs;
+
+import android.app.Activity;
+import android.os.Bundle;
+
+import android.widget.*;
+
+public class ObjectBrowser extends Activity {
+    /** Called when the activity is first created. */
+    @Override
+    public void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        
+        setContentView(R.layout.objectbrowser);
+        ExpandableListAdapter mAdapter;
+        ExpandableListView epView = (ExpandableListView) findViewById(R.id.objects);
+        mAdapter = new ObjBrowserExpandableListAdapter(this);
+       	epView.setAdapter(mAdapter);
+
+    }
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
new file mode 100644
index 000000000..12a4263c0
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
@@ -0,0 +1,27 @@
+package org.openpilot.uavtalk;
+
+public abstract class UAVDataObject extends UAVObject {
+	
+	public UAVDataObject(int objID, Boolean isSingleInst, Boolean isSet, String name) {
+		super(objID, isSingleInst, name);
+	}
+	
+	public void initialize(int instID, UAVMetaObject mobj) {
+
+	}
+	
+	public void initialize(UAVMetaObject mobj) {
+	    
+	}
+	
+	Boolean isSettings() {
+		return null;
+	}
+	
+    UAVMetaObject getMetaObject() {
+		return null;	
+    }
+	    
+    public abstract UAVDataObject clone(int instID);
+
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
new file mode 100644
index 000000000..a1e5773b9
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
@@ -0,0 +1,50 @@
+package org.openpilot.uavtalk;
+
+public class UAVMetaObject extends UAVObject {
+
+	public UAVMetaObject(int objID, Boolean isSingleInst, String name) {
+		super(objID, isSingleInst, name);
+		// TODO Auto-generated constructor stub
+	}
+
+	public UAVMetaObject(int objID, String mname, UAVDataObject obj) {
+		// TODO Auto-generated constructor stub
+	}
+
+	@Override
+	public void deserialize(byte[] arr, int offset) {
+		// TODO Auto-generated method stub
+		
+	}
+
+	@Override
+	public UAVMetaObject getDefaultMetadata() {
+		// TODO Auto-generated method stub
+		return null;
+	}
+
+	@Override
+	public String getDescription() {
+		// TODO Auto-generated method stub
+		return null;
+	}
+
+	@Override
+	public int getObjID() {
+		// TODO Auto-generated method stub
+		return 0;
+	}
+
+	@Override
+	public String getObjName() {
+		// TODO Auto-generated method stub
+		return null;
+	}
+
+	@Override
+	public byte[] serialize() {
+		// TODO Auto-generated method stub
+		return null;
+	}
+
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
new file mode 100644
index 000000000..c5ffc9d21
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -0,0 +1,117 @@
+package org.openpilot.uavtalk;
+
+public abstract class UAVObject {
+	  
+	  
+	      /**
+	       * Object update mode
+	       */
+	      public enum UpdateMode {
+	              UPDATEMODE_PERIODIC, /** Automatically update object at periodic intervals */
+	              UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
+	              UPDATEMODE_MANUAL,   /** Manually update object, by calling the updated() function */
+	              UPDATEMODE_NEVER     /** Object is never updated */
+	      } ;
+
+	      /**
+	       * Access mode
+	       */
+	      public enum AccessMode{
+	              ACCESS_READWRITE,
+	              ACCESS_READONLY
+	      } ;
+
+
+	      private Boolean isSingleInst;
+	      private int instID;
+	      private UAVMetaObject meta;
+
+	      public UAVObject(int objID, Boolean isSingleInst, String name) {
+	    	  assert(objID == getObjID()); // ID is in implementation code, make sure it matches object
+	    	  assert(name.equals(getName()));	      
+	    	  this.isSingleInst = isSingleInst;
+	    	  meta = getDefaultMetadata();
+	      };
+	      
+	      public void initialize(int instID) {
+	    	  this.instID = instID;
+	      }
+	      
+	      public int getInstID() { return instID; }	      
+	      public Boolean isSingleInstance() { return isSingleInst; }	      
+	      public String getName() { return getObjName(); }  // matching QT API to the current autogen code	      
+	      	
+	      public abstract int getObjID();	      
+	      public abstract String getDescription();
+	      public abstract String getObjName();
+	      
+	      int getNumBytes() {
+	    	  return serialize().length;
+	      }
+
+	      // The name of the serializer and deserialize from the autogenerated code
+	      public abstract byte[] serialize();	      
+	      public abstract void deserialize(byte[] arr,int offset);
+	      
+	      byte [] pack() {
+	    	  return serialize();
+	      }
+	      
+	      Boolean unpack(byte [] data) {
+	    	deserialize(data, 0);
+			return true;  
+	      }
+	      
+	      public void setMetadata(UAVMetaObject obj) { meta = obj; }
+	      public UAVMetaObject getMetadata() { return meta; }
+	      public abstract UAVMetaObject getDefaultMetadata();
+
+	      /*  
+	       // Unported code from QT	      
+	      bool save();
+	      bool save(QFile& file);
+	      bool load();
+	      bool load(QFile& file);
+	      virtual void setMetadata(const Metadata& mdata) = 0;
+	      virtual Metadata getMetadata() = 0;
+	      virtual Metadata getDefaultMetadata() = 0;
+	      void requestUpdate();
+	      void updated();
+	      void lock();
+	      void lock(int timeoutMs);
+	      void unlock();
+	      QMutex* getMutex();
+	      qint32 getNumFields();
+	      QList<UAVObjectField*> getFields();
+	      UAVObjectField* getField(const QString& name);
+	      QString toString();
+	      QString toStringBrief();
+	      QString toStringData();
+	      void emitTransactionCompleted(bool success);
+
+	  signals:
+	      void objectUpdated(UAVObject* obj);
+	      void objectUpdatedAuto(UAVObject* obj);
+	      void objectUpdatedManual(UAVObject* obj);
+	      void objectUnpacked(UAVObject* obj);
+	      void updateRequested(UAVObject* obj);
+	      void transactionCompleted(UAVObject* obj, bool success);
+
+	  private slots:
+	      void fieldUpdated(UAVObjectField* field);
+
+	  protected:
+	      quint32 objID;
+	      quint32 instID;
+	      bool isSingleInst;
+	      QString name;
+	      QString description;
+	      quint32 numBytes;
+	      QMutex* mutex;
+	      quint8* data;
+	      QList<UAVObjectField*> fields;
+
+	      void initializeFields(QList<UAVObjectField*>& fields, quint8* data, quint32 numBytes);
+	      void setDescription(const QString& description);
+	      */
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
new file mode 100644
index 000000000..3091595f0
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
@@ -0,0 +1,332 @@
+package org.openpilot.uavtalk;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+public class UAVObjectManager {
+
+	private final int MAX_INSTANCES = 10;
+
+	// Use array list to store objects since rarely added or deleted
+	private List<List<UAVObject>> objects = new ArrayList<List<UAVObject>>();  
+
+	public UAVObjectManager()
+	{
+		//mutex = new QMutex(QMutex::Recursive);
+	}
+
+	/**
+	 * Register an object with the manager. This function must be called for all newly created instances.
+	 * A new instance can be created directly by instantiating a new object or by calling clone() of
+	 * an existing object. The object will be registered and will be properly initialized so that it can accept
+	 * updates.
+	 */
+	Boolean registerObject(UAVDataObject obj)
+	{
+		//  QMutexLocker locker(mutex);
+
+		ListIterator<List<UAVObject>> objIt = objects.listIterator(0);
+
+		// Check if this object type is already in the list
+		while(objIt.hasNext()) {
+			List<UAVObject> instList = objIt.next();
+
+			// Check if the object ID is in the list
+			if( (instList.size() > 0) && (instList.get(0).getObjID() == obj.getObjID() )) {
+				// Check if this is a single instance object, if yes we can not add a new instance
+				if(obj.isSingleInstance()) {
+					return false;
+				}
+				// The object type has alredy been added, so now we need to initialize the new instance with the appropriate id
+				// There is a single metaobject for all object instances of this type, so no need to create a new one
+				// Get object type metaobject from existing instance				
+				UAVDataObject refObj = (UAVDataObject) instList.get(0);
+				if (refObj == null)
+				{
+					return false;
+				}
+				UAVMetaObject mobj = refObj.getMetaObject();
+
+				// Make sure we aren't requesting to create too many instances
+				if(obj.getInstID() >= MAX_INSTANCES || instList.size() >= MAX_INSTANCES || obj.getInstID() < 0) {
+					return false;
+				}
+
+				// If InstID is zero then we find the next open instId and create it 
+				if (obj.getInstID() == 0)
+				{
+					// Assign the next available ID and initialize the object instance the nadd
+					obj.initialize(instList.size(), mobj);
+					instList.add(obj);
+					return true;
+				}
+
+				// Check if that inst ID already exists
+				ListIterator<UAVObject> instIter = instList.listIterator();
+				while(instIter.hasNext()) {
+					UAVObject testObj = instIter.next();
+					if(testObj.getInstID() == obj.getInstID()) {
+						return false;
+					}
+				}
+
+				// If the instance ID is specified and not at the default value (0) then we need to make sure
+				// that there are no gaps in the instance list. If gaps are found then then additional instances
+				// will be created.
+				for(int instID = instList.size(); instID < obj.getInstID(); instID++) {
+					UAVDataObject newObj = obj.clone(instID);
+					newObj.initialize(mobj);
+					instList.add(newObj);
+					// emit new instance signal
+				}
+				obj.initialize(mobj);
+				//emit new instance signal
+				instList.add(obj);
+
+				instIter = instList.listIterator();
+				while(instIter.hasNext()) {
+					UAVObject testObj = instIter.next();
+					if(testObj.getInstID() == obj.getInstID()) {
+						return false;
+					}
+				}
+
+
+				// Check if there are any gaps between the requested instance ID and the ones in the list,
+				// if any then create the missing instances.
+				for (int instId = instList.size(); instId < obj.getInstID(); ++instId)
+				{
+					UAVDataObject cobj = obj.clone(instId);
+					cobj.initialize(mobj);
+					instList.add(cobj);
+					// emit newInstance(cobj);
+				}
+				// Finally, initialize the actual object instance
+				obj.initialize(mobj);
+				// Add the actual object instance in the list
+				instList.add(obj);
+				//emit newInstance(obj);
+				return true;
+			}
+
+		}
+
+		// If this point is reached then this is the first time this object type (ID) is added in the list
+		// create a new list of the instances, add in the object collection and create the object's metaobject
+		// Create metaobject
+		String mname = obj.getName();
+		mname += "Meta";
+		UAVMetaObject mobj = new UAVMetaObject(obj.getObjID()+1, mname, obj);
+		// Initialize object
+		obj.initialize(0, mobj);
+		// Add to list
+		addObject(obj);
+		addObject(mobj);
+		return true;
+	}
+
+	void addObject(UAVObject obj)
+	{
+		// Add to list
+		List<UAVObject> ls = new ArrayList<UAVObject>();
+		ls.add(obj);
+		objects.add(ls);
+		//emit newObject(obj);
+	}
+
+	/**
+	 * Get all objects. A two dimentional QList is returned. Objects are grouped by
+	 * instances of the same object type.
+	 */
+	List<List<UAVObject>> getObjects()
+	{
+		//QMutexLocker locker(mutex);
+		return objects;
+	}
+
+	/**
+	 * Same as getObjects() but will only return DataObjects.
+	 */
+	List< List<UAVDataObject> > getDataObjects()
+	{
+		return new ArrayList<List<UAVDataObject>>();
+
+		/*		QMutexLocker locker(mutex);
+		QList< QList<UAVDataObject*> > dObjects;
+
+		// Go through objects and copy to new list when types match
+		for (int objidx = 0; objidx < objects.length(); ++objidx)
+		{
+			if (objects[objidx].length() > 0)
+			{
+				// Check type
+				UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objects[objidx][0]);
+				if (obj != NULL)
+				{
+					// Create instance list
+					QList<UAVDataObject*> list;
+					// Go through instances and cast them to UAVDataObject, then add to list
+					for (int instidx = 0; instidx < objects[objidx].length(); ++instidx)
+					{
+						obj = dynamic_cast<UAVDataObject*>(objects[objidx][instidx]);
+						if (obj != NULL)
+						{
+							list.append(obj);
+						}
+					}
+					// Append to object list
+					dObjects.append(list);
+				}
+			}
+		}*/
+		// Done
+	}
+
+	/**
+	 * Same as getObjects() but will only return MetaObjects.
+	 */
+	List <List<UAVMetaObject> > getMetaObjects()
+	{
+		return new ArrayList< List<UAVMetaObject> >();
+		/*
+		QMutexLocker locker(mutex);
+		QList< QList<UAVMetaObject*> > mObjects;
+
+		// Go through objects and copy to new list when types match
+		for (int objidx = 0; objidx < objects.length(); ++objidx)
+		{
+			if (objects[objidx].length() > 0)
+			{
+				// Check type
+				UAVMetaObject* obj = dynamic_cast<UAVMetaObject*>(objects[objidx][0]);
+				if (obj != NULL)
+				{
+					// Create instance list
+					QList<UAVMetaObject*> list;
+					// Go through instances and cast them to UAVMetaObject, then add to list
+					for (int instidx = 0; instidx < objects[objidx].length(); ++instidx)
+					{
+						obj = dynamic_cast<UAVMetaObject*>(objects[objidx][instidx]);
+						if (obj != NULL)
+						{
+							list.append(obj);
+						}
+					}
+					// Append to object list
+					mObjects.append(list);
+				}
+			}
+		}
+		// Done
+		return mObjects;
+		 */
+	}
+
+	/**
+	 * Get a specific object given its name and instance ID
+	 * @returns The object is found or NULL if not
+	 */
+	UAVObject getObject(String name, int instId)
+	{
+		return getObject(name, 0, instId);
+	}
+
+	/**
+	 * Get a specific object given its object and instance ID
+	 * @returns The object is found or NULL if not
+	 */
+	UAVObject getObject(int objId, int instId)
+	{
+		return getObject(null, objId, instId);
+	}
+
+	/**
+	 * Helper function for the public getObject() functions.
+	 */
+	UAVObject getObject(String name, int objId, int instId)
+	{
+		//QMutexLocker locker(mutex);
+		// Check if this object type is already in the list
+		ListIterator<List<UAVObject>> objIter = objects.listIterator();
+		while(objIter.hasNext()) {
+			List<UAVObject> instList = objIter.next();
+			if (instList.size() > 0) {
+				if ( (name != null && instList.get(0).getName().compareTo(name) == 0) || (name == null && instList.get(0).getObjID() == objId) ) {
+					// Look for the requested instance ID
+					ListIterator<UAVObject> iter = instList.listIterator();
+					while(iter.hasNext()) {
+						UAVObject obj = iter.next();
+						if(obj.getInstID() == instId) {
+							return obj;
+						}
+					}
+				}
+			}
+		}
+		
+		return null;
+	}
+
+	/**
+	 * Get all the instances of the object specified by name
+	 */
+	List<UAVObject> getObjectInstances(String name)
+	{
+		return getObjectInstances(name, 0);
+	}
+
+	/**
+	 * Get all the instances of the object specified by its ID
+	 */
+	List<UAVObject> getObjectInstances(int objId)
+	{
+		return getObjectInstances(null, objId);
+	}
+
+	/**
+	 * Helper function for the public getObjectInstances()
+	 */
+	List<UAVObject> getObjectInstances(String name, int objId)
+	{
+		//QMutexLocker locker(mutex);
+		// Check if this object type is already in the list
+		ListIterator<List<UAVObject>> objIter = objects.listIterator();
+		while(objIter.hasNext()) {
+			List<UAVObject> instList = objIter.next();
+			if (instList.size() > 0) {
+				if ( (name != null && instList.get(0).getName().compareTo(name) == 0) || (name == null && instList.get(0).getObjID() == objId) ) {
+					return instList;
+				}
+			}
+		}			
+		
+		return null;
+	}
+
+	/**
+	 * Get the number of instances for an object given its name
+	 */
+	int getNumInstances(String name)
+	{
+		return getNumInstances(name, 0);
+	}
+
+	/**
+	 * Get the number of instances for an object given its ID
+	 */
+	int getNumInstances(int objId)
+	{
+		return getNumInstances(null, objId);
+	}
+
+	/**
+	 * Helper function for public getNumInstances
+	 */
+	int getNumInstances(String name, int objId)
+	{
+		return getObjectInstances(name,objId).size();
+	}
+
+
+}

From eed5705a6cfcdb4807170c4da95dbacf6d755d87 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 1 Mar 2011 01:23:10 -0600
Subject: [PATCH 194/543] Trying to get eclipse project right

---
 .gitignore                                    |   8 +-
 androidgcs/.classpath                         |   7 ++
 androidgcs/.project                           |  33 ++++++
 .../.settings/org.eclipse.jdt.core.prefs      |   5 +
 androidgcs/AndroidManifest.xml                |  10 +-
 androidgcs/bin/OpieMobi.apk                   | Bin 148198 -> 0 bytes
 androidgcs/bin/classes.dex                    | Bin 12640 -> 0 bytes
 .../ObjBrowserExpandableListAdapter.class     | Bin 3092 -> 0 bytes
 .../openpilot/androidgcs/ObjectBrowser.class  | Bin 951 -> 0 bytes
 .../bin/org/openpilot/androidgcs/R$attr.class | Bin 358 -> 0 bytes
 .../org/openpilot/androidgcs/R$color.class    | Bin 447 -> 0 bytes
 .../org/openpilot/androidgcs/R$drawable.class | Bin 418 -> 0 bytes
 .../bin/org/openpilot/androidgcs/R$id.class   | Bin 403 -> 0 bytes
 .../org/openpilot/androidgcs/R$layout.class   | Bin 449 -> 0 bytes
 .../org/openpilot/androidgcs/R$string.class   | Bin 445 -> 0 bytes
 .../bin/org/openpilot/androidgcs/R.class      | Bin 627 -> 0 bytes
 .../org/openpilot/uavtalk/UAVDataObject.class | Bin 1127 -> 0 bytes
 .../org/openpilot/uavtalk/UAVMetaObject.class | Bin 1440 -> 0 bytes
 .../uavtalk/UAVObject$AccessMode.class        | Bin 1199 -> 0 bytes
 .../uavtalk/UAVObject$UpdateMode.class        | Bin 1333 -> 0 bytes
 .../bin/org/openpilot/uavtalk/UAVObject.class | Bin 2255 -> 0 bytes
 .../openpilot/uavtalk/UAVObjectManager.class  | Bin 5422 -> 0 bytes
 androidgcs/bin/resources.ap_                  | Bin 140460 -> 0 bytes
 androidgcs/default.properties                 |   2 +-
 .../gen/org/openpilot/androidgcs/R.java       |  31 ------
 androidgcs/res/drawable-hdpi/icon.png         | Bin 48558 -> 4147 bytes
 androidgcs/res/drawable-ldpi/icon.png         | Bin 48558 -> 1723 bytes
 androidgcs/res/drawable-mdpi/icon.png         | Bin 48558 -> 2574 bytes
 androidgcs/res/layout/objectbrowser.xml       |   8 --
 androidgcs/res/values/strings.xml             |   6 +-
 .../ObjBrowserExpandableListAdapter.java      |  99 ------------------
 .../openpilot/androidgcs/ObjectBrowser.java   |  21 ----
 .../org/openpilot/uavtalk/UAVMetaObject.java  |  12 +--
 33 files changed, 62 insertions(+), 180 deletions(-)
 create mode 100644 androidgcs/.classpath
 create mode 100644 androidgcs/.project
 create mode 100644 androidgcs/.settings/org.eclipse.jdt.core.prefs
 delete mode 100644 androidgcs/bin/OpieMobi.apk
 delete mode 100644 androidgcs/bin/classes.dex
 delete mode 100644 androidgcs/bin/org/openpilot/androidgcs/ObjBrowserExpandableListAdapter.class
 delete mode 100644 androidgcs/bin/org/openpilot/androidgcs/ObjectBrowser.class
 delete mode 100644 androidgcs/bin/org/openpilot/androidgcs/R$attr.class
 delete mode 100644 androidgcs/bin/org/openpilot/androidgcs/R$color.class
 delete mode 100644 androidgcs/bin/org/openpilot/androidgcs/R$drawable.class
 delete mode 100644 androidgcs/bin/org/openpilot/androidgcs/R$id.class
 delete mode 100644 androidgcs/bin/org/openpilot/androidgcs/R$layout.class
 delete mode 100644 androidgcs/bin/org/openpilot/androidgcs/R$string.class
 delete mode 100644 androidgcs/bin/org/openpilot/androidgcs/R.class
 delete mode 100644 androidgcs/bin/org/openpilot/uavtalk/UAVDataObject.class
 delete mode 100644 androidgcs/bin/org/openpilot/uavtalk/UAVMetaObject.class
 delete mode 100644 androidgcs/bin/org/openpilot/uavtalk/UAVObject$AccessMode.class
 delete mode 100644 androidgcs/bin/org/openpilot/uavtalk/UAVObject$UpdateMode.class
 delete mode 100644 androidgcs/bin/org/openpilot/uavtalk/UAVObject.class
 delete mode 100644 androidgcs/bin/org/openpilot/uavtalk/UAVObjectManager.class
 delete mode 100644 androidgcs/bin/resources.ap_
 delete mode 100644 androidgcs/gen/org/openpilot/androidgcs/R.java
 delete mode 100644 androidgcs/res/layout/objectbrowser.xml
 delete mode 100644 androidgcs/src/org/openpilot/androidgcs/ObjBrowserExpandableListAdapter.java
 delete mode 100644 androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java

diff --git a/.gitignore b/.gitignore
index a5af05849..c9478a9c1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -64,10 +64,16 @@ ground/uavobjgenerator/uavobjgenerator.pro.user
 ground/uavobjects/uavobjects.pro.user
 ground/ground.pro.user
 
-# Ignore GNU global tags files
 GPATH
 GRTAGS
 GSYMS
 GTAGS
+
+plane
+quad
+
+# Ignore auto generated java files
+androidgcs/bin/
+androidgcs/gen/
 /.cproject
 /.project
diff --git a/androidgcs/.classpath b/androidgcs/.classpath
new file mode 100644
index 000000000..609aa00eb
--- /dev/null
+++ b/androidgcs/.classpath
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="src" path="gen"/>
+	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
+	<classpathentry kind="output" path="bin"/>
+</classpath>
diff --git a/androidgcs/.project b/androidgcs/.project
new file mode 100644
index 000000000..c607dd2bd
--- /dev/null
+++ b/androidgcs/.project
@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>androidgcs</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>com.android.ide.eclipse.adt.ResourceManagerBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>com.android.ide.eclipse.adt.PreCompilerBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>com.android.ide.eclipse.adt.ApkBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>com.android.ide.eclipse.adt.AndroidNature</nature>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+	</natures>
+</projectDescription>
diff --git a/androidgcs/.settings/org.eclipse.jdt.core.prefs b/androidgcs/.settings/org.eclipse.jdt.core.prefs
new file mode 100644
index 000000000..f3fe4d6d6
--- /dev/null
+++ b/androidgcs/.settings/org.eclipse.jdt.core.prefs
@@ -0,0 +1,5 @@
+#Tue Mar 01 01:16:25 CST 2011
+eclipse.preferences.version=1
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.5
+org.eclipse.jdt.core.compiler.compliance=1.5
+org.eclipse.jdt.core.compiler.source=1.5
diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 83d19e96c..7a96a6600 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -3,16 +3,10 @@
       package="org.openpilot.androidgcs"
       android:versionCode="1"
       android:versionName="1.0">
-
+    <uses-sdk android:minSdkVersion="7" />
 
     <application android:icon="@drawable/icon" android:label="@string/app_name">
-        <activity android:name="ObjectBrowser"
-                  android:label="@string/app_name">
-            <intent-filter>
-                <action android:name="android.intent.action.MAIN" />
-                <category android:name="android.intent.category.LAUNCHER" />
-            </intent-filter>
-        </activity>
+
 
     </application>
 </manifest>
\ No newline at end of file
diff --git a/androidgcs/bin/OpieMobi.apk b/androidgcs/bin/OpieMobi.apk
deleted file mode 100644
index 87a15c5e83805a3bb48265a78f9bd9154813cd35..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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GIT binary patch
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diff --git a/androidgcs/bin/org/openpilot/uavtalk/UAVMetaObject.class b/androidgcs/bin/org/openpilot/uavtalk/UAVMetaObject.class
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diff --git a/androidgcs/bin/org/openpilot/uavtalk/UAVObjectManager.class b/androidgcs/bin/org/openpilot/uavtalk/UAVObjectManager.class
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diff --git a/androidgcs/default.properties b/androidgcs/default.properties
index e2e8061f2..46769a720 100644
--- a/androidgcs/default.properties
+++ b/androidgcs/default.properties
@@ -8,4 +8,4 @@
 # project structure.
 
 # Project target.
-target=android-8
+target=android-7
diff --git a/androidgcs/gen/org/openpilot/androidgcs/R.java b/androidgcs/gen/org/openpilot/androidgcs/R.java
deleted file mode 100644
index 31e90ffd1..000000000
--- a/androidgcs/gen/org/openpilot/androidgcs/R.java
+++ /dev/null
@@ -1,31 +0,0 @@
-/* AUTO-GENERATED FILE.  DO NOT MODIFY.
- *
- * This class was automatically generated by the
- * aapt tool from the resource data it found.  It
- * should not be modified by hand.
- */
-
-package org.openpilot.androidgcs;
-
-public final class R {
-    public static final class attr {
-    }
-    public static final class color {
-        public static final int all_black=0x7f050001;
-        public static final int all_white=0x7f050000;
-    }
-    public static final class drawable {
-        public static final int icon=0x7f020000;
-    }
-    public static final class id {
-        public static final int objects=0x7f060000;
-    }
-    public static final class layout {
-        public static final int main=0x7f030000;
-        public static final int objectbrowser=0x7f030001;
-    }
-    public static final class string {
-        public static final int app_name=0x7f040001;
-        public static final int hello=0x7f040000;
-    }
-}
diff --git a/androidgcs/res/drawable-hdpi/icon.png b/androidgcs/res/drawable-hdpi/icon.png
index eab1fc68fd7ad531ac025a53956f78de8d4e5180..8074c4c571b8cd19e27f4ee5545df367420686d7 100644
GIT binary patch
literal 4147
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diff --git a/androidgcs/res/layout/objectbrowser.xml b/androidgcs/res/layout/objectbrowser.xml
deleted file mode 100644
index 02a3f5dd6..000000000
--- a/androidgcs/res/layout/objectbrowser.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:orientation="vertical"
-    android:layout_width="fill_parent"
-    android:layout_height="fill_parent"
-    android:background="@color/all_white">
-<ExpandableListView android:layout_height="wrap_content" android:layout_width="match_parent" android:id="@+id/objects"></ExpandableListView>
-</LinearLayout>
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index eba6becf8..0d9f93bc2 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -1,7 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
-    <string name="hello">OpenPilot Android GCS</string>
-    <string name="app_name">OpieMobi</string>
-    <color name="all_white">#FFFFFF</color>
-    <color name="all_black">#000000</color>
+    <string name="hello">Hello World!</string>
+    <string name="app_name">OpenPilot GCS</string>
 </resources>
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjBrowserExpandableListAdapter.java b/androidgcs/src/org/openpilot/androidgcs/ObjBrowserExpandableListAdapter.java
deleted file mode 100644
index 190668d80..000000000
--- a/androidgcs/src/org/openpilot/androidgcs/ObjBrowserExpandableListAdapter.java
+++ /dev/null
@@ -1,99 +0,0 @@
-/**
- * 
- */
-package org.openpilot.androidgcs;
-
-import android.widget.AbsListView;
-import android.widget.TextView;
-import android.content.Context;
-import android.view.Gravity;
-import android.view.View;
-import android.view.ViewGroup;
-import android.widget.BaseExpandableListAdapter;
-
-/**
- * @author jcotton81
- *
- */
-public class ObjBrowserExpandableListAdapter extends BaseExpandableListAdapter {
-
-        // Sample data set. children[i] contains the children (String[]) for
-        // groups[i].
-        private String[] groups = { "Parent1", "Parent2", "Parent3" };
-        private String[][] children = { { "Child1" },{ "Child2" }, { "Child3" },{ "Child4" }, { "Child5" } };
-
-        private Context context;
-        
-        public ObjBrowserExpandableListAdapter(Context context) {
-        	this.context = context;
-        }
-        
-        public Object getChild(int groupPosition, int childPosition) {
-            return children[groupPosition][childPosition];
-        }
-
-        public long getChildId(int groupPosition, int childPosition) {
-            return childPosition;
-        }
-
-        public int getChildrenCount(int groupPosition) {
-            int i = 0;
-            try {
-            i = children[groupPosition].length;
-
-            } catch (Exception e) {
-            }
-
-            return i;
-        }
-
-        public TextView getGenericView() {
-            // Layout parameters for the ExpandableListView
-            AbsListView.LayoutParams lp = new AbsListView.LayoutParams(
-                ViewGroup.LayoutParams.FILL_PARENT, 64);
-
-            TextView textView = new TextView(context);
-            textView.setLayoutParams(lp);
-            // Center the text vertically
-            textView.setGravity(Gravity.CENTER_VERTICAL | Gravity.LEFT);
-            // Set the text starting position
-            textView.setPadding(36, 0, 0, 0);
-            return textView;
-        }
-        
-        public View getChildView(int groupPosition, int childPosition,
-            boolean isLastChild, View convertView, ViewGroup parent) {
-            TextView textView = getGenericView();
-            textView.setText(getChild(groupPosition, childPosition).toString());
-            return textView;
-        }
-
-        public Object getGroup(int groupPosition) {
-            return groups[groupPosition];
-        }
-
-        public int getGroupCount() {
-            return groups.length;
-        }
-
-        public long getGroupId(int groupPosition) {
-            return groupPosition;
-        }
-
-        public View getGroupView(int groupPosition, boolean isExpanded,
-            View convertView, ViewGroup parent) {
-            TextView textView = getGenericView();
-            textView.setText(getGroup(groupPosition).toString());
-            return textView;
-        }
-
-        public boolean isChildSelectable(int groupPosition, int childPosition) {
-            return true;
-        }
-
-        public boolean hasStableIds() {
-            return true;
-        }
-        
-
-}
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
deleted file mode 100644
index 19e9b2812..000000000
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ /dev/null
@@ -1,21 +0,0 @@
-package org.openpilot.androidgcs;
-
-import android.app.Activity;
-import android.os.Bundle;
-
-import android.widget.*;
-
-public class ObjectBrowser extends Activity {
-    /** Called when the activity is first created. */
-    @Override
-    public void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        
-        setContentView(R.layout.objectbrowser);
-        ExpandableListAdapter mAdapter;
-        ExpandableListView epView = (ExpandableListView) findViewById(R.id.objects);
-        mAdapter = new ObjBrowserExpandableListAdapter(this);
-       	epView.setAdapter(mAdapter);
-
-    }
-}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
index a1e5773b9..e5197b02e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
@@ -2,13 +2,11 @@ package org.openpilot.uavtalk;
 
 public class UAVMetaObject extends UAVObject {
 
-	public UAVMetaObject(int objID, Boolean isSingleInst, String name) {
-		super(objID, isSingleInst, name);
-		// TODO Auto-generated constructor stub
-	}
-
-	public UAVMetaObject(int objID, String mname, UAVDataObject obj) {
-		// TODO Auto-generated constructor stub
+	private UAVDataObject parent;
+	
+	public UAVMetaObject(int objID, String mname, UAVDataObject parent) {
+		super(objID, true, mname);
+		this.parent = parent;
 	}
 
 	@Override

From 1810fb61a0dd1549be60621471f08111cc89bdc8 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 1 Mar 2011 22:27:58 -0600
Subject: [PATCH 195/543] Update the object template to be more consistent with
 ground code

---
 .../templates/uavobjecttemplate.java          | 23 ++++++++++---------
 1 file changed, 12 insertions(+), 11 deletions(-)

diff --git a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
index 285ad03aa..13eeeb724 100644
--- a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
+++ b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
@@ -29,30 +29,31 @@
 package org.openpilot.uavtalk.uavobjects;
 
 import  org.openpilot.uavtalk.UAVObject;
-import  org.openpilot.uavtalk.UAVObjectMetaData;
-import org.openpilot.uavtalk.UAVObjectFieldDescription;
+import  org.openpilot.uavtalk.UAVDataObject;
+import  org.openpilot.uavtalk.UAVMetaObject;
+
 /**
 $(DESCRIPTION)
 
 generated from $(XMLFILE)
 **/
-public class $(NAME) extends UAVObject{
+public class $(NAME) extends UAVDataObject{
 
 $(FIELDSINIT)
 
     public void setGeneratedMetaData() {
 
-	getMetaData().gcsAccess = UAVObjectMetaData.$(GCSACCESS);
-	getMetaData().gcsTelemetryAcked = UAVObjectMetaData.$(GCSTELEM_ACKEDTF);
-	getMetaData().gcsTelemetryUpdateMode = UAVObjectMetaData.$(GCSTELEM_UPDATEMODE);
+	getMetaData().gcsAccess = UAVMetaObject.$(GCSACCESS);
+	getMetaData().gcsTelemetryAcked = UAVMetaObject.$(GCSTELEM_ACKEDTF);
+	getMetaData().gcsTelemetryUpdateMode = UAVMetaObject.$(GCSTELEM_UPDATEMODE);
 	getMetaData().gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
 
-	getMetaData().flightAccess = UAVObjectMetaData.$(FLIGHTACCESS);
-	getMetaData().flightTelemetryAcked = UAVObjectMetaData.$(FLIGHTTELEM_ACKEDTF);
-	getMetaData().flightTelemetryUpdateMode = UAVObjectMetaData.$(FLIGHTTELEM_UPDATEMODE);
+	getMetaData().flightAccess = UAVMetaObject.$(FLIGHTACCESS);
+	getMetaData().flightTelemetryAcked = UAVMetaObject.$(FLIGHTTELEM_ACKEDTF);
+	getMetaData().flightTelemetryUpdateMode = UAVMetaObject.$(FLIGHTTELEM_UPDATEMODE);
 	getMetaData().flightTelemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
 
-	getMetaData().loggingUpdateMode = UAVObjectMetaData.$(LOGGING_UPDATEMODE);
+	getMetaData().loggingUpdateMode = UAVMetaObject.$(LOGGING_UPDATEMODE);
 	getMetaData().loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
 
     }
@@ -65,7 +66,7 @@ $(FIELDSINIT)
 	return "$(NAME)";
     }
 
-    public String getObjDescription() {
+    public String getDescription() {
 	return "$(DESCRIPTION)";
     }
 

From f0e4c10cfae12a45b6d30657f01b43a36fd60a54 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 2 Mar 2011 20:23:27 -0600
Subject: [PATCH 196/543] Continuing to work on the java code to be more
 consistent with GCS code

---
 androidgcs/.classpath                         |  1 +
 .../org/openpilot/uavtalk/UAVDataObject.java  | 34 +++++++++++---
 .../org/openpilot/uavtalk/UAVMetaObject.java  | 47 +++++++++++++++----
 .../src/org/openpilot/uavtalk/UAVObject.java  | 36 ++++++++++----
 .../templates/uavobjecttemplate.java          | 30 ++++++++----
 5 files changed, 117 insertions(+), 31 deletions(-)

diff --git a/androidgcs/.classpath b/androidgcs/.classpath
index 609aa00eb..b24a2abf5 100644
--- a/androidgcs/.classpath
+++ b/androidgcs/.classpath
@@ -3,5 +3,6 @@
 	<classpathentry kind="src" path="src"/>
 	<classpathentry kind="src" path="gen"/>
 	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.junit.JUNIT_CONTAINER/4"/>
 	<classpathentry kind="output" path="bin"/>
 </classpath>
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
index 12a4263c0..a2e6acf9e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
@@ -2,17 +2,20 @@ package org.openpilot.uavtalk;
 
 public abstract class UAVDataObject extends UAVObject {
 	
+	/**
+	 * @brief Constructor for UAVDataObject
+	 * @param objID the object id to be created
+	 * @param isSingleInst 
+	 * @param isSet
+	 * @param name
+	 */
 	public UAVDataObject(int objID, Boolean isSingleInst, Boolean isSet, String name) {
 		super(objID, isSingleInst, name);
 	}
 	
-	public void initialize(int instID, UAVMetaObject mobj) {
-
-	}
+	public abstract void initialize(int instID, UAVMetaObject mobj);
 	
-	public void initialize(UAVMetaObject mobj) {
-	    
-	}
+	public abstract void initialize(UAVMetaObject mobj);
 	
 	Boolean isSettings() {
 		return null;
@@ -22,6 +25,23 @@ public abstract class UAVDataObject extends UAVObject {
 		return null;	
     }
 	    
-    public abstract UAVDataObject clone(int instID);
+    public UAVDataObject clone(int instID) {
+    	try {
+			return (UAVDataObject) super.clone();
+		} catch (CloneNotSupportedException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+		return null;
+    }
+    
+public:
+	static int OBJID = $(OBJIDHEX);
+    static String NAME;
+    static String DESCRIPTION;
+    static boolean ISSINGLEINST = $(ISSINGLEINST);
+    static boolean ISSETTINGS = $(ISSETTINGS);
+    static int NUMBYTES = sizeof(DataFields);
+
 
 }
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
index e5197b02e..9c2e3b12d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
@@ -2,23 +2,41 @@ package org.openpilot.uavtalk;
 
 public class UAVMetaObject extends UAVObject {
 
-	private UAVDataObject parent;
-	
-	public UAVMetaObject(int objID, String mname, UAVDataObject parent) {
-		super(objID, true, mname);
+	public UAVMetaObject(int objID, String name, UAVDataObject parent) {
+		super(objID, true, name);
 		this.parent = parent;
+		
+	    ownMetadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+	    ownMetadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+	    ownMetadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+	    ownMetadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+	    ownMetadata.flightTelemetryUpdatePeriod = 0;
+	    ownMetadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+	    ownMetadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+	    ownMetadata.gcsTelemetryUpdatePeriod = 0;
+	    ownMetadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+	    ownMetadata.loggingUpdatePeriod = 0;
+		
+	}
+
+	UAVObject getParentObject() {
+		return parent;
 	}
 
 	@Override
 	public void deserialize(byte[] arr, int offset) {
 		// TODO Auto-generated method stub
-		
+
 	}
 
 	@Override
-	public UAVMetaObject getDefaultMetadata() {
-		// TODO Auto-generated method stub
-		return null;
+	public Metadata getMetadata() {
+		return ownMetadata;
+	}
+
+	@Override
+	public Metadata getDefaultMetadata() {
+	    return ownMetadata;
 	}
 
 	@Override
@@ -45,4 +63,17 @@ public class UAVMetaObject extends UAVObject {
 		return null;
 	}
 
+	
+	public UAVMetaObject(quint32 objID, const QString& name, UAVObject* parent);
+	UAVObject* getParentObject();
+	void setMetadata(const Metadata& mdata);
+	void setData(const Metadata& mdata);
+	Metadata getData();
+
+	
+	private UAVObject parent;
+	private Metadata ownMetadata;
+	private Metadata parentMetadata;
+
+
 }
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index c5ffc9d21..1decf3563 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -20,11 +20,27 @@ public abstract class UAVObject {
 	              ACCESS_READWRITE,
 	              ACCESS_READONLY
 	      } ;
-
-
-	      private Boolean isSingleInst;
-	      private int instID;
-	      private UAVMetaObject meta;
+	      
+	      /**
+	       * Access mode
+	       */
+	      public enum Acked{
+	              FALSE,
+	              TRUE
+	      } ;
+	      
+	      final class Metadata {
+	    	  public AccessMode flightAccess; /** Defines the access level for the local flight transactions (readonly and readwrite) */
+	    	  public AccessMode gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite) */
+	    	  public Acked flightTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
+	    	  public UpdateMode flightTelemetryUpdateMode; /** Update mode used by the autopilot (UpdateMode) */
+	    	  public int flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
+	    	  public Acked gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
+	    	  public UpdateMode gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
+	    	  public int gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
+	    	  public UpdateMode loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */
+	    	  public int loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
+	      } ;
 
 	      public UAVObject(int objID, Boolean isSingleInst, String name) {
 	    	  assert(objID == getObjID()); // ID is in implementation code, make sure it matches object
@@ -62,9 +78,13 @@ public abstract class UAVObject {
 			return true;  
 	      }
 	      
-	      public void setMetadata(UAVMetaObject obj) { meta = obj; }
-	      public UAVMetaObject getMetadata() { return meta; }
-	      public abstract UAVMetaObject getDefaultMetadata();
+	      public abstract void setMetadata(Metadata obj);
+	      public abstract Metadata getMetadata();
+	      public abstract Metadata getDefaultMetadata();
+
+	      private Boolean isSingleInst;
+	      private int instID;
+	      private UAVMetaObject meta;
 
 	      /*  
 	       // Unported code from QT	      
diff --git a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
index 13eeeb724..fa09f782f 100644
--- a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
+++ b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
@@ -31,29 +31,34 @@ package org.openpilot.uavtalk.uavobjects;
 import  org.openpilot.uavtalk.UAVObject;
 import  org.openpilot.uavtalk.UAVDataObject;
 import  org.openpilot.uavtalk.UAVMetaObject;
+import  org.openpilot.uavtalk.UAVObjectField;
 
 /**
 $(DESCRIPTION)
 
 generated from $(XMLFILE)
 **/
-public class $(NAME) extends UAVDataObject{
+public class $(NAME) extends UAVDataObject {
 
 $(FIELDSINIT)
 
+    public $(NAME) (int objID, Boolean isSingleInst, Boolean isSet, String name) {
+        super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+    }
+
     public void setGeneratedMetaData() {
 
-	getMetaData().gcsAccess = UAVMetaObject.$(GCSACCESS);
-	getMetaData().gcsTelemetryAcked = UAVMetaObject.$(GCSTELEM_ACKEDTF);
-	getMetaData().gcsTelemetryUpdateMode = UAVMetaObject.$(GCSTELEM_UPDATEMODE);
+	getMetaData().gcsAccess = UAVObject.AccessMode.$(GCSACCESS);
+	getMetaData().gcsTelemetryAcked = UAVObject.Acked.$(GCSTELEM_ACKEDTF);
+	getMetaData().gcsTelemetryUpdateMode = UAVObject.UpdateMode.$(GCSTELEM_UPDATEMODE);
 	getMetaData().gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
 
-	getMetaData().flightAccess = UAVMetaObject.$(FLIGHTACCESS);
-	getMetaData().flightTelemetryAcked = UAVMetaObject.$(FLIGHTTELEM_ACKEDTF);
-	getMetaData().flightTelemetryUpdateMode = UAVMetaObject.$(FLIGHTTELEM_UPDATEMODE);
+	getMetaData().flightAccess = UAVObject.AccessMode.$(FLIGHTACCESS);
+	getMetaData().flightTelemetryAcked = UAVObject.Acked.$(FLIGHTTELEM_ACKEDTF);
+	getMetaData().flightTelemetryUpdateMode = UAVObject.UpdateMode.$(FLIGHTTELEM_UPDATEMODE);
 	getMetaData().flightTelemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
 
-	getMetaData().loggingUpdateMode = UAVMetaObject.$(LOGGING_UPDATEMODE);
+	getMetaData().loggingUpdateMode = UAVObject.UpdateMode.$(LOGGING_UPDATEMODE);
 	getMetaData().loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
 
     }
@@ -69,6 +74,15 @@ $(FIELDSINIT)
     public String getDescription() {
 	return "$(DESCRIPTION)";
     }
+protected:
+	// Constants
+	static final int OBJID = $(OBJIDHEX);
+	static final String NAME;
+	static final String DESCRIPTION;
+	static final boolean ISSINGLEINST = $(ISSINGLEINST);
+	static final boolean ISSETTINGS = $(ISSETTINGS);
+	static final int NUMBYTES = sizeof(DataFields);
+
 
 $(GETTERSETTER)
 }
\ No newline at end of file

From c3244cf5a231e302c6ccd59cfd0d306bbb584aeb Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 4 Mar 2011 00:06:17 -0600
Subject: [PATCH 197/543] Import of UAVObjectField object.  This differs a bit
 from the GCS implementation in that the data is stored within the field
 instead of being packed back into a continugious memory region.  This is
 because java doesn't allow casting to struct so the memory access isn't a
 useful feature.

---
 .../org/openpilot/uavtalk/UAVObjectField.java | 468 ++++++++++++++++++
 1 file changed, 468 insertions(+)
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
new file mode 100644
index 000000000..832e7048a
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -0,0 +1,468 @@
+package org.openpilot.uavtalk;
+
+import java.io.Serializable;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.util.ArrayList;
+import java.util.List;
+
+public class UAVObjectField {
+	
+    public enum FieldType { INT8, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, STRING };
+
+    public UAVObjectField(String name, String units, FieldType type, int numElements, List<String> options) {
+        List<String> elementNames = new ArrayList<String>();
+        // Set element names
+        for (int n = 0; n < numElements; ++n)
+        {
+            elementNames.add(String.valueOf(n));
+        }
+        // Initialize
+        constructorInitialize(name, units, type, elementNames, options);    	
+    }
+    
+    public UAVObjectField(String name, String units, FieldType type, List<String>  elementNames, List<String>  options) {
+    	 constructorInitialize(name, units, type, elementNames, options);
+    }
+    
+    public void initialize(byte[] data, int dataOffset, UAVObject obj){
+        this.data = data;
+        this.offset = dataOffset;
+        this.obj = obj;
+        clear();
+    	
+	}
+    
+    public UAVObject getObject() {
+    	return obj;
+    }
+    
+    public FieldType getType() {
+    	return type;
+    }
+    
+    public String getTypeAsString() {
+        switch (type)
+        {
+            case INT8:
+                return "int8";
+            case INT16:
+                return "int16";
+            case INT32:
+                return "int32";
+            case UINT8:
+                return "uint8";
+            case UINT16:
+                return "uint16";
+            case UINT32:
+                return "uint32";
+            case FLOAT32:
+                return "float32";
+            case ENUM:
+                return "enum";
+            case STRING:
+                return "string";
+            default:
+                return "";
+        }    	
+    }
+    
+    public String getName() {
+    	return name;
+    }
+    
+    public String getUnits() {
+    	return units;
+    }
+    
+    public int getNumElements() {
+    	return numElements;
+    }
+    
+    public List<String> getElementNames() {
+    	return elementNames;	
+    }
+    
+    public List<String> getOptions() {
+    	return options;
+    }
+    
+    /**
+     * This function copies this field from the internal storage of the parent object 
+     * to a new ByteBuffer for UAVTalk.  It also converts from the java standard (big endian)
+     * to the arm/uavtalk standard (little endian)
+     * @param dataOut
+     * @return
+]     
+     * @throws Exception */
+    public int pack(ByteBuffer dataOut) throws Exception {
+        //QMutexLocker locker(obj->getMutex());
+        // Pack each element in output buffer
+    	dataOut.order(ByteOrder.LITTLE_ENDIAN);
+        switch (type)
+        {
+            case INT8:  
+            	for (int index = 0; index < numElements; ++index) 
+            		dataOut.put((Byte) getValue(index));
+                break;
+            case INT16:
+                for (int index = 0; index < numElements; ++index)
+                	dataOut.putShort((Short) getValue(index));
+                break;
+            case INT32:
+                for (int index = 0; index < numElements; ++index)
+                	dataOut.putInt((Integer) getValue(index));
+                break;
+            case UINT8: 
+            	// TODO: Deal properly with unsigned
+            	for (int index = 0; index < numElements; ++index) 
+            		dataOut.put((Byte) getValue(index));
+                break;
+            case UINT16:
+            	// TODO: Deal properly with unsigned
+                for (int index = 0; index < numElements; ++index)
+                	dataOut.putShort((Short) getValue(index));
+                break;
+            case UINT32:
+            	// TODO: Deal properly with unsigned
+                for (int index = 0; index < numElements; ++index)
+                	dataOut.putInt((Integer) getValue(index));
+                break;
+            case FLOAT32:
+                for (int index = 0; index < numElements; ++index)
+                	dataOut.putFloat((Float) getValue(index));
+                break;
+            case ENUM:
+            	List<Byte> l = (List<Byte>) data;
+                for (int index = 0; index < numElements; ++index)
+                	dataOut.put((Byte) l.get(index));
+                break;
+            case STRING:
+            	// TODO: Implement strings
+            	throw new Exception("Strings not yet implemented");
+        }
+        // Done
+        return getNumBytes();    	
+    }
+    
+    public int unpack(ByteBuffer dataIn) throws Exception {
+        // Unpack each element from input buffer
+    	dataIn.order(ByteOrder.LITTLE_ENDIAN);
+        switch (type)
+        {
+            case INT8:
+            	for (int index = 0 ; index < numElements; ++index) {
+            		setValue((Byte) dataIn.get(), index);
+            	}
+                break;
+            case INT16:
+            	for (int index = 0 ; index < numElements; ++index) {
+            		setValue((Short) dataIn.getShort(), index);
+            	}
+                break;
+            case INT32:
+            	for (int index = 0 ; index < numElements; ++index) {
+            		setValue((Integer) dataIn.getInt(), index);
+            	}
+                break;
+            case UINT8:
+            	// TODO: Deal with unsigned
+            	for (int index = 0 ; index < numElements; ++index) {
+            		setValue((Byte) dataIn.get(), index);
+            	}
+                break;
+            case UINT16:
+            	// TODO: Deal with unsigned
+            	for (int index = 0 ; index < numElements; ++index) {
+            		setValue((Short) dataIn.getShort(), index);
+            	}
+                break;
+            case UINT32:
+            	// TODO: Deal with unsigned
+            	for (int index = 0 ; index < numElements; ++index) {
+            		setValue((Integer) dataIn.getInt(), index);
+            	}
+                break;
+            case FLOAT32:
+            	for (int index = 0 ; index < numElements; ++index) {
+            		setValue((Float) dataIn.getFloat(), index);
+            	}
+                break;
+            case ENUM:
+        		List<Byte> l = (List<Byte>) data;
+            	for (int index = 0 ; index < numElements; ++index) {
+            		l.set(index, dataIn.get(index));
+            	}
+                break;
+            case STRING:
+            	throw new Exception("Strings not handled");
+        }
+        // Done
+        return getNumBytes();    	
+    }
+    
+    Object getValue() throws Exception { return getValue(0); };
+    Object getValue(int index) throws Exception {
+//        QMutexLocker locker(obj->getMutex());
+        // Check that index is not out of bounds
+        if ( index >= numElements )
+        {
+            return null;
+        }
+
+        switch (type)
+        {
+            case INT8:
+            case INT16:
+            case INT32:
+            {
+            	List<Integer> l = (List<Integer>) data;
+            	return l.get(index);
+            }
+            case UINT8:
+            case UINT16:
+            case UINT32:
+            {
+            	// TODO: Correctly deal with unsigned values
+            	List<Integer> l = (List<Integer>) data;
+            	return l.get(index);
+            }
+            case FLOAT32:
+            {
+            	List<Float> l = (List<Float>) data;
+            	return l.get(index);
+            }
+            case ENUM:
+            {
+            	List<Byte> l = (List<Byte>) data;
+            	Byte val = l.get(index);
+
+                if(val >= options.size() || val < 0) 
+                	throw new Exception("Invalid value for" + name);
+
+                return options.get(val);
+            }
+            case STRING:
+            {
+            	throw new Exception("Shit I should do this");
+            }
+        }
+        // If this point is reached then we got an invalid type
+        return null;    
+    }
+    
+    public void setValue(Object data) throws Exception { setValue(data,0); }    
+    public void setValue(Object data, int index) throws Exception {
+    	//    	   QMutexLocker locker(obj->getMutex());
+    	// Check that index is not out of bounds
+    	if ( index >= numElements )
+    		throw new Exception("Index out of bounds");
+
+    	// Get metadata
+    	UAVObject.Metadata mdata = obj.getMetadata();
+    	// Update value if the access mode permits
+    	if ( mdata.gcsAccess == UAVObject.AccessMode.ACCESS_READWRITE )
+    	{
+    		ByteBuffer bbuf = ByteBuffer.allocate(numBytesPerElement);
+    		switch (type)
+    		{
+    		case INT8:
+    		case INT16:
+    		case INT32:
+    		{
+    			List<Integer> l = (List<Integer>) data;
+    			l.set(index, (Integer) data);
+    			break;
+    		}
+    		case UINT8:
+    		case UINT16:
+    		case UINT32:
+    		{
+    			List<Integer> l = (List<Integer>) data;
+    			l.set(index, (Integer) data);
+    			break;
+    		}
+    		case FLOAT32:
+    		{
+    			List<Float> l = (List<Float>) data;
+    			l.set(index, (Float) data);
+    			break;
+    		}
+    		case ENUM:
+    		{
+    			byte val = (byte) options.indexOf((String) data);
+    			if(val < 0) throw new Exception("Enumerated value not found");    	            	
+    			List<Byte> l = (List<Byte>) data;
+    			l.set(index, val);
+    			break;
+    		}
+    		case STRING: 
+    		{
+    			throw new Exception("Sorry I haven't implemented strings yet");
+    		}
+    		}
+    	}
+    }
+    
+    public double getDouble() throws Exception { return getDouble(0); };
+    public double getDouble(int index) throws Exception {
+    	return Double.valueOf((Double) getValue(index));
+    }
+    
+    void setDouble(double value) throws Exception { setDouble(value, 0); };
+    void setDouble(double value, int index) throws Exception {
+    	setValue(value, index);
+    }
+    
+    int getDataOffset() {
+    	return offset; 
+    }
+    
+    int getNumBytes() {
+        return numBytesPerElement * numElements;
+    }
+    
+    int getNumBytesElement() {
+    	return numBytesPerElement;
+    }
+    
+    boolean isNumeric() {
+        switch (type)
+        {
+            case INT8:
+                return true;
+            case INT16:
+                return true;
+            case INT32:
+                return true;
+            case UINT8:
+                return true;
+            case UINT16:
+                return true;
+            case UINT32:
+                return true;
+            case FLOAT32:
+                return true;
+            case ENUM:
+                return false;
+            case STRING:
+                return false;
+            default:
+                return false;
+        }    	
+    }
+    
+    boolean isText() {
+        switch (type)
+        {
+            case INT8:
+                return false;
+            case INT16:
+                return false;
+            case INT32:
+                return false;
+            case UINT8:
+                return false;
+            case UINT16:
+                return false;
+            case UINT32:
+                return false;
+            case FLOAT32:
+                return false;
+            case ENUM:
+                return true;
+            case STRING:
+                return true;
+            default:
+                return false;
+        }    	
+    }
+    
+    public String toString() {
+        String sout = new String();
+        sout += name + ": [ ";
+        for (int n = 0; n < numElements; ++n)
+        {
+        	sout += String.valueOf(n) + " ";
+        }
+        
+        sout += "] " + units + "\n";
+        return sout;    	
+    }
+
+    void fieldUpdated(UAVObjectField field) {
+    	
+    }
+
+    public void clear() {
+    	// TODO: This accesses a shared array of the parent
+    }
+    
+    public void constructorInitialize(String name, String units, FieldType type, List<String> elementNames, List<String> options) {
+        // Copy params
+        this.name = name;
+        this.units = units;
+        this.type = type;
+        this.options = options;
+        this.numElements = elementNames.size();
+        this.offset = 0;
+        this.data = null;
+        this.obj = null;
+        this.elementNames = elementNames;
+        // Set field size
+        switch (type)
+        {
+            case INT8:
+            	data = (Object) new ArrayList<Integer>();
+                numBytesPerElement = 1;
+                break;
+            case INT16:
+            	data = (Object) new ArrayList<Integer>();
+                numBytesPerElement = 2;
+                break;
+            case INT32:
+            	data = (Object) new ArrayList<Integer>();
+                numBytesPerElement = 4;
+                break;
+            case UINT8:
+            	data = (Object) new ArrayList<Integer>();
+                numBytesPerElement = 1;
+                break;
+            case UINT16:
+            	data = (Object) new ArrayList<Integer>();
+                numBytesPerElement = 2;
+                break;
+            case UINT32:
+            	data = (Object) new ArrayList<Integer>();
+                numBytesPerElement = 4;
+                break;
+            case FLOAT32:
+            	data = (Object) new ArrayList<Double>();
+                numBytesPerElement = 4;
+                break;
+            case ENUM:
+            	data = (Object) new ArrayList<Byte>();
+                numBytesPerElement = 1;
+                break;
+            case STRING:
+            	data = (Object) new ArrayList<String>();
+                numBytesPerElement = 1;
+                break;
+            default:
+                numBytesPerElement = 0;
+        }
+    }
+    
+
+	private String name;
+	private String units;
+	private FieldType type;
+	private List<String> elementNames;
+	private List<String> options;
+    private int numElements;
+    private int numBytesPerElement;
+    private int offset;
+    private Object data;
+    private UAVObject obj;
+
+}

From cd8fac766cb8a2e1b041209d6ceb9e3c53fef7ec Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 4 Mar 2011 10:22:11 -0600
Subject: [PATCH 198/543] Some changes to the object field to get it to
 initialze the array to be the right length

---
 .../src/org/openpilot/uavtalk/UAVObject.java  |  2 +-
 .../org/openpilot/uavtalk/UAVObjectField.java | 75 ++++++++++++++-----
 2 files changed, 56 insertions(+), 21 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index 1decf3563..aaf32151f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -84,7 +84,7 @@ public abstract class UAVObject {
 
 	      private Boolean isSingleInst;
 	      private int instID;
-	      private UAVMetaObject meta;
+	      private Metadata meta;
 
 	      /*  
 	       // Unported code from QT	      
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index 832e7048a..d09008cbe 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -25,10 +25,8 @@ public class UAVObjectField {
     	 constructorInitialize(name, units, type, elementNames, options);
     }
     
-    public void initialize(byte[] data, int dataOffset, UAVObject obj){
-        this.data = data;
-        this.offset = dataOffset;
-        this.obj = obj;
+    public void initialize(UAVObject obj){
+         this.obj = obj;
         clear();
     	
 	}
@@ -258,10 +256,13 @@ public class UAVObjectField {
     	if ( index >= numElements )
     		throw new Exception("Index out of bounds");
 
+    	System.out.println(data.toString());
+    	System.out.println(this.data.toString());
+    	
     	// Get metadata
-    	UAVObject.Metadata mdata = obj.getMetadata();
+    	//UAVObject.Metadata mdata = obj.getMetadata();
     	// Update value if the access mode permits
-    	if ( mdata.gcsAccess == UAVObject.AccessMode.ACCESS_READWRITE )
+    	if ( true ) //mdata.gcsAccess == UAVObject.AccessMode.ACCESS_READWRITE )
     	{
     		ByteBuffer bbuf = ByteBuffer.allocate(numBytesPerElement);
     		switch (type)
@@ -270,7 +271,7 @@ public class UAVObjectField {
     		case INT16:
     		case INT32:
     		{
-    			List<Integer> l = (List<Integer>) data;
+    			List<Integer> l = (List<Integer>) this.data;
     			l.set(index, (Integer) data);
     			break;
     		}
@@ -278,13 +279,13 @@ public class UAVObjectField {
     		case UINT16:
     		case UINT32:
     		{
-    			List<Integer> l = (List<Integer>) data;
+    			List<Integer> l = (List<Integer>) this.data;
     			l.set(index, (Integer) data);
     			break;
     		}
     		case FLOAT32:
     		{
-    			List<Float> l = (List<Float>) data;
+    			List<Float> l = (List<Float>) this.data;
     			l.set(index, (Float) data);
     			break;
     		}
@@ -292,7 +293,7 @@ public class UAVObjectField {
     		{
     			byte val = (byte) options.indexOf((String) data);
     			if(val < 0) throw new Exception("Enumerated value not found");    	            	
-    			List<Byte> l = (List<Byte>) data;
+    			List<Byte> l = (List<Byte>) this.data;
     			l.set(index, val);
     			break;
     		}
@@ -395,7 +396,37 @@ public class UAVObjectField {
     }
 
     public void clear() {
-    	// TODO: This accesses a shared array of the parent
+    	switch (type)
+        {
+            case INT8:
+            case INT16:
+            case INT32:
+            case UINT8:
+            case UINT16:
+            case UINT32:
+            	((ArrayList<Integer>) data).clear();
+            	for(int index = 0; index < numElements; ++index) {
+            		((ArrayList<Integer>) data).add(0);
+            	}
+                break;
+            case FLOAT32:
+            	((ArrayList<Float>) data).clear();
+            	for(int index = 0; index < numElements; ++index) {
+            		((ArrayList<Float>) data).add((float) 0);
+            	}
+                break;
+            case ENUM:
+            	((ArrayList<Byte>) data).clear();
+            	for(int index = 0; index < numElements; ++index) {
+            		((ArrayList<Byte>) data).add((byte)0);
+            	}
+                break;
+            case STRING:
+            	// TODO: Add string
+                break;
+            default:
+                numBytesPerElement = 0;
+        }
     }
     
     public void constructorInitialize(String name, String units, FieldType type, List<String> elementNames, List<String> options) {
@@ -410,47 +441,51 @@ public class UAVObjectField {
         this.obj = null;
         this.elementNames = elementNames;
         // Set field size
+        System.out.println("Initializing: type " + type + this.numElements);
+
         switch (type)
         {
             case INT8:
-            	data = (Object) new ArrayList<Integer>();
+            	data = (Object) new ArrayList<Integer>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             case INT16:
-            	data = (Object) new ArrayList<Integer>();
+            	data = (Object) new ArrayList<Integer>(this.numElements);
                 numBytesPerElement = 2;
                 break;
             case INT32:
-            	data = (Object) new ArrayList<Integer>();
+            	data = (Object) new ArrayList<Integer>(this.numElements);
                 numBytesPerElement = 4;
                 break;
             case UINT8:
-            	data = (Object) new ArrayList<Integer>();
+            	data = (Object) new ArrayList<Integer>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             case UINT16:
-            	data = (Object) new ArrayList<Integer>();
+            	data = (Object) new ArrayList<Integer>(this.numElements);
                 numBytesPerElement = 2;
                 break;
             case UINT32:
-            	data = (Object) new ArrayList<Integer>();
+            	data = (Object) new ArrayList<Integer>(this.numElements);
                 numBytesPerElement = 4;
                 break;
             case FLOAT32:
-            	data = (Object) new ArrayList<Double>();
+            	data = (Object) new ArrayList<Double>(this.numElements);
                 numBytesPerElement = 4;
                 break;
             case ENUM:
-            	data = (Object) new ArrayList<Byte>();
+            	data = (Object) new ArrayList<Byte>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             case STRING:
-            	data = (Object) new ArrayList<String>();
+            	data = (Object) new ArrayList<String>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             default:
                 numBytesPerElement = 0;
         }
+        clear();
+        System.out.println("Initialized: " + this.data.toString());
     }
     
 

From ae43ec3eba7fae289043600213d40b077188d11e Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 5 Mar 2011 12:29:48 -0600
Subject: [PATCH 199/543] More updates to UAVObject and Field for android app

---
 .../src/org/openpilot/uavtalk/UAVObject.java  | 598 ++++++++++++++----
 .../org/openpilot/uavtalk/UAVObjectField.java |   3 +-
 2 files changed, 475 insertions(+), 126 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index aaf32151f..f987a03a9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -1,137 +1,487 @@
 package org.openpilot.uavtalk;
 
+import java.nio.ByteBuffer;
+import java.util.List;
+import java.util.ListIterator;
+
 public abstract class UAVObject {
-	  
-	  
-	      /**
-	       * Object update mode
-	       */
-	      public enum UpdateMode {
-	              UPDATEMODE_PERIODIC, /** Automatically update object at periodic intervals */
-	              UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
-	              UPDATEMODE_MANUAL,   /** Manually update object, by calling the updated() function */
-	              UPDATEMODE_NEVER     /** Object is never updated */
-	      } ;
 
-	      /**
-	       * Access mode
-	       */
-	      public enum AccessMode{
-	              ACCESS_READWRITE,
-	              ACCESS_READONLY
-	      } ;
-	      
-	      /**
-	       * Access mode
-	       */
-	      public enum Acked{
-	              FALSE,
-	              TRUE
-	      } ;
-	      
-	      final class Metadata {
-	    	  public AccessMode flightAccess; /** Defines the access level for the local flight transactions (readonly and readwrite) */
-	    	  public AccessMode gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite) */
-	    	  public Acked flightTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
-	    	  public UpdateMode flightTelemetryUpdateMode; /** Update mode used by the autopilot (UpdateMode) */
-	    	  public int flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
-	    	  public Acked gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
-	    	  public UpdateMode gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
-	    	  public int gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
-	    	  public UpdateMode loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */
-	    	  public int loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
-	      } ;
 
-	      public UAVObject(int objID, Boolean isSingleInst, String name) {
-	    	  assert(objID == getObjID()); // ID is in implementation code, make sure it matches object
-	    	  assert(name.equals(getName()));	      
-	    	  this.isSingleInst = isSingleInst;
-	    	  meta = getDefaultMetadata();
-	      };
-	      
-	      public void initialize(int instID) {
-	    	  this.instID = instID;
-	      }
-	      
-	      public int getInstID() { return instID; }	      
-	      public Boolean isSingleInstance() { return isSingleInst; }	      
-	      public String getName() { return getObjName(); }  // matching QT API to the current autogen code	      
-	      	
-	      public abstract int getObjID();	      
-	      public abstract String getDescription();
-	      public abstract String getObjName();
-	      
-	      int getNumBytes() {
-	    	  return serialize().length;
-	      }
+	/**
+	 * Object update mode
+	 */
+	public enum UpdateMode {
+		UPDATEMODE_PERIODIC, /** Automatically update object at periodic intervals */
+		UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
+		UPDATEMODE_MANUAL,   /** Manually update object, by calling the updated() function */
+		UPDATEMODE_NEVER     /** Object is never updated */
+	} ;
 
-	      // The name of the serializer and deserialize from the autogenerated code
-	      public abstract byte[] serialize();	      
-	      public abstract void deserialize(byte[] arr,int offset);
-	      
-	      byte [] pack() {
-	    	  return serialize();
-	      }
-	      
-	      Boolean unpack(byte [] data) {
-	    	deserialize(data, 0);
-			return true;  
-	      }
-	      
-	      public abstract void setMetadata(Metadata obj);
-	      public abstract Metadata getMetadata();
-	      public abstract Metadata getDefaultMetadata();
+	/**
+	 * Access mode
+	 */
+	public enum AccessMode{
+		ACCESS_READWRITE,
+		ACCESS_READONLY
+	} ;
 
-	      private Boolean isSingleInst;
-	      private int instID;
-	      private Metadata meta;
+	/**
+	 * Access mode
+	 */
+	public enum Acked{
+		FALSE,
+		TRUE
+	} ;
 
-	      /*  
-	       // Unported code from QT	      
-	      bool save();
-	      bool save(QFile& file);
-	      bool load();
-	      bool load(QFile& file);
-	      virtual void setMetadata(const Metadata& mdata) = 0;
-	      virtual Metadata getMetadata() = 0;
-	      virtual Metadata getDefaultMetadata() = 0;
-	      void requestUpdate();
-	      void updated();
-	      void lock();
-	      void lock(int timeoutMs);
-	      void unlock();
-	      QMutex* getMutex();
-	      qint32 getNumFields();
-	      QList<UAVObjectField*> getFields();
-	      UAVObjectField* getField(const QString& name);
-	      QString toString();
-	      QString toStringBrief();
-	      QString toStringData();
-	      void emitTransactionCompleted(bool success);
+	protected final class Metadata {
+		public AccessMode flightAccess; /** Defines the access level for the local flight transactions (readonly and readwrite) */
+		public AccessMode gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite) */
+		public Acked flightTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
+		public UpdateMode flightTelemetryUpdateMode; /** Update mode used by the autopilot (UpdateMode) */
+		public int flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
+		public Acked gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
+		public UpdateMode gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
+		public int gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
+		public UpdateMode loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */
+		public int loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
+	} ;
 
-	  signals:
-	      void objectUpdated(UAVObject* obj);
-	      void objectUpdatedAuto(UAVObject* obj);
-	      void objectUpdatedManual(UAVObject* obj);
-	      void objectUnpacked(UAVObject* obj);
-	      void updateRequested(UAVObject* obj);
-	      void transactionCompleted(UAVObject* obj, bool success);
+	public UAVObject(int objID, Boolean isSingleInst, String name) {
+		this.objID = objID;
+		this.instID = 0;
+		this.isSingleInst = isSingleInst;
+		this.name = name;
+		//	    	    this.mutex = new QMutex(QMutex::Recursive);
+	};
 
-	  private slots:
-	      void fieldUpdated(UAVObjectField* field);
+	public void initialize(int instID) {
+		//QMutexLocker locker(mutex);
+		this.instID = instID;
+	}
 
-	  protected:
-	      quint32 objID;
-	      quint32 instID;
-	      bool isSingleInst;
-	      QString name;
-	      QString description;
-	      quint32 numBytes;
-	      QMutex* mutex;
-	      quint8* data;
-	      QList<UAVObjectField*> fields;
+	/**
+	 * Initialize objects' data fields
+	 * @param fields List of fields held by the object
+	 * @param data Pointer to that actual object data, this is needed by the fields to access the data
+	 * @param numBytes Number of bytes in the object (total, including all fields)
+	 * @throws Exception When unable to unpack a field
+	 */
+	public void initializeFields(List<UAVObjectField> fields, ByteBuffer data, int numBytes) throws Exception
+	{
+		// TODO:    QMutexLocker locker(mutex);
+		this.numBytes = numBytes;
+		this.data = data;
+		this.fields = fields;
+		// Initialize fields
+		for (int n = 0; n < fields.size(); ++n)
+		{
+			fields.get(n).initialize(this);
+		}
+		unpack(data);
+	}
 
-	      void initializeFields(QList<UAVObjectField*>& fields, quint8* data, quint32 numBytes);
-	      void setDescription(const QString& description);
-	      */
+	/**
+	 * Get the object ID
+	 */
+	public int getObjID()
+	{
+		return objID;
+	}
+
+	/**
+	 * Get the instance ID
+	 */
+	public int getInstID()
+	{
+		return instID;
+	}
+
+	/**
+	 * Returns true if this is a single instance object
+	 */
+	public boolean isSingleInstance()
+	{
+		return isSingleInst;
+	}
+
+	/**
+	 * Get the name of the object
+	 */
+	public String getName()
+	{
+		return name;
+	}
+
+	/**
+	 * Get the description of the object
+	 * @return The description of the object
+	 */
+	public String getDescription()
+	{
+		return description;
+	}
+
+	/**
+	 * Set the description of the object
+	 * @param The description of the object
+	 * @return 
+	 */
+	public void setDescription(String description)
+	{
+		this.description = description;
+	}
+
+
+	/**
+	 * Get the total number of bytes of the object's data
+	 */
+	public int getNumBytes()
+	{
+		return numBytes;
+	}
+
+	//	      /**
+	//	       * Request that this object is updated with the latest values from the autopilot
+	//	       */
+	//	     /* void UAVObject::requestUpdate()
+	//	      {
+	//	          emit updateRequested(this);
+	//	      } */
+	//
+	//	      /**
+	//	       * Signal that the object has been updated
+	//	       */
+	//	      /* void UAVObject::updated()
+	//	      {
+	//	          emit objectUpdatedManual(this);
+	//	          emit objectUpdated(this);
+	//	      } */
+	//
+	//	      /**
+	//	       * Lock mutex of this object
+	//	       */
+	//	      /* void UAVObject::lock()
+	//	      {
+	//	          mutex->lock();
+	//	      } */
+	//
+	//	      /**
+	//	       * Lock mutex of this object
+	//	       */
+	//	      /* void UAVObject::lock(int timeoutMs)
+	//	      {
+	//	          mutex->tryLock(timeoutMs);
+	//	      } */
+	//
+	//	      /**
+	//	       * Unlock mutex of this object
+	//	       */
+	//	      /* void UAVObject::unlock()
+	//	      {
+	//	          mutex->unlock();
+	//	      } */
+	//
+	//	      /**
+	//	       * Get object's mutex
+	//	       */
+	//	      QMutex* UAVObject::getMutex()
+	//	      {
+	//	          return mutex;
+	//	      }
+
+	/**
+	 * Get the number of fields held by this object
+	 */
+	public int getNumFields()
+	{
+		//QMutexLocker locker(mutex);
+		return fields.size();
+	}
+
+	/**
+	 * Get the object's fields
+	 */
+	public List<UAVObjectField> getFields()
+	{
+		//QMutexLocker locker(mutex);
+		return fields;
+	}
+
+	/**
+	 * Get a specific field
+	 * @throws Exception 
+	 * @returns The field or NULL if not found
+	 */
+	public UAVObjectField getField(String name) throws Exception
+	{
+		//QMutexLocker locker(mutex);
+		// Look for field
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			UAVObjectField field = li.next();
+			if(field.getName().equals(name))
+				return field;
+		}
+		throw new Exception("Field not found");
+	}
+
+	/**
+	 * Pack the object data into a byte array
+	 * @param dataOut ByteBuffer to receive the data.  
+	 * @throws Exception 
+	 * @returns The number of bytes copied
+	 * @note The array must already have enough space allocated for the object
+	 */
+	public int pack(ByteBuffer dataOut) throws Exception
+	{
+		// QMutexLocker locker(mutex);
+		if(dataOut.remaining() < getNumBytes())
+			throw new Exception("Not enough bytes in ByteBuffer to pack object");
+		int numBytes = 0;
+
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			UAVObjectField field = li.next();
+			numBytes += field.pack(dataOut);
+		}
+		return numBytes;
+	}
+
+	/**
+	 * Unpack the object data from a byte array
+	 * @param dataIn The ByteBuffer to pull data from
+	 * @throws Exception 
+	 * @returns The number of bytes copied
+	 */
+	public int unpack(ByteBuffer dataIn) throws Exception
+	{
+		// QMutexLocker locker(mutex);
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			UAVObjectField field = li.next();
+			numBytes += field.unpack(dataIn);
+		}
+		return numBytes;
+		// TODO: Callbacks
+		//emit objectUnpacked(this); // trigger object updated event
+		//emit objectUpdated(this);
+	}
+
+	//	      /**
+	//	       * Save the object data to the file.
+	//	       * The file will be created in the current directory
+	//	       * and its name will be the same as the object with
+	//	       * the .uavobj extension.
+	//	       * @returns True on success, false on failure
+	//	       */
+	//	      bool UAVObject::save()
+	//	      {
+	//	          QMutexLocker locker(mutex);
+	//
+	//	          // Open file
+	//	          QFile file(name + ".uavobj");
+	//	          if (!file.open(QFile::WriteOnly))
+	//	          {
+	//	              return false;
+	//	          }
+	//
+	//	          // Write object
+	//	          if ( !save(file) )
+	//	          {
+	//	              return false;
+	//	          }
+	//
+	//	          // Close file
+	//	          file.close();
+	//	          return true;
+	//	      }
+	//
+	//	      /**
+	//	       * Save the object data to the file.
+	//	       * The file is expected to be already open for writting.
+	//	       * The data will be appended and the file will not be closed.
+	//	       * @returns True on success, false on failure
+	//	       */
+	//	      bool UAVObject::save(QFile& file)
+	//	      {
+	//	          QMutexLocker locker(mutex);
+	//	          quint8 buffer[numBytes];
+	//	          quint8 tmpId[4];
+	//
+	//	          // Write the object ID
+	//	          qToLittleEndian<quint32>(objID, tmpId);
+	//	          if ( file.write((const char*)tmpId, 4) == -1 )
+	//	          {
+	//	              return false;
+	//	          }
+	//
+	//	          // Write the instance ID
+	//	          if (!isSingleInst)
+	//	          {
+	//	              qToLittleEndian<quint16>(instID, tmpId);
+	//	              if ( file.write((const char*)tmpId, 2) == -1 )
+	//	              {
+	//	                  return false;
+	//	              }
+	//	          }
+	//
+	//	          // Write the data
+	//	          pack(buffer);
+	//	          if ( file.write((const char*)buffer, numBytes) == -1 )
+	//	          {
+	//	              return false;
+	//	          }
+	//
+	//	          // Done
+	//	          return true;
+	//	      }
+	//
+	//	      /**
+	//	       * Load the object data from a file.
+	//	       * The file will be openned in the current directory
+	//	       * and its name will be the same as the object with
+	//	       * the .uavobj extension.
+	//	       * @returns True on success, false on failure
+	//	       */
+	//	      bool UAVObject::load()
+	//	      {
+	//	          QMutexLocker locker(mutex);
+	//
+	//	          // Open file
+	//	          QFile file(name + ".uavobj");
+	//	          if (!file.open(QFile::ReadOnly))
+	//	          {
+	//	              return false;
+	//	          }
+	//
+	//	          // Load object
+	//	          if ( !load(file) )
+	//	          {
+	//	              return false;
+	//	          }
+	//
+	//	          // Close file
+	//	          file.close();
+	//	          return true;
+	//	      }
+	//
+	//	      /**
+	//	       * Load the object data from file.
+	//	       * The file is expected to be already open for reading.
+	//	       * The data will be read and the file will not be closed.
+	//	       * @returns True on success, false on failure
+	//	       */
+	//	      bool UAVObject::load(QFile& file)
+	//	      {
+	//	          QMutexLocker locker(mutex);
+	//	          quint8 buffer[numBytes];
+	//	          quint8 tmpId[4];
+	//
+	//	          // Read the object ID
+	//	          if ( file.read((char*)tmpId, 4) != 4 )
+	//	          {
+	//	              return false;
+	//	          }
+	//
+	//	          // Check that the IDs match
+	//	          if (qFromLittleEndian<quint32>(tmpId) != objID)
+	//	          {
+	//	              return false;
+	//	          }
+	//
+	//	          // Read the instance ID
+	//	          if ( file.read((char*)tmpId, 2) != 2 )
+	//	          {
+	//	              return false;
+	//	          }
+	//
+	//	          // Check that the IDs match
+	//	          if (qFromLittleEndian<quint16>(tmpId) != instID)
+	//	          {
+	//	              return false;
+	//	          }
+	//
+	//	          // Read and unpack the data
+	//	          if ( file.read((char*)buffer, numBytes) != numBytes )
+	//	          {
+	//	              return false;
+	//	          }
+	//	          unpack(buffer);
+	//
+	//	          // Done
+	//	          return true;
+	//	      }
+
+	/**
+	 * Return a string with the object information
+	 */
+	@Override
+	public String toString()
+	{
+		return toStringBrief() + toStringData();
+	}
+
+	/**
+	 * Return a string with the object information (only the header)
+	 */
+	public String toStringBrief()
+	{
+		return String.format("%1 (ID: %2, InstID: %3, NumBytes: %4, SInst: %5)\n",
+				getName(),
+				getObjID(),
+				getInstID(),
+				getNumBytes(),
+				isSingleInstance());
+	}
+
+	/**
+	 * Return a string with the object information (only the data)
+	 */
+	public String toStringData()
+	{
+		String s = new String();
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			UAVObjectField field = li.next();
+			s += field.toString();
+		}
+		return s;
+	}
+
+	//	      /**
+	//	       * Emit the transactionCompleted event (used by the UAVTalk plugin)
+	//	       */
+	//	      void UAVObject::emitTransactionCompleted(bool success)
+	//	      {
+	//	    	  emit transactionCompleted(this, success);
+	//	      }
+
+	/** 
+	 * Java specific functions
+	 */
+	public UAVObject clone() {
+		return (UAVObject) clone();
+	}
+	/**
+	 * Abstract functions
+	 */
+	public abstract void setMetadata(Metadata mdata);
+	public abstract Metadata getMetadata();
+	public abstract Metadata getDefaultMetadata();
+	public abstract UAVDataObject clone(int instID);
+    protected abstract void setDefaultFieldValues();
+
+	/**
+	 * Private data for the object, common to all
+	 */		  
+	protected int objID;
+	protected int instID;
+	protected boolean isSingleInst;
+	protected String name;
+	protected String description;
+	protected int numBytes;
+	// TODO: QMutex* mutex;
+	protected ByteBuffer data;
+	protected List<UAVObjectField> fields;
 }
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index d09008cbe..c7c774199 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -90,8 +90,7 @@ public class UAVObjectField {
      * to a new ByteBuffer for UAVTalk.  It also converts from the java standard (big endian)
      * to the arm/uavtalk standard (little endian)
      * @param dataOut
-     * @return
-]     
+     * @return the number of bytes added
      * @throws Exception */
     public int pack(ByteBuffer dataOut) throws Exception {
         //QMutexLocker locker(obj->getMutex());

From a9b28687eafb2dca1d91a68e036f58a8f49ce251 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 6 Mar 2011 00:03:20 -0600
Subject: [PATCH 200/543] More work on the java UAVObject implementation

---
 .../org/openpilot/uavtalk/UAVDataObject.java  |  93 ++-
 .../org/openpilot/uavtalk/UAVMetaObject.java  | 140 +++--
 .../src/org/openpilot/uavtalk/UAVObject.java  | 581 +++++++++---------
 .../org/openpilot/uavtalk/UAVObjectField.java |  35 +-
 .../openpilot/uavtalk/UAVObjectManager.java   |  30 +-
 5 files changed, 497 insertions(+), 382 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
index a2e6acf9e..f0a2248f5 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
@@ -9,39 +9,78 @@ public abstract class UAVDataObject extends UAVObject {
 	 * @param isSet
 	 * @param name
 	 */
-	public UAVDataObject(int objID, Boolean isSingleInst, Boolean isSet, String name) {
+	public UAVDataObject(int objID, Boolean isSingleInst, Boolean isSet, String name) throws Exception {
 		super(objID, isSingleInst, name);
+		mobj = null;
+		this.isSet = isSet;
 	}
-	
-	public abstract void initialize(int instID, UAVMetaObject mobj);
-	
-	public abstract void initialize(UAVMetaObject mobj);
-	
-	Boolean isSettings() {
-		return null;
+	/**
+	 * Initialize instance ID and assign a metaobject
+	 */
+	public void initialize(int instID, UAVMetaObject mobj)
+	{
+	    //QMutexLocker locker(mutex);
+	    this.mobj = mobj;
+	    super.initialize(instID);
+	}
+
+	/**
+	 * Assign a metaobject
+	 */
+	public void initialize(UAVMetaObject mobj)
+	{
+	    //QMutexLocker locker(mutex);
+	    this.mobj = mobj;
+	}
+
+	/**
+	 * Returns true if this is a data object holding module settings
+	 */
+	public boolean isSettings()
+	{
+	    return isSet;
+	}
+
+	/**
+	 * Set the object's metadata
+	 */
+	public void setMetadata(Metadata mdata)
+	{
+	    if ( mobj != null )
+	    {
+	        mobj.setData(mdata);
+	    }
+	}
+
+	/**
+	 * Get the object's metadata
+	 */
+	public Metadata getMetadata()
+	{
+	    if ( mobj != null)
+	    {
+	        return mobj.getData();
+	    }
+	    else
+	    {
+	        return getDefaultMetadata();
+	    }
+	}
+
+	/**
+	 * Get the metaobject
+	 */
+	public UAVMetaObject getMetaObject()
+	{
+	    return mobj;
 	}
-	
-    UAVMetaObject getMetaObject() {
-		return null;	
-    }
 	    
+    // TODO: Make abstract
     public UAVDataObject clone(int instID) {
-    	try {
-			return (UAVDataObject) super.clone();
-		} catch (CloneNotSupportedException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-		}
-		return null;
+		return (UAVDataObject) super.clone();
     }
     
-public:
-	static int OBJID = $(OBJIDHEX);
-    static String NAME;
-    static String DESCRIPTION;
-    static boolean ISSINGLEINST = $(ISSINGLEINST);
-    static boolean ISSETTINGS = $(ISSETTINGS);
-    static int NUMBYTES = sizeof(DataFields);
-
+    private UAVMetaObject mobj;
+    private boolean isSet;
 
 }
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
index 9c2e3b12d..70e661d46 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
@@ -1,76 +1,116 @@
 package org.openpilot.uavtalk;
 
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+
 public class UAVMetaObject extends UAVObject {
 
-	public UAVMetaObject(int objID, String name, UAVDataObject parent) {
+	public UAVMetaObject(int objID, String name, UAVDataObject parent) throws Exception {
 		super(objID, true, name);
 		this.parent = parent;
-		
-	    ownMetadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-	    ownMetadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-	    ownMetadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-	    ownMetadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-	    ownMetadata.flightTelemetryUpdatePeriod = 0;
-	    ownMetadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-	    ownMetadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-	    ownMetadata.gcsTelemetryUpdatePeriod = 0;
-	    ownMetadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-	    ownMetadata.loggingUpdatePeriod = 0;
-		
+
+		ownMetadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		ownMetadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		ownMetadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		ownMetadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		ownMetadata.flightTelemetryUpdatePeriod = 0;
+		ownMetadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		ownMetadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		ownMetadata.gcsTelemetryUpdatePeriod = 0;
+		ownMetadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		ownMetadata.loggingUpdatePeriod = 0;
+
+		// Setup fields
+		List<String> boolEnum = new ArrayList<String>();
+		boolEnum.add("False");
+		boolEnum.add("True");
+
+		List<String> updateModeEnum = new ArrayList<String>();
+		updateModeEnum.add("Periodic");
+		updateModeEnum.add("On Change");
+		updateModeEnum.add("Manual");
+		updateModeEnum.add("Never");
+
+		List<String> accessModeEnum = new ArrayList<String>();	    
+		accessModeEnum.add("Read/Write");
+		accessModeEnum.add("Read Only");
+
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();    
+		fields.add( new UAVObjectField("Flight Access Mode", "", UAVObjectField.FieldType.ENUM, 1, accessModeEnum) );
+		fields.add( new UAVObjectField("GCS Access Mode", "", UAVObjectField.FieldType.ENUM, 1, accessModeEnum) );
+		fields.add( new UAVObjectField("Flight Telemetry Acked", "", UAVObjectField.FieldType.ENUM, 1, boolEnum) );
+		fields.add( new UAVObjectField("Flight Telemetry Update Mode", "", UAVObjectField.FieldType.ENUM, 1, updateModeEnum) );
+		fields.add( new UAVObjectField("Flight Telemetry Update Period", "", UAVObjectField.FieldType.UINT32, 1, null) );
+		fields.add( new UAVObjectField("GCS Telemetry Acked", "", UAVObjectField.FieldType.ENUM, 1, boolEnum) );
+		fields.add( new UAVObjectField("GCS Telemetry Update Mode", "", UAVObjectField.FieldType.ENUM, 1, updateModeEnum) );
+		fields.add( new UAVObjectField("GCS Telemetry Update Period", "", UAVObjectField.FieldType.UINT32, 1, null ) );
+		fields.add( new UAVObjectField("Logging Update Mode", "", UAVObjectField.FieldType.ENUM, 1, updateModeEnum) );
+		fields.add( new UAVObjectField("Logging Update Period", "", UAVObjectField.FieldType.UINT32, 1, null ) );
+
+		// Initialize parent
+		super.initialize(0);
+		super.initializeFields(fields, ByteBuffer.allocate(10), 10);
+
+		// Setup metadata of parent
+		parentMetadata = parent.getDefaultMetadata();	
 	}
 
-	UAVObject getParentObject() {
+	/**
+	 * Get the parent object
+	 */
+	public UAVObject getParentObject()
+	{
 		return parent;
 	}
 
-	@Override
-	public void deserialize(byte[] arr, int offset) {
-		// TODO Auto-generated method stub
-
+	/**
+	 * Set the metadata of the metaobject, this function will
+	 * do nothing since metaobjects have read-only metadata.
+	 */
+	public void setMetadata(Metadata mdata)
+	{
+		return; // can not update metaobject's metadata
 	}
 
-	@Override
-	public Metadata getMetadata() {
+	/**
+	 * Get the metadata of the metaobject
+	 */
+	public Metadata getMetadata()
+	{
 		return ownMetadata;
 	}
 
-	@Override
-	public Metadata getDefaultMetadata() {
-	    return ownMetadata;
+	/**
+	 * Get the default metadata
+	 */
+	public Metadata getDefaultMetadata()
+	{
+		return ownMetadata;
 	}
 
-	@Override
-	public String getDescription() {
-		// TODO Auto-generated method stub
-		return null;
+	/**
+	 * Set the metadata held by the metaobject
+	 */
+	public void setData(Metadata mdata)
+	{
+		//QMutexLocker locker(mutex);
+		parentMetadata = mdata;
+		// TODO: Callbacks
+		//	    emit objectUpdatedAuto(this); // trigger object updated event
+		//	    emit objectUpdated(this);
 	}
 
-	@Override
-	public int getObjID() {
-		// TODO Auto-generated method stub
-		return 0;
+	/**
+	 * Get the metadata held by the metaobject
+	 */
+	public Metadata getData()
+	{
+//		QMutexLocker locker(mutex);
+		return parentMetadata;
 	}
 
-	@Override
-	public String getObjName() {
-		// TODO Auto-generated method stub
-		return null;
-	}
 
-	@Override
-	public byte[] serialize() {
-		// TODO Auto-generated method stub
-		return null;
-	}
-
-	
-	public UAVMetaObject(quint32 objID, const QString& name, UAVObject* parent);
-	UAVObject* getParentObject();
-	void setMetadata(const Metadata& mdata);
-	void setData(const Metadata& mdata);
-	Metadata getData();
-
-	
 	private UAVObject parent;
 	private Metadata ownMetadata;
 	private Metadata parentMetadata;
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index f987a03a9..926440805 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -6,241 +6,274 @@ import java.util.ListIterator;
 
 public abstract class UAVObject {
 
-
 	/**
 	 * Object update mode
 	 */
 	public enum UpdateMode {
-		UPDATEMODE_PERIODIC, /** Automatically update object at periodic intervals */
+		UPDATEMODE_PERIODIC, /**
+		 * Automatically update object at periodic
+		 * intervals
+		 */
 		UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
-		UPDATEMODE_MANUAL,   /** Manually update object, by calling the updated() function */
-		UPDATEMODE_NEVER     /** Object is never updated */
-	} ;
+		UPDATEMODE_MANUAL, /**
+		 * Manually update object, by calling the updated()
+		 * function
+		 */
+		UPDATEMODE_NEVER
+		/** Object is never updated */
+	};
 
 	/**
 	 * Access mode
 	 */
-	public enum AccessMode{
-		ACCESS_READWRITE,
-		ACCESS_READONLY
-	} ;
+	public enum AccessMode {
+		ACCESS_READWRITE, ACCESS_READONLY
+	};
 
 	/**
 	 * Access mode
 	 */
-	public enum Acked{
-		FALSE,
-		TRUE
-	} ;
+	public enum Acked {
+		FALSE, TRUE
+	};
 
-	protected final class Metadata {
-		public AccessMode flightAccess; /** Defines the access level for the local flight transactions (readonly and readwrite) */
-		public AccessMode gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite) */
-		public Acked flightTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
-		public UpdateMode flightTelemetryUpdateMode; /** Update mode used by the autopilot (UpdateMode) */
-		public int flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
-		public Acked gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
-		public UpdateMode gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
-		public int gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
-		public UpdateMode loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */
-		public int loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
-	} ;
+	public final class Metadata {
+		public AccessMode flightAccess;
+		/**
+		 * Defines the access level for the local flight transactions (readonly
+		 * and readwrite)
+		 */
+		public AccessMode gcsAccess;
+		/**
+		 * Defines the access level for the local GCS transactions (readonly and
+		 * readwrite)
+		 */
+		public Acked flightTelemetryAcked;
+		/**
+		 * Defines if an ack is required for the transactions of this object
+		 * (1:acked, 0:not acked)
+		 */
+		public UpdateMode flightTelemetryUpdateMode;
+		/** Update mode used by the autopilot (UpdateMode) */
+		public int flightTelemetryUpdatePeriod;
+		/**
+		 * Update period used by the autopilot (only if telemetry mode is
+		 * PERIODIC)
+		 */
+		public Acked gcsTelemetryAcked;
+		/**
+		 * Defines if an ack is required for the transactions of this object
+		 * (1:acked, 0:not acked)
+		 */
+		public UpdateMode gcsTelemetryUpdateMode;
+		/** Update mode used by the GCS (UpdateMode) */
+		public int gcsTelemetryUpdatePeriod;
+		/** Update period used by the GCS (only if telemetry mode is PERIODIC) */
+		public UpdateMode loggingUpdateMode;
+		/** Update mode used by the logging module (UpdateMode) */
+		public int loggingUpdatePeriod;
+		/**
+		 * Update period used by the logging module (only if logging mode is
+		 * PERIODIC)
+		 */
+	};
 
 	public UAVObject(int objID, Boolean isSingleInst, String name) {
 		this.objID = objID;
 		this.instID = 0;
 		this.isSingleInst = isSingleInst;
 		this.name = name;
-		//	    	    this.mutex = new QMutex(QMutex::Recursive);
+		// this.mutex = new QMutex(QMutex::Recursive);
 	};
 
 	public void initialize(int instID) {
-		//QMutexLocker locker(mutex);
+		// QMutexLocker locker(mutex);
 		this.instID = instID;
 	}
 
 	/**
 	 * Initialize objects' data fields
-	 * @param fields List of fields held by the object
-	 * @param data Pointer to that actual object data, this is needed by the fields to access the data
-	 * @param numBytes Number of bytes in the object (total, including all fields)
-	 * @throws Exception When unable to unpack a field
+	 * 
+	 * @param fields
+	 *            List of fields held by the object
+	 * @param data
+	 *            Pointer to that actual object data, this is needed by the
+	 *            fields to access the data
+	 * @param numBytes
+	 *            Number of bytes in the object (total, including all fields)
+	 * @throws Exception
+	 *             When unable to unpack a field
 	 */
-	public void initializeFields(List<UAVObjectField> fields, ByteBuffer data, int numBytes) throws Exception
-	{
-		// TODO:    QMutexLocker locker(mutex);
+	public void initializeFields(List<UAVObjectField> fields, ByteBuffer data,
+			int numBytes) throws Exception {
+		// TODO: QMutexLocker locker(mutex);
 		this.numBytes = numBytes;
-		this.data = data;
+//	this.data = data;
 		this.fields = fields;
 		// Initialize fields
-		for (int n = 0; n < fields.size(); ++n)
-		{
+		for (int n = 0; n < fields.size(); ++n) {
 			fields.get(n).initialize(this);
 		}
-		unpack(data);
+//		unpack(data);
 	}
 
 	/**
 	 * Get the object ID
 	 */
-	public int getObjID()
-	{
+	public int getObjID() {
 		return objID;
 	}
 
 	/**
 	 * Get the instance ID
 	 */
-	public int getInstID()
-	{
+	public int getInstID() {
 		return instID;
 	}
 
 	/**
 	 * Returns true if this is a single instance object
 	 */
-	public boolean isSingleInstance()
-	{
+	public boolean isSingleInstance() {
 		return isSingleInst;
 	}
 
 	/**
 	 * Get the name of the object
 	 */
-	public String getName()
-	{
+	public String getName() {
 		return name;
 	}
 
 	/**
 	 * Get the description of the object
+	 * 
 	 * @return The description of the object
 	 */
-	public String getDescription()
-	{
+	public String getDescription() {
 		return description;
 	}
 
 	/**
 	 * Set the description of the object
-	 * @param The description of the object
-	 * @return 
+	 * 
+	 * @param The
+	 *            description of the object
+	 * @return
 	 */
-	public void setDescription(String description)
-	{
+	public void setDescription(String description) {
 		this.description = description;
 	}
 
-
 	/**
 	 * Get the total number of bytes of the object's data
 	 */
-	public int getNumBytes()
-	{
+	public int getNumBytes() {
 		return numBytes;
 	}
 
-	//	      /**
-	//	       * Request that this object is updated with the latest values from the autopilot
-	//	       */
-	//	     /* void UAVObject::requestUpdate()
-	//	      {
-	//	          emit updateRequested(this);
-	//	      } */
+	// /**
+	// * Request that this object is updated with the latest values from the
+	// autopilot
+	// */
+	// /* void UAVObject::requestUpdate()
+	// {
+	// emit updateRequested(this);
+	// } */
 	//
-	//	      /**
-	//	       * Signal that the object has been updated
-	//	       */
-	//	      /* void UAVObject::updated()
-	//	      {
-	//	          emit objectUpdatedManual(this);
-	//	          emit objectUpdated(this);
-	//	      } */
+	// /**
+	// * Signal that the object has been updated
+	// */
+	// /* void UAVObject::updated()
+	// {
+	// emit objectUpdatedManual(this);
+	// emit objectUpdated(this);
+	// } */
 	//
-	//	      /**
-	//	       * Lock mutex of this object
-	//	       */
-	//	      /* void UAVObject::lock()
-	//	      {
-	//	          mutex->lock();
-	//	      } */
+	// /**
+	// * Lock mutex of this object
+	// */
+	// /* void UAVObject::lock()
+	// {
+	// mutex->lock();
+	// } */
 	//
-	//	      /**
-	//	       * Lock mutex of this object
-	//	       */
-	//	      /* void UAVObject::lock(int timeoutMs)
-	//	      {
-	//	          mutex->tryLock(timeoutMs);
-	//	      } */
+	// /**
+	// * Lock mutex of this object
+	// */
+	// /* void UAVObject::lock(int timeoutMs)
+	// {
+	// mutex->tryLock(timeoutMs);
+	// } */
 	//
-	//	      /**
-	//	       * Unlock mutex of this object
-	//	       */
-	//	      /* void UAVObject::unlock()
-	//	      {
-	//	          mutex->unlock();
-	//	      } */
+	// /**
+	// * Unlock mutex of this object
+	// */
+	// /* void UAVObject::unlock()
+	// {
+	// mutex->unlock();
+	// } */
 	//
-	//	      /**
-	//	       * Get object's mutex
-	//	       */
-	//	      QMutex* UAVObject::getMutex()
-	//	      {
-	//	          return mutex;
-	//	      }
+	// /**
+	// * Get object's mutex
+	// */
+	// QMutex* UAVObject::getMutex()
+	// {
+	// return mutex;
+	// }
 
 	/**
 	 * Get the number of fields held by this object
 	 */
-	public int getNumFields()
-	{
-		//QMutexLocker locker(mutex);
+	public int getNumFields() {
+		// QMutexLocker locker(mutex);
 		return fields.size();
 	}
 
 	/**
 	 * Get the object's fields
 	 */
-	public List<UAVObjectField> getFields()
-	{
-		//QMutexLocker locker(mutex);
+	public List<UAVObjectField> getFields() {
+		// QMutexLocker locker(mutex);
 		return fields;
 	}
 
 	/**
 	 * Get a specific field
-	 * @throws Exception 
+	 * 
+	 * @throws Exception
 	 * @returns The field or NULL if not found
 	 */
-	public UAVObjectField getField(String name) throws Exception
-	{
-		//QMutexLocker locker(mutex);
+	public UAVObjectField getField(String name) {
+		// QMutexLocker locker(mutex);
 		// Look for field
 		ListIterator<UAVObjectField> li = fields.listIterator();
-		while(li.hasNext()) {
+		while (li.hasNext()) {
 			UAVObjectField field = li.next();
-			if(field.getName().equals(name))
+			if (field.getName().equals(name))
 				return field;
 		}
-		throw new Exception("Field not found");
+		//throw new Exception("Field not found");
+		return null;
 	}
 
 	/**
 	 * Pack the object data into a byte array
-	 * @param dataOut ByteBuffer to receive the data.  
-	 * @throws Exception 
+	 * 
+	 * @param dataOut
+	 *            ByteBuffer to receive the data.
+	 * @throws Exception
 	 * @returns The number of bytes copied
 	 * @note The array must already have enough space allocated for the object
 	 */
-	public int pack(ByteBuffer dataOut) throws Exception
-	{
+	public int pack(ByteBuffer dataOut) throws Exception {
 		// QMutexLocker locker(mutex);
-		if(dataOut.remaining() < getNumBytes())
+		if (dataOut.remaining() < getNumBytes())
 			throw new Exception("Not enough bytes in ByteBuffer to pack object");
 		int numBytes = 0;
 
 		ListIterator<UAVObjectField> li = fields.listIterator();
-		while(li.hasNext()) {
+		while (li.hasNext()) {
 			UAVObjectField field = li.next();
 			numBytes += field.pack(dataOut);
 		}
@@ -249,232 +282,232 @@ public abstract class UAVObject {
 
 	/**
 	 * Unpack the object data from a byte array
-	 * @param dataIn The ByteBuffer to pull data from
-	 * @throws Exception 
+	 * 
+	 * @param dataIn
+	 *            The ByteBuffer to pull data from
+	 * @throws Exception
 	 * @returns The number of bytes copied
 	 */
-	public int unpack(ByteBuffer dataIn) throws Exception
-	{
+	public int unpack(ByteBuffer dataIn) throws Exception {
+		if( dataIn == null )
+			return 0;
+		System.out.println( dataIn.toString() );
 		// QMutexLocker locker(mutex);
 		int numBytes = 0;
 		ListIterator<UAVObjectField> li = fields.listIterator();
-		while(li.hasNext()) {
+		while (li.hasNext()) {
 			UAVObjectField field = li.next();
+			System.out.println(field.toString());
 			numBytes += field.unpack(dataIn);
 		}
 		return numBytes;
 		// TODO: Callbacks
-		//emit objectUnpacked(this); // trigger object updated event
-		//emit objectUpdated(this);
+		// emit objectUnpacked(this); // trigger object updated event
+		// emit objectUpdated(this);
 	}
 
-	//	      /**
-	//	       * Save the object data to the file.
-	//	       * The file will be created in the current directory
-	//	       * and its name will be the same as the object with
-	//	       * the .uavobj extension.
-	//	       * @returns True on success, false on failure
-	//	       */
-	//	      bool UAVObject::save()
-	//	      {
-	//	          QMutexLocker locker(mutex);
+	// /**
+	// * Save the object data to the file.
+	// * The file will be created in the current directory
+	// * and its name will be the same as the object with
+	// * the .uavobj extension.
+	// * @returns True on success, false on failure
+	// */
+	// bool UAVObject::save()
+	// {
+	// QMutexLocker locker(mutex);
 	//
-	//	          // Open file
-	//	          QFile file(name + ".uavobj");
-	//	          if (!file.open(QFile::WriteOnly))
-	//	          {
-	//	              return false;
-	//	          }
+	// // Open file
+	// QFile file(name + ".uavobj");
+	// if (!file.open(QFile::WriteOnly))
+	// {
+	// return false;
+	// }
 	//
-	//	          // Write object
-	//	          if ( !save(file) )
-	//	          {
-	//	              return false;
-	//	          }
+	// // Write object
+	// if ( !save(file) )
+	// {
+	// return false;
+	// }
 	//
-	//	          // Close file
-	//	          file.close();
-	//	          return true;
-	//	      }
+	// // Close file
+	// file.close();
+	// return true;
+	// }
 	//
-	//	      /**
-	//	       * Save the object data to the file.
-	//	       * The file is expected to be already open for writting.
-	//	       * The data will be appended and the file will not be closed.
-	//	       * @returns True on success, false on failure
-	//	       */
-	//	      bool UAVObject::save(QFile& file)
-	//	      {
-	//	          QMutexLocker locker(mutex);
-	//	          quint8 buffer[numBytes];
-	//	          quint8 tmpId[4];
+	// /**
+	// * Save the object data to the file.
+	// * The file is expected to be already open for writting.
+	// * The data will be appended and the file will not be closed.
+	// * @returns True on success, false on failure
+	// */
+	// bool UAVObject::save(QFile& file)
+	// {
+	// QMutexLocker locker(mutex);
+	// quint8 buffer[numBytes];
+	// quint8 tmpId[4];
 	//
-	//	          // Write the object ID
-	//	          qToLittleEndian<quint32>(objID, tmpId);
-	//	          if ( file.write((const char*)tmpId, 4) == -1 )
-	//	          {
-	//	              return false;
-	//	          }
+	// // Write the object ID
+	// qToLittleEndian<quint32>(objID, tmpId);
+	// if ( file.write((const char*)tmpId, 4) == -1 )
+	// {
+	// return false;
+	// }
 	//
-	//	          // Write the instance ID
-	//	          if (!isSingleInst)
-	//	          {
-	//	              qToLittleEndian<quint16>(instID, tmpId);
-	//	              if ( file.write((const char*)tmpId, 2) == -1 )
-	//	              {
-	//	                  return false;
-	//	              }
-	//	          }
+	// // Write the instance ID
+	// if (!isSingleInst)
+	// {
+	// qToLittleEndian<quint16>(instID, tmpId);
+	// if ( file.write((const char*)tmpId, 2) == -1 )
+	// {
+	// return false;
+	// }
+	// }
 	//
-	//	          // Write the data
-	//	          pack(buffer);
-	//	          if ( file.write((const char*)buffer, numBytes) == -1 )
-	//	          {
-	//	              return false;
-	//	          }
+	// // Write the data
+	// pack(buffer);
+	// if ( file.write((const char*)buffer, numBytes) == -1 )
+	// {
+	// return false;
+	// }
 	//
-	//	          // Done
-	//	          return true;
-	//	      }
+	// // Done
+	// return true;
+	// }
 	//
-	//	      /**
-	//	       * Load the object data from a file.
-	//	       * The file will be openned in the current directory
-	//	       * and its name will be the same as the object with
-	//	       * the .uavobj extension.
-	//	       * @returns True on success, false on failure
-	//	       */
-	//	      bool UAVObject::load()
-	//	      {
-	//	          QMutexLocker locker(mutex);
+	// /**
+	// * Load the object data from a file.
+	// * The file will be openned in the current directory
+	// * and its name will be the same as the object with
+	// * the .uavobj extension.
+	// * @returns True on success, false on failure
+	// */
+	// bool UAVObject::load()
+	// {
+	// QMutexLocker locker(mutex);
 	//
-	//	          // Open file
-	//	          QFile file(name + ".uavobj");
-	//	          if (!file.open(QFile::ReadOnly))
-	//	          {
-	//	              return false;
-	//	          }
+	// // Open file
+	// QFile file(name + ".uavobj");
+	// if (!file.open(QFile::ReadOnly))
+	// {
+	// return false;
+	// }
 	//
-	//	          // Load object
-	//	          if ( !load(file) )
-	//	          {
-	//	              return false;
-	//	          }
+	// // Load object
+	// if ( !load(file) )
+	// {
+	// return false;
+	// }
 	//
-	//	          // Close file
-	//	          file.close();
-	//	          return true;
-	//	      }
+	// // Close file
+	// file.close();
+	// return true;
+	// }
 	//
-	//	      /**
-	//	       * Load the object data from file.
-	//	       * The file is expected to be already open for reading.
-	//	       * The data will be read and the file will not be closed.
-	//	       * @returns True on success, false on failure
-	//	       */
-	//	      bool UAVObject::load(QFile& file)
-	//	      {
-	//	          QMutexLocker locker(mutex);
-	//	          quint8 buffer[numBytes];
-	//	          quint8 tmpId[4];
+	// /**
+	// * Load the object data from file.
+	// * The file is expected to be already open for reading.
+	// * The data will be read and the file will not be closed.
+	// * @returns True on success, false on failure
+	// */
+	// bool UAVObject::load(QFile& file)
+	// {
+	// QMutexLocker locker(mutex);
+	// quint8 buffer[numBytes];
+	// quint8 tmpId[4];
 	//
-	//	          // Read the object ID
-	//	          if ( file.read((char*)tmpId, 4) != 4 )
-	//	          {
-	//	              return false;
-	//	          }
+	// // Read the object ID
+	// if ( file.read((char*)tmpId, 4) != 4 )
+	// {
+	// return false;
+	// }
 	//
-	//	          // Check that the IDs match
-	//	          if (qFromLittleEndian<quint32>(tmpId) != objID)
-	//	          {
-	//	              return false;
-	//	          }
+	// // Check that the IDs match
+	// if (qFromLittleEndian<quint32>(tmpId) != objID)
+	// {
+	// return false;
+	// }
 	//
-	//	          // Read the instance ID
-	//	          if ( file.read((char*)tmpId, 2) != 2 )
-	//	          {
-	//	              return false;
-	//	          }
+	// // Read the instance ID
+	// if ( file.read((char*)tmpId, 2) != 2 )
+	// {
+	// return false;
+	// }
 	//
-	//	          // Check that the IDs match
-	//	          if (qFromLittleEndian<quint16>(tmpId) != instID)
-	//	          {
-	//	              return false;
-	//	          }
+	// // Check that the IDs match
+	// if (qFromLittleEndian<quint16>(tmpId) != instID)
+	// {
+	// return false;
+	// }
 	//
-	//	          // Read and unpack the data
-	//	          if ( file.read((char*)buffer, numBytes) != numBytes )
-	//	          {
-	//	              return false;
-	//	          }
-	//	          unpack(buffer);
+	// // Read and unpack the data
+	// if ( file.read((char*)buffer, numBytes) != numBytes )
+	// {
+	// return false;
+	// }
+	// unpack(buffer);
 	//
-	//	          // Done
-	//	          return true;
-	//	      }
+	// // Done
+	// return true;
+	// }
 
 	/**
 	 * Return a string with the object information
 	 */
 	@Override
-	public String toString()
-	{
+	public String toString() {
 		return toStringBrief() + toStringData();
 	}
 
 	/**
 	 * Return a string with the object information (only the header)
 	 */
-	public String toStringBrief()
-	{
-		return String.format("%1 (ID: %2, InstID: %3, NumBytes: %4, SInst: %5)\n",
-				getName(),
-				getObjID(),
-				getInstID(),
-				getNumBytes(),
-				isSingleInstance());
+	public String toStringBrief() {
+		return getName() + " ( " + getObjID() + " " + getInstID() + " " + getNumBytes() + ")\n";
+		//		getName(), getObjID(), getInstID(), getNumBytes(),
+			//	isSingleInstance());
 	}
 
 	/**
 	 * Return a string with the object information (only the data)
 	 */
-	public String toStringData()
-	{
+	public String toStringData() {
 		String s = new String();
 		ListIterator<UAVObjectField> li = fields.listIterator();
-		while(li.hasNext()) {
+		while (li.hasNext()) {
 			UAVObjectField field = li.next();
 			s += field.toString();
 		}
 		return s;
 	}
 
-	//	      /**
-	//	       * Emit the transactionCompleted event (used by the UAVTalk plugin)
-	//	       */
-	//	      void UAVObject::emitTransactionCompleted(bool success)
-	//	      {
-	//	    	  emit transactionCompleted(this, success);
-	//	      }
+	// /**
+	// * Emit the transactionCompleted event (used by the UAVTalk plugin)
+	// */
+	// void UAVObject::emitTransactionCompleted(bool success)
+	// {
+	// emit transactionCompleted(this, success);
+	// }
 
-	/** 
+	/**
 	 * Java specific functions
 	 */
 	public UAVObject clone() {
 		return (UAVObject) clone();
 	}
+
 	/**
 	 * Abstract functions
 	 */
 	public abstract void setMetadata(Metadata mdata);
+
 	public abstract Metadata getMetadata();
+
 	public abstract Metadata getDefaultMetadata();
-	public abstract UAVDataObject clone(int instID);
-    protected abstract void setDefaultFieldValues();
 
 	/**
 	 * Private data for the object, common to all
-	 */		  
+	 */
 	protected int objID;
 	protected int instID;
 	protected boolean isSingleInst;
@@ -482,6 +515,6 @@ public abstract class UAVObject {
 	protected String description;
 	protected int numBytes;
 	// TODO: QMutex* mutex;
-	protected ByteBuffer data;
+//	protected ByteBuffer data;
 	protected List<UAVObjectField> fields;
 }
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index c7c774199..b37c992fb 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -248,34 +248,37 @@ public class UAVObjectField {
         return null;    
     }
     
-    public void setValue(Object data) throws Exception { setValue(data,0); }    
-    public void setValue(Object data, int index) throws Exception {
+    public void setValue(Object data) { setValue(data,0); }    
+    public void setValue(Object data, int index) {
     	//    	   QMutexLocker locker(obj->getMutex());
     	// Check that index is not out of bounds
     	if ( index >= numElements )
-    		throw new Exception("Index out of bounds");
+    		//throw new Exception("Index out of bounds");
 
     	System.out.println(data.toString());
     	System.out.println(this.data.toString());
     	
     	// Get metadata
-    	//UAVObject.Metadata mdata = obj.getMetadata();
+    	UAVObject.Metadata mdata = obj.getMetadata();
     	// Update value if the access mode permits
-    	if ( true ) //mdata.gcsAccess == UAVObject.AccessMode.ACCESS_READWRITE )
+    	if ( mdata.gcsAccess == UAVObject.AccessMode.ACCESS_READWRITE )
     	{
-    		ByteBuffer bbuf = ByteBuffer.allocate(numBytesPerElement);
     		switch (type)
     		{
     		case INT8:
+    			data = new Integer((Byte) data);
     		case INT16:
+    			data = new Integer((Short) data);
     		case INT32:
     		{
     			List<Integer> l = (List<Integer>) this.data;
-    			l.set(index, (Integer) data);
+    			l.set(index,(Integer) data);
     			break;
     		}
     		case UINT8:
+    			data = new Integer((Byte) data);
     		case UINT16:
+    			data = new Integer((Short) data);
     		case UINT32:
     		{
     			List<Integer> l = (List<Integer>) this.data;
@@ -291,14 +294,14 @@ public class UAVObjectField {
     		case ENUM:
     		{
     			byte val = (byte) options.indexOf((String) data);
-    			if(val < 0) throw new Exception("Enumerated value not found");    	            	
+    			//if(val < 0) throw new Exception("Enumerated value not found");    	            	
     			List<Byte> l = (List<Byte>) this.data;
     			l.set(index, val);
     			break;
     		}
     		case STRING: 
     		{
-    			throw new Exception("Sorry I haven't implemented strings yet");
+    			//throw new Exception("Sorry I haven't implemented strings yet");
     		}
     		}
     	}
@@ -309,24 +312,24 @@ public class UAVObjectField {
     	return Double.valueOf((Double) getValue(index));
     }
     
-    void setDouble(double value) throws Exception { setDouble(value, 0); };
-    void setDouble(double value, int index) throws Exception {
+    public void setDouble(double value) throws Exception { setDouble(value, 0); };
+    public void setDouble(double value, int index) throws Exception {
     	setValue(value, index);
     }
     
-    int getDataOffset() {
+    public int getDataOffset() {
     	return offset; 
     }
     
-    int getNumBytes() {
+    public int getNumBytes() {
         return numBytesPerElement * numElements;
     }
     
-    int getNumBytesElement() {
+    public int getNumBytesElement() {
     	return numBytesPerElement;
     }
     
-    boolean isNumeric() {
+    public boolean isNumeric() {
         switch (type)
         {
             case INT8:
@@ -352,7 +355,7 @@ public class UAVObjectField {
         }    	
     }
     
-    boolean isText() {
+    public boolean isText() {
         switch (type)
         {
             case INT8:
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
index 3091595f0..d75b14b85 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
@@ -21,8 +21,9 @@ public class UAVObjectManager {
 	 * A new instance can be created directly by instantiating a new object or by calling clone() of
 	 * an existing object. The object will be registered and will be properly initialized so that it can accept
 	 * updates.
+	 * @throws Exception 
 	 */
-	Boolean registerObject(UAVDataObject obj)
+	public boolean registerObject(UAVDataObject obj) throws Exception
 	{
 		//  QMutexLocker locker(mutex);
 
@@ -126,7 +127,7 @@ public class UAVObjectManager {
 		return true;
 	}
 
-	void addObject(UAVObject obj)
+	public void addObject(UAVObject obj)
 	{
 		// Add to list
 		List<UAVObject> ls = new ArrayList<UAVObject>();
@@ -139,7 +140,7 @@ public class UAVObjectManager {
 	 * Get all objects. A two dimentional QList is returned. Objects are grouped by
 	 * instances of the same object type.
 	 */
-	List<List<UAVObject>> getObjects()
+	public List<List<UAVObject>> getObjects()
 	{
 		//QMutexLocker locker(mutex);
 		return objects;
@@ -148,7 +149,7 @@ public class UAVObjectManager {
 	/**
 	 * Same as getObjects() but will only return DataObjects.
 	 */
-	List< List<UAVDataObject> > getDataObjects()
+	public List< List<UAVDataObject> > getDataObjects()
 	{
 		return new ArrayList<List<UAVDataObject>>();
 
@@ -186,7 +187,7 @@ public class UAVObjectManager {
 	/**
 	 * Same as getObjects() but will only return MetaObjects.
 	 */
-	List <List<UAVMetaObject> > getMetaObjects()
+	public List <List<UAVMetaObject> > getMetaObjects()
 	{
 		return new ArrayList< List<UAVMetaObject> >();
 		/*
@@ -227,7 +228,7 @@ public class UAVObjectManager {
 	 * Get a specific object given its name and instance ID
 	 * @returns The object is found or NULL if not
 	 */
-	UAVObject getObject(String name, int instId)
+	public UAVObject getObject(String name, int instId)
 	{
 		return getObject(name, 0, instId);
 	}
@@ -236,7 +237,7 @@ public class UAVObjectManager {
 	 * Get a specific object given its object and instance ID
 	 * @returns The object is found or NULL if not
 	 */
-	UAVObject getObject(int objId, int instId)
+	public UAVObject getObject(int objId, int instId)
 	{
 		return getObject(null, objId, instId);
 	}
@@ -244,7 +245,7 @@ public class UAVObjectManager {
 	/**
 	 * Helper function for the public getObject() functions.
 	 */
-	UAVObject getObject(String name, int objId, int instId)
+	public UAVObject getObject(String name, int objId, int instId)
 	{
 		//QMutexLocker locker(mutex);
 		// Check if this object type is already in the list
@@ -271,7 +272,7 @@ public class UAVObjectManager {
 	/**
 	 * Get all the instances of the object specified by name
 	 */
-	List<UAVObject> getObjectInstances(String name)
+	public List<UAVObject> getObjectInstances(String name)
 	{
 		return getObjectInstances(name, 0);
 	}
@@ -279,7 +280,7 @@ public class UAVObjectManager {
 	/**
 	 * Get all the instances of the object specified by its ID
 	 */
-	List<UAVObject> getObjectInstances(int objId)
+	public List<UAVObject> getObjectInstances(int objId)
 	{
 		return getObjectInstances(null, objId);
 	}
@@ -287,7 +288,7 @@ public class UAVObjectManager {
 	/**
 	 * Helper function for the public getObjectInstances()
 	 */
-	List<UAVObject> getObjectInstances(String name, int objId)
+	public List<UAVObject> getObjectInstances(String name, int objId)
 	{
 		//QMutexLocker locker(mutex);
 		// Check if this object type is already in the list
@@ -307,7 +308,7 @@ public class UAVObjectManager {
 	/**
 	 * Get the number of instances for an object given its name
 	 */
-	int getNumInstances(String name)
+	public int getNumInstances(String name)
 	{
 		return getNumInstances(name, 0);
 	}
@@ -315,7 +316,7 @@ public class UAVObjectManager {
 	/**
 	 * Get the number of instances for an object given its ID
 	 */
-	int getNumInstances(int objId)
+	public int getNumInstances(int objId)
 	{
 		return getNumInstances(null, objId);
 	}
@@ -323,10 +324,9 @@ public class UAVObjectManager {
 	/**
 	 * Helper function for public getNumInstances
 	 */
-	int getNumInstances(String name, int objId)
+	public int getNumInstances(String name, int objId)
 	{
 		return getObjectInstances(name,objId).size();
 	}
 
-
 }

From 9a4c1586906a80e26a5cba1dde33c2f1cde53222 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 6 Mar 2011 00:03:46 -0600
Subject: [PATCH 201/543] Java autogenerated code to be more compatible with
 gcs code

---
 .../templates/uavobjecttemplate.java          | 127 +++--
 .../java/uavobjectgeneratorjava.cpp           | 434 ++++++++----------
 .../generators/java/uavobjectgeneratorjava.h  |  16 +-
 3 files changed, 278 insertions(+), 299 deletions(-)

diff --git a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
index fa09f782f..af8f48fce 100644
--- a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
+++ b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
@@ -28,61 +28,110 @@
 
 package org.openpilot.uavtalk.uavobjects;
 
-import  org.openpilot.uavtalk.UAVObject;
-import  org.openpilot.uavtalk.UAVDataObject;
-import  org.openpilot.uavtalk.UAVMetaObject;
-import  org.openpilot.uavtalk.UAVObjectField;
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVMetaObject;
+import org.openpilot.uavtalk.UAVObjectField;
 
 /**
 $(DESCRIPTION)
 
 generated from $(XMLFILE)
-**/
+ **/
 public class $(NAME) extends UAVDataObject {
 
+	public $(NAME)() throws Exception {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
 $(FIELDSINIT)
 
-    public $(NAME) (int objID, Boolean isSingleInst, Boolean isSet, String name) {
-        super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
-    }
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytesElement();
+		}
+		NUMBYTES = numBytes;
+		
 
-    public void setGeneratedMetaData() {
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
 
-	getMetaData().gcsAccess = UAVObject.AccessMode.$(GCSACCESS);
-	getMetaData().gcsTelemetryAcked = UAVObject.Acked.$(GCSTELEM_ACKEDTF);
-	getMetaData().gcsTelemetryUpdateMode = UAVObject.UpdateMode.$(GCSTELEM_UPDATEMODE);
-	getMetaData().gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.$(GCSACCESS);
+		metadata.gcsTelemetryAcked = UAVObject.Acked.$(GCSTELEM_ACKEDTF);
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.$(GCSTELEM_UPDATEMODE);
+		metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
 
-	getMetaData().flightAccess = UAVObject.AccessMode.$(FLIGHTACCESS);
-	getMetaData().flightTelemetryAcked = UAVObject.Acked.$(FLIGHTTELEM_ACKEDTF);
-	getMetaData().flightTelemetryUpdateMode = UAVObject.UpdateMode.$(FLIGHTTELEM_UPDATEMODE);
-	getMetaData().flightTelemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
+		metadata.flightAccess = UAVObject.AccessMode.$(FLIGHTACCESS);
+		metadata.flightTelemetryAcked = UAVObject.Acked.$(FLIGHTTELEM_ACKEDTF);
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.$(FLIGHTTELEM_UPDATEMODE);
+		metadata.flightTelemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
 
-	getMetaData().loggingUpdateMode = UAVObject.UpdateMode.$(LOGGING_UPDATEMODE);
-	getMetaData().loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.$(LOGGING_UPDATEMODE);
+		metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
+		return metadata;
+	}
 
-    }
-    
-    public int getObjID() {
-	return $(OBJIDHEX);
-    }
-    
-    public String getObjName() {
-	return "$(NAME)";
-    }
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+$(INITFIELDS)
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			$(NAME) obj = new $(NAME)();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public $(NAME) GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return ($(NAME))(objMngr.getObject($(NAME).OBJID, instID));
+	}
 
-    public String getDescription() {
-	return "$(DESCRIPTION)";
-    }
-protected:
 	// Constants
-	static final int OBJID = $(OBJIDHEX);
-	static final String NAME;
-	static final String DESCRIPTION;
-	static final boolean ISSINGLEINST = $(ISSINGLEINST);
-	static final boolean ISSETTINGS = $(ISSETTINGS);
-	static final int NUMBYTES = sizeof(DataFields);
+	protected static final int OBJID = $(OBJIDHEX);
+	protected static final String NAME = "$(NAME)";
+	protected static String DESCRIPTION = "$(DESCRIPTION)";
+	protected static final boolean ISSINGLEINST = $(ISSINGLEINST) == 1;
+	protected static final boolean ISSETTINGS = $(ISSETTINGS) == 1;
+	protected static int NUMBYTES = 0;
 
 
-$(GETTERSETTER)
 }
\ No newline at end of file
diff --git a/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp b/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
index 6ac45a07a..ce436e6af 100644
--- a/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
+++ b/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
@@ -24,313 +24,245 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include <QDebug>
 #include "uavobjectgeneratorjava.h"
 using namespace std;
 
 bool UAVObjectGeneratorJava::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) {
-    QDir javaTemplatePath = QDir( templatepath + QString(JAVA_TEMPLATE_DIR));
+    fieldTypeStrCPP << "qint8" << "qint16" << "qint32" <<
+        "quint8" << "quint16" << "quint32" << "float" << "quint8";
 
-    javaCodePath = QDir ( outputpath + QString(JAVA_GENERATED_DIR));
+    fieldTypeStrCPPClass << "INT8" << "INT16" << "INT32"
+        << "UINT8" << "UINT16" << "UINT32" << "FLOAT32" << "ENUM";
 
-    javaCodeTemplate = readFile( javaTemplatePath.absoluteFilePath("uavobjecttemplate.java") );
-    QString javaInitCodeTemplate = readFile( javaTemplatePath.absoluteFilePath("uavobjectsinittemplate.java") );
+    javaCodePath = QDir( templatepath + QString(JAVA_TEMPLATE_DIR));
+    javaOutputPath = QDir( outputpath + QString("java") );
+    javaOutputPath.mkpath(javaOutputPath.absolutePath());
 
-    if (javaCodeTemplate.isEmpty() || javaInitCodeTemplate.isEmpty()) {
-        std::cerr << "Problem reading java templates" << endl;
+    javaCodeTemplate = readFile( javaCodePath.absoluteFilePath("uavobjecttemplate.java") );
+    QString javaInitTemplate = readFile( javaCodePath.absoluteFilePath("uavobjectsinittemplate.java") );
+
+    if (javaCodeTemplate.isEmpty() || javaInitTemplate.isEmpty()) {
+        std::cerr << "Problem reading java code templates" << endl;
         return false;
     }
 
-    QString javaObjInit,javaObjGetter;
-    javaCodePath.mkpath(javaCodePath.absolutePath() + "/uavobjects");
+    QString objInc;
+    QString javaObjInit;
 
     for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
         ObjectInfo* info=parser->getObjectByIndex(objidx);
         process_object(info);
 
-        if (!javaObjInit.isNull())
-            javaObjInit.append(",\n");
-
-        javaObjInit.append("            new " + info->name + "()");
-        javaObjGetter.append(QString("    public static %1 get%1() { return (%1)uavobjects[%2];}\n").arg( info->name).arg(objidx));
+        javaObjInit.append("    objMngr->registerObject( new " + info->name + "() );\n");
+        objInc.append("#include \"" + info->namelc + ".h\"\n");
     }
 
-    javaInitCodeTemplate.replace("$(OBJINIT)",javaObjInit);
-    javaInitCodeTemplate.replace("$(OBJGETTER)",javaObjGetter);
-
-    replaceCommonTags(javaInitCodeTemplate);
-    
-    // Write the java object inialization files
-    bool res = writeFileIfDiffrent(javaCodePath.absolutePath() + "/UAVObjects.java", javaInitCodeTemplate );
+    // Write the gcs object inialization files
+    javaInitTemplate.replace( QString("$(OBJINC)"), objInc);
+    javaInitTemplate.replace( QString("$(OBJINIT)"), javaObjInit);
+    bool res = writeFileIfDiffrent( javaOutputPath.absolutePath() + "/uavobjectsinit.java", javaInitTemplate );
     if (!res) {
-        cerr << "Error: Could not write java init output files" << endl;
+        cout << "Error: Could not write output files" << endl;
         return false;
     }
 
     return true; // if we come here everything should be fine
 }
 
-QString UAVObjectGeneratorJava::getFieldTypeStr(int type,bool as_obj) {
-
-    switch(type) {
-    case FIELDTYPE_INT8:
-        return (QString(as_obj?"Byte":"byte"));
-    case FIELDTYPE_INT16:
-    case FIELDTYPE_INT32:
-    case FIELDTYPE_UINT8:
-    case FIELDTYPE_UINT16:
-        return (QString(as_obj?"Integer":"int"));
-    case FIELDTYPE_UINT32:
-        return (QString(as_obj?"Long":"long"));
-    case FIELDTYPE_FLOAT32:
-        return (QString(as_obj?"Float":"float"));
-    case FIELDTYPE_ENUM:
-        return (QString(as_obj?"Byte":"byte"));
-    default:
-        return QString("error: unknown type");
-    }
-}
-
-/**
- *
- * format a value from FieldInfo with a given index (idx) to a java code snippet
- *
- */
-QString UAVObjectGeneratorJava::formatJavaValue(FieldInfo* info,int idx) {
-    switch(info->type) {
-    case  FIELDTYPE_ENUM:
-      return (info->name.toUpper() + QString("_") + info->defaultValues[idx].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), ""));
-    case FIELDTYPE_FLOAT32:
-      return QString("%1f").arg( info->defaultValues[idx].toFloat() );
-    default:
-      return QString("%1").arg( info->defaultValues[idx].toInt() );
-    }
-}
-
-QString UAVObjectGeneratorJava::QStringList2JavaArray(QStringList strl) {
-    QString csv=QString();
-    for (int i = 0; i < strl.length(); i++){
-        if (i!=0)
-            csv.append(QString(","));
-        csv.append(QString("\"%1\"").arg(strl[i]));
-    }
-    return QString("new String[] { %1 }").arg(csv);
-}
-
-QString UAVObjectGeneratorJava::serializeJavaValue(int type,QString name) 
-{
-    QString res; 
-    switch(type) {
-    case FIELDTYPE_ENUM: // OK
-
-    case FIELDTYPE_INT8:
-        res=name;
-        break;
-
-    case FIELDTYPE_UINT8:
-        res=QString("(byte)(%1&0xFF)").arg(name);
-        break;
-
-    case FIELDTYPE_INT16:
-    case FIELDTYPE_UINT16:
-        res=QString("(byte)(("+name+">>0)&0xFF) , (byte)(("+name+">>8)&0xFF)");
-        break;
-
-    case FIELDTYPE_UINT32:
-    case FIELDTYPE_INT32:
-        res=QString("(byte)(("+name+">>0)&0xFF) , (byte)(("+name+">>8)&0xFF) , (byte)(("+name+">>16)&0xFF) , (byte)(("+name+">>24)&0xFF)");
-        break;
-
-    case FIELDTYPE_FLOAT32:
-        res=QString("(byte)((Float.floatToIntBits("+name+")>>0)&0xFF) , (byte)((Float.floatToIntBits("+name+")>>8)&0xFF) , (byte)((Float.floatToIntBits("+name+")>>16)&0xFF) , (byte)((Float.floatToIntBits("+name+")>>24)&0xFF)  "); // OK
-        break;
-
-    default:
-        res=QString("unresolved type");
-        break;
-    }
-
-    return res;
-}
-
-/**
- * this function is used to build the deserializing code
- */
-QString UAVObjectGeneratorJava::deSerializeJavaValue(int type,QString name)
-{
-    switch(type) {
-        case FIELDTYPE_ENUM: // OK
-        case FIELDTYPE_INT8:
-            return (name.append("=arr[pos++];\n"));
-
-        case FIELDTYPE_UINT8:
-            return (name.append("=arr[pos++]&0xFF;\n")); /*test */
-
-        case FIELDTYPE_INT16:
-        case FIELDTYPE_UINT16:
-            return (name.append("=((arr[pos++]&0xff)<<0) | ((arr[pos++]&0xff)<<8) ;\n")); /* test */
-
-        case FIELDTYPE_UINT32:
-        case FIELDTYPE_INT32:
-            return (name.append("=((arr[pos++]&0xff)<<0) | ((arr[pos++]&0xff)<<8) | ((arr[pos++]&0xff)<<16) | ((arr[pos++]&0xff)<<24) ;\n")); /*test */
-
-        case FIELDTYPE_FLOAT32:
-	  return (name.append("=Float.intBitsToFloat(((arr[pos++]&0xff)<<0) | ((arr[pos++]&0xff)<<8) | ((arr[pos++]&0xff)<<16) | ((arr[pos++]&0xff)<<24) );  ")); // OK
-
-        default:
-            cout << "Warning: unresolved type " << type << " for " << name.toStdString() << endl;
-            return(QString("unresolved type")); // will throw an arr when compiling then
-      }
-}
 
 /**
  * Generate the java object files
  */
 bool UAVObjectGeneratorJava::process_object(ObjectInfo* info)
 {
-    if (info == NULL) return false;
+    if (info == NULL)
+        return false;
 
     // Prepare output strings
+    QString outInclude = javaIncludeTemplate;
     QString outCode = javaCodeTemplate;
 
     // Replace common tags
+    replaceCommonTags(outInclude, info);
     replaceCommonTags(outCode, info);
 
-    QString type,fieldsinit,serialize_code,serialize_code_inner,deserialize_code,gettersetter;
-
-    QString fielddesc=QString("    public final UAVObjectFieldDescription[] getFieldDescriptions() { return new UAVObjectFieldDescription[] {");
-    QString fieldgetter=QString("    public Object getField(int fieldid,int arr_pos) { switch(fieldid) {\n");
-    QString fieldsetter=QString("    public void setField(int fieldid,int arr_pos,Object obj) { switch(fieldid) {\n");
-
-    for (int n = 0; n < info->fields.length(); ++n) {
-        FieldInfo* act_field_info=info->fields[n];
-
-        bool is_array = info->fields[n]->numElements > 1;
-        type = getFieldTypeStr(act_field_info->type,false); // Determine type
-
-        for (int enum_n = 0; enum_n < act_field_info->options.length(); ++enum_n)
-            fieldsinit.append(QString("    public final static byte %1 = %2;\n").arg(act_field_info->name.toUpper() + QString("_") + act_field_info->options[enum_n].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), "")).arg(enum_n) );
-
-        fieldsinit.append(QString("    private ") + type);
-
-        if ( is_array )
-            fieldsinit.append(QString("[]"));
-
-        fieldsinit.append(QString(" %1").arg(act_field_info->name));
-
-        if (!info->fields[n]->defaultValues.isEmpty()) { // if we have default vals
-            fieldsinit.append(QString("="));
-            if ( is_array  )  {
-                fieldsinit.append(QString("{"));
-                for (int val_n = 0; val_n < act_field_info->defaultValues.length(); ++val_n)
-                    fieldsinit.append( ((val_n>0)?QString(","):QString() ) + formatJavaValue(act_field_info,val_n)  );
-                fieldsinit.append(QString("}"));
-            }
-            else
-                fieldsinit.append(formatJavaValue(act_field_info,0));
-        }
-        else {
-            if ( is_array  ) // when it is an array
-                fieldsinit.append(QString("= new ") + type + QString("[%1]").arg(info->fields[n]->numElements));
-        }
-
-        fieldsinit.append(QString(";\n"));
-
-        if (n!=0)
-            serialize_code_inner.append(QString(","));
-
-        if ( is_array ) {
-            for (int el=0;el<info->fields[n]->numElements;el++) {
-                if (el!=0)
-                    serialize_code_inner.append(QString(","));
-
-                serialize_code_inner.append(serializeJavaValue(info->fields[n]->type,info->fields[n]->name+ QString("[%1]").arg(el)));
-                deserialize_code.append(deSerializeJavaValue(info->fields[n]->type,info->fields[n]->name+ QString("[%1]").arg(el)));
-            }
-        }
-        else { // no array
-            serialize_code_inner.append(serializeJavaValue(info->fields[n]->type,info->fields[n]->name));
-            deserialize_code.append(deSerializeJavaValue(info->fields[n]->type,info->fields[n]->name));
-        }
-
-        serialize_code_inner.append(QString("//%1\n" ).arg(info->fields[n]->name));
-
+    // Replace the $(DATAFIELDS) tag
+    QString type;
+    QString fields;
+    for (int n = 0; n < info->fields.length(); ++n)
+    {
         // Determine type
-        type = getFieldTypeStr(act_field_info->type,false);
-
-        QString typespec=type;
-
-        if ( is_array ) {
-            typespec.append(QString("[]"));
-            fieldgetter.append(QString("case %1: return (Object)%2[arr_pos];\n").arg(n).arg(act_field_info->name));
-            fieldsetter.append(QString("case %1: %2[arr_pos]=(%3)obj;break;\n").arg(n).arg(act_field_info->name).arg( getFieldTypeStr(act_field_info->type,true)));
+        type = fieldTypeStrCPP[info->fields[n]->type];
+        // Append field
+        if ( info->fields[n]->numElements > 1 )
+        {
+            fields.append( QString("        %1 %2[%3];\n").arg(type).arg(info->fields[n]->name)
+                           .arg(info->fields[n]->numElements) );
         }
-        else { // no array
-            fieldgetter.append(QString("case %1: return (Object)%2;\n").arg(n).arg(act_field_info->name));
-            fieldsetter.append(QString("case %1: %2=(%3)obj;break;\n").arg(n).arg(act_field_info->name).arg(getFieldTypeStr(act_field_info->type,true)));
+        else
+        {
+            fields.append( QString("        %1 %2;\n").arg(type).arg(info->fields[n]->name) );
         }
+    }
+    outInclude.replace(QString("$(DATAFIELDS)"), fields);
 
+    // Replace the $(FIELDSINIT) tag
+    QString finit;
+    for (int n = 0; n < info->fields.length(); ++n)
+    {
+        finit.append("\n");
 
-        if (!act_field_info->units.isEmpty()) // when we have unit info
-            gettersetter.append(QString("\n    /**\n    * unit: %1\n    */\n").arg(act_field_info->units));
+        // Setup element names
+        QString varElemName = info->fields[n]->name + "ElemNames";
+        finit.append( QString("\t\tList<String> %1 = new ArrayList<String>();\n").arg(varElemName) );
+        QStringList elemNames = info->fields[n]->elementNames;
+        for (int m = 0; m < elemNames.length(); ++m)
+            finit.append( QString("\t\t%1.add(\"%2\");\n")
+                          .arg(varElemName)
+                          .arg(elemNames[m]) );
 
-        gettersetter.append(QString("    public void set%1( %2 _%1 ) { %1=_%1; }\n").arg(act_field_info->name).arg(typespec));
-
-        if (n!=0)
-            fielddesc.append(QString("\t,"));
-
-        fielddesc.append(QString("new UAVObjectFieldDescription(\"%1\",this.getObjID(),(byte)%2,(byte)%3,\"%4\",%5,%6)\n").arg(act_field_info->name).arg(n).arg(act_field_info->type).arg(act_field_info->units).arg(QStringList2JavaArray( act_field_info->options)).arg(QStringList2JavaArray( act_field_info->elementNames)) );
-
-        if (!act_field_info->units.isEmpty())
-            gettersetter.append(QString("\n    /**\n    * unit: %1\n    */\n").arg(act_field_info->units));
-
-        gettersetter.append(QString("    public ") + typespec);
-
-        gettersetter.append(QString(" get%1() { return %1; }\n").arg(act_field_info->name));
-
-        if ( act_field_info->options.length()!=0) {
-            QString enumOptionsGetter=QString("    public final static String[] get%1EnumOptions() { return new String[] {").arg(act_field_info->name);
-
-            //	    gettersetter.append(QString(" get%1s() { return %1; }\n").arg(act_field_info->name));
-            for (int enum_n = 0; enum_n < act_field_info->options.length(); ++enum_n) {
-                if (enum_n!=0)
-                    enumOptionsGetter.append(QString(","));
-                enumOptionsGetter.append(QString("\"")+act_field_info->options[enum_n] +QString("\""));
+        // Only for enum types
+        if (info->fields[n]->type == FIELDTYPE_ENUM) {
+            QString varOptionName = info->fields[n]->name + "EnumOptions";
+            finit.append( QString("\t\tList<String> %1 = new ArrayList<String>();\n").arg(varOptionName) );
+            QStringList options = info->fields[n]->options;
+            for (int m = 0; m < options.length(); ++m)
+            {
+                finit.append( QString("\t\t%1.add(\"%2\");\n")
+                              .arg(varOptionName)
+                              .arg(options[m]) );
             }
-
-            gettersetter.append(enumOptionsGetter+QString("};}\n"));
+            finit.append( QString("\t\tfields.add( new UAVObjectField(\"%1\", \"%2\", UAVObjectField.FieldType.ENUM, %3, %4) );\n")
+                          .arg(info->fields[n]->name)
+                          .arg(info->fields[n]->units)
+                          .arg(varElemName)
+                          .arg(varOptionName) );
         }
+        // For all other types
+        else {
+            finit.append( QString("\t\tfields.add( new UAVObjectField(\"%1\", \"%2\", UAVObjectField.FieldType.%3, %4, null) );\n")
+                          .arg(info->fields[n]->name)
+                          .arg(info->fields[n]->units)
+                          .arg(fieldTypeStrCPPClass[info->fields[n]->type])
+                          .arg(varElemName) );
+        }
+    }
+    outCode.replace(QString("$(FIELDSINIT)"), finit);
 
-        if ( is_array ) { // when it is an array create getter for the element names
-            QString elementListGetter=QString("    public final static String[] get%1ElementNames() { return new String[] {").arg(act_field_info->name);
+    // Replace the $(DATAFIELDINFO) tag
+    QString name;
+    QString enums;
+    for (int n = 0; n < info->fields.length(); ++n)
+    {
+        enums.append(QString("    // Field %1 information\n").arg(info->fields[n]->name));
+        // Only for enum types
+        if (info->fields[n]->type == FIELDTYPE_ENUM)
+        {
+            enums.append(QString("    /* Enumeration options for field %1 */\n").arg(info->fields[n]->name));
+            enums.append("    typedef enum { ");
+            // Go through each option
+            QStringList options = info->fields[n]->options;
+            for (int m = 0; m < options.length(); ++m) {
+                QString s = (m != (options.length()-1)) ? "%1_%2=%3, " : "%1_%2=%3";
+                enums.append( s.arg( info->fields[n]->name.toUpper() )
+                               .arg( options[m].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), "") )
+                               .arg(m) );
+
+            }
+            enums.append( QString(" } %1Options;\n")
+                          .arg( info->fields[n]->name ) );
+        }
+        // Generate element names (only if field has more than one element)
+        if (info->fields[n]->numElements > 1 && !info->fields[n]->defaultElementNames) {
+            enums.append(QString("    /* Array element names for field %1 */\n").arg(info->fields[n]->name));
+            enums.append("    typedef enum { ");
+            // Go through the element names
             QStringList elemNames = info->fields[n]->elementNames;
             for (int m = 0; m < elemNames.length(); ++m) {
-                gettersetter.append(QString("    public ") + type);
-                gettersetter.append(QString(" get%1%2() { return %1[%3]; }\n").arg(act_field_info->name).arg(elemNames[m]).arg(m));
-                if (m!=0)
-                    elementListGetter.append(QString(","));
+                QString s = (m != (elemNames.length()-1)) ? "%1_%2=%3, " : "%1_%2=%3";
+                enums.append( s.arg( info->fields[n]->name.toUpper() )
+                               .arg( elemNames[m].toUpper() )
+                               .arg(m) );
 
-                elementListGetter.append(QString("\"") + elemNames[m]+QString("\""));
             }
-            gettersetter.append(elementListGetter+QString("};}\n"));
+            enums.append( QString(" } %1Elem;\n")
+                          .arg( info->fields[n]->name ) );
+        }
+        // Generate array information
+        if (info->fields[n]->numElements > 1) {
+            enums.append(QString("    /* Number of elements for field %1 */\n").arg(info->fields[n]->name));
+            enums.append( QString("    static const quint32 %1_NUMELEM = %2;\n")
+                          .arg( info->fields[n]->name.toUpper() )
+                          .arg( info->fields[n]->numElements ) );
+        }
+    }
+    outInclude.replace(QString("$(DATAFIELDINFO)"), enums);
+
+    // Replace the $(INITFIELDS) tag
+    QString initfields;
+    for (int n = 0; n < info->fields.length(); ++n)
+    {
+        if (!info->fields[n]->defaultValues.isEmpty() )
+        {
+            // For non-array fields
+            if ( info->fields[n]->numElements == 1)
+            {
+                if ( info->fields[n]->type == FIELDTYPE_ENUM )
+                {
+                    initfields.append( QString("\t\tgetField(\"%1\").setValue(%2);\n")
+                                .arg( info->fields[n]->name )
+                                .arg( info->fields[n]->options.indexOf( info->fields[n]->defaultValues[0] ) ) );
+                }
+                else if ( info->fields[n]->type == FIELDTYPE_FLOAT32 )
+                {
+                    initfields.append( QString("\t\tgetField(\"%1\").setValue(%2);\n")
+                                .arg( info->fields[n]->name )
+                                .arg( info->fields[n]->defaultValues[0].toFloat() ) );
+                }
+                else
+                {
+                    initfields.append( QString("\t\tgetField(\"%1\").setValue(%2);\n")
+                                .arg( info->fields[n]->name )
+                                .arg( info->fields[n]->defaultValues[0].toInt() ) );
+                }
+            }
+            else
+            {
+                // Initialize all fields in the array
+                for (int idx = 0; idx < info->fields[n]->numElements; ++idx)
+                {
+                    if ( info->fields[n]->type == FIELDTYPE_ENUM ) {
+                        initfields.append( QString("\t\tgetField(\"%1\").setValue(%3,%2);\n")
+                                    .arg( info->fields[n]->name )
+                                    .arg( idx )
+                                    .arg( info->fields[n]->options.indexOf( info->fields[n]->defaultValues[idx] ) ) );
+                    }
+                    else if ( info->fields[n]->type == FIELDTYPE_FLOAT32 ) {
+                        initfields.append( QString("\t\tgetField(\"%1\").setValue(%3,%2);\n")
+                                    .arg( info->fields[n]->name )
+                                    .arg( idx )
+                                    .arg( info->fields[n]->defaultValues[idx].toFloat() ) );
+                    }
+                    else {
+                        initfields.append( QString("\t\tgetField(\"%1\").setValue(%3,%2);\n")
+                                    .arg( info->fields[n]->name )
+                                    .arg( idx )
+                                    .arg( info->fields[n]->defaultValues[idx].toInt() ) );
+                    }
+                }
+            }
         }
     }
 
-    serialize_code.append(QString("    public byte[] serialize() { return new byte[]{%1 } ;};   \n ").arg(serialize_code_inner));
+    outCode.replace(QString("$(INITFIELDS)"), initfields);
 
-    serialize_code.append(QString("    public void deserialize(byte[] arr,int offset) {\nsuper.deserialize(arr,offset);\n        int pos=offset;\n%1    };\n").arg(deserialize_code));
-
-    outCode.replace(QString("$(FIELDSINIT)"), fieldsinit);
-
-    fielddesc.append(QString("};}"));
-    fieldgetter.append(QString("};\n return null;\n}\n"));
-    fieldsetter.append(QString("};\n}\n"));
-    outCode.replace(QString("$(GETTERSETTER)"), gettersetter + serialize_code+ fielddesc + fieldgetter + fieldsetter);
-
-    bool res = writeFileIfDiffrent(javaCodePath.absolutePath() + "/uavobjects/" + info->name + ".java", outCode );
+    // Write the java code
+    bool res = writeFileIfDiffrent( javaOutputPath.absolutePath() + "/" + info->namelc + ".java", outCode );
     if (!res) {
-        cerr << "Error: Could not write java init output file " << info->name.toStdString()<< endl;
+        cout << "Error: Could not write gcs output files" << endl;
         return false;
-     }
+    }
 
     return true;
 }
diff --git a/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.h b/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.h
index 21fc4dc75..8d07484f6 100644
--- a/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.h
+++ b/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.h
@@ -28,7 +28,7 @@
 #define UAVOBJECTGENERATORJAVA_H
 
 #define JAVA_TEMPLATE_DIR "ground/openpilotgcs/src/libs/juavobjects/templates/"
-#define JAVA_GENERATED_DIR "java/src/org/openpilot/uavtalk"
+#define JAVA_CODE_DIR "java/src/org/openpilot/uavtalk"
 
 #include "../generator_common.h"
 
@@ -38,14 +38,12 @@ public:
     bool generate(UAVObjectParser* gen,QString templatepath,QString outputpath);
 
 private:
-    QString javaCodeTemplate;
-    QDir javaCodePath;
     bool process_object(ObjectInfo* info);
-    QString formatJavaValue(FieldInfo* info,int idx);
-    QString QStringList2JavaArray(QStringList strl);
-    QString serializeJavaValue(int type,QString name);
-    QString deSerializeJavaValue(int type,QString name);
-    QString getFieldTypeStr(int type,bool as_obj);
-};
+
+    QString javaCodeTemplate, javaIncludeTemplate;
+    QStringList fieldTypeStrCPP,fieldTypeStrCPPClass;
+    QDir javaCodePath;
+    QDir javaOutputPath;
+ };
 
 #endif

From 2238ca08046a33e0476e04be364914f16d8666a6 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 6 Mar 2011 00:56:56 -0600
Subject: [PATCH 202/543] Remove some debugging lines, also use Number
 interface instead of explicit Byte, Integer, Short etc in setValue/getValue

---
 .../src/org/openpilot/uavtalk/UAVObject.java  |   5 +-
 .../org/openpilot/uavtalk/UAVObjectField.java | 118 +++++++++++-------
 2 files changed, 77 insertions(+), 46 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index 926440805..fe478cf2e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -114,7 +114,7 @@ public abstract class UAVObject {
 		for (int n = 0; n < fields.size(); ++n) {
 			fields.get(n).initialize(this);
 		}
-//		unpack(data);
+		unpack(data);
 	}
 
 	/**
@@ -291,13 +291,12 @@ public abstract class UAVObject {
 	public int unpack(ByteBuffer dataIn) throws Exception {
 		if( dataIn == null )
 			return 0;
-		System.out.println( dataIn.toString() );
+
 		// QMutexLocker locker(mutex);
 		int numBytes = 0;
 		ListIterator<UAVObjectField> li = fields.listIterator();
 		while (li.hasNext()) {
 			UAVObjectField field = li.next();
-			System.out.println(field.toString());
 			numBytes += field.unpack(dataIn);
 		}
 		return numBytes;
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index b37c992fb..a9006e02f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -99,31 +99,43 @@ public class UAVObjectField {
         switch (type)
         {
             case INT8:  
-            	for (int index = 0; index < numElements; ++index) 
-            		dataOut.put((Byte) getValue(index));
+            	for (int index = 0; index < numElements; ++index) {
+            		Integer val = (Integer) getValue(index);
+            		dataOut.put(val.byteValue());
+            	}
                 break;
             case INT16:
-                for (int index = 0; index < numElements; ++index)
-                	dataOut.putShort((Short) getValue(index));
+                for (int index = 0; index < numElements; ++index) {
+                	Integer val = (Integer) getValue(index);
+                	dataOut.putShort(val.shortValue());
+                }
                 break;
             case INT32:
-                for (int index = 0; index < numElements; ++index)
-                	dataOut.putInt((Integer) getValue(index));
+                for (int index = 0; index < numElements; ++index) {
+                	Integer val = (Integer) getValue(index);
+                	dataOut.putInt(val);
+                }
                 break;
             case UINT8: 
             	// TODO: Deal properly with unsigned
-            	for (int index = 0; index < numElements; ++index) 
-            		dataOut.put((Byte) getValue(index));
+            	for (int index = 0; index < numElements; ++index) {
+            		Integer val = (Integer) getValue(index);
+            		dataOut.put(val.byteValue());
+            	}
                 break;
             case UINT16:
             	// TODO: Deal properly with unsigned
-                for (int index = 0; index < numElements; ++index)
-                	dataOut.putShort((Short) getValue(index));
+                for (int index = 0; index < numElements; ++index) {
+                	Integer val = (Integer) getValue(index);
+                	dataOut.putShort(val.shortValue());
+                }
                 break;
             case UINT32:
             	// TODO: Deal properly with unsigned
-                for (int index = 0; index < numElements; ++index)
-                	dataOut.putInt((Integer) getValue(index));
+                for (int index = 0; index < numElements; ++index) {
+                	Integer val = (Integer) getValue(index);
+                	dataOut.putInt(val);
+                }
                 break;
             case FLOAT32:
                 for (int index = 0; index < numElements; ++index)
@@ -142,64 +154,93 @@ public class UAVObjectField {
         return getNumBytes();    	
     }
     
-    public int unpack(ByteBuffer dataIn) throws Exception {
+    public int unpack(ByteBuffer dataIn) {
         // Unpack each element from input buffer
     	dataIn.order(ByteOrder.LITTLE_ENDIAN);
         switch (type)
         {
             case INT8:
+            {
+            	List<Integer> l = (List<Integer>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		setValue((Byte) dataIn.get(), index);
+            		Byte val = dataIn.get();
+            		l.set(index, val.intValue());
             	}
                 break;
+            }
             case INT16:
+            {
+            	List<Integer> l = (List<Integer>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		setValue((Short) dataIn.getShort(), index);
+            		Short val = dataIn.getShort();
+            		l.set(index, val.intValue());
             	}
                 break;
+            }
             case INT32:
+            {
+            	List<Integer> l = (List<Integer>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		setValue((Integer) dataIn.getInt(), index);
+            		Integer val = dataIn.getInt();
+            		l.set(index, val.intValue());
             	}
                 break;
+            }
             case UINT8:
-            	// TODO: Deal with unsigned
+            	// TOOD: Deal with unsigned
+            {
+            	List<Integer> l = (List<Integer>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		setValue((Byte) dataIn.get(), index);
+            		Byte val = dataIn.get();
+            		l.set(index, val.intValue());
             	}
                 break;
+            }
             case UINT16:
-            	// TODO: Deal with unsigned
+            {
+            	List<Integer> l = (List<Integer>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		setValue((Short) dataIn.getShort(), index);
+            		Short val = dataIn.getShort();
+            		l.set(index, val.intValue());
             	}
                 break;
+            }
             case UINT32:
-            	// TODO: Deal with unsigned
+            {
+            	List<Integer> l = (List<Integer>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		setValue((Integer) dataIn.getInt(), index);
+            		Integer val = dataIn.getInt();
+            		l.set(index, val.intValue());
             	}
                 break;
+            }
             case FLOAT32:
+            {
+            	List<Float> l = (List<Float>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		setValue((Float) dataIn.getFloat(), index);
+            		Float val = dataIn.getFloat();
+            		l.set(index, val);
             	}
                 break;
+            }
             case ENUM:
+            {
         		List<Byte> l = (List<Byte>) data;
             	for (int index = 0 ; index < numElements; ++index) {
             		l.set(index, dataIn.get(index));
             	}
                 break;
+            }
             case STRING:
-            	throw new Exception("Strings not handled");
+            	// TODO: implement strings
+            	//throw new Exception("Strings not handled");
         }
         // Done
         return getNumBytes();    	
     }
     
-    Object getValue() throws Exception { return getValue(0); };
-    Object getValue(int index) throws Exception {
+    Object getValue()  { return getValue(0); };
+    Object getValue(int index)  {
 //        QMutexLocker locker(obj->getMutex());
         // Check that index is not out of bounds
         if ( index >= numElements )
@@ -234,14 +275,14 @@ public class UAVObjectField {
             	List<Byte> l = (List<Byte>) data;
             	Byte val = l.get(index);
 
-                if(val >= options.size() || val < 0) 
-                	throw new Exception("Invalid value for" + name);
+                //if(val >= options.size() || val < 0) 
+                //	throw new Exception("Invalid value for" + name);
 
                 return options.get(val);
             }
             case STRING:
             {
-            	throw new Exception("Shit I should do this");
+            	//throw new Exception("Shit I should do this");
             }
         }
         // If this point is reached then we got an invalid type
@@ -252,12 +293,9 @@ public class UAVObjectField {
     public void setValue(Object data, int index) {
     	//    	   QMutexLocker locker(obj->getMutex());
     	// Check that index is not out of bounds
-    	if ( index >= numElements )
+    	if ( index >= numElements );
     		//throw new Exception("Index out of bounds");
 
-    	System.out.println(data.toString());
-    	System.out.println(this.data.toString());
-    	
     	// Get metadata
     	UAVObject.Metadata mdata = obj.getMetadata();
     	// Update value if the access mode permits
@@ -266,23 +304,19 @@ public class UAVObjectField {
     		switch (type)
     		{
     		case INT8:
-    			data = new Integer((Byte) data);
     		case INT16:
-    			data = new Integer((Short) data);
     		case INT32:
     		{
     			List<Integer> l = (List<Integer>) this.data;
-    			l.set(index,(Integer) data);
+    			l.set(index,((Number) data).intValue());
     			break;
     		}
     		case UINT8:
-    			data = new Integer((Byte) data);
     		case UINT16:
-    			data = new Integer((Short) data);
     		case UINT32:
     		{
     			List<Integer> l = (List<Integer>) this.data;
-    			l.set(index, (Integer) data);
+    			l.set(index,((Number) data).intValue());
     			break;
     		}
     		case FLOAT32:
@@ -386,7 +420,7 @@ public class UAVObjectField {
         sout += name + ": [ ";
         for (int n = 0; n < numElements; ++n)
         {
-        	sout += String.valueOf(n) + " ";
+        	sout += String.valueOf(n) + "(" + getValue(n) + ") ";
         }
         
         sout += "] " + units + "\n";
@@ -442,9 +476,8 @@ public class UAVObjectField {
         this.data = null;
         this.obj = null;
         this.elementNames = elementNames;
-        // Set field size
-        System.out.println("Initializing: type " + type + this.numElements);
 
+        // Set field size
         switch (type)
         {
             case INT8:
@@ -487,7 +520,6 @@ public class UAVObjectField {
                 numBytesPerElement = 0;
         }
         clear();
-        System.out.println("Initialized: " + this.data.toString());
     }
     
 

From cc7eb0f261ceae8ac1654e6a3fcba582f432addc Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 6 Mar 2011 02:26:09 -0600
Subject: [PATCH 203/543] Make object store with the minimal amount of space
 and deal with unsigned values

---
 .../src/org/openpilot/uavtalk/UAVObject.java  |   4 +-
 .../org/openpilot/uavtalk/UAVObjectField.java | 203 +++++++++++++-----
 .../java/uavobjectgeneratorjava.cpp           |   4 +-
 3 files changed, 148 insertions(+), 63 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index fe478cf2e..bf2c87d7e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -462,9 +462,7 @@ public abstract class UAVObject {
 	 * Return a string with the object information (only the header)
 	 */
 	public String toStringBrief() {
-		return getName() + " ( " + getObjID() + " " + getInstID() + " " + getNumBytes() + ")\n";
-		//		getName(), getObjID(), getInstID(), getNumBytes(),
-			//	isSingleInstance());
+		return getName() + " ( " + Integer.toHexString(getObjID()) + " " + Integer.toHexString(getInstID()) + " " + getNumBytes() + ")\n";
 	}
 
 	/**
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index a9006e02f..78ebd7b52 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -27,8 +27,7 @@ public class UAVObjectField {
     
     public void initialize(UAVObject obj){
          this.obj = obj;
-        clear();
-    	
+        //clear();    	
 	}
     
     public UAVObject getObject() {
@@ -161,19 +160,19 @@ public class UAVObjectField {
         {
             case INT8:
             {
-            	List<Integer> l = (List<Integer>) this.data;
+            	List<Byte> l = (List<Byte>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		Byte val = dataIn.get();
-            		l.set(index, val.intValue());
+            		Long val = bound(dataIn.get());
+            		l.set(index, val.byteValue());
             	}
                 break;
             }
             case INT16:
             {
-            	List<Integer> l = (List<Integer>) this.data;
+            	List<Short> l = (List<Short>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		Short val = dataIn.getShort();
-            		l.set(index, val.intValue());
+            		Long val = bound(dataIn.getShort());
+            		l.set(index, val.shortValue());
             	}
                 break;
             }
@@ -181,18 +180,18 @@ public class UAVObjectField {
             {
             	List<Integer> l = (List<Integer>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		Integer val = dataIn.getInt();
+            		Long val = bound(dataIn.getInt());
             		l.set(index, val.intValue());
             	}
                 break;
             }
             case UINT8:
-            	// TOOD: Deal with unsigned
             {
-            	List<Integer> l = (List<Integer>) this.data;
+            	List<Short> l = (List<Short>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		Byte val = dataIn.get();
-            		l.set(index, val.intValue());
+            		int signedval = (int) dataIn.get();  // this sign extends it
+            		int unsignedval = signedval & 0xff;    // drop sign extension
+            		l.set(index, (short) unsignedval);
             	}
                 break;
             }
@@ -200,17 +199,19 @@ public class UAVObjectField {
             {
             	List<Integer> l = (List<Integer>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		Short val = dataIn.getShort();
-            		l.set(index, val.intValue());
+            		int signedval = (int) dataIn.getShort();  // this sign extends it
+            		int unsignedval = signedval & 0xffff;    // drop sign extension
+            		l.set(index, unsignedval);
             	}
                 break;
             }
             case UINT32:
             {
-            	List<Integer> l = (List<Integer>) this.data;
+            	List<Long> l = (List<Long>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		Integer val = dataIn.getInt();
-            		l.set(index, val.intValue());
+            		long signedval = (long) dataIn.getInt();  // this sign extends it
+            		long unsignedval = signedval & 0xffffffffL;    // drop sign extension
+            		l.set(index, unsignedval);
             	}
                 break;
             }
@@ -240,36 +241,31 @@ public class UAVObjectField {
     }
     
     Object getValue()  { return getValue(0); };
-    Object getValue(int index)  {
+    @SuppressWarnings("unchecked")
+	Object getValue(int index)  {
 //        QMutexLocker locker(obj->getMutex());
         // Check that index is not out of bounds
         if ( index >= numElements )
         {
             return null;
         }
-
+        
         switch (type)
         {
             case INT8:
+            	return ((List<Byte>) data).get(index).intValue();
             case INT16:
+            	return ((List<Short>) data).get(index).intValue();
             case INT32:
-            {
-            	List<Integer> l = (List<Integer>) data;
-            	return l.get(index);
-            }
+            	return ((List<Integer>) data).get(index).intValue();
             case UINT8:
+            	return ((List<Short>) data).get(index).intValue();
             case UINT16:
+            	return ((List<Integer>) data).get(index).intValue();
             case UINT32:
-            {
-            	// TODO: Correctly deal with unsigned values
-            	List<Integer> l = (List<Integer>) data;
-            	return l.get(index);
-            }
+            	return ((List<Long>) data).get(index);
             case FLOAT32:
-            {
-            	List<Float> l = (List<Float>) data;
-            	return l.get(index);
-            }
+            	return ((List<Float>) data).get(index);
             case ENUM:
             {
             	List<Byte> l = (List<Byte>) data;
@@ -290,10 +286,11 @@ public class UAVObjectField {
     }
     
     public void setValue(Object data) { setValue(data,0); }    
-    public void setValue(Object data, int index) {
+    @SuppressWarnings("unchecked")
+	public void setValue(Object data, int index) {
     	//    	   QMutexLocker locker(obj->getMutex());
     	// Check that index is not out of bounds
-    	if ( index >= numElements );
+    	//if ( index >= numElements );
     		//throw new Exception("Index out of bounds");
 
     	// Get metadata
@@ -304,25 +301,45 @@ public class UAVObjectField {
     		switch (type)
     		{
     		case INT8:
+    		{
+    			List<Byte> l = (List<Byte>) this.data;
+    			l.set(index, bound(data).byteValue());
+    			break;
+    		}
     		case INT16:
+    		{
+    			List<Short> l = (List<Short>) this.data;
+    			l.set(index, bound(data).shortValue());
+    			break;
+    		}
     		case INT32:
     		{
     			List<Integer> l = (List<Integer>) this.data;
-    			l.set(index,((Number) data).intValue());
+    			l.set(index, bound(data).intValue());
     			break;
     		}
     		case UINT8:
+    		{
+    			List<Short> l = (List<Short>) this.data;
+    			l.set(index, bound(data).shortValue());
+    			break;
+    		}
     		case UINT16:
-    		case UINT32:
     		{
     			List<Integer> l = (List<Integer>) this.data;
-    			l.set(index,((Number) data).intValue());
+    			l.set(index, bound(data).intValue());
+    			break;
+    		}
+    		case UINT32:
+    		{
+    			List<Long> l = (List<Long>) this.data;
+    			l.set(index, bound(data));
     			break;
     		}
     		case FLOAT32:
     		{
     			List<Float> l = (List<Float>) this.data;
-    			l.set(index, (Float) data);
+    			l.set(index, ((Number) data).floatValue());
     			break;
     		}
     		case ENUM:
@@ -431,37 +448,46 @@ public class UAVObjectField {
     	
     }
 
-    public void clear() {
+    @SuppressWarnings("unchecked")
+	public void clear() {
     	switch (type)
         {
             case INT8:
+            	((ArrayList<Byte>) data).clear();
+            	for(int index = 0; index < numElements; ++index) {
+            		((ArrayList<Byte>) data).add((byte) 0);
+            	}
+                break;
             case INT16:
+            	((ArrayList<Short>) data).clear();
+            	for(int index = 0; index < numElements; ++index) {
+            		((ArrayList<Short>) data).add((short) 0);
+            	}
+                break;
             case INT32:
-            case UINT8:
-            case UINT16:
-            case UINT32:
             	((ArrayList<Integer>) data).clear();
             	for(int index = 0; index < numElements; ++index) {
             		((ArrayList<Integer>) data).add(0);
             	}
                 break;
-            case FLOAT32:
-            	((ArrayList<Float>) data).clear();
+            case UINT8:
+            	((ArrayList<Short>) data).clear();
             	for(int index = 0; index < numElements; ++index) {
-            		((ArrayList<Float>) data).add((float) 0);
+            		((ArrayList<Short>) data).add((short) 0);
             	}
                 break;
-            case ENUM:
-            	((ArrayList<Byte>) data).clear();
+            case UINT16:
+            	((ArrayList<Integer>) data).clear();
             	for(int index = 0; index < numElements; ++index) {
-            		((ArrayList<Byte>) data).add((byte)0);
+            		((ArrayList<Integer>) data).add(0);
             	}
                 break;
-            case STRING:
-            	// TODO: Add string
+            case UINT32:
+            	((ArrayList<Long>) data).clear();
+            	for(int index = 0; index < numElements; ++index) {
+            		((ArrayList<Long>) data).add((long) 0);
+            	}
                 break;
-            default:
-                numBytesPerElement = 0;
         }
     }
     
@@ -481,11 +507,11 @@ public class UAVObjectField {
         switch (type)
         {
             case INT8:
-            	data = (Object) new ArrayList<Integer>(this.numElements);
+            	data = (Object) new ArrayList<Byte>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             case INT16:
-            	data = (Object) new ArrayList<Integer>(this.numElements);
+            	data = (Object) new ArrayList<Short>(this.numElements);
                 numBytesPerElement = 2;
                 break;
             case INT32:
@@ -493,7 +519,7 @@ public class UAVObjectField {
                 numBytesPerElement = 4;
                 break;
             case UINT8:
-            	data = (Object) new ArrayList<Integer>(this.numElements);
+            	data = (Object) new ArrayList<Short>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             case UINT16:
@@ -501,11 +527,11 @@ public class UAVObjectField {
                 numBytesPerElement = 2;
                 break;
             case UINT32:
-            	data = (Object) new ArrayList<Integer>(this.numElements);
+            	data = (Object) new ArrayList<Long>(this.numElements);
                 numBytesPerElement = 4;
                 break;
             case FLOAT32:
-            	data = (Object) new ArrayList<Double>(this.numElements);
+            	data = (Object) new ArrayList<Float>(this.numElements);
                 numBytesPerElement = 4;
                 break;
             case ENUM:
@@ -520,8 +546,69 @@ public class UAVObjectField {
                 numBytesPerElement = 0;
         }
         clear();
+        
+        System.out.println(this);
     }
     
+    /**
+     * For numerical types bounds the data appropriately
+     * @param val Can be any object, for numerical tries to cast to Number
+     * @return long value with the right range (for float rounds)
+     * @note This is mostly needed because java has no unsigned integer
+     */
+    protected Long bound (Object val) {
+    	
+    	switch(type) {
+    	case ENUM:
+    	case STRING:
+    		return 0L;
+    	case FLOAT32:
+    		return ((Number) val).longValue();
+    	}
+
+    	long num = ((Number) val).longValue();
+
+    	switch(type) {
+    	case INT8:
+    		if(num < Byte.MIN_VALUE)
+    			return (long) Byte.MAX_VALUE;
+    		if(num > Byte.MAX_VALUE)
+    			return (long) Byte.MAX_VALUE;
+    		return num;
+    	case INT16:
+    		if(num < Short.MIN_VALUE)
+    			return (long) Short.MIN_VALUE;
+    		if(num > Short.MAX_VALUE)
+    			return (long) Short.MAX_VALUE;
+    		return num;
+    	case INT32:
+    		if(num < Integer.MIN_VALUE)
+    			return (long) Integer.MIN_VALUE;
+    		if(num > Integer.MAX_VALUE)
+    			return (long) Integer.MAX_VALUE;
+    		return num;
+    	case UINT8:
+    		if(num < 0)
+    			return (long) 0;
+    		if(num > 255)
+    			return (long) 255;
+    		return num;
+    	case UINT16:
+    		if(num < 0)
+    			return (long) 0;
+    		if(num > 65535)
+    			return (long) 65535;
+    		return num;
+    	case UINT32:
+    		if(num < 0)
+    			return (long) 0;
+    		if(num > 4294967295L)
+    			return 4294967295L;
+    		return num;
+    	}
+    	
+    	return num;
+    }
 
 	private String name;
 	private String units;
diff --git a/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp b/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
index ce436e6af..7319b7767 100644
--- a/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
+++ b/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
@@ -29,8 +29,8 @@
 using namespace std;
 
 bool UAVObjectGeneratorJava::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) {
-    fieldTypeStrCPP << "qint8" << "qint16" << "qint32" <<
-        "quint8" << "quint16" << "quint32" << "float" << "quint8";
+    fieldTypeStrCPP << "Byte" << "Short" << "Int" <<
+        "Short" << "Int" << "Long" << "Float" << "Byte";
 
     fieldTypeStrCPPClass << "INT8" << "INT16" << "INT32"
         << "UINT8" << "UINT16" << "UINT32" << "FLOAT32" << "ENUM";

From 75118e0abc0afb404fb1588e65734d8dac6f083f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 6 Mar 2011 13:10:48 -0600
Subject: [PATCH 204/543] Added unit tests

---
 .../org/openpilot/uavtalk/FieldTest.java      | 121 ++++++++++++++++++
 .../org/openpilot/uavtalk/SettingsTest.java   |  34 +++++
 2 files changed, 155 insertions(+)
 create mode 100644 androidgcs/tests/org/openpilot/uavtalk/FieldTest.java
 create mode 100644 androidgcs/tests/org/openpilot/uavtalk/SettingsTest.java

diff --git a/androidgcs/tests/org/openpilot/uavtalk/FieldTest.java b/androidgcs/tests/org/openpilot/uavtalk/FieldTest.java
new file mode 100644
index 000000000..2d161fc25
--- /dev/null
+++ b/androidgcs/tests/org/openpilot/uavtalk/FieldTest.java
@@ -0,0 +1,121 @@
+package org.openpilot.uavtalk;
+
+import static org.junit.Assert.*;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+
+import org.junit.BeforeClass;
+import org.junit.Test;
+
+import org.openpilot.uavtalk.UAVObjectField;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.uavobjects.*;
+
+public class FieldTest {
+
+	@BeforeClass
+	public static void setUpBeforeClass() throws Exception {
+	}
+
+	@Test
+	public void testPackUint16() {
+		// Need an object initialized to the field to provide metadata
+		UAVObject obj = null;
+		try {
+			obj = new ActuatorCommand();
+		} catch (Exception e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+		UAVObjectField field = new UAVObjectField("TestField", "No Units", UAVObjectField.FieldType.UINT16, 3, null);
+		field.initialize(obj);
+		field.setValue(3,0);
+		field.setValue(-50,1);		
+		field.setValue(5003585,2);
+
+		ByteBuffer bbuf = ByteBuffer.allocate(field.getNumBytes());
+
+		try {
+			field.pack(bbuf);
+		} catch (Exception e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+			fail("Buffer size incorrect");
+		}
+		
+		// Expect data to come out as little endian
+		byte[] expected = {3,0,0,0,(byte) 0xff,(byte) 0xff};
+		for(int i = 0; i < expected.length && i < bbuf.array().length; i++) {
+			System.out.println("Expected: " + expected[i] + " (" + i + ")");
+			System.out.println("Received: " + bbuf.array()[i] + " (" + i + ")");
+			assertEquals(bbuf.array()[i],expected[i]);
+		}
+	}
+
+	@Test
+	public void testUnpackUint16() {
+		// Need an object initialized to the field to provide metadata
+		UAVObject obj = null;
+			obj = new ActuatorCommand();
+		UAVObjectField field = new UAVObjectField("TestField", "No Units", UAVObjectField.FieldType.UINT16, 3, null);
+		field.initialize(obj);
+
+		ByteBuffer bbuf = ByteBuffer.allocate(field.getNumBytes());
+		byte[] expected = {3,0,0,0,(byte) 0xff,(byte) 0xff};
+		bbuf.put(expected);
+		bbuf.position(0);
+		field.unpack(bbuf);
+				
+		assertEquals(field.getValue(0), 3);
+		assertEquals(field.getValue(1), 0);
+		assertEquals(field.getValue(2), 65535);
+	}
+
+	@Test
+	public void testEnumSetGetValue() {
+		List<String> options = new ArrayList<String>();
+		options.add("Opt1");
+		options.add("Opt2");
+		options.add("Opt3");
+
+		// Need an object initialized to the field to provide metadata
+		UAVObject obj = null;
+		try {
+			obj = new ActuatorCommand();
+		} catch (Exception e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+		UAVObjectField field = new UAVObjectField("TestField", "No Units", UAVObjectField.FieldType.ENUM, 3, options);
+		field.initialize(obj);
+		field.setValue("Opt1",0);
+		field.setValue("Opt2",1);		
+		field.setValue("Opt3",2);
+		assertEquals(field.getValue(0), "Opt1");
+		assertEquals(field.getValue(1), "Opt2");
+		assertEquals(field.getValue(2), "Opt3");
+	}
+
+	@Test
+	public void testUint16SetGetValue() {
+
+		// Need an object initialized to the field to provide metadata
+		UAVObject obj = null;
+		try {
+			obj = new ActuatorCommand();
+		} catch (Exception e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+		UAVObjectField field = new UAVObjectField("TestField", "No Units", UAVObjectField.FieldType.UINT16, 3, null);
+		field.initialize(obj);
+		field.setValue(3,0);
+		field.setValue(-50,1);		
+		field.setValue(5003585,2);
+		assertEquals(field.getValue(0), 3);
+		assertEquals(field.getValue(1), 0);
+		assertEquals(field.getValue(2), 65535);
+	}
+}
diff --git a/androidgcs/tests/org/openpilot/uavtalk/SettingsTest.java b/androidgcs/tests/org/openpilot/uavtalk/SettingsTest.java
new file mode 100644
index 000000000..5a805ae88
--- /dev/null
+++ b/androidgcs/tests/org/openpilot/uavtalk/SettingsTest.java
@@ -0,0 +1,34 @@
+package org.openpilot.uavtalk;
+
+import static org.junit.Assert.*;
+
+import org.junit.BeforeClass;
+import org.junit.Test;
+
+public class SettingsTest {
+
+	@BeforeClass
+	public static void setUpBeforeClass() throws Exception {
+	}
+
+	@Test
+	public void testGetDefaultMetadata() {
+		fail("Not yet implemented");
+	}
+
+	@Test
+	public void testSetDefaultFieldValues() {
+		fail("Not yet implemented");
+	}
+
+	@Test
+	public void testIsSettings() {
+		fail("Not yet implemented");
+	}
+
+	@Test
+	public void testGetField() {
+		fail("Not yet implemented");
+	}
+
+}

From 22e00c780f02ba922b4ba87658d3785a63e26377 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 6 Mar 2011 13:11:07 -0600
Subject: [PATCH 205/543] More updates to the java objects.  Also checking in
 the auto generated code for now to make things easier.

---
 .../uavtalk/uavobjects/AHRSCalibration.java   | 243 ++++++++++
 .../uavtalk/uavobjects/AHRSSettings.java      | 178 +++++++
 .../uavtalk/uavobjects/ActuatorCommand.java   | 158 ++++++
 .../uavtalk/uavobjects/ActuatorDesired.java   | 159 ++++++
 .../uavtalk/uavobjects/ActuatorSettings.java  | 455 ++++++++++++++++++
 .../uavtalk/uavobjects/AhrsStatus.java        | 201 ++++++++
 .../uavtalk/uavobjects/AttitudeActual.java    | 163 +++++++
 .../uavtalk/uavobjects/AttitudeRaw.java       | 158 ++++++
 .../uavtalk/uavobjects/AttitudeSettings.java  | 159 ++++++
 .../uavtalk/uavobjects/BaroAltitude.java      | 147 ++++++
 .../uavtalk/uavobjects/BatterySettings.java   | 163 +++++++
 .../uavtalk/uavobjects/FirmwareIAPObj.java    | 258 ++++++++++
 .../uavobjects/FlightBatteryState.java        | 165 +++++++
 .../uavtalk/uavobjects/FlightPlanControl.java | 144 ++++++
 .../uavobjects/FlightPlanSettings.java        | 140 ++++++
 .../uavtalk/uavobjects/FlightPlanStatus.java  | 187 +++++++
 .../uavobjects/FlightTelemetryStats.java      | 164 +++++++
 .../uavtalk/uavobjects/GCSTelemetryStats.java | 164 +++++++
 .../uavtalk/uavobjects/GPSPosition.java       | 184 +++++++
 .../uavtalk/uavobjects/GPSSatellites.java     | 215 +++++++++
 .../openpilot/uavtalk/uavobjects/GPSTime.java | 159 ++++++
 .../uavtalk/uavobjects/GuidanceSettings.java  | 197 ++++++++
 .../uavtalk/uavobjects/HomeLocation.java      | 197 ++++++++
 .../uavtalk/uavobjects/I2CStats.java          | 238 +++++++++
 .../uavobjects/ManualControlCommand.java      | 199 ++++++++
 .../uavobjects/ManualControlSettings.java     | 395 +++++++++++++++
 .../uavtalk/uavobjects/MixerSettings.java     | 357 ++++++++++++++
 .../uavtalk/uavobjects/MixerStatus.java       | 167 +++++++
 .../uavtalk/uavobjects/NedAccel.java          | 147 ++++++
 .../uavtalk/uavobjects/ObjectPersistence.java | 160 ++++++
 .../uavtalk/uavobjects/PositionActual.java    | 147 ++++++
 .../uavtalk/uavobjects/PositionDesired.java   | 147 ++++++
 .../uavtalk/uavobjects/RateDesired.java       | 147 ++++++
 .../uavtalk/uavobjects/SonarAltitude.java     | 139 ++++++
 .../uavobjects/StabilizationDesired.java      | 161 +++++++
 .../uavobjects/StabilizationSettings.java     | 222 +++++++++
 .../uavtalk/uavobjects/SystemAlarms.java      | 176 +++++++
 .../uavtalk/uavobjects/SystemSettings.java    | 157 ++++++
 .../uavtalk/uavobjects/SystemStats.java       | 151 ++++++
 .../uavtalk/uavobjects/TaskInfo.java          | 170 +++++++
 .../uavtalk/uavobjects/TelemetrySettings.java | 148 ++++++
 .../uavobjects/UAVObjectsInitialize.java      |  87 ++++
 .../uavtalk/uavobjects/VelocityActual.java    | 147 ++++++
 .../uavtalk/uavobjects/VelocityDesired.java   | 147 ++++++
 .../uavtalk/uavobjects/WatchdogStatus.java    | 143 ++++++
 45 files changed, 8310 insertions(+)
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AhrsStatus.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeRaw.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/BatterySettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/TelemetrySettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java

diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java
new file mode 100644
index 000000000..a3096ad39
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java
@@ -0,0 +1,243 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Contains the calibration settings for the @ref AHRSCommsModule
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Contains the calibration settings for the @ref AHRSCommsModule
+
+generated from ahrscalibration.xml
+ **/
+public class AHRSCalibration extends UAVDataObject {
+
+	public AHRSCalibration() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> measure_varElemNames = new ArrayList<String>();
+		measure_varElemNames.add("0");
+		List<String> measure_varEnumOptions = new ArrayList<String>();
+		measure_varEnumOptions.add("SET");
+		measure_varEnumOptions.add("MEASURE");
+		fields.add( new UAVObjectField("measure_var", "", UAVObjectField.FieldType.ENUM, measure_varElemNames, measure_varEnumOptions) );
+
+		List<String> accel_biasElemNames = new ArrayList<String>();
+		accel_biasElemNames.add("X");
+		accel_biasElemNames.add("Y");
+		accel_biasElemNames.add("Z");
+		fields.add( new UAVObjectField("accel_bias", "m/s^2", UAVObjectField.FieldType.FLOAT32, accel_biasElemNames, null) );
+
+		List<String> accel_scaleElemNames = new ArrayList<String>();
+		accel_scaleElemNames.add("X");
+		accel_scaleElemNames.add("Y");
+		accel_scaleElemNames.add("Z");
+		fields.add( new UAVObjectField("accel_scale", "(m/s^2)/lsb", UAVObjectField.FieldType.FLOAT32, accel_scaleElemNames, null) );
+
+		List<String> accel_varElemNames = new ArrayList<String>();
+		accel_varElemNames.add("X");
+		accel_varElemNames.add("Y");
+		accel_varElemNames.add("Z");
+		fields.add( new UAVObjectField("accel_var", "(m/s^2)^2", UAVObjectField.FieldType.FLOAT32, accel_varElemNames, null) );
+
+		List<String> gyro_biasElemNames = new ArrayList<String>();
+		gyro_biasElemNames.add("X");
+		gyro_biasElemNames.add("Y");
+		gyro_biasElemNames.add("Z");
+		fields.add( new UAVObjectField("gyro_bias", "rad/s", UAVObjectField.FieldType.FLOAT32, gyro_biasElemNames, null) );
+
+		List<String> gyro_scaleElemNames = new ArrayList<String>();
+		gyro_scaleElemNames.add("X");
+		gyro_scaleElemNames.add("Y");
+		gyro_scaleElemNames.add("Z");
+		fields.add( new UAVObjectField("gyro_scale", "(rad/s)/lsb", UAVObjectField.FieldType.FLOAT32, gyro_scaleElemNames, null) );
+
+		List<String> gyro_varElemNames = new ArrayList<String>();
+		gyro_varElemNames.add("X");
+		gyro_varElemNames.add("Y");
+		gyro_varElemNames.add("Z");
+		fields.add( new UAVObjectField("gyro_var", "(rad/s)^2", UAVObjectField.FieldType.FLOAT32, gyro_varElemNames, null) );
+
+		List<String> gyro_tempcompfactorElemNames = new ArrayList<String>();
+		gyro_tempcompfactorElemNames.add("X");
+		gyro_tempcompfactorElemNames.add("Y");
+		gyro_tempcompfactorElemNames.add("Z");
+		fields.add( new UAVObjectField("gyro_tempcompfactor", "raw/raw", UAVObjectField.FieldType.FLOAT32, gyro_tempcompfactorElemNames, null) );
+
+		List<String> mag_biasElemNames = new ArrayList<String>();
+		mag_biasElemNames.add("X");
+		mag_biasElemNames.add("Y");
+		mag_biasElemNames.add("Z");
+		fields.add( new UAVObjectField("mag_bias", "mGau", UAVObjectField.FieldType.FLOAT32, mag_biasElemNames, null) );
+
+		List<String> mag_scaleElemNames = new ArrayList<String>();
+		mag_scaleElemNames.add("X");
+		mag_scaleElemNames.add("Y");
+		mag_scaleElemNames.add("Z");
+		fields.add( new UAVObjectField("mag_scale", "(mGau)/lsb", UAVObjectField.FieldType.FLOAT32, mag_scaleElemNames, null) );
+
+		List<String> mag_varElemNames = new ArrayList<String>();
+		mag_varElemNames.add("X");
+		mag_varElemNames.add("Y");
+		mag_varElemNames.add("Z");
+		fields.add( new UAVObjectField("mag_var", "mGau^2", UAVObjectField.FieldType.FLOAT32, mag_varElemNames, null) );
+
+		List<String> vel_varElemNames = new ArrayList<String>();
+		vel_varElemNames.add("0");
+		fields.add( new UAVObjectField("vel_var", "(m/s)^2", UAVObjectField.FieldType.FLOAT32, vel_varElemNames, null) );
+
+		List<String> pos_varElemNames = new ArrayList<String>();
+		pos_varElemNames.add("0");
+		fields.add( new UAVObjectField("pos_var", "m^2", UAVObjectField.FieldType.FLOAT32, pos_varElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("measure_var").setValue(0);
+		getField("accel_bias").setValue(-73.5,0);
+		getField("accel_bias").setValue(-73.5,1);
+		getField("accel_bias").setValue(73.5,2);
+		getField("accel_scale").setValue(0.0359,0);
+		getField("accel_scale").setValue(0.0359,1);
+		getField("accel_scale").setValue(-0.0359,2);
+		getField("accel_var").setValue(0.0005,0);
+		getField("accel_var").setValue(0.0005,1);
+		getField("accel_var").setValue(0.0005,2);
+		getField("gyro_bias").setValue(23,0);
+		getField("gyro_bias").setValue(-23,1);
+		getField("gyro_bias").setValue(23,2);
+		getField("gyro_scale").setValue(-0.017,0);
+		getField("gyro_scale").setValue(0.017,1);
+		getField("gyro_scale").setValue(-0.017,2);
+		getField("gyro_var").setValue(0.0001,0);
+		getField("gyro_var").setValue(0.0001,1);
+		getField("gyro_var").setValue(0.0001,2);
+		getField("gyro_tempcompfactor").setValue(0,0);
+		getField("gyro_tempcompfactor").setValue(0,1);
+		getField("gyro_tempcompfactor").setValue(0,2);
+		getField("mag_bias").setValue(0,0);
+		getField("mag_bias").setValue(0,1);
+		getField("mag_bias").setValue(0,2);
+		getField("mag_scale").setValue(-2,0);
+		getField("mag_scale").setValue(-2,1);
+		getField("mag_scale").setValue(-2,2);
+		getField("mag_var").setValue(50,0);
+		getField("mag_var").setValue(50,1);
+		getField("mag_var").setValue(50,2);
+		getField("vel_var").setValue(0.4);
+		getField("pos_var").setValue(0.4);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			AHRSCalibration obj = new AHRSCalibration();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public AHRSCalibration GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (AHRSCalibration)(objMngr.getObject(AHRSCalibration.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x30101BB2;
+	protected static final String NAME = "AHRSCalibration";
+	protected static String DESCRIPTION = "Contains the calibration settings for the @ref AHRSCommsModule";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java
new file mode 100644
index 000000000..a38915c28
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java
@@ -0,0 +1,178 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the @ref AHRSCommsModule to control the algorithm and what is updated
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the @ref AHRSCommsModule to control the algorithm and what is updated
+
+generated from ahrssettings.xml
+ **/
+public class AHRSSettings extends UAVDataObject {
+
+	public AHRSSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> AlgorithmElemNames = new ArrayList<String>();
+		AlgorithmElemNames.add("0");
+		List<String> AlgorithmEnumOptions = new ArrayList<String>();
+		AlgorithmEnumOptions.add("SIMPLE");
+		AlgorithmEnumOptions.add("INSGPS_INDOOR_NOMAG");
+		AlgorithmEnumOptions.add("INSGPS_INDOOR");
+		AlgorithmEnumOptions.add("INSGPS_OUTDOOR");
+		fields.add( new UAVObjectField("Algorithm", "", UAVObjectField.FieldType.ENUM, AlgorithmElemNames, AlgorithmEnumOptions) );
+
+		List<String> DownsamplingElemNames = new ArrayList<String>();
+		DownsamplingElemNames.add("0");
+		fields.add( new UAVObjectField("Downsampling", "", UAVObjectField.FieldType.UINT8, DownsamplingElemNames, null) );
+
+		List<String> UpdatePeriodElemNames = new ArrayList<String>();
+		UpdatePeriodElemNames.add("0");
+		fields.add( new UAVObjectField("UpdatePeriod", "ms", UAVObjectField.FieldType.UINT8, UpdatePeriodElemNames, null) );
+
+		List<String> BiasCorrectedRawElemNames = new ArrayList<String>();
+		BiasCorrectedRawElemNames.add("0");
+		List<String> BiasCorrectedRawEnumOptions = new ArrayList<String>();
+		BiasCorrectedRawEnumOptions.add("TRUE");
+		BiasCorrectedRawEnumOptions.add("FALSE");
+		fields.add( new UAVObjectField("BiasCorrectedRaw", "", UAVObjectField.FieldType.ENUM, BiasCorrectedRawElemNames, BiasCorrectedRawEnumOptions) );
+
+		List<String> YawBiasElemNames = new ArrayList<String>();
+		YawBiasElemNames.add("0");
+		fields.add( new UAVObjectField("YawBias", "", UAVObjectField.FieldType.FLOAT32, YawBiasElemNames, null) );
+
+		List<String> PitchBiasElemNames = new ArrayList<String>();
+		PitchBiasElemNames.add("0");
+		fields.add( new UAVObjectField("PitchBias", "", UAVObjectField.FieldType.FLOAT32, PitchBiasElemNames, null) );
+
+		List<String> RollBiasElemNames = new ArrayList<String>();
+		RollBiasElemNames.add("0");
+		fields.add( new UAVObjectField("RollBias", "", UAVObjectField.FieldType.FLOAT32, RollBiasElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("Algorithm").setValue(1);
+		getField("Downsampling").setValue(20);
+		getField("UpdatePeriod").setValue(1);
+		getField("BiasCorrectedRaw").setValue(0);
+		getField("YawBias").setValue(0);
+		getField("PitchBias").setValue(0);
+		getField("RollBias").setValue(0);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			AHRSSettings obj = new AHRSSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public AHRSSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (AHRSSettings)(objMngr.getObject(AHRSSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xDEFC5548;
+	protected static final String NAME = "AHRSSettings";
+	protected static String DESCRIPTION = "Settings for the @ref AHRSCommsModule to control the algorithm and what is updated";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
new file mode 100644
index 000000000..a5d6230ac
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
@@ -0,0 +1,158 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Contains the pulse duration sent to each of the channels.  Set by @ref ActuatorModule
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Contains the pulse duration sent to each of the channels.  Set by @ref ActuatorModule
+
+generated from actuatorcommand.xml
+ **/
+public class ActuatorCommand extends UAVDataObject {
+
+	public ActuatorCommand() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> ChannelElemNames = new ArrayList<String>();
+		ChannelElemNames.add("0");
+		ChannelElemNames.add("1");
+		ChannelElemNames.add("2");
+		ChannelElemNames.add("3");
+		ChannelElemNames.add("4");
+		ChannelElemNames.add("5");
+		ChannelElemNames.add("6");
+		ChannelElemNames.add("7");
+		fields.add( new UAVObjectField("Channel", "us", UAVObjectField.FieldType.INT16, ChannelElemNames, null) );
+
+		List<String> UpdateTimeElemNames = new ArrayList<String>();
+		UpdateTimeElemNames.add("0");
+		fields.add( new UAVObjectField("UpdateTime", "ms", UAVObjectField.FieldType.UINT8, UpdateTimeElemNames, null) );
+
+		List<String> MaxUpdateTimeElemNames = new ArrayList<String>();
+		MaxUpdateTimeElemNames.add("0");
+		fields.add( new UAVObjectField("MaxUpdateTime", "ms", UAVObjectField.FieldType.UINT16, MaxUpdateTimeElemNames, null) );
+
+		List<String> NumFailedUpdatesElemNames = new ArrayList<String>();
+		NumFailedUpdatesElemNames.add("0");
+		fields.add( new UAVObjectField("NumFailedUpdates", "", UAVObjectField.FieldType.UINT8, NumFailedUpdatesElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			ActuatorCommand obj = new ActuatorCommand();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public ActuatorCommand GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (ActuatorCommand)(objMngr.getObject(ActuatorCommand.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xE8E077D8;
+	protected static final String NAME = "ActuatorCommand";
+	protected static String DESCRIPTION = "Contains the pulse duration sent to each of the channels.  Set by @ref ActuatorModule";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
new file mode 100644
index 000000000..b81ca29da
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
@@ -0,0 +1,159 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Desired raw, pitch and yaw actuator settings.  Comes from either @ref StabilizationModule or @ref ManualControlModule depending on FlightMode.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Desired raw, pitch and yaw actuator settings.  Comes from either @ref StabilizationModule or @ref ManualControlModule depending on FlightMode.
+
+generated from actuatordesired.xml
+ **/
+public class ActuatorDesired extends UAVDataObject {
+
+	public ActuatorDesired() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> RollElemNames = new ArrayList<String>();
+		RollElemNames.add("0");
+		fields.add( new UAVObjectField("Roll", "%", UAVObjectField.FieldType.FLOAT32, RollElemNames, null) );
+
+		List<String> PitchElemNames = new ArrayList<String>();
+		PitchElemNames.add("0");
+		fields.add( new UAVObjectField("Pitch", "%", UAVObjectField.FieldType.FLOAT32, PitchElemNames, null) );
+
+		List<String> YawElemNames = new ArrayList<String>();
+		YawElemNames.add("0");
+		fields.add( new UAVObjectField("Yaw", "%", UAVObjectField.FieldType.FLOAT32, YawElemNames, null) );
+
+		List<String> ThrottleElemNames = new ArrayList<String>();
+		ThrottleElemNames.add("0");
+		fields.add( new UAVObjectField("Throttle", "%", UAVObjectField.FieldType.FLOAT32, ThrottleElemNames, null) );
+
+		List<String> UpdateTimeElemNames = new ArrayList<String>();
+		UpdateTimeElemNames.add("0");
+		fields.add( new UAVObjectField("UpdateTime", "ms", UAVObjectField.FieldType.FLOAT32, UpdateTimeElemNames, null) );
+
+		List<String> NumLongUpdatesElemNames = new ArrayList<String>();
+		NumLongUpdatesElemNames.add("0");
+		fields.add( new UAVObjectField("NumLongUpdates", "ms", UAVObjectField.FieldType.FLOAT32, NumLongUpdatesElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			ActuatorDesired obj = new ActuatorDesired();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public ActuatorDesired GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (ActuatorDesired)(objMngr.getObject(ActuatorDesired.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xD4516782;
+	protected static final String NAME = "ActuatorDesired";
+	protected static String DESCRIPTION = "Desired raw, pitch and yaw actuator settings.  Comes from either @ref StabilizationModule or @ref ManualControlModule depending on FlightMode.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
new file mode 100644
index 000000000..ebbfaeb17
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
@@ -0,0 +1,455 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType
+
+generated from actuatorsettings.xml
+ **/
+public class ActuatorSettings extends UAVDataObject {
+
+	public ActuatorSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> FixedWingRoll1ElemNames = new ArrayList<String>();
+		FixedWingRoll1ElemNames.add("0");
+		List<String> FixedWingRoll1EnumOptions = new ArrayList<String>();
+		FixedWingRoll1EnumOptions.add("Channel1");
+		FixedWingRoll1EnumOptions.add("Channel2");
+		FixedWingRoll1EnumOptions.add("Channel3");
+		FixedWingRoll1EnumOptions.add("Channel4");
+		FixedWingRoll1EnumOptions.add("Channel5");
+		FixedWingRoll1EnumOptions.add("Channel6");
+		FixedWingRoll1EnumOptions.add("Channel7");
+		FixedWingRoll1EnumOptions.add("Channel8");
+		FixedWingRoll1EnumOptions.add("None");
+		fields.add( new UAVObjectField("FixedWingRoll1", "channel", UAVObjectField.FieldType.ENUM, FixedWingRoll1ElemNames, FixedWingRoll1EnumOptions) );
+
+		List<String> FixedWingRoll2ElemNames = new ArrayList<String>();
+		FixedWingRoll2ElemNames.add("0");
+		List<String> FixedWingRoll2EnumOptions = new ArrayList<String>();
+		FixedWingRoll2EnumOptions.add("Channel1");
+		FixedWingRoll2EnumOptions.add("Channel2");
+		FixedWingRoll2EnumOptions.add("Channel3");
+		FixedWingRoll2EnumOptions.add("Channel4");
+		FixedWingRoll2EnumOptions.add("Channel5");
+		FixedWingRoll2EnumOptions.add("Channel6");
+		FixedWingRoll2EnumOptions.add("Channel7");
+		FixedWingRoll2EnumOptions.add("Channel8");
+		FixedWingRoll2EnumOptions.add("None");
+		fields.add( new UAVObjectField("FixedWingRoll2", "channel", UAVObjectField.FieldType.ENUM, FixedWingRoll2ElemNames, FixedWingRoll2EnumOptions) );
+
+		List<String> FixedWingPitch1ElemNames = new ArrayList<String>();
+		FixedWingPitch1ElemNames.add("0");
+		List<String> FixedWingPitch1EnumOptions = new ArrayList<String>();
+		FixedWingPitch1EnumOptions.add("Channel1");
+		FixedWingPitch1EnumOptions.add("Channel2");
+		FixedWingPitch1EnumOptions.add("Channel3");
+		FixedWingPitch1EnumOptions.add("Channel4");
+		FixedWingPitch1EnumOptions.add("Channel5");
+		FixedWingPitch1EnumOptions.add("Channel6");
+		FixedWingPitch1EnumOptions.add("Channel7");
+		FixedWingPitch1EnumOptions.add("Channel8");
+		FixedWingPitch1EnumOptions.add("None");
+		fields.add( new UAVObjectField("FixedWingPitch1", "channel", UAVObjectField.FieldType.ENUM, FixedWingPitch1ElemNames, FixedWingPitch1EnumOptions) );
+
+		List<String> FixedWingPitch2ElemNames = new ArrayList<String>();
+		FixedWingPitch2ElemNames.add("0");
+		List<String> FixedWingPitch2EnumOptions = new ArrayList<String>();
+		FixedWingPitch2EnumOptions.add("Channel1");
+		FixedWingPitch2EnumOptions.add("Channel2");
+		FixedWingPitch2EnumOptions.add("Channel3");
+		FixedWingPitch2EnumOptions.add("Channel4");
+		FixedWingPitch2EnumOptions.add("Channel5");
+		FixedWingPitch2EnumOptions.add("Channel6");
+		FixedWingPitch2EnumOptions.add("Channel7");
+		FixedWingPitch2EnumOptions.add("Channel8");
+		FixedWingPitch2EnumOptions.add("None");
+		fields.add( new UAVObjectField("FixedWingPitch2", "channel", UAVObjectField.FieldType.ENUM, FixedWingPitch2ElemNames, FixedWingPitch2EnumOptions) );
+
+		List<String> FixedWingYawElemNames = new ArrayList<String>();
+		FixedWingYawElemNames.add("0");
+		List<String> FixedWingYawEnumOptions = new ArrayList<String>();
+		FixedWingYawEnumOptions.add("Channel1");
+		FixedWingYawEnumOptions.add("Channel2");
+		FixedWingYawEnumOptions.add("Channel3");
+		FixedWingYawEnumOptions.add("Channel4");
+		FixedWingYawEnumOptions.add("Channel5");
+		FixedWingYawEnumOptions.add("Channel6");
+		FixedWingYawEnumOptions.add("Channel7");
+		FixedWingYawEnumOptions.add("Channel8");
+		FixedWingYawEnumOptions.add("None");
+		fields.add( new UAVObjectField("FixedWingYaw", "channel", UAVObjectField.FieldType.ENUM, FixedWingYawElemNames, FixedWingYawEnumOptions) );
+
+		List<String> FixedWingThrottleElemNames = new ArrayList<String>();
+		FixedWingThrottleElemNames.add("0");
+		List<String> FixedWingThrottleEnumOptions = new ArrayList<String>();
+		FixedWingThrottleEnumOptions.add("Channel1");
+		FixedWingThrottleEnumOptions.add("Channel2");
+		FixedWingThrottleEnumOptions.add("Channel3");
+		FixedWingThrottleEnumOptions.add("Channel4");
+		FixedWingThrottleEnumOptions.add("Channel5");
+		FixedWingThrottleEnumOptions.add("Channel6");
+		FixedWingThrottleEnumOptions.add("Channel7");
+		FixedWingThrottleEnumOptions.add("Channel8");
+		FixedWingThrottleEnumOptions.add("None");
+		fields.add( new UAVObjectField("FixedWingThrottle", "channel", UAVObjectField.FieldType.ENUM, FixedWingThrottleElemNames, FixedWingThrottleEnumOptions) );
+
+		List<String> VTOLMotorNElemNames = new ArrayList<String>();
+		VTOLMotorNElemNames.add("0");
+		List<String> VTOLMotorNEnumOptions = new ArrayList<String>();
+		VTOLMotorNEnumOptions.add("Channel1");
+		VTOLMotorNEnumOptions.add("Channel2");
+		VTOLMotorNEnumOptions.add("Channel3");
+		VTOLMotorNEnumOptions.add("Channel4");
+		VTOLMotorNEnumOptions.add("Channel5");
+		VTOLMotorNEnumOptions.add("Channel6");
+		VTOLMotorNEnumOptions.add("Channel7");
+		VTOLMotorNEnumOptions.add("Channel8");
+		VTOLMotorNEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorN", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorNElemNames, VTOLMotorNEnumOptions) );
+
+		List<String> VTOLMotorNEElemNames = new ArrayList<String>();
+		VTOLMotorNEElemNames.add("0");
+		List<String> VTOLMotorNEEnumOptions = new ArrayList<String>();
+		VTOLMotorNEEnumOptions.add("Channel1");
+		VTOLMotorNEEnumOptions.add("Channel2");
+		VTOLMotorNEEnumOptions.add("Channel3");
+		VTOLMotorNEEnumOptions.add("Channel4");
+		VTOLMotorNEEnumOptions.add("Channel5");
+		VTOLMotorNEEnumOptions.add("Channel6");
+		VTOLMotorNEEnumOptions.add("Channel7");
+		VTOLMotorNEEnumOptions.add("Channel8");
+		VTOLMotorNEEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorNE", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorNEElemNames, VTOLMotorNEEnumOptions) );
+
+		List<String> VTOLMotorEElemNames = new ArrayList<String>();
+		VTOLMotorEElemNames.add("0");
+		List<String> VTOLMotorEEnumOptions = new ArrayList<String>();
+		VTOLMotorEEnumOptions.add("Channel1");
+		VTOLMotorEEnumOptions.add("Channel2");
+		VTOLMotorEEnumOptions.add("Channel3");
+		VTOLMotorEEnumOptions.add("Channel4");
+		VTOLMotorEEnumOptions.add("Channel5");
+		VTOLMotorEEnumOptions.add("Channel6");
+		VTOLMotorEEnumOptions.add("Channel7");
+		VTOLMotorEEnumOptions.add("Channel8");
+		VTOLMotorEEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorE", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorEElemNames, VTOLMotorEEnumOptions) );
+
+		List<String> VTOLMotorSEElemNames = new ArrayList<String>();
+		VTOLMotorSEElemNames.add("0");
+		List<String> VTOLMotorSEEnumOptions = new ArrayList<String>();
+		VTOLMotorSEEnumOptions.add("Channel1");
+		VTOLMotorSEEnumOptions.add("Channel2");
+		VTOLMotorSEEnumOptions.add("Channel3");
+		VTOLMotorSEEnumOptions.add("Channel4");
+		VTOLMotorSEEnumOptions.add("Channel5");
+		VTOLMotorSEEnumOptions.add("Channel6");
+		VTOLMotorSEEnumOptions.add("Channel7");
+		VTOLMotorSEEnumOptions.add("Channel8");
+		VTOLMotorSEEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorSE", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorSEElemNames, VTOLMotorSEEnumOptions) );
+
+		List<String> VTOLMotorSElemNames = new ArrayList<String>();
+		VTOLMotorSElemNames.add("0");
+		List<String> VTOLMotorSEnumOptions = new ArrayList<String>();
+		VTOLMotorSEnumOptions.add("Channel1");
+		VTOLMotorSEnumOptions.add("Channel2");
+		VTOLMotorSEnumOptions.add("Channel3");
+		VTOLMotorSEnumOptions.add("Channel4");
+		VTOLMotorSEnumOptions.add("Channel5");
+		VTOLMotorSEnumOptions.add("Channel6");
+		VTOLMotorSEnumOptions.add("Channel7");
+		VTOLMotorSEnumOptions.add("Channel8");
+		VTOLMotorSEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorS", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorSElemNames, VTOLMotorSEnumOptions) );
+
+		List<String> VTOLMotorSWElemNames = new ArrayList<String>();
+		VTOLMotorSWElemNames.add("0");
+		List<String> VTOLMotorSWEnumOptions = new ArrayList<String>();
+		VTOLMotorSWEnumOptions.add("Channel1");
+		VTOLMotorSWEnumOptions.add("Channel2");
+		VTOLMotorSWEnumOptions.add("Channel3");
+		VTOLMotorSWEnumOptions.add("Channel4");
+		VTOLMotorSWEnumOptions.add("Channel5");
+		VTOLMotorSWEnumOptions.add("Channel6");
+		VTOLMotorSWEnumOptions.add("Channel7");
+		VTOLMotorSWEnumOptions.add("Channel8");
+		VTOLMotorSWEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorSW", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorSWElemNames, VTOLMotorSWEnumOptions) );
+
+		List<String> VTOLMotorWElemNames = new ArrayList<String>();
+		VTOLMotorWElemNames.add("0");
+		List<String> VTOLMotorWEnumOptions = new ArrayList<String>();
+		VTOLMotorWEnumOptions.add("Channel1");
+		VTOLMotorWEnumOptions.add("Channel2");
+		VTOLMotorWEnumOptions.add("Channel3");
+		VTOLMotorWEnumOptions.add("Channel4");
+		VTOLMotorWEnumOptions.add("Channel5");
+		VTOLMotorWEnumOptions.add("Channel6");
+		VTOLMotorWEnumOptions.add("Channel7");
+		VTOLMotorWEnumOptions.add("Channel8");
+		VTOLMotorWEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorW", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorWElemNames, VTOLMotorWEnumOptions) );
+
+		List<String> VTOLMotorNWElemNames = new ArrayList<String>();
+		VTOLMotorNWElemNames.add("0");
+		List<String> VTOLMotorNWEnumOptions = new ArrayList<String>();
+		VTOLMotorNWEnumOptions.add("Channel1");
+		VTOLMotorNWEnumOptions.add("Channel2");
+		VTOLMotorNWEnumOptions.add("Channel3");
+		VTOLMotorNWEnumOptions.add("Channel4");
+		VTOLMotorNWEnumOptions.add("Channel5");
+		VTOLMotorNWEnumOptions.add("Channel6");
+		VTOLMotorNWEnumOptions.add("Channel7");
+		VTOLMotorNWEnumOptions.add("Channel8");
+		VTOLMotorNWEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorNW", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorNWElemNames, VTOLMotorNWEnumOptions) );
+
+		List<String> ChannelUpdateFreqElemNames = new ArrayList<String>();
+		ChannelUpdateFreqElemNames.add("0");
+		ChannelUpdateFreqElemNames.add("1");
+		ChannelUpdateFreqElemNames.add("2");
+		ChannelUpdateFreqElemNames.add("3");
+		fields.add( new UAVObjectField("ChannelUpdateFreq", "Hz", UAVObjectField.FieldType.UINT16, ChannelUpdateFreqElemNames, null) );
+
+		List<String> ChannelMaxElemNames = new ArrayList<String>();
+		ChannelMaxElemNames.add("0");
+		ChannelMaxElemNames.add("1");
+		ChannelMaxElemNames.add("2");
+		ChannelMaxElemNames.add("3");
+		ChannelMaxElemNames.add("4");
+		ChannelMaxElemNames.add("5");
+		ChannelMaxElemNames.add("6");
+		ChannelMaxElemNames.add("7");
+		fields.add( new UAVObjectField("ChannelMax", "us", UAVObjectField.FieldType.INT16, ChannelMaxElemNames, null) );
+
+		List<String> ChannelNeutralElemNames = new ArrayList<String>();
+		ChannelNeutralElemNames.add("0");
+		ChannelNeutralElemNames.add("1");
+		ChannelNeutralElemNames.add("2");
+		ChannelNeutralElemNames.add("3");
+		ChannelNeutralElemNames.add("4");
+		ChannelNeutralElemNames.add("5");
+		ChannelNeutralElemNames.add("6");
+		ChannelNeutralElemNames.add("7");
+		fields.add( new UAVObjectField("ChannelNeutral", "us", UAVObjectField.FieldType.INT16, ChannelNeutralElemNames, null) );
+
+		List<String> ChannelMinElemNames = new ArrayList<String>();
+		ChannelMinElemNames.add("0");
+		ChannelMinElemNames.add("1");
+		ChannelMinElemNames.add("2");
+		ChannelMinElemNames.add("3");
+		ChannelMinElemNames.add("4");
+		ChannelMinElemNames.add("5");
+		ChannelMinElemNames.add("6");
+		ChannelMinElemNames.add("7");
+		fields.add( new UAVObjectField("ChannelMin", "us", UAVObjectField.FieldType.INT16, ChannelMinElemNames, null) );
+
+		List<String> ChannelTypeElemNames = new ArrayList<String>();
+		ChannelTypeElemNames.add("0");
+		ChannelTypeElemNames.add("1");
+		ChannelTypeElemNames.add("2");
+		ChannelTypeElemNames.add("3");
+		ChannelTypeElemNames.add("4");
+		ChannelTypeElemNames.add("5");
+		ChannelTypeElemNames.add("6");
+		ChannelTypeElemNames.add("7");
+		List<String> ChannelTypeEnumOptions = new ArrayList<String>();
+		ChannelTypeEnumOptions.add("PWM");
+		ChannelTypeEnumOptions.add("MK");
+		ChannelTypeEnumOptions.add("ASTEC4");
+		fields.add( new UAVObjectField("ChannelType", "", UAVObjectField.FieldType.ENUM, ChannelTypeElemNames, ChannelTypeEnumOptions) );
+
+		List<String> ChannelAddrElemNames = new ArrayList<String>();
+		ChannelAddrElemNames.add("0");
+		ChannelAddrElemNames.add("1");
+		ChannelAddrElemNames.add("2");
+		ChannelAddrElemNames.add("3");
+		ChannelAddrElemNames.add("4");
+		ChannelAddrElemNames.add("5");
+		ChannelAddrElemNames.add("6");
+		ChannelAddrElemNames.add("7");
+		fields.add( new UAVObjectField("ChannelAddr", "", UAVObjectField.FieldType.UINT8, ChannelAddrElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("FixedWingRoll1").setValue(8);
+		getField("FixedWingRoll2").setValue(8);
+		getField("FixedWingPitch1").setValue(8);
+		getField("FixedWingPitch2").setValue(8);
+		getField("FixedWingYaw").setValue(8);
+		getField("FixedWingThrottle").setValue(8);
+		getField("VTOLMotorN").setValue(8);
+		getField("VTOLMotorNE").setValue(8);
+		getField("VTOLMotorE").setValue(8);
+		getField("VTOLMotorSE").setValue(8);
+		getField("VTOLMotorS").setValue(8);
+		getField("VTOLMotorSW").setValue(8);
+		getField("VTOLMotorW").setValue(8);
+		getField("VTOLMotorNW").setValue(8);
+		getField("ChannelUpdateFreq").setValue(50,0);
+		getField("ChannelUpdateFreq").setValue(50,1);
+		getField("ChannelUpdateFreq").setValue(50,2);
+		getField("ChannelUpdateFreq").setValue(50,3);
+		getField("ChannelMax").setValue(1000,0);
+		getField("ChannelMax").setValue(1000,1);
+		getField("ChannelMax").setValue(1000,2);
+		getField("ChannelMax").setValue(1000,3);
+		getField("ChannelMax").setValue(1000,4);
+		getField("ChannelMax").setValue(1000,5);
+		getField("ChannelMax").setValue(1000,6);
+		getField("ChannelMax").setValue(1000,7);
+		getField("ChannelNeutral").setValue(1000,0);
+		getField("ChannelNeutral").setValue(1000,1);
+		getField("ChannelNeutral").setValue(1000,2);
+		getField("ChannelNeutral").setValue(1000,3);
+		getField("ChannelNeutral").setValue(1000,4);
+		getField("ChannelNeutral").setValue(1000,5);
+		getField("ChannelNeutral").setValue(1000,6);
+		getField("ChannelNeutral").setValue(1000,7);
+		getField("ChannelMin").setValue(1000,0);
+		getField("ChannelMin").setValue(1000,1);
+		getField("ChannelMin").setValue(1000,2);
+		getField("ChannelMin").setValue(1000,3);
+		getField("ChannelMin").setValue(1000,4);
+		getField("ChannelMin").setValue(1000,5);
+		getField("ChannelMin").setValue(1000,6);
+		getField("ChannelMin").setValue(1000,7);
+		getField("ChannelType").setValue(0,0);
+		getField("ChannelType").setValue(0,1);
+		getField("ChannelType").setValue(0,2);
+		getField("ChannelType").setValue(0,3);
+		getField("ChannelType").setValue(0,4);
+		getField("ChannelType").setValue(0,5);
+		getField("ChannelType").setValue(0,6);
+		getField("ChannelType").setValue(0,7);
+		getField("ChannelAddr").setValue(0,0);
+		getField("ChannelAddr").setValue(1,1);
+		getField("ChannelAddr").setValue(2,2);
+		getField("ChannelAddr").setValue(3,3);
+		getField("ChannelAddr").setValue(4,4);
+		getField("ChannelAddr").setValue(5,5);
+		getField("ChannelAddr").setValue(6,6);
+		getField("ChannelAddr").setValue(7,7);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			ActuatorSettings obj = new ActuatorSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public ActuatorSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (ActuatorSettings)(objMngr.getObject(ActuatorSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x1BF864C2;
+	protected static final String NAME = "ActuatorSettings";
+	protected static String DESCRIPTION = "Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AhrsStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AhrsStatus.java
new file mode 100644
index 000000000..3ee8304ae
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AhrsStatus.java
@@ -0,0 +1,201 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Status for the @ref AHRSCommsModule, including communication errors
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Status for the @ref AHRSCommsModule, including communication errors
+
+generated from ahrsstatus.xml
+ **/
+public class AhrsStatus extends UAVDataObject {
+
+	public AhrsStatus() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> SerialNumberElemNames = new ArrayList<String>();
+		SerialNumberElemNames.add("0");
+		SerialNumberElemNames.add("1");
+		SerialNumberElemNames.add("2");
+		SerialNumberElemNames.add("3");
+		SerialNumberElemNames.add("4");
+		SerialNumberElemNames.add("5");
+		SerialNumberElemNames.add("6");
+		SerialNumberElemNames.add("7");
+		fields.add( new UAVObjectField("SerialNumber", "", UAVObjectField.FieldType.UINT8, SerialNumberElemNames, null) );
+
+		List<String> CPULoadElemNames = new ArrayList<String>();
+		CPULoadElemNames.add("0");
+		fields.add( new UAVObjectField("CPULoad", "count", UAVObjectField.FieldType.UINT8, CPULoadElemNames, null) );
+
+		List<String> RunningTimeElemNames = new ArrayList<String>();
+		RunningTimeElemNames.add("0");
+		fields.add( new UAVObjectField("RunningTime", "ms", UAVObjectField.FieldType.UINT32, RunningTimeElemNames, null) );
+
+		List<String> IdleTimePerCyleElemNames = new ArrayList<String>();
+		IdleTimePerCyleElemNames.add("0");
+		fields.add( new UAVObjectField("IdleTimePerCyle", "10x ms", UAVObjectField.FieldType.UINT8, IdleTimePerCyleElemNames, null) );
+
+		List<String> RunningTimePerCyleElemNames = new ArrayList<String>();
+		RunningTimePerCyleElemNames.add("0");
+		fields.add( new UAVObjectField("RunningTimePerCyle", "10x ms", UAVObjectField.FieldType.UINT8, RunningTimePerCyleElemNames, null) );
+
+		List<String> DroppedUpdatesElemNames = new ArrayList<String>();
+		DroppedUpdatesElemNames.add("0");
+		fields.add( new UAVObjectField("DroppedUpdates", "count", UAVObjectField.FieldType.UINT8, DroppedUpdatesElemNames, null) );
+
+		List<String> LinkRunningElemNames = new ArrayList<String>();
+		LinkRunningElemNames.add("0");
+		List<String> LinkRunningEnumOptions = new ArrayList<String>();
+		LinkRunningEnumOptions.add("FALSE");
+		LinkRunningEnumOptions.add("TRUE");
+		fields.add( new UAVObjectField("LinkRunning", "", UAVObjectField.FieldType.ENUM, LinkRunningElemNames, LinkRunningEnumOptions) );
+
+		List<String> AhrsKickstartsElemNames = new ArrayList<String>();
+		AhrsKickstartsElemNames.add("0");
+		fields.add( new UAVObjectField("AhrsKickstarts", "count", UAVObjectField.FieldType.UINT8, AhrsKickstartsElemNames, null) );
+
+		List<String> AhrsCrcErrorsElemNames = new ArrayList<String>();
+		AhrsCrcErrorsElemNames.add("0");
+		fields.add( new UAVObjectField("AhrsCrcErrors", "count", UAVObjectField.FieldType.UINT8, AhrsCrcErrorsElemNames, null) );
+
+		List<String> AhrsRetriesElemNames = new ArrayList<String>();
+		AhrsRetriesElemNames.add("0");
+		fields.add( new UAVObjectField("AhrsRetries", "count", UAVObjectField.FieldType.UINT8, AhrsRetriesElemNames, null) );
+
+		List<String> AhrsInvalidPacketsElemNames = new ArrayList<String>();
+		AhrsInvalidPacketsElemNames.add("0");
+		fields.add( new UAVObjectField("AhrsInvalidPackets", "count", UAVObjectField.FieldType.UINT8, AhrsInvalidPacketsElemNames, null) );
+
+		List<String> OpCrcErrorsElemNames = new ArrayList<String>();
+		OpCrcErrorsElemNames.add("0");
+		fields.add( new UAVObjectField("OpCrcErrors", "count", UAVObjectField.FieldType.UINT8, OpCrcErrorsElemNames, null) );
+
+		List<String> OpRetriesElemNames = new ArrayList<String>();
+		OpRetriesElemNames.add("0");
+		fields.add( new UAVObjectField("OpRetries", "count", UAVObjectField.FieldType.UINT8, OpRetriesElemNames, null) );
+
+		List<String> OpInvalidPacketsElemNames = new ArrayList<String>();
+		OpInvalidPacketsElemNames.add("0");
+		fields.add( new UAVObjectField("OpInvalidPackets", "count", UAVObjectField.FieldType.UINT8, OpInvalidPacketsElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 1000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			AhrsStatus obj = new AhrsStatus();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public AhrsStatus GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (AhrsStatus)(objMngr.getObject(AhrsStatus.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x37A5F7A2;
+	protected static final String NAME = "AhrsStatus";
+	protected static String DESCRIPTION = "Status for the @ref AHRSCommsModule, including communication errors";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
new file mode 100644
index 000000000..714c18571
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
@@ -0,0 +1,163 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The updated Attitude estimation from @ref AHRSCommsModule.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The updated Attitude estimation from @ref AHRSCommsModule.
+
+generated from attitudeactual.xml
+ **/
+public class AttitudeActual extends UAVDataObject {
+
+	public AttitudeActual() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> q1ElemNames = new ArrayList<String>();
+		q1ElemNames.add("0");
+		fields.add( new UAVObjectField("q1", "", UAVObjectField.FieldType.FLOAT32, q1ElemNames, null) );
+
+		List<String> q2ElemNames = new ArrayList<String>();
+		q2ElemNames.add("0");
+		fields.add( new UAVObjectField("q2", "", UAVObjectField.FieldType.FLOAT32, q2ElemNames, null) );
+
+		List<String> q3ElemNames = new ArrayList<String>();
+		q3ElemNames.add("0");
+		fields.add( new UAVObjectField("q3", "", UAVObjectField.FieldType.FLOAT32, q3ElemNames, null) );
+
+		List<String> q4ElemNames = new ArrayList<String>();
+		q4ElemNames.add("0");
+		fields.add( new UAVObjectField("q4", "", UAVObjectField.FieldType.FLOAT32, q4ElemNames, null) );
+
+		List<String> RollElemNames = new ArrayList<String>();
+		RollElemNames.add("0");
+		fields.add( new UAVObjectField("Roll", "degrees", UAVObjectField.FieldType.FLOAT32, RollElemNames, null) );
+
+		List<String> PitchElemNames = new ArrayList<String>();
+		PitchElemNames.add("0");
+		fields.add( new UAVObjectField("Pitch", "degrees", UAVObjectField.FieldType.FLOAT32, PitchElemNames, null) );
+
+		List<String> YawElemNames = new ArrayList<String>();
+		YawElemNames.add("0");
+		fields.add( new UAVObjectField("Yaw", "degrees", UAVObjectField.FieldType.FLOAT32, YawElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 500;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			AttitudeActual obj = new AttitudeActual();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public AttitudeActual GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (AttitudeActual)(objMngr.getObject(AttitudeActual.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xFC5B8CF4;
+	protected static final String NAME = "AttitudeActual";
+	protected static String DESCRIPTION = "The updated Attitude estimation from @ref AHRSCommsModule.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeRaw.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeRaw.java
new file mode 100644
index 000000000..d28302b6a
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeRaw.java
@@ -0,0 +1,158 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The raw attitude sensor data from @ref AHRSCommsModule.  Not always updated.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The raw attitude sensor data from @ref AHRSCommsModule.  Not always updated.
+
+generated from attituderaw.xml
+ **/
+public class AttitudeRaw extends UAVDataObject {
+
+	public AttitudeRaw() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> magnetometersElemNames = new ArrayList<String>();
+		magnetometersElemNames.add("X");
+		magnetometersElemNames.add("Y");
+		magnetometersElemNames.add("Z");
+		fields.add( new UAVObjectField("magnetometers", "mGa", UAVObjectField.FieldType.INT16, magnetometersElemNames, null) );
+
+		List<String> gyrosElemNames = new ArrayList<String>();
+		gyrosElemNames.add("X");
+		gyrosElemNames.add("Y");
+		gyrosElemNames.add("Z");
+		fields.add( new UAVObjectField("gyros", "deg/s", UAVObjectField.FieldType.FLOAT32, gyrosElemNames, null) );
+
+		List<String> gyrotempElemNames = new ArrayList<String>();
+		gyrotempElemNames.add("XY");
+		gyrotempElemNames.add("Z");
+		fields.add( new UAVObjectField("gyrotemp", "raw", UAVObjectField.FieldType.UINT16, gyrotempElemNames, null) );
+
+		List<String> accelsElemNames = new ArrayList<String>();
+		accelsElemNames.add("X");
+		accelsElemNames.add("Y");
+		accelsElemNames.add("Z");
+		fields.add( new UAVObjectField("accels", "m/s^2", UAVObjectField.FieldType.FLOAT32, accelsElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			AttitudeRaw obj = new AttitudeRaw();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public AttitudeRaw GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (AttitudeRaw)(objMngr.getObject(AttitudeRaw.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x37747DE6;
+	protected static final String NAME = "AttitudeRaw";
+	protected static String DESCRIPTION = "The raw attitude sensor data from @ref AHRSCommsModule.  Not always updated.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
new file mode 100644
index 000000000..482fc12ce
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
@@ -0,0 +1,159 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the @ref Attitude module used on CopterControl
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the @ref Attitude module used on CopterControl
+
+generated from attitudesettings.xml
+ **/
+public class AttitudeSettings extends UAVDataObject {
+
+	public AttitudeSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> AccelBiasElemNames = new ArrayList<String>();
+		AccelBiasElemNames.add("X");
+		AccelBiasElemNames.add("Y");
+		AccelBiasElemNames.add("Z");
+		fields.add( new UAVObjectField("AccelBias", "lsb", UAVObjectField.FieldType.INT16, AccelBiasElemNames, null) );
+
+		List<String> GyroGainElemNames = new ArrayList<String>();
+		GyroGainElemNames.add("0");
+		fields.add( new UAVObjectField("GyroGain", "(rad/s)/lsb", UAVObjectField.FieldType.FLOAT32, GyroGainElemNames, null) );
+
+		List<String> AccelKpElemNames = new ArrayList<String>();
+		AccelKpElemNames.add("0");
+		fields.add( new UAVObjectField("AccelKp", "channel", UAVObjectField.FieldType.FLOAT32, AccelKpElemNames, null) );
+
+		List<String> AccelKiElemNames = new ArrayList<String>();
+		AccelKiElemNames.add("0");
+		fields.add( new UAVObjectField("AccelKi", "channel", UAVObjectField.FieldType.FLOAT32, AccelKiElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("AccelBias").setValue(0,0);
+		getField("AccelBias").setValue(0,1);
+		getField("AccelBias").setValue(0,2);
+		getField("GyroGain").setValue(0.42);
+		getField("AccelKp").setValue(0.01);
+		getField("AccelKi").setValue(0.0001);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			AttitudeSettings obj = new AttitudeSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public AttitudeSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (AttitudeSettings)(objMngr.getObject(AttitudeSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x327BF29A;
+	protected static final String NAME = "AttitudeSettings";
+	protected static String DESCRIPTION = "Settings for the @ref Attitude module used on CopterControl";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
new file mode 100644
index 000000000..a2c2c7e3d
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
@@ -0,0 +1,147 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The raw data from the barometric sensor with pressure, temperature and altitude estimate.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The raw data from the barometric sensor with pressure, temperature and altitude estimate.
+
+generated from baroaltitude.xml
+ **/
+public class BaroAltitude extends UAVDataObject {
+
+	public BaroAltitude() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> AltitudeElemNames = new ArrayList<String>();
+		AltitudeElemNames.add("0");
+		fields.add( new UAVObjectField("Altitude", "m", UAVObjectField.FieldType.FLOAT32, AltitudeElemNames, null) );
+
+		List<String> TemperatureElemNames = new ArrayList<String>();
+		TemperatureElemNames.add("0");
+		fields.add( new UAVObjectField("Temperature", "C", UAVObjectField.FieldType.FLOAT32, TemperatureElemNames, null) );
+
+		List<String> PressureElemNames = new ArrayList<String>();
+		PressureElemNames.add("0");
+		fields.add( new UAVObjectField("Pressure", "kPa", UAVObjectField.FieldType.FLOAT32, PressureElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			BaroAltitude obj = new BaroAltitude();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public BaroAltitude GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (BaroAltitude)(objMngr.getObject(BaroAltitude.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xED4424F6;
+	protected static final String NAME = "BaroAltitude";
+	protected static String DESCRIPTION = "The raw data from the barometric sensor with pressure, temperature and altitude estimate.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BatterySettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BatterySettings.java
new file mode 100644
index 000000000..19e477b62
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BatterySettings.java
@@ -0,0 +1,163 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Battery configuration information.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Battery configuration information.
+
+generated from batterysettings.xml
+ **/
+public class BatterySettings extends UAVDataObject {
+
+	public BatterySettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> BatteryVoltageElemNames = new ArrayList<String>();
+		BatteryVoltageElemNames.add("0");
+		fields.add( new UAVObjectField("BatteryVoltage", "V", UAVObjectField.FieldType.FLOAT32, BatteryVoltageElemNames, null) );
+
+		List<String> BatteryCapacityElemNames = new ArrayList<String>();
+		BatteryCapacityElemNames.add("0");
+		fields.add( new UAVObjectField("BatteryCapacity", "mAh", UAVObjectField.FieldType.UINT32, BatteryCapacityElemNames, null) );
+
+		List<String> BatteryTypeElemNames = new ArrayList<String>();
+		BatteryTypeElemNames.add("0");
+		List<String> BatteryTypeEnumOptions = new ArrayList<String>();
+		BatteryTypeEnumOptions.add("LiPo");
+		BatteryTypeEnumOptions.add("A123");
+		BatteryTypeEnumOptions.add("LiCo");
+		BatteryTypeEnumOptions.add("LiFeSO4");
+		BatteryTypeEnumOptions.add("None");
+		fields.add( new UAVObjectField("BatteryType", "", UAVObjectField.FieldType.ENUM, BatteryTypeElemNames, BatteryTypeEnumOptions) );
+
+		List<String> CalibrationsElemNames = new ArrayList<String>();
+		CalibrationsElemNames.add("Voltage");
+		CalibrationsElemNames.add("Current");
+		fields.add( new UAVObjectField("Calibrations", "", UAVObjectField.FieldType.FLOAT32, CalibrationsElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("BatteryVoltage").setValue(11.1);
+		getField("BatteryCapacity").setValue(2200);
+		getField("BatteryType").setValue(0);
+		getField("Calibrations").setValue(1,0);
+		getField("Calibrations").setValue(1,1);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			BatterySettings obj = new BatterySettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public BatterySettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (BatterySettings)(objMngr.getObject(BatterySettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xA5FF1D9A;
+	protected static final String NAME = "BatterySettings";
+	protected static String DESCRIPTION = "Battery configuration information.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
new file mode 100644
index 000000000..493d6cd64
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
@@ -0,0 +1,258 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Firmware IAP
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Firmware IAP
+
+generated from firmwareiapobj.xml
+ **/
+public class FirmwareIAPObj extends UAVDataObject {
+
+	public FirmwareIAPObj() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> CommandElemNames = new ArrayList<String>();
+		CommandElemNames.add("0");
+		fields.add( new UAVObjectField("Command", "", UAVObjectField.FieldType.UINT16, CommandElemNames, null) );
+
+		List<String> DescriptionElemNames = new ArrayList<String>();
+		DescriptionElemNames.add("0");
+		DescriptionElemNames.add("1");
+		DescriptionElemNames.add("2");
+		DescriptionElemNames.add("3");
+		DescriptionElemNames.add("4");
+		DescriptionElemNames.add("5");
+		DescriptionElemNames.add("6");
+		DescriptionElemNames.add("7");
+		DescriptionElemNames.add("8");
+		DescriptionElemNames.add("9");
+		DescriptionElemNames.add("10");
+		DescriptionElemNames.add("11");
+		DescriptionElemNames.add("12");
+		DescriptionElemNames.add("13");
+		DescriptionElemNames.add("14");
+		DescriptionElemNames.add("15");
+		DescriptionElemNames.add("16");
+		DescriptionElemNames.add("17");
+		DescriptionElemNames.add("18");
+		DescriptionElemNames.add("19");
+		DescriptionElemNames.add("20");
+		DescriptionElemNames.add("21");
+		DescriptionElemNames.add("22");
+		DescriptionElemNames.add("23");
+		DescriptionElemNames.add("24");
+		DescriptionElemNames.add("25");
+		DescriptionElemNames.add("26");
+		DescriptionElemNames.add("27");
+		DescriptionElemNames.add("28");
+		DescriptionElemNames.add("29");
+		DescriptionElemNames.add("30");
+		DescriptionElemNames.add("31");
+		DescriptionElemNames.add("32");
+		DescriptionElemNames.add("33");
+		DescriptionElemNames.add("34");
+		DescriptionElemNames.add("35");
+		DescriptionElemNames.add("36");
+		DescriptionElemNames.add("37");
+		DescriptionElemNames.add("38");
+		DescriptionElemNames.add("39");
+		DescriptionElemNames.add("40");
+		DescriptionElemNames.add("41");
+		DescriptionElemNames.add("42");
+		DescriptionElemNames.add("43");
+		DescriptionElemNames.add("44");
+		DescriptionElemNames.add("45");
+		DescriptionElemNames.add("46");
+		DescriptionElemNames.add("47");
+		DescriptionElemNames.add("48");
+		DescriptionElemNames.add("49");
+		DescriptionElemNames.add("50");
+		DescriptionElemNames.add("51");
+		DescriptionElemNames.add("52");
+		DescriptionElemNames.add("53");
+		DescriptionElemNames.add("54");
+		DescriptionElemNames.add("55");
+		DescriptionElemNames.add("56");
+		DescriptionElemNames.add("57");
+		DescriptionElemNames.add("58");
+		DescriptionElemNames.add("59");
+		DescriptionElemNames.add("60");
+		DescriptionElemNames.add("61");
+		DescriptionElemNames.add("62");
+		DescriptionElemNames.add("63");
+		DescriptionElemNames.add("64");
+		DescriptionElemNames.add("65");
+		DescriptionElemNames.add("66");
+		DescriptionElemNames.add("67");
+		DescriptionElemNames.add("68");
+		DescriptionElemNames.add("69");
+		DescriptionElemNames.add("70");
+		DescriptionElemNames.add("71");
+		DescriptionElemNames.add("72");
+		DescriptionElemNames.add("73");
+		DescriptionElemNames.add("74");
+		DescriptionElemNames.add("75");
+		DescriptionElemNames.add("76");
+		DescriptionElemNames.add("77");
+		DescriptionElemNames.add("78");
+		DescriptionElemNames.add("79");
+		DescriptionElemNames.add("80");
+		DescriptionElemNames.add("81");
+		DescriptionElemNames.add("82");
+		DescriptionElemNames.add("83");
+		DescriptionElemNames.add("84");
+		DescriptionElemNames.add("85");
+		DescriptionElemNames.add("86");
+		DescriptionElemNames.add("87");
+		DescriptionElemNames.add("88");
+		DescriptionElemNames.add("89");
+		DescriptionElemNames.add("90");
+		DescriptionElemNames.add("91");
+		DescriptionElemNames.add("92");
+		DescriptionElemNames.add("93");
+		DescriptionElemNames.add("94");
+		DescriptionElemNames.add("95");
+		DescriptionElemNames.add("96");
+		DescriptionElemNames.add("97");
+		DescriptionElemNames.add("98");
+		DescriptionElemNames.add("99");
+		fields.add( new UAVObjectField("Description", "", UAVObjectField.FieldType.UINT8, DescriptionElemNames, null) );
+
+		List<String> BoardRevisionElemNames = new ArrayList<String>();
+		BoardRevisionElemNames.add("0");
+		fields.add( new UAVObjectField("BoardRevision", "", UAVObjectField.FieldType.UINT16, BoardRevisionElemNames, null) );
+
+		List<String> BoardTypeElemNames = new ArrayList<String>();
+		BoardTypeElemNames.add("0");
+		fields.add( new UAVObjectField("BoardType", "", UAVObjectField.FieldType.UINT8, BoardTypeElemNames, null) );
+
+		List<String> ArmResetElemNames = new ArrayList<String>();
+		ArmResetElemNames.add("0");
+		fields.add( new UAVObjectField("ArmReset", "", UAVObjectField.FieldType.UINT8, ArmResetElemNames, null) );
+
+		List<String> crcElemNames = new ArrayList<String>();
+		crcElemNames.add("0");
+		fields.add( new UAVObjectField("crc", "", UAVObjectField.FieldType.UINT32, crcElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			FirmwareIAPObj obj = new FirmwareIAPObj();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public FirmwareIAPObj GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (FirmwareIAPObj)(objMngr.getObject(FirmwareIAPObj.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x1A8ECC2;
+	protected static final String NAME = "FirmwareIAPObj";
+	protected static String DESCRIPTION = "Firmware IAP";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
new file mode 100644
index 000000000..d9fba1de5
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
@@ -0,0 +1,165 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Battery status information.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Battery status information.
+
+generated from flightbatterystate.xml
+ **/
+public class FlightBatteryState extends UAVDataObject {
+
+	public FlightBatteryState() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> VoltageElemNames = new ArrayList<String>();
+		VoltageElemNames.add("0");
+		fields.add( new UAVObjectField("Voltage", "V", UAVObjectField.FieldType.FLOAT32, VoltageElemNames, null) );
+
+		List<String> CurrentElemNames = new ArrayList<String>();
+		CurrentElemNames.add("0");
+		fields.add( new UAVObjectField("Current", "A", UAVObjectField.FieldType.FLOAT32, CurrentElemNames, null) );
+
+		List<String> PeakCurrentElemNames = new ArrayList<String>();
+		PeakCurrentElemNames.add("0");
+		fields.add( new UAVObjectField("PeakCurrent", "A", UAVObjectField.FieldType.FLOAT32, PeakCurrentElemNames, null) );
+
+		List<String> AvgCurrentElemNames = new ArrayList<String>();
+		AvgCurrentElemNames.add("0");
+		fields.add( new UAVObjectField("AvgCurrent", "A", UAVObjectField.FieldType.FLOAT32, AvgCurrentElemNames, null) );
+
+		List<String> ConsumedEnergyElemNames = new ArrayList<String>();
+		ConsumedEnergyElemNames.add("0");
+		fields.add( new UAVObjectField("ConsumedEnergy", "mAh", UAVObjectField.FieldType.FLOAT32, ConsumedEnergyElemNames, null) );
+
+		List<String> EstimatedFlightTimeElemNames = new ArrayList<String>();
+		EstimatedFlightTimeElemNames.add("0");
+		fields.add( new UAVObjectField("EstimatedFlightTime", "sec", UAVObjectField.FieldType.FLOAT32, EstimatedFlightTimeElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READONLY;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("Voltage").setValue(0);
+		getField("Current").setValue(0);
+		getField("PeakCurrent").setValue(0);
+		getField("AvgCurrent").setValue(0);
+		getField("ConsumedEnergy").setValue(0);
+		getField("EstimatedFlightTime").setValue(0);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			FlightBatteryState obj = new FlightBatteryState();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public FlightBatteryState GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (FlightBatteryState)(objMngr.getObject(FlightBatteryState.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x791A50E;
+	protected static final String NAME = "FlightBatteryState";
+	protected static String DESCRIPTION = "Battery status information.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
new file mode 100644
index 000000000..2e453eda5
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
@@ -0,0 +1,144 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Control the flight plan script
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Control the flight plan script
+
+generated from flightplancontrol.xml
+ **/
+public class FlightPlanControl extends UAVDataObject {
+
+	public FlightPlanControl() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> CommandElemNames = new ArrayList<String>();
+		CommandElemNames.add("0");
+		List<String> CommandEnumOptions = new ArrayList<String>();
+		CommandEnumOptions.add("Start");
+		CommandEnumOptions.add("Stop");
+		CommandEnumOptions.add("Kill");
+		fields.add( new UAVObjectField("Command", "", UAVObjectField.FieldType.ENUM, CommandElemNames, CommandEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("Command").setValue(0);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			FlightPlanControl obj = new FlightPlanControl();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public FlightPlanControl GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (FlightPlanControl)(objMngr.getObject(FlightPlanControl.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x6B4FE6DA;
+	protected static final String NAME = "FlightPlanControl";
+	protected static String DESCRIPTION = "Control the flight plan script";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
new file mode 100644
index 000000000..383e4aff0
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
@@ -0,0 +1,140 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the flight plan module, control the execution of the script
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the flight plan module, control the execution of the script
+
+generated from flightplansettings.xml
+ **/
+public class FlightPlanSettings extends UAVDataObject {
+
+	public FlightPlanSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> TestElemNames = new ArrayList<String>();
+		TestElemNames.add("0");
+		fields.add( new UAVObjectField("Test", "", UAVObjectField.FieldType.FLOAT32, TestElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("Test").setValue(0);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			FlightPlanSettings obj = new FlightPlanSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public FlightPlanSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (FlightPlanSettings)(objMngr.getObject(FlightPlanSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x85368422;
+	protected static final String NAME = "FlightPlanSettings";
+	protected static String DESCRIPTION = "Settings for the flight plan module, control the execution of the script";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
new file mode 100644
index 000000000..00920553c
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
@@ -0,0 +1,187 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Status of the flight plan script
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Status of the flight plan script
+
+generated from flightplanstatus.xml
+ **/
+public class FlightPlanStatus extends UAVDataObject {
+
+	public FlightPlanStatus() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> StatusElemNames = new ArrayList<String>();
+		StatusElemNames.add("0");
+		List<String> StatusEnumOptions = new ArrayList<String>();
+		StatusEnumOptions.add("Stopped");
+		StatusEnumOptions.add("Running");
+		StatusEnumOptions.add("Error");
+		fields.add( new UAVObjectField("Status", "", UAVObjectField.FieldType.ENUM, StatusElemNames, StatusEnumOptions) );
+
+		List<String> ErrorTypeElemNames = new ArrayList<String>();
+		ErrorTypeElemNames.add("0");
+		List<String> ErrorTypeEnumOptions = new ArrayList<String>();
+		ErrorTypeEnumOptions.add("None");
+		ErrorTypeEnumOptions.add("VMInitError");
+		ErrorTypeEnumOptions.add("Exception");
+		ErrorTypeEnumOptions.add("IOError");
+		ErrorTypeEnumOptions.add("DivByZero");
+		ErrorTypeEnumOptions.add("AssertError");
+		ErrorTypeEnumOptions.add("AttributeError");
+		ErrorTypeEnumOptions.add("ImportError");
+		ErrorTypeEnumOptions.add("IndexError");
+		ErrorTypeEnumOptions.add("KeyError");
+		ErrorTypeEnumOptions.add("MemoryError");
+		ErrorTypeEnumOptions.add("NameError");
+		ErrorTypeEnumOptions.add("SyntaxError");
+		ErrorTypeEnumOptions.add("SystemError");
+		ErrorTypeEnumOptions.add("TypeError");
+		ErrorTypeEnumOptions.add("ValueError");
+		ErrorTypeEnumOptions.add("StopIteration");
+		ErrorTypeEnumOptions.add("Warning");
+		ErrorTypeEnumOptions.add("UnknownError");
+		fields.add( new UAVObjectField("ErrorType", "", UAVObjectField.FieldType.ENUM, ErrorTypeElemNames, ErrorTypeEnumOptions) );
+
+		List<String> ErrorFileIDElemNames = new ArrayList<String>();
+		ErrorFileIDElemNames.add("0");
+		fields.add( new UAVObjectField("ErrorFileID", "", UAVObjectField.FieldType.UINT32, ErrorFileIDElemNames, null) );
+
+		List<String> ErrorLineNumElemNames = new ArrayList<String>();
+		ErrorLineNumElemNames.add("0");
+		fields.add( new UAVObjectField("ErrorLineNum", "", UAVObjectField.FieldType.UINT32, ErrorLineNumElemNames, null) );
+
+		List<String> Debug1ElemNames = new ArrayList<String>();
+		Debug1ElemNames.add("0");
+		fields.add( new UAVObjectField("Debug1", "", UAVObjectField.FieldType.FLOAT32, Debug1ElemNames, null) );
+
+		List<String> Debug2ElemNames = new ArrayList<String>();
+		Debug2ElemNames.add("0");
+		fields.add( new UAVObjectField("Debug2", "", UAVObjectField.FieldType.FLOAT32, Debug2ElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 2000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("Status").setValue(0);
+		getField("ErrorType").setValue(0);
+		getField("Debug1").setValue(0);
+		getField("Debug2").setValue(0);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			FlightPlanStatus obj = new FlightPlanStatus();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public FlightPlanStatus GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (FlightPlanStatus)(objMngr.getObject(FlightPlanStatus.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x9FC14812;
+	protected static final String NAME = "FlightPlanStatus";
+	protected static String DESCRIPTION = "Status of the flight plan script";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
new file mode 100644
index 000000000..b58fe6d46
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
@@ -0,0 +1,164 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Maintains the telemetry statistics from the OpenPilot flight computer.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Maintains the telemetry statistics from the OpenPilot flight computer.
+
+generated from flighttelemetrystats.xml
+ **/
+public class FlightTelemetryStats extends UAVDataObject {
+
+	public FlightTelemetryStats() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> StatusElemNames = new ArrayList<String>();
+		StatusElemNames.add("0");
+		List<String> StatusEnumOptions = new ArrayList<String>();
+		StatusEnumOptions.add("Disconnected");
+		StatusEnumOptions.add("HandshakeReq");
+		StatusEnumOptions.add("HandshakeAck");
+		StatusEnumOptions.add("Connected");
+		fields.add( new UAVObjectField("Status", "", UAVObjectField.FieldType.ENUM, StatusElemNames, StatusEnumOptions) );
+
+		List<String> TxDataRateElemNames = new ArrayList<String>();
+		TxDataRateElemNames.add("0");
+		fields.add( new UAVObjectField("TxDataRate", "bytes/sec", UAVObjectField.FieldType.FLOAT32, TxDataRateElemNames, null) );
+
+		List<String> RxDataRateElemNames = new ArrayList<String>();
+		RxDataRateElemNames.add("0");
+		fields.add( new UAVObjectField("RxDataRate", "bytes/sec", UAVObjectField.FieldType.FLOAT32, RxDataRateElemNames, null) );
+
+		List<String> TxFailuresElemNames = new ArrayList<String>();
+		TxFailuresElemNames.add("0");
+		fields.add( new UAVObjectField("TxFailures", "count", UAVObjectField.FieldType.UINT32, TxFailuresElemNames, null) );
+
+		List<String> RxFailuresElemNames = new ArrayList<String>();
+		RxFailuresElemNames.add("0");
+		fields.add( new UAVObjectField("RxFailures", "count", UAVObjectField.FieldType.UINT32, RxFailuresElemNames, null) );
+
+		List<String> TxRetriesElemNames = new ArrayList<String>();
+		TxRetriesElemNames.add("0");
+		fields.add( new UAVObjectField("TxRetries", "count", UAVObjectField.FieldType.UINT32, TxRetriesElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 5000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 5000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			FlightTelemetryStats obj = new FlightTelemetryStats();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public FlightTelemetryStats GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (FlightTelemetryStats)(objMngr.getObject(FlightTelemetryStats.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x660C265E;
+	protected static final String NAME = "FlightTelemetryStats";
+	protected static String DESCRIPTION = "Maintains the telemetry statistics from the OpenPilot flight computer.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
new file mode 100644
index 000000000..0f304d45d
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
@@ -0,0 +1,164 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The telemetry statistics from the ground computer
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The telemetry statistics from the ground computer
+
+generated from gcstelemetrystats.xml
+ **/
+public class GCSTelemetryStats extends UAVDataObject {
+
+	public GCSTelemetryStats() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> StatusElemNames = new ArrayList<String>();
+		StatusElemNames.add("0");
+		List<String> StatusEnumOptions = new ArrayList<String>();
+		StatusEnumOptions.add("Disconnected");
+		StatusEnumOptions.add("HandshakeReq");
+		StatusEnumOptions.add("HandshakeAck");
+		StatusEnumOptions.add("Connected");
+		fields.add( new UAVObjectField("Status", "", UAVObjectField.FieldType.ENUM, StatusElemNames, StatusEnumOptions) );
+
+		List<String> TxDataRateElemNames = new ArrayList<String>();
+		TxDataRateElemNames.add("0");
+		fields.add( new UAVObjectField("TxDataRate", "bytes/sec", UAVObjectField.FieldType.FLOAT32, TxDataRateElemNames, null) );
+
+		List<String> RxDataRateElemNames = new ArrayList<String>();
+		RxDataRateElemNames.add("0");
+		fields.add( new UAVObjectField("RxDataRate", "bytes/sec", UAVObjectField.FieldType.FLOAT32, RxDataRateElemNames, null) );
+
+		List<String> TxFailuresElemNames = new ArrayList<String>();
+		TxFailuresElemNames.add("0");
+		fields.add( new UAVObjectField("TxFailures", "count", UAVObjectField.FieldType.UINT32, TxFailuresElemNames, null) );
+
+		List<String> RxFailuresElemNames = new ArrayList<String>();
+		RxFailuresElemNames.add("0");
+		fields.add( new UAVObjectField("RxFailures", "count", UAVObjectField.FieldType.UINT32, RxFailuresElemNames, null) );
+
+		List<String> TxRetriesElemNames = new ArrayList<String>();
+		TxRetriesElemNames.add("0");
+		fields.add( new UAVObjectField("TxRetries", "count", UAVObjectField.FieldType.UINT32, TxRetriesElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.gcsTelemetryUpdatePeriod = 5000;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			GCSTelemetryStats obj = new GCSTelemetryStats();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public GCSTelemetryStats GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (GCSTelemetryStats)(objMngr.getObject(GCSTelemetryStats.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x771E1046;
+	protected static final String NAME = "GCSTelemetryStats";
+	protected static String DESCRIPTION = "The telemetry statistics from the ground computer";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
new file mode 100644
index 000000000..889091e0e
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
@@ -0,0 +1,184 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Raw GPS data from @ref GPSModule.  Should only be used by @ref AHRSCommsModule.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Raw GPS data from @ref GPSModule.  Should only be used by @ref AHRSCommsModule.
+
+generated from gpsposition.xml
+ **/
+public class GPSPosition extends UAVDataObject {
+
+	public GPSPosition() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> StatusElemNames = new ArrayList<String>();
+		StatusElemNames.add("0");
+		List<String> StatusEnumOptions = new ArrayList<String>();
+		StatusEnumOptions.add("NoGPS");
+		StatusEnumOptions.add("NoFix");
+		StatusEnumOptions.add("Fix2D");
+		StatusEnumOptions.add("Fix3D");
+		fields.add( new UAVObjectField("Status", "", UAVObjectField.FieldType.ENUM, StatusElemNames, StatusEnumOptions) );
+
+		List<String> LatitudeElemNames = new ArrayList<String>();
+		LatitudeElemNames.add("0");
+		fields.add( new UAVObjectField("Latitude", "degrees x 10^-7", UAVObjectField.FieldType.INT32, LatitudeElemNames, null) );
+
+		List<String> LongitudeElemNames = new ArrayList<String>();
+		LongitudeElemNames.add("0");
+		fields.add( new UAVObjectField("Longitude", "degrees x 10^-7", UAVObjectField.FieldType.INT32, LongitudeElemNames, null) );
+
+		List<String> AltitudeElemNames = new ArrayList<String>();
+		AltitudeElemNames.add("0");
+		fields.add( new UAVObjectField("Altitude", "meters", UAVObjectField.FieldType.FLOAT32, AltitudeElemNames, null) );
+
+		List<String> GeoidSeparationElemNames = new ArrayList<String>();
+		GeoidSeparationElemNames.add("0");
+		fields.add( new UAVObjectField("GeoidSeparation", "meters", UAVObjectField.FieldType.FLOAT32, GeoidSeparationElemNames, null) );
+
+		List<String> HeadingElemNames = new ArrayList<String>();
+		HeadingElemNames.add("0");
+		fields.add( new UAVObjectField("Heading", "degrees", UAVObjectField.FieldType.FLOAT32, HeadingElemNames, null) );
+
+		List<String> GroundspeedElemNames = new ArrayList<String>();
+		GroundspeedElemNames.add("0");
+		fields.add( new UAVObjectField("Groundspeed", "m/s", UAVObjectField.FieldType.FLOAT32, GroundspeedElemNames, null) );
+
+		List<String> SatellitesElemNames = new ArrayList<String>();
+		SatellitesElemNames.add("0");
+		fields.add( new UAVObjectField("Satellites", "", UAVObjectField.FieldType.INT8, SatellitesElemNames, null) );
+
+		List<String> PDOPElemNames = new ArrayList<String>();
+		PDOPElemNames.add("0");
+		fields.add( new UAVObjectField("PDOP", "", UAVObjectField.FieldType.FLOAT32, PDOPElemNames, null) );
+
+		List<String> HDOPElemNames = new ArrayList<String>();
+		HDOPElemNames.add("0");
+		fields.add( new UAVObjectField("HDOP", "", UAVObjectField.FieldType.FLOAT32, HDOPElemNames, null) );
+
+		List<String> VDOPElemNames = new ArrayList<String>();
+		VDOPElemNames.add("0");
+		fields.add( new UAVObjectField("VDOP", "", UAVObjectField.FieldType.FLOAT32, VDOPElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 1000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			GPSPosition obj = new GPSPosition();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public GPSPosition GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (GPSPosition)(objMngr.getObject(GPSPosition.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xB5495042;
+	protected static final String NAME = "GPSPosition";
+	protected static String DESCRIPTION = "Raw GPS data from @ref GPSModule.  Should only be used by @ref AHRSCommsModule.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
new file mode 100644
index 000000000..fa1100207
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
@@ -0,0 +1,215 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Contains information about the GPS satellites in view from @ref GPSModule.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Contains information about the GPS satellites in view from @ref GPSModule.
+
+generated from gpssatellites.xml
+ **/
+public class GPSSatellites extends UAVDataObject {
+
+	public GPSSatellites() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> SatsInViewElemNames = new ArrayList<String>();
+		SatsInViewElemNames.add("0");
+		fields.add( new UAVObjectField("SatsInView", "", UAVObjectField.FieldType.INT8, SatsInViewElemNames, null) );
+
+		List<String> PRNElemNames = new ArrayList<String>();
+		PRNElemNames.add("0");
+		PRNElemNames.add("1");
+		PRNElemNames.add("2");
+		PRNElemNames.add("3");
+		PRNElemNames.add("4");
+		PRNElemNames.add("5");
+		PRNElemNames.add("6");
+		PRNElemNames.add("7");
+		PRNElemNames.add("8");
+		PRNElemNames.add("9");
+		PRNElemNames.add("10");
+		PRNElemNames.add("11");
+		PRNElemNames.add("12");
+		PRNElemNames.add("13");
+		PRNElemNames.add("14");
+		PRNElemNames.add("15");
+		fields.add( new UAVObjectField("PRN", "", UAVObjectField.FieldType.INT8, PRNElemNames, null) );
+
+		List<String> ElevationElemNames = new ArrayList<String>();
+		ElevationElemNames.add("0");
+		ElevationElemNames.add("1");
+		ElevationElemNames.add("2");
+		ElevationElemNames.add("3");
+		ElevationElemNames.add("4");
+		ElevationElemNames.add("5");
+		ElevationElemNames.add("6");
+		ElevationElemNames.add("7");
+		ElevationElemNames.add("8");
+		ElevationElemNames.add("9");
+		ElevationElemNames.add("10");
+		ElevationElemNames.add("11");
+		ElevationElemNames.add("12");
+		ElevationElemNames.add("13");
+		ElevationElemNames.add("14");
+		ElevationElemNames.add("15");
+		fields.add( new UAVObjectField("Elevation", "degrees", UAVObjectField.FieldType.FLOAT32, ElevationElemNames, null) );
+
+		List<String> AzimuthElemNames = new ArrayList<String>();
+		AzimuthElemNames.add("0");
+		AzimuthElemNames.add("1");
+		AzimuthElemNames.add("2");
+		AzimuthElemNames.add("3");
+		AzimuthElemNames.add("4");
+		AzimuthElemNames.add("5");
+		AzimuthElemNames.add("6");
+		AzimuthElemNames.add("7");
+		AzimuthElemNames.add("8");
+		AzimuthElemNames.add("9");
+		AzimuthElemNames.add("10");
+		AzimuthElemNames.add("11");
+		AzimuthElemNames.add("12");
+		AzimuthElemNames.add("13");
+		AzimuthElemNames.add("14");
+		AzimuthElemNames.add("15");
+		fields.add( new UAVObjectField("Azimuth", "degrees", UAVObjectField.FieldType.FLOAT32, AzimuthElemNames, null) );
+
+		List<String> SNRElemNames = new ArrayList<String>();
+		SNRElemNames.add("0");
+		SNRElemNames.add("1");
+		SNRElemNames.add("2");
+		SNRElemNames.add("3");
+		SNRElemNames.add("4");
+		SNRElemNames.add("5");
+		SNRElemNames.add("6");
+		SNRElemNames.add("7");
+		SNRElemNames.add("8");
+		SNRElemNames.add("9");
+		SNRElemNames.add("10");
+		SNRElemNames.add("11");
+		SNRElemNames.add("12");
+		SNRElemNames.add("13");
+		SNRElemNames.add("14");
+		SNRElemNames.add("15");
+		fields.add( new UAVObjectField("SNR", "", UAVObjectField.FieldType.INT8, SNRElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 10000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 30000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			GPSSatellites obj = new GPSSatellites();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public GPSSatellites GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (GPSSatellites)(objMngr.getObject(GPSSatellites.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xD62FA3AE;
+	protected static final String NAME = "GPSSatellites";
+	protected static String DESCRIPTION = "Contains information about the GPS satellites in view from @ref GPSModule.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
new file mode 100644
index 000000000..5ff55cc2e
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
@@ -0,0 +1,159 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Contains the GPS time from @ref GPSModule.  Required to compute the world magnetic model correctly when setting the home location.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Contains the GPS time from @ref GPSModule.  Required to compute the world magnetic model correctly when setting the home location.
+
+generated from gpstime.xml
+ **/
+public class GPSTime extends UAVDataObject {
+
+	public GPSTime() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> MonthElemNames = new ArrayList<String>();
+		MonthElemNames.add("0");
+		fields.add( new UAVObjectField("Month", "", UAVObjectField.FieldType.INT8, MonthElemNames, null) );
+
+		List<String> DayElemNames = new ArrayList<String>();
+		DayElemNames.add("0");
+		fields.add( new UAVObjectField("Day", "", UAVObjectField.FieldType.INT8, DayElemNames, null) );
+
+		List<String> YearElemNames = new ArrayList<String>();
+		YearElemNames.add("0");
+		fields.add( new UAVObjectField("Year", "", UAVObjectField.FieldType.INT16, YearElemNames, null) );
+
+		List<String> HourElemNames = new ArrayList<String>();
+		HourElemNames.add("0");
+		fields.add( new UAVObjectField("Hour", "", UAVObjectField.FieldType.INT8, HourElemNames, null) );
+
+		List<String> MinuteElemNames = new ArrayList<String>();
+		MinuteElemNames.add("0");
+		fields.add( new UAVObjectField("Minute", "", UAVObjectField.FieldType.INT8, MinuteElemNames, null) );
+
+		List<String> SecondElemNames = new ArrayList<String>();
+		SecondElemNames.add("0");
+		fields.add( new UAVObjectField("Second", "", UAVObjectField.FieldType.INT8, SecondElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 10000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 30000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			GPSTime obj = new GPSTime();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public GPSTime GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (GPSTime)(objMngr.getObject(GPSTime.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x56FFF0A2;
+	protected static final String NAME = "GPSTime";
+	protected static String DESCRIPTION = "Contains the GPS time from @ref GPSModule.  Required to compute the world magnetic model correctly when setting the home location.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
new file mode 100644
index 000000000..2cde12f64
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
@@ -0,0 +1,197 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the @ref GuidanceModule
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the @ref GuidanceModule
+
+generated from guidancesettings.xml
+ **/
+public class GuidanceSettings extends UAVDataObject {
+
+	public GuidanceSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> GuidanceModeElemNames = new ArrayList<String>();
+		GuidanceModeElemNames.add("0");
+		List<String> GuidanceModeEnumOptions = new ArrayList<String>();
+		GuidanceModeEnumOptions.add("DUAL_LOOP");
+		GuidanceModeEnumOptions.add("VELOCITY_CONTROL");
+		fields.add( new UAVObjectField("GuidanceMode", "", UAVObjectField.FieldType.ENUM, GuidanceModeElemNames, GuidanceModeEnumOptions) );
+
+		List<String> HorizontalPElemNames = new ArrayList<String>();
+		HorizontalPElemNames.add("Kp");
+		HorizontalPElemNames.add("Max");
+		fields.add( new UAVObjectField("HorizontalP", "", UAVObjectField.FieldType.FLOAT32, HorizontalPElemNames, null) );
+
+		List<String> HorizontalVelPIDElemNames = new ArrayList<String>();
+		HorizontalVelPIDElemNames.add("Kp");
+		HorizontalVelPIDElemNames.add("Ki");
+		HorizontalVelPIDElemNames.add("Kd");
+		HorizontalVelPIDElemNames.add("ILimit");
+		fields.add( new UAVObjectField("HorizontalVelPID", "", UAVObjectField.FieldType.FLOAT32, HorizontalVelPIDElemNames, null) );
+
+		List<String> VerticalPElemNames = new ArrayList<String>();
+		VerticalPElemNames.add("Kp");
+		VerticalPElemNames.add("Max");
+		fields.add( new UAVObjectField("VerticalP", "", UAVObjectField.FieldType.FLOAT32, VerticalPElemNames, null) );
+
+		List<String> VerticalVelPIDElemNames = new ArrayList<String>();
+		VerticalVelPIDElemNames.add("Kp");
+		VerticalVelPIDElemNames.add("Ki");
+		VerticalVelPIDElemNames.add("Kd");
+		VerticalVelPIDElemNames.add("ILimit");
+		fields.add( new UAVObjectField("VerticalVelPID", "", UAVObjectField.FieldType.FLOAT32, VerticalVelPIDElemNames, null) );
+
+		List<String> ThrottleControlElemNames = new ArrayList<String>();
+		ThrottleControlElemNames.add("0");
+		List<String> ThrottleControlEnumOptions = new ArrayList<String>();
+		ThrottleControlEnumOptions.add("FALSE");
+		ThrottleControlEnumOptions.add("TRUE");
+		fields.add( new UAVObjectField("ThrottleControl", "", UAVObjectField.FieldType.ENUM, ThrottleControlElemNames, ThrottleControlEnumOptions) );
+
+		List<String> MaxRollPitchElemNames = new ArrayList<String>();
+		MaxRollPitchElemNames.add("0");
+		fields.add( new UAVObjectField("MaxRollPitch", "deg", UAVObjectField.FieldType.FLOAT32, MaxRollPitchElemNames, null) );
+
+		List<String> UpdatePeriodElemNames = new ArrayList<String>();
+		UpdatePeriodElemNames.add("0");
+		fields.add( new UAVObjectField("UpdatePeriod", "", UAVObjectField.FieldType.INT32, UpdatePeriodElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("GuidanceMode").setValue(0);
+		getField("HorizontalP").setValue(0.2,0);
+		getField("HorizontalP").setValue(150,1);
+		getField("HorizontalVelPID").setValue(0.1,0);
+		getField("HorizontalVelPID").setValue(0.002,1);
+		getField("HorizontalVelPID").setValue(0,2);
+		getField("HorizontalVelPID").setValue(1000,3);
+		getField("VerticalP").setValue(0.1,0);
+		getField("VerticalP").setValue(200,1);
+		getField("VerticalVelPID").setValue(0.1,0);
+		getField("VerticalVelPID").setValue(0,1);
+		getField("VerticalVelPID").setValue(0,2);
+		getField("VerticalVelPID").setValue(0,3);
+		getField("ThrottleControl").setValue(0);
+		getField("MaxRollPitch").setValue(10);
+		getField("UpdatePeriod").setValue(100);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			GuidanceSettings obj = new GuidanceSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public GuidanceSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (GuidanceSettings)(objMngr.getObject(GuidanceSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x74740AA2;
+	protected static final String NAME = "GuidanceSettings";
+	protected static String DESCRIPTION = "Settings for the @ref GuidanceModule";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
new file mode 100644
index 000000000..2adebce70
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
@@ -0,0 +1,197 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             HomeLocation setting which contains the constants to tranlate from longitutde and latitude to NED reference frame.  Automatically set by @ref GPSModule after acquiring a 3D lock.  Used by @ref AHRSCommsModule.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+HomeLocation setting which contains the constants to tranlate from longitutde and latitude to NED reference frame.  Automatically set by @ref GPSModule after acquiring a 3D lock.  Used by @ref AHRSCommsModule.
+
+generated from homelocation.xml
+ **/
+public class HomeLocation extends UAVDataObject {
+
+	public HomeLocation() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> SetElemNames = new ArrayList<String>();
+		SetElemNames.add("0");
+		List<String> SetEnumOptions = new ArrayList<String>();
+		SetEnumOptions.add("FALSE");
+		SetEnumOptions.add("TRUE");
+		fields.add( new UAVObjectField("Set", "", UAVObjectField.FieldType.ENUM, SetElemNames, SetEnumOptions) );
+
+		List<String> LatitudeElemNames = new ArrayList<String>();
+		LatitudeElemNames.add("0");
+		fields.add( new UAVObjectField("Latitude", "deg * 10e6", UAVObjectField.FieldType.INT32, LatitudeElemNames, null) );
+
+		List<String> LongitudeElemNames = new ArrayList<String>();
+		LongitudeElemNames.add("0");
+		fields.add( new UAVObjectField("Longitude", "deg * 10e6", UAVObjectField.FieldType.INT32, LongitudeElemNames, null) );
+
+		List<String> AltitudeElemNames = new ArrayList<String>();
+		AltitudeElemNames.add("0");
+		fields.add( new UAVObjectField("Altitude", "m over geoid", UAVObjectField.FieldType.FLOAT32, AltitudeElemNames, null) );
+
+		List<String> ECEFElemNames = new ArrayList<String>();
+		ECEFElemNames.add("0");
+		ECEFElemNames.add("1");
+		ECEFElemNames.add("2");
+		fields.add( new UAVObjectField("ECEF", "cm", UAVObjectField.FieldType.INT32, ECEFElemNames, null) );
+
+		List<String> RNEElemNames = new ArrayList<String>();
+		RNEElemNames.add("0");
+		RNEElemNames.add("1");
+		RNEElemNames.add("2");
+		RNEElemNames.add("3");
+		RNEElemNames.add("4");
+		RNEElemNames.add("5");
+		RNEElemNames.add("6");
+		RNEElemNames.add("7");
+		RNEElemNames.add("8");
+		fields.add( new UAVObjectField("RNE", "", UAVObjectField.FieldType.FLOAT32, RNEElemNames, null) );
+
+		List<String> BeElemNames = new ArrayList<String>();
+		BeElemNames.add("0");
+		BeElemNames.add("1");
+		BeElemNames.add("2");
+		fields.add( new UAVObjectField("Be", "", UAVObjectField.FieldType.FLOAT32, BeElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("Set").setValue(0);
+		getField("Latitude").setValue(0);
+		getField("Longitude").setValue(0);
+		getField("Altitude").setValue(0);
+		getField("ECEF").setValue(0,0);
+		getField("ECEF").setValue(0,1);
+		getField("ECEF").setValue(0,2);
+		getField("RNE").setValue(0,0);
+		getField("RNE").setValue(0,1);
+		getField("RNE").setValue(0,2);
+		getField("RNE").setValue(0,3);
+		getField("RNE").setValue(0,4);
+		getField("RNE").setValue(0,5);
+		getField("RNE").setValue(0,6);
+		getField("RNE").setValue(0,7);
+		getField("RNE").setValue(0,8);
+		getField("Be").setValue(0,0);
+		getField("Be").setValue(0,1);
+		getField("Be").setValue(0,2);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			HomeLocation obj = new HomeLocation();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public HomeLocation GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (HomeLocation)(objMngr.getObject(HomeLocation.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xD6008ED2;
+	protected static final String NAME = "HomeLocation";
+	protected static String DESCRIPTION = "HomeLocation setting which contains the constants to tranlate from longitutde and latitude to NED reference frame.  Automatically set by @ref GPSModule after acquiring a 3D lock.  Used by @ref AHRSCommsModule.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
new file mode 100644
index 000000000..fc68e2902
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
@@ -0,0 +1,238 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Tracks statistics on the I2C bus.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Tracks statistics on the I2C bus.
+
+generated from i2cstats.xml
+ **/
+public class I2CStats extends UAVDataObject {
+
+	public I2CStats() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> event_errorsElemNames = new ArrayList<String>();
+		event_errorsElemNames.add("0");
+		fields.add( new UAVObjectField("event_errors", "", UAVObjectField.FieldType.UINT8, event_errorsElemNames, null) );
+
+		List<String> fsm_errorsElemNames = new ArrayList<String>();
+		fsm_errorsElemNames.add("0");
+		fields.add( new UAVObjectField("fsm_errors", "", UAVObjectField.FieldType.UINT8, fsm_errorsElemNames, null) );
+
+		List<String> irq_errorsElemNames = new ArrayList<String>();
+		irq_errorsElemNames.add("0");
+		fields.add( new UAVObjectField("irq_errors", "", UAVObjectField.FieldType.UINT8, irq_errorsElemNames, null) );
+
+		List<String> nacksElemNames = new ArrayList<String>();
+		nacksElemNames.add("0");
+		fields.add( new UAVObjectField("nacks", "", UAVObjectField.FieldType.UINT8, nacksElemNames, null) );
+
+		List<String> timeoutsElemNames = new ArrayList<String>();
+		timeoutsElemNames.add("0");
+		fields.add( new UAVObjectField("timeouts", "", UAVObjectField.FieldType.UINT8, timeoutsElemNames, null) );
+
+		List<String> last_error_typeElemNames = new ArrayList<String>();
+		last_error_typeElemNames.add("0");
+		List<String> last_error_typeEnumOptions = new ArrayList<String>();
+		last_error_typeEnumOptions.add("EVENT");
+		last_error_typeEnumOptions.add("FSM");
+		last_error_typeEnumOptions.add("INTERRUPT");
+		fields.add( new UAVObjectField("last_error_type", "", UAVObjectField.FieldType.ENUM, last_error_typeElemNames, last_error_typeEnumOptions) );
+
+		List<String> evirq_logElemNames = new ArrayList<String>();
+		evirq_logElemNames.add("0");
+		evirq_logElemNames.add("1");
+		evirq_logElemNames.add("2");
+		evirq_logElemNames.add("3");
+		evirq_logElemNames.add("4");
+		fields.add( new UAVObjectField("evirq_log", "", UAVObjectField.FieldType.UINT32, evirq_logElemNames, null) );
+
+		List<String> erirq_logElemNames = new ArrayList<String>();
+		erirq_logElemNames.add("0");
+		erirq_logElemNames.add("1");
+		erirq_logElemNames.add("2");
+		erirq_logElemNames.add("3");
+		erirq_logElemNames.add("4");
+		fields.add( new UAVObjectField("erirq_log", "", UAVObjectField.FieldType.UINT32, erirq_logElemNames, null) );
+
+		List<String> event_logElemNames = new ArrayList<String>();
+		event_logElemNames.add("0");
+		event_logElemNames.add("1");
+		event_logElemNames.add("2");
+		event_logElemNames.add("3");
+		event_logElemNames.add("4");
+		List<String> event_logEnumOptions = new ArrayList<String>();
+		event_logEnumOptions.add("I2C_EVENT_BUS_ERROR");
+		event_logEnumOptions.add("I2C_EVENT_START");
+		event_logEnumOptions.add("I2C_EVENT_STARTED_MORE_TXN_READ");
+		event_logEnumOptions.add("I2C_EVENT_STARTED_MORE_TXN_WRITE");
+		event_logEnumOptions.add("I2C_EVENT_STARTED_LAST_TXN_READ");
+		event_logEnumOptions.add("I2C_EVENT_STARTED_LAST_TXN_WRITE");
+		event_logEnumOptions.add("I2C_EVENT_ADDR_SENT_LEN_EQ_0");
+		event_logEnumOptions.add("I2C_EVENT_ADDR_SENT_LEN_EQ_1");
+		event_logEnumOptions.add("I2C_EVENT_ADDR_SENT_LEN_EQ_2");
+		event_logEnumOptions.add("I2C_EVENT_ADDR_SENT_LEN_GT_2");
+		event_logEnumOptions.add("I2C_EVENT_TRANSFER_DONE_LEN_EQ_0");
+		event_logEnumOptions.add("I2C_EVENT_TRANSFER_DONE_LEN_EQ_1");
+		event_logEnumOptions.add("I2C_EVENT_TRANSFER_DONE_LEN_EQ_2");
+		event_logEnumOptions.add("I2C_EVENT_TRANSFER_DONE_LEN_GT_2");
+		event_logEnumOptions.add("I2C_EVENT_NACK");
+		event_logEnumOptions.add("I2C_EVENT_STOPPED");
+		event_logEnumOptions.add("I2C_EVENT_AUTO");
+		fields.add( new UAVObjectField("event_log", "", UAVObjectField.FieldType.ENUM, event_logElemNames, event_logEnumOptions) );
+
+		List<String> state_logElemNames = new ArrayList<String>();
+		state_logElemNames.add("0");
+		state_logElemNames.add("1");
+		state_logElemNames.add("2");
+		state_logElemNames.add("3");
+		state_logElemNames.add("4");
+		List<String> state_logEnumOptions = new ArrayList<String>();
+		state_logEnumOptions.add("I2C_STATE_FSM_FAULT");
+		state_logEnumOptions.add("I2C_STATE_BUS_ERROR");
+		state_logEnumOptions.add("I2C_STATE_STOPPED");
+		state_logEnumOptions.add("I2C_STATE_STOPPING");
+		state_logEnumOptions.add("I2C_STATE_STARTING");
+		state_logEnumOptions.add("I2C_STATE_R_MORE_TXN_ADDR");
+		state_logEnumOptions.add("I2C_STATE_R_MORE_TXN_PRE_ONE");
+		state_logEnumOptions.add("I2C_STATE_R_MORE_TXN_PRE_FIRST");
+		state_logEnumOptions.add("I2C_STATE_R_MORE_TXN_PRE_MIDDLE");
+		state_logEnumOptions.add("I2C_STATE_R_MORE_TXN_LAST");
+		state_logEnumOptions.add("I2C_STATE_R_MORE_TXN_POST_LAST");
+		state_logEnumOptions.add("R_LAST_TXN_ADDR");
+		state_logEnumOptions.add("I2C_STATE_R_LAST_TXN_PRE_ONE");
+		state_logEnumOptions.add("I2C_STATE_R_LAST_TXN_PRE_FIRST");
+		state_logEnumOptions.add("I2C_STATE_R_LAST_TXN_PRE_MIDDLE");
+		state_logEnumOptions.add("I2C_STATE_R_LAST_TXN_PRE_LAST");
+		state_logEnumOptions.add("I2C_STATE_R_LAST_TXN_POST_LAST");
+		state_logEnumOptions.add("I2C_STATE_W_MORE_TXN_ADDR");
+		state_logEnumOptions.add("I2C_STATE_W_MORE_TXN_MIDDLE");
+		state_logEnumOptions.add("I2C_STATE_W_MORE_TXN_LAST");
+		state_logEnumOptions.add("I2C_STATE_W_LAST_TXN_ADDR");
+		state_logEnumOptions.add("I2C_STATE_W_LAST_TXN_MIDDLE");
+		state_logEnumOptions.add("I2C_STATE_W_LAST_TXN_LAST");
+		state_logEnumOptions.add("I2C_STATE_NACK");
+		fields.add( new UAVObjectField("state_log", "", UAVObjectField.FieldType.ENUM, state_logElemNames, state_logEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 10000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 30000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			I2CStats obj = new I2CStats();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public I2CStats GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (I2CStats)(objMngr.getObject(I2CStats.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x23CE9E9C;
+	protected static final String NAME = "I2CStats";
+	protected static String DESCRIPTION = "Tracks statistics on the I2C bus.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
new file mode 100644
index 000000000..636f30946
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
@@ -0,0 +1,199 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The output from the @ref ManualControlModule which descodes the receiver inputs.  Overriden by GCS for fly-by-wire control.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The output from the @ref ManualControlModule which descodes the receiver inputs.  Overriden by GCS for fly-by-wire control.
+
+generated from manualcontrolcommand.xml
+ **/
+public class ManualControlCommand extends UAVDataObject {
+
+	public ManualControlCommand() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> ConnectedElemNames = new ArrayList<String>();
+		ConnectedElemNames.add("0");
+		List<String> ConnectedEnumOptions = new ArrayList<String>();
+		ConnectedEnumOptions.add("False");
+		ConnectedEnumOptions.add("True");
+		fields.add( new UAVObjectField("Connected", "", UAVObjectField.FieldType.ENUM, ConnectedElemNames, ConnectedEnumOptions) );
+
+		List<String> ArmedElemNames = new ArrayList<String>();
+		ArmedElemNames.add("0");
+		List<String> ArmedEnumOptions = new ArrayList<String>();
+		ArmedEnumOptions.add("False");
+		ArmedEnumOptions.add("True");
+		fields.add( new UAVObjectField("Armed", "", UAVObjectField.FieldType.ENUM, ArmedElemNames, ArmedEnumOptions) );
+
+		List<String> RollElemNames = new ArrayList<String>();
+		RollElemNames.add("0");
+		fields.add( new UAVObjectField("Roll", "%", UAVObjectField.FieldType.FLOAT32, RollElemNames, null) );
+
+		List<String> PitchElemNames = new ArrayList<String>();
+		PitchElemNames.add("0");
+		fields.add( new UAVObjectField("Pitch", "%", UAVObjectField.FieldType.FLOAT32, PitchElemNames, null) );
+
+		List<String> YawElemNames = new ArrayList<String>();
+		YawElemNames.add("0");
+		fields.add( new UAVObjectField("Yaw", "%", UAVObjectField.FieldType.FLOAT32, YawElemNames, null) );
+
+		List<String> ThrottleElemNames = new ArrayList<String>();
+		ThrottleElemNames.add("0");
+		fields.add( new UAVObjectField("Throttle", "%", UAVObjectField.FieldType.FLOAT32, ThrottleElemNames, null) );
+
+		List<String> FlightModeElemNames = new ArrayList<String>();
+		FlightModeElemNames.add("0");
+		List<String> FlightModeEnumOptions = new ArrayList<String>();
+		FlightModeEnumOptions.add("Manual");
+		FlightModeEnumOptions.add("Stabilized1");
+		FlightModeEnumOptions.add("Stabilized2");
+		FlightModeEnumOptions.add("Stabilized3");
+		FlightModeEnumOptions.add("VelocityControl");
+		FlightModeEnumOptions.add("PositionHold");
+		fields.add( new UAVObjectField("FlightMode", "", UAVObjectField.FieldType.ENUM, FlightModeElemNames, FlightModeEnumOptions) );
+
+		List<String> Accessory1ElemNames = new ArrayList<String>();
+		Accessory1ElemNames.add("0");
+		fields.add( new UAVObjectField("Accessory1", "%", UAVObjectField.FieldType.FLOAT32, Accessory1ElemNames, null) );
+
+		List<String> Accessory2ElemNames = new ArrayList<String>();
+		Accessory2ElemNames.add("0");
+		fields.add( new UAVObjectField("Accessory2", "%", UAVObjectField.FieldType.FLOAT32, Accessory2ElemNames, null) );
+
+		List<String> Accessory3ElemNames = new ArrayList<String>();
+		Accessory3ElemNames.add("0");
+		fields.add( new UAVObjectField("Accessory3", "%", UAVObjectField.FieldType.FLOAT32, Accessory3ElemNames, null) );
+
+		List<String> ChannelElemNames = new ArrayList<String>();
+		ChannelElemNames.add("0");
+		ChannelElemNames.add("1");
+		ChannelElemNames.add("2");
+		ChannelElemNames.add("3");
+		ChannelElemNames.add("4");
+		ChannelElemNames.add("5");
+		ChannelElemNames.add("6");
+		ChannelElemNames.add("7");
+		fields.add( new UAVObjectField("Channel", "us", UAVObjectField.FieldType.UINT16, ChannelElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 2000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			ManualControlCommand obj = new ManualControlCommand();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public ManualControlCommand GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (ManualControlCommand)(objMngr.getObject(ManualControlCommand.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x926794;
+	protected static final String NAME = "ManualControlCommand";
+	protected static String DESCRIPTION = "The output from the @ref ManualControlModule which descodes the receiver inputs.  Overriden by GCS for fly-by-wire control.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
new file mode 100644
index 000000000..c14aef758
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
@@ -0,0 +1,395 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings to indicate how to decode receiver input by @ref ManualControlModule.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings to indicate how to decode receiver input by @ref ManualControlModule.
+
+generated from manualcontrolsettings.xml
+ **/
+public class ManualControlSettings extends UAVDataObject {
+
+	public ManualControlSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> InputModeElemNames = new ArrayList<String>();
+		InputModeElemNames.add("0");
+		List<String> InputModeEnumOptions = new ArrayList<String>();
+		InputModeEnumOptions.add("PWM");
+		InputModeEnumOptions.add("PPM");
+		InputModeEnumOptions.add("Spektrum");
+		fields.add( new UAVObjectField("InputMode", "", UAVObjectField.FieldType.ENUM, InputModeElemNames, InputModeEnumOptions) );
+
+		List<String> RollElemNames = new ArrayList<String>();
+		RollElemNames.add("0");
+		List<String> RollEnumOptions = new ArrayList<String>();
+		RollEnumOptions.add("Channel1");
+		RollEnumOptions.add("Channel2");
+		RollEnumOptions.add("Channel3");
+		RollEnumOptions.add("Channel4");
+		RollEnumOptions.add("Channel5");
+		RollEnumOptions.add("Channel6");
+		RollEnumOptions.add("Channel7");
+		RollEnumOptions.add("Channel8");
+		RollEnumOptions.add("None");
+		fields.add( new UAVObjectField("Roll", "channel", UAVObjectField.FieldType.ENUM, RollElemNames, RollEnumOptions) );
+
+		List<String> PitchElemNames = new ArrayList<String>();
+		PitchElemNames.add("0");
+		List<String> PitchEnumOptions = new ArrayList<String>();
+		PitchEnumOptions.add("Channel1");
+		PitchEnumOptions.add("Channel2");
+		PitchEnumOptions.add("Channel3");
+		PitchEnumOptions.add("Channel4");
+		PitchEnumOptions.add("Channel5");
+		PitchEnumOptions.add("Channel6");
+		PitchEnumOptions.add("Channel7");
+		PitchEnumOptions.add("Channel8");
+		PitchEnumOptions.add("None");
+		fields.add( new UAVObjectField("Pitch", "channel", UAVObjectField.FieldType.ENUM, PitchElemNames, PitchEnumOptions) );
+
+		List<String> YawElemNames = new ArrayList<String>();
+		YawElemNames.add("0");
+		List<String> YawEnumOptions = new ArrayList<String>();
+		YawEnumOptions.add("Channel1");
+		YawEnumOptions.add("Channel2");
+		YawEnumOptions.add("Channel3");
+		YawEnumOptions.add("Channel4");
+		YawEnumOptions.add("Channel5");
+		YawEnumOptions.add("Channel6");
+		YawEnumOptions.add("Channel7");
+		YawEnumOptions.add("Channel8");
+		YawEnumOptions.add("None");
+		fields.add( new UAVObjectField("Yaw", "channel", UAVObjectField.FieldType.ENUM, YawElemNames, YawEnumOptions) );
+
+		List<String> ThrottleElemNames = new ArrayList<String>();
+		ThrottleElemNames.add("0");
+		List<String> ThrottleEnumOptions = new ArrayList<String>();
+		ThrottleEnumOptions.add("Channel1");
+		ThrottleEnumOptions.add("Channel2");
+		ThrottleEnumOptions.add("Channel3");
+		ThrottleEnumOptions.add("Channel4");
+		ThrottleEnumOptions.add("Channel5");
+		ThrottleEnumOptions.add("Channel6");
+		ThrottleEnumOptions.add("Channel7");
+		ThrottleEnumOptions.add("Channel8");
+		ThrottleEnumOptions.add("None");
+		fields.add( new UAVObjectField("Throttle", "channel", UAVObjectField.FieldType.ENUM, ThrottleElemNames, ThrottleEnumOptions) );
+
+		List<String> FlightModeElemNames = new ArrayList<String>();
+		FlightModeElemNames.add("0");
+		List<String> FlightModeEnumOptions = new ArrayList<String>();
+		FlightModeEnumOptions.add("Channel1");
+		FlightModeEnumOptions.add("Channel2");
+		FlightModeEnumOptions.add("Channel3");
+		FlightModeEnumOptions.add("Channel4");
+		FlightModeEnumOptions.add("Channel5");
+		FlightModeEnumOptions.add("Channel6");
+		FlightModeEnumOptions.add("Channel7");
+		FlightModeEnumOptions.add("Channel8");
+		FlightModeEnumOptions.add("None");
+		fields.add( new UAVObjectField("FlightMode", "channel", UAVObjectField.FieldType.ENUM, FlightModeElemNames, FlightModeEnumOptions) );
+
+		List<String> Accessory1ElemNames = new ArrayList<String>();
+		Accessory1ElemNames.add("0");
+		List<String> Accessory1EnumOptions = new ArrayList<String>();
+		Accessory1EnumOptions.add("Channel1");
+		Accessory1EnumOptions.add("Channel2");
+		Accessory1EnumOptions.add("Channel3");
+		Accessory1EnumOptions.add("Channel4");
+		Accessory1EnumOptions.add("Channel5");
+		Accessory1EnumOptions.add("Channel6");
+		Accessory1EnumOptions.add("Channel7");
+		Accessory1EnumOptions.add("Channel8");
+		Accessory1EnumOptions.add("None");
+		fields.add( new UAVObjectField("Accessory1", "channel", UAVObjectField.FieldType.ENUM, Accessory1ElemNames, Accessory1EnumOptions) );
+
+		List<String> Accessory2ElemNames = new ArrayList<String>();
+		Accessory2ElemNames.add("0");
+		List<String> Accessory2EnumOptions = new ArrayList<String>();
+		Accessory2EnumOptions.add("Channel1");
+		Accessory2EnumOptions.add("Channel2");
+		Accessory2EnumOptions.add("Channel3");
+		Accessory2EnumOptions.add("Channel4");
+		Accessory2EnumOptions.add("Channel5");
+		Accessory2EnumOptions.add("Channel6");
+		Accessory2EnumOptions.add("Channel7");
+		Accessory2EnumOptions.add("Channel8");
+		Accessory2EnumOptions.add("None");
+		fields.add( new UAVObjectField("Accessory2", "channel", UAVObjectField.FieldType.ENUM, Accessory2ElemNames, Accessory2EnumOptions) );
+
+		List<String> Accessory3ElemNames = new ArrayList<String>();
+		Accessory3ElemNames.add("0");
+		List<String> Accessory3EnumOptions = new ArrayList<String>();
+		Accessory3EnumOptions.add("Channel1");
+		Accessory3EnumOptions.add("Channel2");
+		Accessory3EnumOptions.add("Channel3");
+		Accessory3EnumOptions.add("Channel4");
+		Accessory3EnumOptions.add("Channel5");
+		Accessory3EnumOptions.add("Channel6");
+		Accessory3EnumOptions.add("Channel7");
+		Accessory3EnumOptions.add("Channel8");
+		Accessory3EnumOptions.add("None");
+		fields.add( new UAVObjectField("Accessory3", "channel", UAVObjectField.FieldType.ENUM, Accessory3ElemNames, Accessory3EnumOptions) );
+
+		List<String> ArmingElemNames = new ArrayList<String>();
+		ArmingElemNames.add("0");
+		List<String> ArmingEnumOptions = new ArrayList<String>();
+		ArmingEnumOptions.add("Always Disarmed");
+		ArmingEnumOptions.add("Always Armed");
+		ArmingEnumOptions.add("Roll Left");
+		ArmingEnumOptions.add("Roll Right");
+		ArmingEnumOptions.add("Pitch Forward");
+		ArmingEnumOptions.add("Pitch Aft");
+		ArmingEnumOptions.add("Yaw Left");
+		ArmingEnumOptions.add("Yaw Right");
+		fields.add( new UAVObjectField("Arming", "", UAVObjectField.FieldType.ENUM, ArmingElemNames, ArmingEnumOptions) );
+
+		List<String> Stabilization1SettingsElemNames = new ArrayList<String>();
+		Stabilization1SettingsElemNames.add("Roll");
+		Stabilization1SettingsElemNames.add("Pitch");
+		Stabilization1SettingsElemNames.add("Yaw");
+		List<String> Stabilization1SettingsEnumOptions = new ArrayList<String>();
+		Stabilization1SettingsEnumOptions.add("None");
+		Stabilization1SettingsEnumOptions.add("Rate");
+		Stabilization1SettingsEnumOptions.add("Attitude");
+		fields.add( new UAVObjectField("Stabilization1Settings", "", UAVObjectField.FieldType.ENUM, Stabilization1SettingsElemNames, Stabilization1SettingsEnumOptions) );
+
+		List<String> Stabilization2SettingsElemNames = new ArrayList<String>();
+		Stabilization2SettingsElemNames.add("Roll");
+		Stabilization2SettingsElemNames.add("Pitch");
+		Stabilization2SettingsElemNames.add("Yaw");
+		List<String> Stabilization2SettingsEnumOptions = new ArrayList<String>();
+		Stabilization2SettingsEnumOptions.add("None");
+		Stabilization2SettingsEnumOptions.add("Rate");
+		Stabilization2SettingsEnumOptions.add("Attitude");
+		fields.add( new UAVObjectField("Stabilization2Settings", "", UAVObjectField.FieldType.ENUM, Stabilization2SettingsElemNames, Stabilization2SettingsEnumOptions) );
+
+		List<String> Stabilization3SettingsElemNames = new ArrayList<String>();
+		Stabilization3SettingsElemNames.add("Roll");
+		Stabilization3SettingsElemNames.add("Pitch");
+		Stabilization3SettingsElemNames.add("Yaw");
+		List<String> Stabilization3SettingsEnumOptions = new ArrayList<String>();
+		Stabilization3SettingsEnumOptions.add("None");
+		Stabilization3SettingsEnumOptions.add("Rate");
+		Stabilization3SettingsEnumOptions.add("Attitude");
+		fields.add( new UAVObjectField("Stabilization3Settings", "", UAVObjectField.FieldType.ENUM, Stabilization3SettingsElemNames, Stabilization3SettingsEnumOptions) );
+
+		List<String> FlightModePositionElemNames = new ArrayList<String>();
+		FlightModePositionElemNames.add("0");
+		FlightModePositionElemNames.add("1");
+		FlightModePositionElemNames.add("2");
+		List<String> FlightModePositionEnumOptions = new ArrayList<String>();
+		FlightModePositionEnumOptions.add("Manual");
+		FlightModePositionEnumOptions.add("Stabilized1");
+		FlightModePositionEnumOptions.add("Stabilized2");
+		FlightModePositionEnumOptions.add("Stabilized3");
+		FlightModePositionEnumOptions.add("VelocityControl");
+		FlightModePositionEnumOptions.add("PositionHold");
+		fields.add( new UAVObjectField("FlightModePosition", "", UAVObjectField.FieldType.ENUM, FlightModePositionElemNames, FlightModePositionEnumOptions) );
+
+		List<String> ChannelMaxElemNames = new ArrayList<String>();
+		ChannelMaxElemNames.add("0");
+		ChannelMaxElemNames.add("1");
+		ChannelMaxElemNames.add("2");
+		ChannelMaxElemNames.add("3");
+		ChannelMaxElemNames.add("4");
+		ChannelMaxElemNames.add("5");
+		ChannelMaxElemNames.add("6");
+		ChannelMaxElemNames.add("7");
+		fields.add( new UAVObjectField("ChannelMax", "us", UAVObjectField.FieldType.INT16, ChannelMaxElemNames, null) );
+
+		List<String> ChannelNeutralElemNames = new ArrayList<String>();
+		ChannelNeutralElemNames.add("0");
+		ChannelNeutralElemNames.add("1");
+		ChannelNeutralElemNames.add("2");
+		ChannelNeutralElemNames.add("3");
+		ChannelNeutralElemNames.add("4");
+		ChannelNeutralElemNames.add("5");
+		ChannelNeutralElemNames.add("6");
+		ChannelNeutralElemNames.add("7");
+		fields.add( new UAVObjectField("ChannelNeutral", "us", UAVObjectField.FieldType.INT16, ChannelNeutralElemNames, null) );
+
+		List<String> ChannelMinElemNames = new ArrayList<String>();
+		ChannelMinElemNames.add("0");
+		ChannelMinElemNames.add("1");
+		ChannelMinElemNames.add("2");
+		ChannelMinElemNames.add("3");
+		ChannelMinElemNames.add("4");
+		ChannelMinElemNames.add("5");
+		ChannelMinElemNames.add("6");
+		ChannelMinElemNames.add("7");
+		fields.add( new UAVObjectField("ChannelMin", "us", UAVObjectField.FieldType.INT16, ChannelMinElemNames, null) );
+
+		List<String> ArmedTimeoutElemNames = new ArrayList<String>();
+		ArmedTimeoutElemNames.add("0");
+		fields.add( new UAVObjectField("ArmedTimeout", "ms", UAVObjectField.FieldType.UINT16, ArmedTimeoutElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("InputMode").setValue(0);
+		getField("Roll").setValue(0);
+		getField("Pitch").setValue(1);
+		getField("Yaw").setValue(2);
+		getField("Throttle").setValue(3);
+		getField("FlightMode").setValue(4);
+		getField("Accessory1").setValue(8);
+		getField("Accessory2").setValue(8);
+		getField("Accessory3").setValue(8);
+		getField("Arming").setValue(0);
+		getField("Stabilization1Settings").setValue(2,0);
+		getField("Stabilization1Settings").setValue(2,1);
+		getField("Stabilization1Settings").setValue(2,2);
+		getField("Stabilization2Settings").setValue(2,0);
+		getField("Stabilization2Settings").setValue(2,1);
+		getField("Stabilization2Settings").setValue(2,2);
+		getField("Stabilization3Settings").setValue(2,0);
+		getField("Stabilization3Settings").setValue(2,1);
+		getField("Stabilization3Settings").setValue(2,2);
+		getField("FlightModePosition").setValue(0,0);
+		getField("FlightModePosition").setValue(1,1);
+		getField("FlightModePosition").setValue(2,2);
+		getField("ChannelMax").setValue(2000,0);
+		getField("ChannelMax").setValue(2000,1);
+		getField("ChannelMax").setValue(2000,2);
+		getField("ChannelMax").setValue(2000,3);
+		getField("ChannelMax").setValue(2000,4);
+		getField("ChannelMax").setValue(2000,5);
+		getField("ChannelMax").setValue(2000,6);
+		getField("ChannelMax").setValue(2000,7);
+		getField("ChannelNeutral").setValue(1500,0);
+		getField("ChannelNeutral").setValue(1500,1);
+		getField("ChannelNeutral").setValue(1500,2);
+		getField("ChannelNeutral").setValue(1500,3);
+		getField("ChannelNeutral").setValue(1500,4);
+		getField("ChannelNeutral").setValue(1500,5);
+		getField("ChannelNeutral").setValue(1500,6);
+		getField("ChannelNeutral").setValue(1500,7);
+		getField("ChannelMin").setValue(1000,0);
+		getField("ChannelMin").setValue(1000,1);
+		getField("ChannelMin").setValue(1000,2);
+		getField("ChannelMin").setValue(1000,3);
+		getField("ChannelMin").setValue(1000,4);
+		getField("ChannelMin").setValue(1000,5);
+		getField("ChannelMin").setValue(1000,6);
+		getField("ChannelMin").setValue(1000,7);
+		getField("ArmedTimeout").setValue(30000);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			ManualControlSettings obj = new ManualControlSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public ManualControlSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (ManualControlSettings)(objMngr.getObject(ManualControlSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x2B82102;
+	protected static final String NAME = "ManualControlSettings";
+	protected static String DESCRIPTION = "Settings to indicate how to decode receiver input by @ref ManualControlModule.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
new file mode 100644
index 000000000..554e366f3
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
@@ -0,0 +1,357 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType
+
+generated from mixersettings.xml
+ **/
+public class MixerSettings extends UAVDataObject {
+
+	public MixerSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> MaxAccelElemNames = new ArrayList<String>();
+		MaxAccelElemNames.add("0");
+		fields.add( new UAVObjectField("MaxAccel", "units/sec", UAVObjectField.FieldType.FLOAT32, MaxAccelElemNames, null) );
+
+		List<String> FeedForwardElemNames = new ArrayList<String>();
+		FeedForwardElemNames.add("0");
+		fields.add( new UAVObjectField("FeedForward", "", UAVObjectField.FieldType.FLOAT32, FeedForwardElemNames, null) );
+
+		List<String> AccelTimeElemNames = new ArrayList<String>();
+		AccelTimeElemNames.add("0");
+		fields.add( new UAVObjectField("AccelTime", "ms", UAVObjectField.FieldType.FLOAT32, AccelTimeElemNames, null) );
+
+		List<String> DecelTimeElemNames = new ArrayList<String>();
+		DecelTimeElemNames.add("0");
+		fields.add( new UAVObjectField("DecelTime", "ms", UAVObjectField.FieldType.FLOAT32, DecelTimeElemNames, null) );
+
+		List<String> ThrottleCurve1ElemNames = new ArrayList<String>();
+		ThrottleCurve1ElemNames.add("0");
+		ThrottleCurve1ElemNames.add("25");
+		ThrottleCurve1ElemNames.add("50");
+		ThrottleCurve1ElemNames.add("75");
+		ThrottleCurve1ElemNames.add("100");
+		fields.add( new UAVObjectField("ThrottleCurve1", "percent", UAVObjectField.FieldType.FLOAT32, ThrottleCurve1ElemNames, null) );
+
+		List<String> ThrottleCurve2ElemNames = new ArrayList<String>();
+		ThrottleCurve2ElemNames.add("0");
+		ThrottleCurve2ElemNames.add("25");
+		ThrottleCurve2ElemNames.add("50");
+		ThrottleCurve2ElemNames.add("75");
+		ThrottleCurve2ElemNames.add("100");
+		fields.add( new UAVObjectField("ThrottleCurve2", "percent", UAVObjectField.FieldType.FLOAT32, ThrottleCurve2ElemNames, null) );
+
+		List<String> Mixer1TypeElemNames = new ArrayList<String>();
+		Mixer1TypeElemNames.add("0");
+		List<String> Mixer1TypeEnumOptions = new ArrayList<String>();
+		Mixer1TypeEnumOptions.add("Disabled");
+		Mixer1TypeEnumOptions.add("Motor");
+		Mixer1TypeEnumOptions.add("Servo");
+		fields.add( new UAVObjectField("Mixer1Type", "", UAVObjectField.FieldType.ENUM, Mixer1TypeElemNames, Mixer1TypeEnumOptions) );
+
+		List<String> Mixer1VectorElemNames = new ArrayList<String>();
+		Mixer1VectorElemNames.add("ThrottleCurve1");
+		Mixer1VectorElemNames.add("ThrottleCurve2");
+		Mixer1VectorElemNames.add("Roll");
+		Mixer1VectorElemNames.add("Pitch");
+		Mixer1VectorElemNames.add("Yaw");
+		fields.add( new UAVObjectField("Mixer1Vector", "", UAVObjectField.FieldType.INT8, Mixer1VectorElemNames, null) );
+
+		List<String> Mixer2TypeElemNames = new ArrayList<String>();
+		Mixer2TypeElemNames.add("0");
+		List<String> Mixer2TypeEnumOptions = new ArrayList<String>();
+		Mixer2TypeEnumOptions.add("Disabled");
+		Mixer2TypeEnumOptions.add("Motor");
+		Mixer2TypeEnumOptions.add("Servo");
+		fields.add( new UAVObjectField("Mixer2Type", "", UAVObjectField.FieldType.ENUM, Mixer2TypeElemNames, Mixer2TypeEnumOptions) );
+
+		List<String> Mixer2VectorElemNames = new ArrayList<String>();
+		Mixer2VectorElemNames.add("ThrottleCurve1");
+		Mixer2VectorElemNames.add("ThrottleCurve2");
+		Mixer2VectorElemNames.add("Roll");
+		Mixer2VectorElemNames.add("Pitch");
+		Mixer2VectorElemNames.add("Yaw");
+		fields.add( new UAVObjectField("Mixer2Vector", "", UAVObjectField.FieldType.INT8, Mixer2VectorElemNames, null) );
+
+		List<String> Mixer3TypeElemNames = new ArrayList<String>();
+		Mixer3TypeElemNames.add("0");
+		List<String> Mixer3TypeEnumOptions = new ArrayList<String>();
+		Mixer3TypeEnumOptions.add("Disabled");
+		Mixer3TypeEnumOptions.add("Motor");
+		Mixer3TypeEnumOptions.add("Servo");
+		fields.add( new UAVObjectField("Mixer3Type", "", UAVObjectField.FieldType.ENUM, Mixer3TypeElemNames, Mixer3TypeEnumOptions) );
+
+		List<String> Mixer3VectorElemNames = new ArrayList<String>();
+		Mixer3VectorElemNames.add("ThrottleCurve1");
+		Mixer3VectorElemNames.add("ThrottleCurve2");
+		Mixer3VectorElemNames.add("Roll");
+		Mixer3VectorElemNames.add("Pitch");
+		Mixer3VectorElemNames.add("Yaw");
+		fields.add( new UAVObjectField("Mixer3Vector", "", UAVObjectField.FieldType.INT8, Mixer3VectorElemNames, null) );
+
+		List<String> Mixer4TypeElemNames = new ArrayList<String>();
+		Mixer4TypeElemNames.add("0");
+		List<String> Mixer4TypeEnumOptions = new ArrayList<String>();
+		Mixer4TypeEnumOptions.add("Disabled");
+		Mixer4TypeEnumOptions.add("Motor");
+		Mixer4TypeEnumOptions.add("Servo");
+		fields.add( new UAVObjectField("Mixer4Type", "", UAVObjectField.FieldType.ENUM, Mixer4TypeElemNames, Mixer4TypeEnumOptions) );
+
+		List<String> Mixer4VectorElemNames = new ArrayList<String>();
+		Mixer4VectorElemNames.add("ThrottleCurve1");
+		Mixer4VectorElemNames.add("ThrottleCurve2");
+		Mixer4VectorElemNames.add("Roll");
+		Mixer4VectorElemNames.add("Pitch");
+		Mixer4VectorElemNames.add("Yaw");
+		fields.add( new UAVObjectField("Mixer4Vector", "", UAVObjectField.FieldType.INT8, Mixer4VectorElemNames, null) );
+
+		List<String> Mixer5TypeElemNames = new ArrayList<String>();
+		Mixer5TypeElemNames.add("0");
+		List<String> Mixer5TypeEnumOptions = new ArrayList<String>();
+		Mixer5TypeEnumOptions.add("Disabled");
+		Mixer5TypeEnumOptions.add("Motor");
+		Mixer5TypeEnumOptions.add("Servo");
+		fields.add( new UAVObjectField("Mixer5Type", "", UAVObjectField.FieldType.ENUM, Mixer5TypeElemNames, Mixer5TypeEnumOptions) );
+
+		List<String> Mixer5VectorElemNames = new ArrayList<String>();
+		Mixer5VectorElemNames.add("ThrottleCurve1");
+		Mixer5VectorElemNames.add("ThrottleCurve2");
+		Mixer5VectorElemNames.add("Roll");
+		Mixer5VectorElemNames.add("Pitch");
+		Mixer5VectorElemNames.add("Yaw");
+		fields.add( new UAVObjectField("Mixer5Vector", "", UAVObjectField.FieldType.INT8, Mixer5VectorElemNames, null) );
+
+		List<String> Mixer6TypeElemNames = new ArrayList<String>();
+		Mixer6TypeElemNames.add("0");
+		List<String> Mixer6TypeEnumOptions = new ArrayList<String>();
+		Mixer6TypeEnumOptions.add("Disabled");
+		Mixer6TypeEnumOptions.add("Motor");
+		Mixer6TypeEnumOptions.add("Servo");
+		fields.add( new UAVObjectField("Mixer6Type", "", UAVObjectField.FieldType.ENUM, Mixer6TypeElemNames, Mixer6TypeEnumOptions) );
+
+		List<String> Mixer6VectorElemNames = new ArrayList<String>();
+		Mixer6VectorElemNames.add("ThrottleCurve1");
+		Mixer6VectorElemNames.add("ThrottleCurve2");
+		Mixer6VectorElemNames.add("Roll");
+		Mixer6VectorElemNames.add("Pitch");
+		Mixer6VectorElemNames.add("Yaw");
+		fields.add( new UAVObjectField("Mixer6Vector", "", UAVObjectField.FieldType.INT8, Mixer6VectorElemNames, null) );
+
+		List<String> Mixer7TypeElemNames = new ArrayList<String>();
+		Mixer7TypeElemNames.add("0");
+		List<String> Mixer7TypeEnumOptions = new ArrayList<String>();
+		Mixer7TypeEnumOptions.add("Disabled");
+		Mixer7TypeEnumOptions.add("Motor");
+		Mixer7TypeEnumOptions.add("Servo");
+		fields.add( new UAVObjectField("Mixer7Type", "", UAVObjectField.FieldType.ENUM, Mixer7TypeElemNames, Mixer7TypeEnumOptions) );
+
+		List<String> Mixer7VectorElemNames = new ArrayList<String>();
+		Mixer7VectorElemNames.add("ThrottleCurve1");
+		Mixer7VectorElemNames.add("ThrottleCurve2");
+		Mixer7VectorElemNames.add("Roll");
+		Mixer7VectorElemNames.add("Pitch");
+		Mixer7VectorElemNames.add("Yaw");
+		fields.add( new UAVObjectField("Mixer7Vector", "", UAVObjectField.FieldType.INT8, Mixer7VectorElemNames, null) );
+
+		List<String> Mixer8TypeElemNames = new ArrayList<String>();
+		Mixer8TypeElemNames.add("0");
+		List<String> Mixer8TypeEnumOptions = new ArrayList<String>();
+		Mixer8TypeEnumOptions.add("Disabled");
+		Mixer8TypeEnumOptions.add("Motor");
+		Mixer8TypeEnumOptions.add("Servo");
+		fields.add( new UAVObjectField("Mixer8Type", "", UAVObjectField.FieldType.ENUM, Mixer8TypeElemNames, Mixer8TypeEnumOptions) );
+
+		List<String> Mixer8VectorElemNames = new ArrayList<String>();
+		Mixer8VectorElemNames.add("ThrottleCurve1");
+		Mixer8VectorElemNames.add("ThrottleCurve2");
+		Mixer8VectorElemNames.add("Roll");
+		Mixer8VectorElemNames.add("Pitch");
+		Mixer8VectorElemNames.add("Yaw");
+		fields.add( new UAVObjectField("Mixer8Vector", "", UAVObjectField.FieldType.INT8, Mixer8VectorElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("MaxAccel").setValue(1000);
+		getField("FeedForward").setValue(0);
+		getField("AccelTime").setValue(0);
+		getField("DecelTime").setValue(0);
+		getField("ThrottleCurve1").setValue(0,0);
+		getField("ThrottleCurve1").setValue(0.25,1);
+		getField("ThrottleCurve1").setValue(0.5,2);
+		getField("ThrottleCurve1").setValue(0.75,3);
+		getField("ThrottleCurve1").setValue(1,4);
+		getField("ThrottleCurve2").setValue(0,0);
+		getField("ThrottleCurve2").setValue(0.25,1);
+		getField("ThrottleCurve2").setValue(0.5,2);
+		getField("ThrottleCurve2").setValue(0.75,3);
+		getField("ThrottleCurve2").setValue(1,4);
+		getField("Mixer1Type").setValue(0);
+		getField("Mixer1Vector").setValue(0,0);
+		getField("Mixer1Vector").setValue(0,1);
+		getField("Mixer1Vector").setValue(0,2);
+		getField("Mixer1Vector").setValue(0,3);
+		getField("Mixer1Vector").setValue(0,4);
+		getField("Mixer2Type").setValue(0);
+		getField("Mixer2Vector").setValue(0,0);
+		getField("Mixer2Vector").setValue(0,1);
+		getField("Mixer2Vector").setValue(0,2);
+		getField("Mixer2Vector").setValue(0,3);
+		getField("Mixer2Vector").setValue(0,4);
+		getField("Mixer3Type").setValue(0);
+		getField("Mixer3Vector").setValue(0,0);
+		getField("Mixer3Vector").setValue(0,1);
+		getField("Mixer3Vector").setValue(0,2);
+		getField("Mixer3Vector").setValue(0,3);
+		getField("Mixer3Vector").setValue(0,4);
+		getField("Mixer4Type").setValue(0);
+		getField("Mixer4Vector").setValue(0,0);
+		getField("Mixer4Vector").setValue(0,1);
+		getField("Mixer4Vector").setValue(0,2);
+		getField("Mixer4Vector").setValue(0,3);
+		getField("Mixer4Vector").setValue(0,4);
+		getField("Mixer5Type").setValue(0);
+		getField("Mixer5Vector").setValue(0,0);
+		getField("Mixer5Vector").setValue(0,1);
+		getField("Mixer5Vector").setValue(0,2);
+		getField("Mixer5Vector").setValue(0,3);
+		getField("Mixer5Vector").setValue(0,4);
+		getField("Mixer6Type").setValue(0);
+		getField("Mixer6Vector").setValue(0,0);
+		getField("Mixer6Vector").setValue(0,1);
+		getField("Mixer6Vector").setValue(0,2);
+		getField("Mixer6Vector").setValue(0,3);
+		getField("Mixer6Vector").setValue(0,4);
+		getField("Mixer7Type").setValue(0);
+		getField("Mixer7Vector").setValue(0,0);
+		getField("Mixer7Vector").setValue(0,1);
+		getField("Mixer7Vector").setValue(0,2);
+		getField("Mixer7Vector").setValue(0,3);
+		getField("Mixer7Vector").setValue(0,4);
+		getField("Mixer8Type").setValue(0);
+		getField("Mixer8Vector").setValue(0,0);
+		getField("Mixer8Vector").setValue(0,1);
+		getField("Mixer8Vector").setValue(0,2);
+		getField("Mixer8Vector").setValue(0,3);
+		getField("Mixer8Vector").setValue(0,4);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			MixerSettings obj = new MixerSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public MixerSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (MixerSettings)(objMngr.getObject(MixerSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x4FAE374E;
+	protected static final String NAME = "MixerSettings";
+	protected static String DESCRIPTION = "Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
new file mode 100644
index 000000000..fbd405b40
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
@@ -0,0 +1,167 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Status for the matrix mixer showing the output of each mixer after all scaling
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Status for the matrix mixer showing the output of each mixer after all scaling
+
+generated from mixerstatus.xml
+ **/
+public class MixerStatus extends UAVDataObject {
+
+	public MixerStatus() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> Mixer1ElemNames = new ArrayList<String>();
+		Mixer1ElemNames.add("0");
+		fields.add( new UAVObjectField("Mixer1", "", UAVObjectField.FieldType.FLOAT32, Mixer1ElemNames, null) );
+
+		List<String> Mixer2ElemNames = new ArrayList<String>();
+		Mixer2ElemNames.add("0");
+		fields.add( new UAVObjectField("Mixer2", "", UAVObjectField.FieldType.FLOAT32, Mixer2ElemNames, null) );
+
+		List<String> Mixer3ElemNames = new ArrayList<String>();
+		Mixer3ElemNames.add("0");
+		fields.add( new UAVObjectField("Mixer3", "", UAVObjectField.FieldType.FLOAT32, Mixer3ElemNames, null) );
+
+		List<String> Mixer4ElemNames = new ArrayList<String>();
+		Mixer4ElemNames.add("0");
+		fields.add( new UAVObjectField("Mixer4", "", UAVObjectField.FieldType.FLOAT32, Mixer4ElemNames, null) );
+
+		List<String> Mixer5ElemNames = new ArrayList<String>();
+		Mixer5ElemNames.add("0");
+		fields.add( new UAVObjectField("Mixer5", "", UAVObjectField.FieldType.FLOAT32, Mixer5ElemNames, null) );
+
+		List<String> Mixer6ElemNames = new ArrayList<String>();
+		Mixer6ElemNames.add("0");
+		fields.add( new UAVObjectField("Mixer6", "", UAVObjectField.FieldType.FLOAT32, Mixer6ElemNames, null) );
+
+		List<String> Mixer7ElemNames = new ArrayList<String>();
+		Mixer7ElemNames.add("0");
+		fields.add( new UAVObjectField("Mixer7", "", UAVObjectField.FieldType.FLOAT32, Mixer7ElemNames, null) );
+
+		List<String> Mixer8ElemNames = new ArrayList<String>();
+		Mixer8ElemNames.add("0");
+		fields.add( new UAVObjectField("Mixer8", "", UAVObjectField.FieldType.FLOAT32, Mixer8ElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 1000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			MixerStatus obj = new MixerStatus();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public MixerStatus GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (MixerStatus)(objMngr.getObject(MixerStatus.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xF6A33F10;
+	protected static final String NAME = "MixerStatus";
+	protected static String DESCRIPTION = "Status for the matrix mixer showing the output of each mixer after all scaling";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
new file mode 100644
index 000000000..f16ddd199
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
@@ -0,0 +1,147 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The projection of acceleration in the NED reference frame used by @ref Guidance.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The projection of acceleration in the NED reference frame used by @ref Guidance.
+
+generated from nedaccel.xml
+ **/
+public class NedAccel extends UAVDataObject {
+
+	public NedAccel() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> NorthElemNames = new ArrayList<String>();
+		NorthElemNames.add("0");
+		fields.add( new UAVObjectField("North", "cm/s^2", UAVObjectField.FieldType.FLOAT32, NorthElemNames, null) );
+
+		List<String> EastElemNames = new ArrayList<String>();
+		EastElemNames.add("0");
+		fields.add( new UAVObjectField("East", "cm/s^2", UAVObjectField.FieldType.FLOAT32, EastElemNames, null) );
+
+		List<String> DownElemNames = new ArrayList<String>();
+		DownElemNames.add("0");
+		fields.add( new UAVObjectField("Down", "cm/s^2", UAVObjectField.FieldType.FLOAT32, DownElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 10001;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			NedAccel obj = new NedAccel();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public NedAccel GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (NedAccel)(objMngr.getObject(NedAccel.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x8E852CE8;
+	protected static final String NAME = "NedAccel";
+	protected static String DESCRIPTION = "The projection of acceleration in the NED reference frame used by @ref Guidance.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
new file mode 100644
index 000000000..2a09c2b40
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
@@ -0,0 +1,160 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Someone who knows please enter this
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Someone who knows please enter this
+
+generated from objectpersistence.xml
+ **/
+public class ObjectPersistence extends UAVDataObject {
+
+	public ObjectPersistence() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> OperationElemNames = new ArrayList<String>();
+		OperationElemNames.add("0");
+		List<String> OperationEnumOptions = new ArrayList<String>();
+		OperationEnumOptions.add("Load");
+		OperationEnumOptions.add("Save");
+		OperationEnumOptions.add("Delete");
+		fields.add( new UAVObjectField("Operation", "", UAVObjectField.FieldType.ENUM, OperationElemNames, OperationEnumOptions) );
+
+		List<String> SelectionElemNames = new ArrayList<String>();
+		SelectionElemNames.add("0");
+		List<String> SelectionEnumOptions = new ArrayList<String>();
+		SelectionEnumOptions.add("SingleObject");
+		SelectionEnumOptions.add("AllSettings");
+		SelectionEnumOptions.add("AllMetaObjects");
+		SelectionEnumOptions.add("AllObjects");
+		fields.add( new UAVObjectField("Selection", "", UAVObjectField.FieldType.ENUM, SelectionElemNames, SelectionEnumOptions) );
+
+		List<String> ObjectIDElemNames = new ArrayList<String>();
+		ObjectIDElemNames.add("0");
+		fields.add( new UAVObjectField("ObjectID", "", UAVObjectField.FieldType.UINT32, ObjectIDElemNames, null) );
+
+		List<String> InstanceIDElemNames = new ArrayList<String>();
+		InstanceIDElemNames.add("0");
+		fields.add( new UAVObjectField("InstanceID", "", UAVObjectField.FieldType.UINT32, InstanceIDElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			ObjectPersistence obj = new ObjectPersistence();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public ObjectPersistence GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (ObjectPersistence)(objMngr.getObject(ObjectPersistence.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x22216832;
+	protected static final String NAME = "ObjectPersistence";
+	protected static String DESCRIPTION = "Someone who knows please enter this";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
new file mode 100644
index 000000000..444009f90
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
@@ -0,0 +1,147 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Contains the current position relative to @ref HomeLocation
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Contains the current position relative to @ref HomeLocation
+
+generated from positionactual.xml
+ **/
+public class PositionActual extends UAVDataObject {
+
+	public PositionActual() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> NorthElemNames = new ArrayList<String>();
+		NorthElemNames.add("0");
+		fields.add( new UAVObjectField("North", "cm", UAVObjectField.FieldType.INT32, NorthElemNames, null) );
+
+		List<String> EastElemNames = new ArrayList<String>();
+		EastElemNames.add("0");
+		fields.add( new UAVObjectField("East", "cm", UAVObjectField.FieldType.INT32, EastElemNames, null) );
+
+		List<String> DownElemNames = new ArrayList<String>();
+		DownElemNames.add("0");
+		fields.add( new UAVObjectField("Down", "cm", UAVObjectField.FieldType.INT32, DownElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 1000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			PositionActual obj = new PositionActual();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public PositionActual GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (PositionActual)(objMngr.getObject(PositionActual.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xE0739636;
+	protected static final String NAME = "PositionActual";
+	protected static String DESCRIPTION = "Contains the current position relative to @ref HomeLocation";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java
new file mode 100644
index 000000000..5cf51df71
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java
@@ -0,0 +1,147 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The position the craft is trying t achieve.  Can come from GCS or @ref PathPlanner 
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The position the craft is trying t achieve.  Can come from GCS or @ref PathPlanner 
+
+generated from positiondesired.xml
+ **/
+public class PositionDesired extends UAVDataObject {
+
+	public PositionDesired() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> NorthElemNames = new ArrayList<String>();
+		NorthElemNames.add("0");
+		fields.add( new UAVObjectField("North", "cm", UAVObjectField.FieldType.INT32, NorthElemNames, null) );
+
+		List<String> EastElemNames = new ArrayList<String>();
+		EastElemNames.add("0");
+		fields.add( new UAVObjectField("East", "cm", UAVObjectField.FieldType.INT32, EastElemNames, null) );
+
+		List<String> DownElemNames = new ArrayList<String>();
+		DownElemNames.add("0");
+		fields.add( new UAVObjectField("Down", "cm", UAVObjectField.FieldType.INT32, DownElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 1000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			PositionDesired obj = new PositionDesired();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public PositionDesired GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (PositionDesired)(objMngr.getObject(PositionDesired.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x2FC4E5BA;
+	protected static final String NAME = "PositionDesired";
+	protected static String DESCRIPTION = "The position the craft is trying t achieve.  Can come from GCS or @ref PathPlanner ";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
new file mode 100644
index 000000000..7164c0957
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
@@ -0,0 +1,147 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Status for the matrix mixer showing the output of each mixer after all scaling
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Status for the matrix mixer showing the output of each mixer after all scaling
+
+generated from ratedesired.xml
+ **/
+public class RateDesired extends UAVDataObject {
+
+	public RateDesired() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> RollElemNames = new ArrayList<String>();
+		RollElemNames.add("0");
+		fields.add( new UAVObjectField("Roll", "deg/s", UAVObjectField.FieldType.FLOAT32, RollElemNames, null) );
+
+		List<String> PitchElemNames = new ArrayList<String>();
+		PitchElemNames.add("0");
+		fields.add( new UAVObjectField("Pitch", "deg/s", UAVObjectField.FieldType.FLOAT32, PitchElemNames, null) );
+
+		List<String> YawElemNames = new ArrayList<String>();
+		YawElemNames.add("0");
+		fields.add( new UAVObjectField("Yaw", "deg/s", UAVObjectField.FieldType.FLOAT32, YawElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 1000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			RateDesired obj = new RateDesired();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public RateDesired GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (RateDesired)(objMngr.getObject(RateDesired.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xBA41B51C;
+	protected static final String NAME = "RateDesired";
+	protected static String DESCRIPTION = "Status for the matrix mixer showing the output of each mixer after all scaling";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
new file mode 100644
index 000000000..4e9f0b8b8
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
@@ -0,0 +1,139 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The raw data from the ultrasound sonar sensor with altitude estimate.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The raw data from the ultrasound sonar sensor with altitude estimate.
+
+generated from sonaraltitude.xml
+ **/
+public class SonarAltitude extends UAVDataObject {
+
+	public SonarAltitude() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> AltitudeElemNames = new ArrayList<String>();
+		AltitudeElemNames.add("0");
+		fields.add( new UAVObjectField("Altitude", "m", UAVObjectField.FieldType.FLOAT32, AltitudeElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			SonarAltitude obj = new SonarAltitude();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public SonarAltitude GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (SonarAltitude)(objMngr.getObject(SonarAltitude.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x1FDD844C;
+	protected static final String NAME = "SonarAltitude";
+	protected static String DESCRIPTION = "The raw data from the ultrasound sonar sensor with altitude estimate.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
new file mode 100644
index 000000000..8cba8a54c
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
@@ -0,0 +1,161 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The desired attitude that @ref StabilizationModule will try and achieve if FlightMode is Stabilized.  Comes from @ref ManaulControlModule.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The desired attitude that @ref StabilizationModule will try and achieve if FlightMode is Stabilized.  Comes from @ref ManaulControlModule.
+
+generated from stabilizationdesired.xml
+ **/
+public class StabilizationDesired extends UAVDataObject {
+
+	public StabilizationDesired() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> RollElemNames = new ArrayList<String>();
+		RollElemNames.add("0");
+		fields.add( new UAVObjectField("Roll", "degrees", UAVObjectField.FieldType.FLOAT32, RollElemNames, null) );
+
+		List<String> PitchElemNames = new ArrayList<String>();
+		PitchElemNames.add("0");
+		fields.add( new UAVObjectField("Pitch", "degrees", UAVObjectField.FieldType.FLOAT32, PitchElemNames, null) );
+
+		List<String> YawElemNames = new ArrayList<String>();
+		YawElemNames.add("0");
+		fields.add( new UAVObjectField("Yaw", "degrees", UAVObjectField.FieldType.FLOAT32, YawElemNames, null) );
+
+		List<String> ThrottleElemNames = new ArrayList<String>();
+		ThrottleElemNames.add("0");
+		fields.add( new UAVObjectField("Throttle", "%", UAVObjectField.FieldType.FLOAT32, ThrottleElemNames, null) );
+
+		List<String> StabilizationModeElemNames = new ArrayList<String>();
+		StabilizationModeElemNames.add("Roll");
+		StabilizationModeElemNames.add("Pitch");
+		StabilizationModeElemNames.add("Yaw");
+		List<String> StabilizationModeEnumOptions = new ArrayList<String>();
+		StabilizationModeEnumOptions.add("None");
+		StabilizationModeEnumOptions.add("Rate");
+		StabilizationModeEnumOptions.add("Attitude");
+		fields.add( new UAVObjectField("StabilizationMode", "", UAVObjectField.FieldType.ENUM, StabilizationModeElemNames, StabilizationModeEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			StabilizationDesired obj = new StabilizationDesired();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public StabilizationDesired GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (StabilizationDesired)(objMngr.getObject(StabilizationDesired.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x41AA9DC2;
+	protected static final String NAME = "StabilizationDesired";
+	protected static String DESCRIPTION = "The desired attitude that @ref StabilizationModule will try and achieve if FlightMode is Stabilized.  Comes from @ref ManaulControlModule.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
new file mode 100644
index 000000000..74c480e1c
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
@@ -0,0 +1,222 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired
+
+generated from stabilizationsettings.xml
+ **/
+public class StabilizationSettings extends UAVDataObject {
+
+	public StabilizationSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> RollMaxElemNames = new ArrayList<String>();
+		RollMaxElemNames.add("0");
+		fields.add( new UAVObjectField("RollMax", "degrees", UAVObjectField.FieldType.UINT8, RollMaxElemNames, null) );
+
+		List<String> PitchMaxElemNames = new ArrayList<String>();
+		PitchMaxElemNames.add("0");
+		fields.add( new UAVObjectField("PitchMax", "degrees", UAVObjectField.FieldType.UINT8, PitchMaxElemNames, null) );
+
+		List<String> YawMaxElemNames = new ArrayList<String>();
+		YawMaxElemNames.add("0");
+		fields.add( new UAVObjectField("YawMax", "degrees", UAVObjectField.FieldType.UINT8, YawMaxElemNames, null) );
+
+		List<String> ManualRateElemNames = new ArrayList<String>();
+		ManualRateElemNames.add("Roll");
+		ManualRateElemNames.add("Pitch");
+		ManualRateElemNames.add("Yaw");
+		fields.add( new UAVObjectField("ManualRate", "degrees/sec", UAVObjectField.FieldType.FLOAT32, ManualRateElemNames, null) );
+
+		List<String> MaximumRateElemNames = new ArrayList<String>();
+		MaximumRateElemNames.add("Roll");
+		MaximumRateElemNames.add("Pitch");
+		MaximumRateElemNames.add("Yaw");
+		fields.add( new UAVObjectField("MaximumRate", "degrees/sec", UAVObjectField.FieldType.FLOAT32, MaximumRateElemNames, null) );
+
+		List<String> RollRatePIElemNames = new ArrayList<String>();
+		RollRatePIElemNames.add("Kp");
+		RollRatePIElemNames.add("Ki");
+		RollRatePIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("RollRatePI", "", UAVObjectField.FieldType.FLOAT32, RollRatePIElemNames, null) );
+
+		List<String> PitchRatePIElemNames = new ArrayList<String>();
+		PitchRatePIElemNames.add("Kp");
+		PitchRatePIElemNames.add("Ki");
+		PitchRatePIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("PitchRatePI", "", UAVObjectField.FieldType.FLOAT32, PitchRatePIElemNames, null) );
+
+		List<String> YawRatePIElemNames = new ArrayList<String>();
+		YawRatePIElemNames.add("Kp");
+		YawRatePIElemNames.add("Ki");
+		YawRatePIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("YawRatePI", "", UAVObjectField.FieldType.FLOAT32, YawRatePIElemNames, null) );
+
+		List<String> RollPIElemNames = new ArrayList<String>();
+		RollPIElemNames.add("Kp");
+		RollPIElemNames.add("Ki");
+		RollPIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("RollPI", "", UAVObjectField.FieldType.FLOAT32, RollPIElemNames, null) );
+
+		List<String> PitchPIElemNames = new ArrayList<String>();
+		PitchPIElemNames.add("Kp");
+		PitchPIElemNames.add("Ki");
+		PitchPIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("PitchPI", "", UAVObjectField.FieldType.FLOAT32, PitchPIElemNames, null) );
+
+		List<String> YawPIElemNames = new ArrayList<String>();
+		YawPIElemNames.add("Kp");
+		YawPIElemNames.add("Ki");
+		YawPIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("YawPI", "", UAVObjectField.FieldType.FLOAT32, YawPIElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("RollMax").setValue(35);
+		getField("PitchMax").setValue(35);
+		getField("YawMax").setValue(35);
+		getField("ManualRate").setValue(150,0);
+		getField("ManualRate").setValue(150,1);
+		getField("ManualRate").setValue(150,2);
+		getField("MaximumRate").setValue(300,0);
+		getField("MaximumRate").setValue(300,1);
+		getField("MaximumRate").setValue(300,2);
+		getField("RollRatePI").setValue(0.0015,0);
+		getField("RollRatePI").setValue(0,1);
+		getField("RollRatePI").setValue(0.3,2);
+		getField("PitchRatePI").setValue(0.0015,0);
+		getField("PitchRatePI").setValue(0,1);
+		getField("PitchRatePI").setValue(0.3,2);
+		getField("YawRatePI").setValue(0.003,0);
+		getField("YawRatePI").setValue(0,1);
+		getField("YawRatePI").setValue(0.3,2);
+		getField("RollPI").setValue(2,0);
+		getField("RollPI").setValue(0,1);
+		getField("RollPI").setValue(50,2);
+		getField("PitchPI").setValue(2,0);
+		getField("PitchPI").setValue(0,1);
+		getField("PitchPI").setValue(50,2);
+		getField("YawPI").setValue(2,0);
+		getField("YawPI").setValue(0,1);
+		getField("YawPI").setValue(50,2);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			StabilizationSettings obj = new StabilizationSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public StabilizationSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (StabilizationSettings)(objMngr.getObject(StabilizationSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xE2147404;
+	protected static final String NAME = "StabilizationSettings";
+	protected static String DESCRIPTION = "PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
new file mode 100644
index 000000000..9136627f4
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
@@ -0,0 +1,176 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.
+
+generated from systemalarms.xml
+ **/
+public class SystemAlarms extends UAVDataObject {
+
+	public SystemAlarms() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> AlarmElemNames = new ArrayList<String>();
+		AlarmElemNames.add("OutOfMemory");
+		AlarmElemNames.add("StackOverflow");
+		AlarmElemNames.add("CPUOverload");
+		AlarmElemNames.add("EventSystem");
+		AlarmElemNames.add("SDCard");
+		AlarmElemNames.add("Telemetry");
+		AlarmElemNames.add("ManualControl");
+		AlarmElemNames.add("Actuator");
+		AlarmElemNames.add("Attitude");
+		AlarmElemNames.add("Stabilization");
+		AlarmElemNames.add("Guidance");
+		AlarmElemNames.add("AHRSComms");
+		AlarmElemNames.add("Battery");
+		AlarmElemNames.add("FlightTime");
+		AlarmElemNames.add("I2C");
+		AlarmElemNames.add("GPS");
+		List<String> AlarmEnumOptions = new ArrayList<String>();
+		AlarmEnumOptions.add("Uninitialised");
+		AlarmEnumOptions.add("OK");
+		AlarmEnumOptions.add("Warning");
+		AlarmEnumOptions.add("Error");
+		AlarmEnumOptions.add("Critical");
+		fields.add( new UAVObjectField("Alarm", "", UAVObjectField.FieldType.ENUM, AlarmElemNames, AlarmEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 4000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 1000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("Alarm").setValue(0,0);
+		getField("Alarm").setValue(0,1);
+		getField("Alarm").setValue(0,2);
+		getField("Alarm").setValue(0,3);
+		getField("Alarm").setValue(0,4);
+		getField("Alarm").setValue(0,5);
+		getField("Alarm").setValue(0,6);
+		getField("Alarm").setValue(0,7);
+		getField("Alarm").setValue(0,8);
+		getField("Alarm").setValue(0,9);
+		getField("Alarm").setValue(0,10);
+		getField("Alarm").setValue(0,11);
+		getField("Alarm").setValue(0,12);
+		getField("Alarm").setValue(0,13);
+		getField("Alarm").setValue(0,14);
+		getField("Alarm").setValue(0,15);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			SystemAlarms obj = new SystemAlarms();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public SystemAlarms GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (SystemAlarms)(objMngr.getObject(SystemAlarms.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x89C3DCB2;
+	protected static final String NAME = "SystemAlarms";
+	protected static String DESCRIPTION = "Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
new file mode 100644
index 000000000..d01b55b24
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
@@ -0,0 +1,157 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Select airframe type.  Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Select airframe type.  Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand
+
+generated from systemsettings.xml
+ **/
+public class SystemSettings extends UAVDataObject {
+
+	public SystemSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> AirframeTypeElemNames = new ArrayList<String>();
+		AirframeTypeElemNames.add("0");
+		List<String> AirframeTypeEnumOptions = new ArrayList<String>();
+		AirframeTypeEnumOptions.add("FixedWing");
+		AirframeTypeEnumOptions.add("FixedWingElevon");
+		AirframeTypeEnumOptions.add("FixedWingVtail");
+		AirframeTypeEnumOptions.add("VTOL");
+		AirframeTypeEnumOptions.add("HeliCP");
+		AirframeTypeEnumOptions.add("QuadX");
+		AirframeTypeEnumOptions.add("QuadP");
+		AirframeTypeEnumOptions.add("Hexa");
+		AirframeTypeEnumOptions.add("Octo");
+		AirframeTypeEnumOptions.add("Custom");
+		AirframeTypeEnumOptions.add("HexaX");
+		AirframeTypeEnumOptions.add("OctoV");
+		AirframeTypeEnumOptions.add("OctoCoaxP");
+		AirframeTypeEnumOptions.add("OctoCoaxX");
+		AirframeTypeEnumOptions.add("HexaCoax");
+		AirframeTypeEnumOptions.add("Tri");
+		fields.add( new UAVObjectField("AirframeType", "", UAVObjectField.FieldType.ENUM, AirframeTypeElemNames, AirframeTypeEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("AirframeType").setValue(0);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			SystemSettings obj = new SystemSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public SystemSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (SystemSettings)(objMngr.getObject(SystemSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x3875CEE;
+	protected static final String NAME = "SystemSettings";
+	protected static String DESCRIPTION = "Select airframe type.  Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
new file mode 100644
index 000000000..7c34360e9
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
@@ -0,0 +1,151 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             CPU and memory usage from OpenPilot computer. 
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+CPU and memory usage from OpenPilot computer. 
+
+generated from systemstats.xml
+ **/
+public class SystemStats extends UAVDataObject {
+
+	public SystemStats() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> FlightTimeElemNames = new ArrayList<String>();
+		FlightTimeElemNames.add("0");
+		fields.add( new UAVObjectField("FlightTime", "ms", UAVObjectField.FieldType.UINT32, FlightTimeElemNames, null) );
+
+		List<String> HeapRemainingElemNames = new ArrayList<String>();
+		HeapRemainingElemNames.add("0");
+		fields.add( new UAVObjectField("HeapRemaining", "bytes", UAVObjectField.FieldType.UINT16, HeapRemainingElemNames, null) );
+
+		List<String> CPULoadElemNames = new ArrayList<String>();
+		CPULoadElemNames.add("0");
+		fields.add( new UAVObjectField("CPULoad", "%", UAVObjectField.FieldType.UINT8, CPULoadElemNames, null) );
+
+		List<String> CPUTempElemNames = new ArrayList<String>();
+		CPUTempElemNames.add("0");
+		fields.add( new UAVObjectField("CPUTemp", "C", UAVObjectField.FieldType.INT8, CPUTempElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 1000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			SystemStats obj = new SystemStats();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public SystemStats GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (SystemStats)(objMngr.getObject(SystemStats.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xAA26FFFA;
+	protected static final String NAME = "SystemStats";
+	protected static String DESCRIPTION = "CPU and memory usage from OpenPilot computer. ";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
new file mode 100644
index 000000000..3ad065b5c
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
@@ -0,0 +1,170 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Task information
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Task information
+
+generated from taskinfo.xml
+ **/
+public class TaskInfo extends UAVDataObject {
+
+	public TaskInfo() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> StackRemainingElemNames = new ArrayList<String>();
+		StackRemainingElemNames.add("System");
+		StackRemainingElemNames.add("Actuator");
+		StackRemainingElemNames.add("Attitude");
+		StackRemainingElemNames.add("TelemetryTx");
+		StackRemainingElemNames.add("TelemetryTxPri");
+		StackRemainingElemNames.add("TelemetryRx");
+		StackRemainingElemNames.add("GPS");
+		StackRemainingElemNames.add("ManualControl");
+		StackRemainingElemNames.add("Altitude");
+		StackRemainingElemNames.add("AHRSComms");
+		StackRemainingElemNames.add("Stabilization");
+		StackRemainingElemNames.add("Guidance");
+		StackRemainingElemNames.add("FlightPlan");
+		fields.add( new UAVObjectField("StackRemaining", "bytes", UAVObjectField.FieldType.UINT16, StackRemainingElemNames, null) );
+
+		List<String> RunningElemNames = new ArrayList<String>();
+		RunningElemNames.add("System");
+		RunningElemNames.add("Actuator");
+		RunningElemNames.add("Attitude");
+		RunningElemNames.add("TelemetryTx");
+		RunningElemNames.add("TelemetryTxPri");
+		RunningElemNames.add("TelemetryRx");
+		RunningElemNames.add("GPS");
+		RunningElemNames.add("ManualControl");
+		RunningElemNames.add("Altitude");
+		RunningElemNames.add("AHRSComms");
+		RunningElemNames.add("Stabilization");
+		RunningElemNames.add("Guidance");
+		RunningElemNames.add("FlightPlan");
+		List<String> RunningEnumOptions = new ArrayList<String>();
+		RunningEnumOptions.add("False");
+		RunningEnumOptions.add("True");
+		fields.add( new UAVObjectField("Running", "bool", UAVObjectField.FieldType.ENUM, RunningElemNames, RunningEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 10000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 1000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			TaskInfo obj = new TaskInfo();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public TaskInfo GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (TaskInfo)(objMngr.getObject(TaskInfo.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x50F599F0;
+	protected static final String NAME = "TaskInfo";
+	protected static String DESCRIPTION = "Task information";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TelemetrySettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TelemetrySettings.java
new file mode 100644
index 000000000..6995a02b0
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TelemetrySettings.java
@@ -0,0 +1,148 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Select baud rate of telemetry.  Warning - this must match your modem.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Select baud rate of telemetry.  Warning - this must match your modem.
+
+generated from telemetrysettings.xml
+ **/
+public class TelemetrySettings extends UAVDataObject {
+
+	public TelemetrySettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> SpeedElemNames = new ArrayList<String>();
+		SpeedElemNames.add("0");
+		List<String> SpeedEnumOptions = new ArrayList<String>();
+		SpeedEnumOptions.add("2400");
+		SpeedEnumOptions.add("4800");
+		SpeedEnumOptions.add("9600");
+		SpeedEnumOptions.add("19200");
+		SpeedEnumOptions.add("38400");
+		SpeedEnumOptions.add("57600");
+		SpeedEnumOptions.add("115200");
+		fields.add( new UAVObjectField("Speed", "", UAVObjectField.FieldType.ENUM, SpeedElemNames, SpeedEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("Speed").setValue(5);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			TelemetrySettings obj = new TelemetrySettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public TelemetrySettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (TelemetrySettings)(objMngr.getObject(TelemetrySettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xA608C526;
+	protected static final String NAME = "TelemetrySettings";
+	protected static String DESCRIPTION = "Select baud rate of telemetry.  Warning - this must match your modem.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
new file mode 100644
index 000000000..4eca6ea82
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
@@ -0,0 +1,87 @@
+/**
+ ******************************************************************************
+ *
+ *
+ * @file       uavobjectsinittemplate.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      the template for the uavobjects init part
+ *             $(GENERATEDWARNING)
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import org.openpilot.uavtalk.uavobjects.*;
+import org.openpilot.uavtalk.UAVObjectManager;
+
+public class UAVObjectsInitialize {
+	
+	public static void register(UAVObjectManager objMngr) {
+		try {
+			objMngr.registerObject( new ActuatorCommand() );
+			objMngr.registerObject( new ActuatorDesired() );
+			objMngr.registerObject( new ActuatorSettings() );
+			objMngr.registerObject( new AHRSCalibration() );
+			objMngr.registerObject( new AHRSSettings() );
+			objMngr.registerObject( new AhrsStatus() );
+			objMngr.registerObject( new AttitudeActual() );
+			objMngr.registerObject( new AttitudeRaw() );
+			objMngr.registerObject( new AttitudeSettings() );
+			objMngr.registerObject( new BaroAltitude() );
+			objMngr.registerObject( new BatterySettings() );
+			objMngr.registerObject( new FirmwareIAPObj() );
+			objMngr.registerObject( new FlightBatteryState() );
+			objMngr.registerObject( new FlightPlanControl() );
+			objMngr.registerObject( new FlightPlanSettings() );
+			objMngr.registerObject( new FlightPlanStatus() );
+			objMngr.registerObject( new FlightTelemetryStats() );
+			objMngr.registerObject( new GCSTelemetryStats() );
+			objMngr.registerObject( new GPSPosition() );
+			objMngr.registerObject( new GPSSatellites() );
+			objMngr.registerObject( new GPSTime() );
+			objMngr.registerObject( new GuidanceSettings() );
+			objMngr.registerObject( new HomeLocation() );
+			objMngr.registerObject( new I2CStats() );
+			objMngr.registerObject( new ManualControlCommand() );
+			objMngr.registerObject( new ManualControlSettings() );
+			objMngr.registerObject( new MixerSettings() );
+			objMngr.registerObject( new MixerStatus() );
+			objMngr.registerObject( new NedAccel() );
+			objMngr.registerObject( new ObjectPersistence() );
+			objMngr.registerObject( new PositionActual() );
+			objMngr.registerObject( new PositionDesired() );
+			objMngr.registerObject( new RateDesired() );
+			objMngr.registerObject( new SonarAltitude() );
+			objMngr.registerObject( new StabilizationDesired() );
+			objMngr.registerObject( new StabilizationSettings() );
+			objMngr.registerObject( new SystemAlarms() );
+			objMngr.registerObject( new SystemSettings() );
+			objMngr.registerObject( new SystemStats() );
+			objMngr.registerObject( new TaskInfo() );
+			objMngr.registerObject( new TelemetrySettings() );
+			objMngr.registerObject( new VelocityActual() );
+			objMngr.registerObject( new VelocityDesired() );
+			objMngr.registerObject( new WatchdogStatus() );
+	
+		} catch (Exception e) {
+			e.printStackTrace();
+		}
+	}
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
new file mode 100644
index 000000000..649e6c122
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
@@ -0,0 +1,147 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Updated by @ref AHRSCommsModule and used within @ref GuidanceModule for velocity control
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Updated by @ref AHRSCommsModule and used within @ref GuidanceModule for velocity control
+
+generated from velocityactual.xml
+ **/
+public class VelocityActual extends UAVDataObject {
+
+	public VelocityActual() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> NorthElemNames = new ArrayList<String>();
+		NorthElemNames.add("0");
+		fields.add( new UAVObjectField("North", "cm/s", UAVObjectField.FieldType.INT32, NorthElemNames, null) );
+
+		List<String> EastElemNames = new ArrayList<String>();
+		EastElemNames.add("0");
+		fields.add( new UAVObjectField("East", "cm/s", UAVObjectField.FieldType.INT32, EastElemNames, null) );
+
+		List<String> DownElemNames = new ArrayList<String>();
+		DownElemNames.add("0");
+		fields.add( new UAVObjectField("Down", "cm/s", UAVObjectField.FieldType.INT32, DownElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 1000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			VelocityActual obj = new VelocityActual();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public VelocityActual GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (VelocityActual)(objMngr.getObject(VelocityActual.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x48009C88;
+	protected static final String NAME = "VelocityActual";
+	protected static String DESCRIPTION = "Updated by @ref AHRSCommsModule and used within @ref GuidanceModule for velocity control";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
new file mode 100644
index 000000000..27f290898
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
@@ -0,0 +1,147 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Used within @ref GuidanceModule to communicate between the task computing the desired velocity and the PID loop to achieve it (running at different rates).
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Used within @ref GuidanceModule to communicate between the task computing the desired velocity and the PID loop to achieve it (running at different rates).
+
+generated from velocitydesired.xml
+ **/
+public class VelocityDesired extends UAVDataObject {
+
+	public VelocityDesired() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> NorthElemNames = new ArrayList<String>();
+		NorthElemNames.add("0");
+		fields.add( new UAVObjectField("North", "cm/s", UAVObjectField.FieldType.INT32, NorthElemNames, null) );
+
+		List<String> EastElemNames = new ArrayList<String>();
+		EastElemNames.add("0");
+		fields.add( new UAVObjectField("East", "cm/s", UAVObjectField.FieldType.INT32, EastElemNames, null) );
+
+		List<String> DownElemNames = new ArrayList<String>();
+		DownElemNames.add("0");
+		fields.add( new UAVObjectField("Down", "cm/s", UAVObjectField.FieldType.INT32, DownElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 1000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			VelocityDesired obj = new VelocityDesired();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public VelocityDesired GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (VelocityDesired)(objMngr.getObject(VelocityDesired.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x122F5E3A;
+	protected static final String NAME = "VelocityDesired";
+	protected static String DESCRIPTION = "Used within @ref GuidanceModule to communicate between the task computing the desired velocity and the PID loop to achieve it (running at different rates).";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
new file mode 100644
index 000000000..3adcad96b
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
@@ -0,0 +1,143 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             For monitoring the flags in the watchdog and especially the bootup flags
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+For monitoring the flags in the watchdog and especially the bootup flags
+
+generated from watchdogstatus.xml
+ **/
+public class WatchdogStatus extends UAVDataObject {
+
+	public WatchdogStatus() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> BootupFlagsElemNames = new ArrayList<String>();
+		BootupFlagsElemNames.add("0");
+		fields.add( new UAVObjectField("BootupFlags", "", UAVObjectField.FieldType.UINT16, BootupFlagsElemNames, null) );
+
+		List<String> ActiveFlagsElemNames = new ArrayList<String>();
+		ActiveFlagsElemNames.add("0");
+		fields.add( new UAVObjectField("ActiveFlags", "", UAVObjectField.FieldType.UINT16, ActiveFlagsElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 5000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.loggingUpdatePeriod = 5000;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			WatchdogStatus obj = new WatchdogStatus();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public WatchdogStatus GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (WatchdogStatus)(objMngr.getObject(WatchdogStatus.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xD646E910;
+	protected static final String NAME = "WatchdogStatus";
+	protected static String DESCRIPTION = "For monitoring the flags in the watchdog and especially the bootup flags";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file

From f33862509216ebd4383db53b0f3b42b9ac0fc851 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 6 Mar 2011 13:12:32 -0600
Subject: [PATCH 206/543] Removed various debugging outputs and exceptions for
 now (will add back in a more principled manner later).  Also updated the auto
 generated code.

---
 androidgcs/.classpath                         |  1 +
 .../org/openpilot/uavtalk/UAVDataObject.java  |  2 +-
 .../src/org/openpilot/uavtalk/UAVObject.java  |  5 +-
 .../org/openpilot/uavtalk/UAVObjectField.java | 30 +++++++----
 .../templates/uavobjectsinittemplate.java     | 52 ++++---------------
 .../templates/uavobjecttemplate.java          |  6 +--
 .../java/uavobjectgeneratorjava.cpp           |  4 +-
 7 files changed, 37 insertions(+), 63 deletions(-)

diff --git a/androidgcs/.classpath b/androidgcs/.classpath
index b24a2abf5..6f3f456df 100644
--- a/androidgcs/.classpath
+++ b/androidgcs/.classpath
@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
 	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="src" path="tests"/>
 	<classpathentry kind="src" path="gen"/>
 	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
 	<classpathentry kind="con" path="org.eclipse.jdt.junit.JUNIT_CONTAINER/4"/>
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
index f0a2248f5..de04f81c5 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
@@ -9,7 +9,7 @@ public abstract class UAVDataObject extends UAVObject {
 	 * @param isSet
 	 * @param name
 	 */
-	public UAVDataObject(int objID, Boolean isSingleInst, Boolean isSet, String name) throws Exception {
+	public UAVDataObject(int objID, Boolean isSingleInst, Boolean isSet, String name) {
 		super(objID, isSingleInst, name);
 		mobj = null;
 		this.isSet = isSet;
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index bf2c87d7e..cc6718ebd 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -105,10 +105,9 @@ public abstract class UAVObject {
 	 *             When unable to unpack a field
 	 */
 	public void initializeFields(List<UAVObjectField> fields, ByteBuffer data,
-			int numBytes) throws Exception {
+			int numBytes) {
 		// TODO: QMutexLocker locker(mutex);
 		this.numBytes = numBytes;
-//	this.data = data;
 		this.fields = fields;
 		// Initialize fields
 		for (int n = 0; n < fields.size(); ++n) {
@@ -288,7 +287,7 @@ public abstract class UAVObject {
 	 * @throws Exception
 	 * @returns The number of bytes copied
 	 */
-	public int unpack(ByteBuffer dataIn) throws Exception {
+	public int unpack(ByteBuffer dataIn) {
 		if( dataIn == null )
 			return 0;
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index 78ebd7b52..a5fc6b7da 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -90,8 +90,8 @@ public class UAVObjectField {
      * to the arm/uavtalk standard (little endian)
      * @param dataOut
      * @return the number of bytes added
-     * @throws Exception */
-    public int pack(ByteBuffer dataOut) throws Exception {
+     **/
+    public int pack(ByteBuffer dataOut) {
         //QMutexLocker locker(obj->getMutex());
         // Pack each element in output buffer
     	dataOut.order(ByteOrder.LITTLE_ENDIAN);
@@ -147,7 +147,7 @@ public class UAVObjectField {
                 break;
             case STRING:
             	// TODO: Implement strings
-            	throw new Exception("Strings not yet implemented");
+            	throw new Error("Strings not yet implemented");
         }
         // Done
         return getNumBytes();    	
@@ -358,13 +358,13 @@ public class UAVObjectField {
     	}
     }
     
-    public double getDouble() throws Exception { return getDouble(0); };
-    public double getDouble(int index) throws Exception {
+    public double getDouble() { return getDouble(0); };
+    public double getDouble(int index) {
     	return Double.valueOf((Double) getValue(index));
     }
     
-    public void setDouble(double value) throws Exception { setDouble(value, 0); };
-    public void setDouble(double value, int index) throws Exception {
+    public void setDouble(double value) { setDouble(value, 0); };
+    public void setDouble(double value, int index) {
     	setValue(value, index);
     }
     
@@ -436,9 +436,7 @@ public class UAVObjectField {
         String sout = new String();
         sout += name + ": [ ";
         for (int n = 0; n < numElements; ++n)
-        {
         	sout += String.valueOf(n) + "(" + getValue(n) + ") ";
-        }
         
         sout += "] " + units + "\n";
         return sout;    	
@@ -488,6 +486,18 @@ public class UAVObjectField {
             		((ArrayList<Long>) data).add((long) 0);
             	}
                 break;
+            case FLOAT32:
+            	((ArrayList<Float>) data).clear();
+            	for(int index = 0; index < numElements; ++index) {
+            		((ArrayList<Float>) data).add((float) 0);
+            	}
+                break;
+            case ENUM:
+            	((ArrayList<Byte>) data).clear();
+            	for(int index = 0; index < numElements; ++index) {
+            		((ArrayList<Byte>) data).add((byte) 0);
+            	}
+                break;
         }
     }
     
@@ -546,8 +556,6 @@ public class UAVObjectField {
                 numBytesPerElement = 0;
         }
         clear();
-        
-        System.out.println(this);
     }
     
     /**
diff --git a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjectsinittemplate.java b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjectsinittemplate.java
index 5185ab237..7f9edb791 100644
--- a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjectsinittemplate.java
+++ b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjectsinittemplate.java
@@ -26,50 +26,18 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-package org.openpilot.uavtalk;
+package org.openpilot.uavtalk.uavobjects;
 
 import org.openpilot.uavtalk.uavobjects.*;
-import org.openpilot.uavtalk.UAVObject;
-import java.util.HashMap;
+import org.openpilot.uavtalk.UAVObjectManager;
 
-public class UAVObjects {
-
-    private static UAVObject[] uavobjects=null;
-    private static HashMap id2obj;
-
-    public static void init() {
-	if (uavobjects==null) {
-	    uavobjects=new UAVObject[] {
-$(OBJINIT)
-	    };
-	    id2obj=new HashMap();
-	    for (int i=0;i< uavobjects.length;i++)
-		id2obj.put(uavobjects[i].getObjID(),i);
+public class UAVObjectsInitialize {
+	
+	public static void register(UAVObjectManager objMngr) {
+		try {
+$(OBJINIT)	
+		} catch (Exception e) {
+			e.printStackTrace();
+		}
 	}
-    }
-
-    public static UAVObject[] getUAVObjectArray() {
-	return uavobjects;
-    }
-
-    public static boolean hasObjectWithID(int id) {
-	return id2obj.containsKey(id);
-    }
-
-    public static UAVObject getObjectByID(int id) {
-	if (!hasObjectWithID(id))
-	    return null;
-	return uavobjects[(Integer)id2obj.get(id)];
-    }
-
-    public static UAVObject getObjectByName(String name) {
-	return uavobjects[0];
-    }
-
-    public static void printAll() {
-	for (UAVObject obj : uavobjects)
-	    System.out.println(obj.getObjName());
-    }
-
-$(OBJGETTER)
 }
\ No newline at end of file
diff --git a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
index af8f48fce..64e2461f5 100644
--- a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
+++ b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
@@ -36,7 +36,6 @@ import java.util.ListIterator;
 import org.openpilot.uavtalk.UAVObjectManager;
 import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVDataObject;
-import org.openpilot.uavtalk.UAVMetaObject;
 import org.openpilot.uavtalk.UAVObjectField;
 
 /**
@@ -46,7 +45,7 @@ generated from $(XMLFILE)
  **/
 public class $(NAME) extends UAVDataObject {
 
-	public $(NAME)() throws Exception {
+	public $(NAME)() {
 		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
 		
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
@@ -57,10 +56,9 @@ $(FIELDSINIT)
 		int numBytes = 0;
 		ListIterator<UAVObjectField> li = fields.listIterator();
 		while(li.hasNext()) {
-			numBytes += li.next().getNumBytesElement();
+			numBytes += li.next().getNumBytes();
 		}
 		NUMBYTES = numBytes;
-		
 
 		// Initialize object
 		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
diff --git a/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp b/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
index 7319b7767..b8d4b33d5 100644
--- a/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
+++ b/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
@@ -54,14 +54,14 @@ bool UAVObjectGeneratorJava::generate(UAVObjectParser* parser,QString templatepa
         ObjectInfo* info=parser->getObjectByIndex(objidx);
         process_object(info);
 
-        javaObjInit.append("    objMngr->registerObject( new " + info->name + "() );\n");
+        javaObjInit.append("\t\t\tobjMngr.registerObject( new " + info->name + "() );\n");
         objInc.append("#include \"" + info->namelc + ".h\"\n");
     }
 
     // Write the gcs object inialization files
     javaInitTemplate.replace( QString("$(OBJINC)"), objInc);
     javaInitTemplate.replace( QString("$(OBJINIT)"), javaObjInit);
-    bool res = writeFileIfDiffrent( javaOutputPath.absolutePath() + "/uavobjectsinit.java", javaInitTemplate );
+    bool res = writeFileIfDiffrent( javaOutputPath.absolutePath() + "/UAVObjectsInitialize.java", javaInitTemplate );
     if (!res) {
         cout << "Error: Could not write output files" << endl;
         return false;

From 6dd509ded3547b146d52c12066f28b31525c139b Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 6 Mar 2011 13:33:56 -0600
Subject: [PATCH 207/543] Make the initial values for enums be the string. 
 Make setValue accept numerical or string constants for enums.  Only returns a
 string though.

---
 .../src/org/openpilot/uavtalk/UAVObjectField.java      | 10 ++++++++--
 .../generators/java/uavobjectgeneratorjava.cpp         |  8 ++++----
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index a5fc6b7da..bb525a5e0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -343,8 +343,14 @@ public class UAVObjectField {
     			break;
     		}
     		case ENUM:
-    		{
-    			byte val = (byte) options.indexOf((String) data);
+    		{    			
+    			byte val;
+    			try {
+    				// Test if numeric constant passed in
+    				val = ((Number) data).byteValue();
+    			} catch (Exception e) {
+    				val = (byte) options.indexOf((String) data);
+    			}
     			//if(val < 0) throw new Exception("Enumerated value not found");    	            	
     			List<Byte> l = (List<Byte>) this.data;
     			l.set(index, val);
diff --git a/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp b/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
index b8d4b33d5..e942b238f 100644
--- a/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
+++ b/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
@@ -210,9 +210,9 @@ bool UAVObjectGeneratorJava::process_object(ObjectInfo* info)
             {
                 if ( info->fields[n]->type == FIELDTYPE_ENUM )
                 {
-                    initfields.append( QString("\t\tgetField(\"%1\").setValue(%2);\n")
+                    initfields.append( QString("\t\tgetField(\"%1\").setValue(\"%2\");\n")
                                 .arg( info->fields[n]->name )
-                                .arg( info->fields[n]->options.indexOf( info->fields[n]->defaultValues[0] ) ) );
+                                .arg( info->fields[n]->defaultValues[0] ) );
                 }
                 else if ( info->fields[n]->type == FIELDTYPE_FLOAT32 )
                 {
@@ -233,10 +233,10 @@ bool UAVObjectGeneratorJava::process_object(ObjectInfo* info)
                 for (int idx = 0; idx < info->fields[n]->numElements; ++idx)
                 {
                     if ( info->fields[n]->type == FIELDTYPE_ENUM ) {
-                        initfields.append( QString("\t\tgetField(\"%1\").setValue(%3,%2);\n")
+                        initfields.append( QString("\t\tgetField(\"%1\").setValue(\"%3\",%2);\n")
                                     .arg( info->fields[n]->name )
                                     .arg( idx )
-                                    .arg( info->fields[n]->options.indexOf( info->fields[n]->defaultValues[idx] ) ) );
+                                    .arg( info->fields[n]->defaultValues[idx] ) );
                     }
                     else if ( info->fields[n]->type == FIELDTYPE_FLOAT32 ) {
                         initfields.append( QString("\t\tgetField(\"%1\").setValue(%3,%2);\n")

From 1f202089d197dc54571d1b1d3b341c5c4859591f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 6 Mar 2011 13:36:49 -0600
Subject: [PATCH 208/543] Some cosmetic changes, also initialize the Metadata
 properly

---
 .../src/org/openpilot/uavtalk/UAVMetaObject.java    | 13 ++++++++++++-
 androidgcs/src/org/openpilot/uavtalk/UAVObject.java |  2 +-
 .../src/org/openpilot/uavtalk/UAVObjectField.java   |  6 +-----
 3 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
index 70e661d46..98e4bd626 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
@@ -3,12 +3,15 @@ package org.openpilot.uavtalk;
 import java.nio.ByteBuffer;
 import java.util.ArrayList;
 import java.util.List;
+import java.util.ListIterator;
 
 public class UAVMetaObject extends UAVObject {
 
 	public UAVMetaObject(int objID, String name, UAVDataObject parent) throws Exception {
 		super(objID, true, name);
 		this.parent = parent;
+		
+		ownMetadata = new Metadata();
 
 		ownMetadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
 		ownMetadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
@@ -48,9 +51,17 @@ public class UAVMetaObject extends UAVObject {
 		fields.add( new UAVObjectField("Logging Update Mode", "", UAVObjectField.FieldType.ENUM, 1, updateModeEnum) );
 		fields.add( new UAVObjectField("Logging Update Period", "", UAVObjectField.FieldType.UINT32, 1, null ) );
 
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+
+		// Initialize object
+
 		// Initialize parent
 		super.initialize(0);
-		super.initializeFields(fields, ByteBuffer.allocate(10), 10);
+		initializeFields(fields, ByteBuffer.allocate(numBytes), numBytes);
 
 		// Setup metadata of parent
 		parentMetadata = parent.getDefaultMetadata();	
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index cc6718ebd..a990def2c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -461,7 +461,7 @@ public abstract class UAVObject {
 	 * Return a string with the object information (only the header)
 	 */
 	public String toStringBrief() {
-		return getName() + " ( " + Integer.toHexString(getObjID()) + " " + Integer.toHexString(getInstID()) + " " + getNumBytes() + ")\n";
+		return getName() + " (" + Integer.toHexString(getObjID()) + " " + Integer.toHexString(getInstID()) + " " + getNumBytes() + ")\n";
 	}
 
 	/**
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index bb525a5e0..0b72c33c8 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -440,11 +440,7 @@ public class UAVObjectField {
     
     public String toString() {
         String sout = new String();
-        sout += name + ": [ ";
-        for (int n = 0; n < numElements; ++n)
-        	sout += String.valueOf(n) + "(" + getValue(n) + ") ";
-        
-        sout += "] " + units + "\n";
+        sout += name + ": " + ((List) data).toString() + " (" + units + ")\n";
         return sout;    	
     }
 

From 689afeabb5bbfbe466f0f096762adc8d673500c7 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 6 Mar 2011 18:22:11 -0600
Subject: [PATCH 209/543] Initial implementation of UAVTalk protocol and a test
 platform for it and the UAVObjectManager

---
 .../openpilot/uavtalk/UAVObjectManager.java   |  22 +
 .../src/org/openpilot/uavtalk/UAVTalk.java    | 808 ++++++++++++++++++
 .../org/openpilot/uavtalk/ObjMngrTest.java    |  22 +
 .../tests/org/openpilot/uavtalk/TalkTest.java |  74 ++
 4 files changed, 926 insertions(+)
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
 create mode 100644 androidgcs/tests/org/openpilot/uavtalk/ObjMngrTest.java
 create mode 100644 androidgcs/tests/org/openpilot/uavtalk/TalkTest.java

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
index d75b14b85..2e531fc85 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
@@ -118,6 +118,7 @@ public class UAVObjectManager {
 		// Create metaobject
 		String mname = obj.getName();
 		mname += "Meta";
+
 		UAVMetaObject mobj = new UAVMetaObject(obj.getObjID()+1, mname, obj);
 		// Initialize object
 		obj.initialize(0, mobj);
@@ -224,6 +225,17 @@ public class UAVObjectManager {
 		 */
 	}
 
+	
+	/**
+	 * Returns a specific object by name only, returns instance ID zero
+	 * @param name The object name
+	 * @return The object or null if not found
+	 */
+	public UAVObject getObject(String name) 
+	{
+		return getObject(name, 0, 0);
+	}
+	
 	/**
 	 * Get a specific object given its name and instance ID
 	 * @returns The object is found or NULL if not
@@ -233,6 +245,16 @@ public class UAVObjectManager {
 		return getObject(name, 0, instId);
 	}
 
+	/**
+	 * Get a specific object with given object ID and instance ID zero
+	 * @param objId the object id
+	 * @returns The object is found or NULL if not
+	 */
+	public UAVObject getObject(int objId) 
+	{
+		return getObject(null, objId, 0);
+	}
+	
 	/**
 	 * Get a specific object given its object and instance ID
 	 * @returns The object is found or NULL if not
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
new file mode 100644
index 000000000..07b061bc9
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -0,0 +1,808 @@
+package org.openpilot.uavtalk;
+
+import java.io.ByteArrayInputStream;
+import java.io.ByteArrayOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+
+public class UAVTalk {
+
+	/**
+	 * Constants
+	 */
+	private static final int SYNC_VAL = 0x3C;
+
+	private static final short crc_table[] = {
+		0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
+		0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
+		0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
+		0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
+		0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
+		0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
+		0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
+		0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
+		0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
+		0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
+		0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
+		0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
+		0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
+		0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
+		0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
+		0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
+	};
+
+	enum RxStateType {STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS};
+
+	static final int TYPE_MASK = 0xFC;
+	static final int TYPE_VER = 0x20;
+	static final int TYPE_OBJ = (TYPE_VER | 0x00);
+	static final int TYPE_OBJ_REQ = (TYPE_VER | 0x01);
+	static final int TYPE_OBJ_ACK = (TYPE_VER | 0x02);
+	static final int TYPE_ACK = (TYPE_VER | 0x03);
+
+	static final int MIN_HEADER_LENGTH = 8; // sync(1), type (1), size(2), object ID(4)
+	static final int MAX_HEADER_LENGTH = 10; // sync(1), type (1), size(2), object ID (4), instance ID(2, not used in single objects)
+
+	static final int CHECKSUM_LENGTH = 1;
+
+	static final int MAX_PAYLOAD_LENGTH = 256;
+
+	static final int MAX_PACKET_LENGTH = (MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH);
+
+	static final int ALL_INSTANCES = 0xFFFF;
+	static final int TX_BUFFER_SIZE = 2*1024;	
+
+	/**
+	 * Private data
+	 */
+	InputStream inStream;
+	OutputStream outStream;
+	UAVObjectManager objMngr;
+
+	UAVObject respObj;
+	boolean respAllInstances;
+	// Variables used by the receive state machine
+	ByteBuffer rxTmpBuffer /* 4 */;
+	ByteBuffer rxBuffer;
+	int rxType;
+	int rxObjId;
+	int rxInstId;
+	int rxLength;
+	int rxPacketLength;
+
+	int rxCSPacket, rxCS;
+	int rxCount;
+	int packetSize;
+	RxStateType rxState;	
+	ComStats stats = new ComStats();
+
+	/**
+	 * Comm stats
+	 */	
+	public class ComStats {
+		public int txBytes = 0;
+		public int rxBytes = 0;
+		public int txObjectBytes = 0;
+		public int rxObjectBytes = 0;
+		public int rxObjects = 0;
+		public int txObjects = 0;
+		public int txErrors = 0;
+		public int rxErrors = 0;
+	}
+
+	/**
+	 * Constructor
+	 */
+	public UAVTalk(InputStream inStream, OutputStream outStream, UAVObjectManager objMngr)
+	{
+		this.objMngr = objMngr;
+		this.inStream = inStream;
+		this.outStream = outStream;
+
+		rxState = RxStateType.STATE_SYNC;
+		rxPacketLength = 0;
+
+		//mutex = new QMutex(QMutex::Recursive);
+
+		respObj = null;
+		resetStats();
+		rxTmpBuffer = ByteBuffer.allocate(4);
+		rxTmpBuffer.order(ByteOrder.LITTLE_ENDIAN);
+		rxBuffer = ByteBuffer.allocate(MAX_PAYLOAD_LENGTH);
+		rxBuffer.order(ByteOrder.LITTLE_ENDIAN);
+
+		// TOOD: Callback connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
+	}
+
+	/**
+	 * Reset the statistics counters
+	 */
+	public void resetStats()
+	{
+		//QMutexLocker locker(mutex);
+		stats = new ComStats();
+	}
+
+	/**
+	 * Get the statistics counters
+	 */
+	public ComStats getStats()
+	{
+		//QMutexLocker locker(mutex);
+		return stats;
+	}
+
+	/**
+	 * Called each time there are data in the input buffer
+	 */
+	public void processInputStream()
+	{
+		int val;
+		
+		while (true)
+		{
+			try {
+				//inStream.wait();
+				val = inStream.read();
+			} /*catch (InterruptedException e) {
+				// TODO Auto-generated catch block
+				System.out.println("Connection was aborted\n");
+				e.printStackTrace();
+				break;
+			}*/ catch (IOException e) {
+				// TODO Auto-generated catch block
+				System.out.println("Error reading from stream\n");
+				e.printStackTrace();
+				break;
+			}
+			//System.out.println("Received byte " + val + " in state + " + rxState);
+			processInputByte(val);
+		}
+	}
+
+	/**
+	 * Request an update for the specified object, on success the object data would have been
+	 * updated by the GCS.
+	 * \param[in] obj Object to update
+	 * \param[in] allInstances If set true then all instances will be updated
+	 * \return Success (true), Failure (false)
+	 */
+	public boolean sendObjectRequest(UAVObject obj, boolean allInstances)
+	{
+		//QMutexLocker locker(mutex);
+		return objectTransaction(obj, TYPE_OBJ_REQ, allInstances);
+	}
+
+	/**
+	 * Send the specified object through the telemetry link.
+	 * \param[in] obj Object to send
+	 * \param[in] acked Selects if an ack is required
+	 * \param[in] allInstances If set true then all instances will be updated
+	 * \return Success (true), Failure (false)
+	 */
+	public boolean sendObject(UAVObject obj, boolean acked, boolean allInstances)
+	{
+		//QMutexLocker locker(mutex);
+		if (acked)
+		{
+			return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
+		}
+		else
+		{
+			return objectTransaction(obj, TYPE_OBJ, allInstances);
+		}
+	}
+
+	/**
+	 * Cancel a pending transaction
+	 */
+	public void cancelTransaction()
+	{
+		//QMutexLocker locker(mutex);
+		respObj = null;
+	}
+
+	/**
+	 * Execute the requested transaction on an object.
+	 * \param[in] obj Object
+	 * \param[in] type Transaction type
+	 * 			  TYPE_OBJ: send object,
+	 * 			  TYPE_OBJ_REQ: request object update
+	 * 			  TYPE_OBJ_ACK: send object with an ack
+	 * \param[in] allInstances If set true then all instances will be updated
+	 * \return Success (true), Failure (false)
+	 */
+	public boolean objectTransaction(UAVObject obj, int type, boolean allInstances)
+	{
+		// Send object depending on if a response is needed
+		if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ)
+		{
+			if ( transmitObject(obj, type, allInstances) )
+			{
+				respObj = obj;
+				respAllInstances = allInstances;    
+				return true;
+			}
+			else
+			{
+				return false;
+			}
+		}
+		else if (type == TYPE_OBJ)
+		{
+			return transmitObject(obj, TYPE_OBJ, allInstances);
+		}
+		else
+		{
+			return false;
+		}
+	}
+
+	/**
+	 * Process an byte from the telemetry stream.
+	 * \param[in] rxbyte Received byte
+	 * \return Success (true), Failure (false)
+	 */
+	public boolean processInputByte(int rxbyte)
+	{
+		assert(objMngr != null);
+
+		// Update stats
+		stats.rxBytes++;
+
+		rxPacketLength++;   // update packet byte count
+
+		// Receive state machine
+		switch (rxState)
+		{
+		case STATE_SYNC:
+
+			if (rxbyte != SYNC_VAL)
+				break;
+
+			// Initialize and update CRC
+			rxCS = updateCRC(0, rxbyte);
+
+			rxPacketLength = 1;
+
+			rxState = RxStateType.STATE_TYPE;
+			break;
+
+		case STATE_TYPE:
+
+			// Update CRC
+			rxCS = updateCRC(rxCS, rxbyte);
+
+			if ((rxbyte & TYPE_MASK) != TYPE_VER)
+			{
+				rxState = RxStateType.STATE_SYNC;
+				break;
+			}
+
+			rxType = rxbyte;
+
+			packetSize = 0;
+
+			rxState = RxStateType.STATE_SIZE;
+			rxCount = 0;
+			break;
+
+		case STATE_SIZE:
+
+			// Update CRC
+			rxCS = updateCRC(rxCS, rxbyte);
+
+			if (rxCount == 0)
+			{
+				packetSize += rxbyte;
+				rxCount++;
+				break;
+			}
+
+			packetSize += (rxbyte << 8) & 0xff00;
+
+			if (packetSize < MIN_HEADER_LENGTH || packetSize > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH)
+			{   // incorrect packet size
+				rxState = RxStateType.STATE_SYNC;
+			break;
+			}
+
+			rxCount = 0;
+			rxState = RxStateType.STATE_OBJID;
+			rxTmpBuffer.position(0);
+			break;
+
+		case STATE_OBJID:
+
+			// Update CRC
+			rxCS = updateCRC(rxCS, rxbyte);
+
+			rxTmpBuffer.put(rxCount++, (byte) (rxbyte & 0xff));
+			if (rxCount < 4)
+				break;
+
+			// Search for object, if not found reset state machine
+			rxObjId = rxTmpBuffer.getInt(0);
+			{
+				UAVObject rxObj = objMngr.getObject(rxObjId);
+				if (rxObj == null)
+				{
+					stats.rxErrors++;
+					rxState = RxStateType.STATE_SYNC;
+					break;
+				}
+
+				// Determine data length
+				if (rxType == TYPE_OBJ_REQ || rxType == TYPE_ACK)
+					rxLength = 0;
+				else
+					rxLength = rxObj.getNumBytes();
+
+					// Check length and determine next state
+					if (rxLength >= MAX_PAYLOAD_LENGTH)
+					{
+						stats.rxErrors++;
+						rxState = RxStateType.STATE_SYNC;
+						break;
+					}
+
+					// Check the lengths match
+					if ((rxPacketLength + rxLength) != packetSize)
+					{   // packet error - mismatched packet size
+						stats.rxErrors++;
+						rxState = RxStateType.STATE_SYNC;
+						break;
+					}
+
+					// Check if this is a single instance object (i.e. if the instance ID field is coming next)
+					if (rxObj.isSingleInstance())
+					{
+						// If there is a payload get it, otherwise receive checksum
+						if (rxLength > 0)
+							rxState = RxStateType.STATE_DATA;
+						else
+							rxState = RxStateType.STATE_CS;
+						rxInstId = 0;
+						rxCount = 0;
+					}
+					else
+					{
+						rxState = RxStateType.STATE_INSTID;
+						rxCount = 0;
+					}
+			}
+
+			break;
+
+		case STATE_INSTID:
+
+			// Update CRC
+			rxCS = updateCRC(rxCS, rxbyte);
+
+			rxTmpBuffer.put(rxCount++, (byte) (rxbyte & 0xff));
+			if (rxCount < 2)
+				break;
+
+			rxInstId = rxTmpBuffer.getShort(0);
+
+			rxCount = 0;
+
+			// If there is a payload get it, otherwise receive checksum
+			if (rxLength > 0)
+				rxState = RxStateType.STATE_DATA;
+			else
+				rxState = RxStateType.STATE_CS;
+
+			break;
+
+		case STATE_DATA:
+			
+			// Update CRC
+			rxCS = updateCRC(rxCS, rxbyte);
+
+			//System.out.println(rxCount + "/" + rxLength);
+			rxBuffer.put(rxCount++, (byte) (rxbyte & 0xff));
+			if (rxCount < rxLength)
+				break;
+
+			rxState = RxStateType.STATE_CS;
+			rxCount = 0;
+			break;
+
+		case STATE_CS:
+
+			// The CRC byte
+			rxCSPacket = rxbyte;
+
+			if (rxCS != rxCSPacket)
+			{   // packet error - faulty CRC
+				stats.rxErrors++;
+				rxState = RxStateType.STATE_SYNC;
+				break;
+			}
+
+			if (rxPacketLength != (packetSize + 1))
+			{   // packet error - mismatched packet size
+				stats.rxErrors++;
+				rxState = RxStateType.STATE_SYNC;
+				break;
+			}
+
+			//mutex->lock();
+			rxBuffer.position(0);
+			receiveObject(rxType, rxObjId, rxInstId, rxBuffer);
+			stats.rxObjectBytes += rxLength;
+			stats.rxObjects++;
+			//mutex->unlock();
+
+			rxState = RxStateType.STATE_SYNC;
+			break;
+
+		default:
+			rxState = RxStateType.STATE_SYNC;
+			stats.rxErrors++;
+		}
+
+		// Done
+		return true;
+	}
+
+	/**
+	 * Receive an object. This function process objects received through the telemetry stream.
+	 * \param[in] type Type of received message (TYPE_OBJ, TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK)
+	 * \param[in] obj Handle of the received object
+	 * \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
+	 * \param[in] data Data buffer
+	 * \param[in] length Buffer length
+	 * \return Success (true), Failure (false)
+	 */
+	public boolean receiveObject(int type, int objId, int instId, ByteBuffer data)
+	{
+		assert(objMngr != null);
+		
+		UAVObject obj = null;
+		boolean error = false;
+		boolean allInstances = (instId == ALL_INSTANCES? true : false);
+
+		System.out.println("Received object: " + objId + " " + objMngr.getObject(objId).getName());
+		// Process message type
+		switch (type) {
+		case TYPE_OBJ:
+			// All instances, not allowed for OBJ messages
+			if (!allInstances)
+			{
+				// Get object and update its data
+				obj = updateObject(objId, instId, data);
+				// Check if an ack is pending
+				if ( obj != null )
+				{
+					updateAck(obj);
+				}
+				else
+				{
+					error = true;
+				}
+			}
+			else
+			{
+				error = true;
+			}
+			break;
+		case TYPE_OBJ_ACK:
+			// All instances, not allowed for OBJ_ACK messages
+			if (!allInstances)
+			{
+				// Get object and update its data
+				obj = updateObject(objId, instId, data);
+				// Transmit ACK
+				if ( obj != null )
+				{
+					transmitObject(obj, TYPE_ACK, false);
+				}
+				else
+				{
+					error = true;
+				}
+			}
+			else
+			{
+				error = true;
+			}
+			break;
+		case TYPE_OBJ_REQ:
+			// Get object, if all instances are requested get instance 0 of the object
+			if (allInstances)
+			{
+				obj = objMngr.getObject(objId);
+			}
+			else
+			{
+				obj = objMngr.getObject(objId, instId);
+			}
+			// If object was found transmit it
+			if (obj != null)
+			{
+				transmitObject(obj, TYPE_OBJ, allInstances);
+			}
+			else
+			{
+				error = true;
+			}
+			break;
+		case TYPE_ACK:
+			// All instances, not allowed for ACK messages
+			if (!allInstances)
+			{
+				// Get object
+				obj = objMngr.getObject(objId, instId);
+				// Check if an ack is pending
+				if (obj != null)
+				{
+					updateAck(obj);
+				}
+				else
+				{
+					error = true;
+				}
+			}
+			break;
+		default:
+			error = true;
+		}
+		// Done
+		return !error;
+	}
+
+	/**
+	 * Update the data of an object from a byte array (unpack).
+	 * If the object instance could not be found in the list, then a
+	 * new one is created.
+	 */
+	public UAVObject updateObject(int objId, int instId, ByteBuffer data)
+	{
+		assert(objMngr != null);
+
+		// Get object
+		UAVObject obj = objMngr.getObject(objId, instId);
+		// If the instance does not exist create it
+		if (obj == null)
+		{
+			// Get the object type
+			UAVObject tobj = objMngr.getObject(objId);
+			if (tobj == null)
+			{
+				return null;
+			}
+			// Make sure this is a data object
+			UAVDataObject dobj = null;
+			try {
+				dobj = (UAVDataObject) tobj;
+			} catch (Exception e) {
+				// Failed to cast to a data object
+				return null;
+			}
+			
+			// Create a new instance, unpack and register
+			UAVDataObject instobj = dobj.clone(instId);
+			try {
+				if ( !objMngr.registerObject(instobj) )
+				{
+					return null;
+				}
+			} catch (Exception e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+			instobj.unpack(data);
+			return instobj;
+		}
+		else
+		{
+			// Unpack data into object instance
+			// System.out.println("Unpacking: " + data.position() + " / " + data.capacity() );
+			obj.unpack(data);
+			return obj;
+		}
+	}
+
+	/**
+	 * Check if a transaction is pending and if yes complete it.
+	 */
+	public void updateAck(UAVObject obj)
+	{
+		if (respObj != null && respObj.getObjID() == obj.getObjID() && (respObj.getInstID() == obj.getInstID() || respAllInstances))
+		{
+			respObj = null;
+			// TODO: Signals
+//			emit transactionCompleted(obj);
+		}
+	}
+
+	/**
+	 * Send an object through the telemetry link.
+	 * \param[in] obj Object to send
+	 * \param[in] type Transaction type
+	 * \param[in] allInstances True is all instances of the object are to be sent
+	 * \return Success (true), Failure (false)
+	 */
+	public boolean transmitObject(UAVObject obj, int type, boolean allInstances)
+	{   
+		// If all instances are requested on a single instance object it is an error
+		if (allInstances && obj.isSingleInstance())
+		{
+			allInstances = false;
+		}
+
+		// Process message type
+		if ( type == TYPE_OBJ || type == TYPE_OBJ_ACK )
+		{
+			if (allInstances)
+			{
+				// Get number of instances
+				int numInst = objMngr.getNumInstances(obj.getObjID());
+				// Send all instances
+				for (int instId = 0; instId < numInst; ++instId)
+				{
+					UAVObject inst = objMngr.getObject(obj.getObjID(), instId);
+					transmitSingleObject(inst, type, false);
+				}
+				return true;
+			}
+			else
+			{
+				return transmitSingleObject(obj, type, false);
+			}
+		}
+		else if (type == TYPE_OBJ_REQ)
+		{
+			return transmitSingleObject(obj, TYPE_OBJ_REQ, allInstances);
+		}
+		else if (type == TYPE_ACK)
+		{
+			if (!allInstances)
+			{
+				return transmitSingleObject(obj, TYPE_ACK, false);
+			}
+			else
+			{
+				return false;
+			}
+		}
+		else
+		{
+			return false;
+		}
+	}
+
+
+	/**
+	 * Send an object through the telemetry link.
+	 * \param[in] obj Object handle to send
+	 * \param[in] type Transaction type
+	 * \return Success (true), Failure (false)
+	 */
+	public boolean transmitSingleObject(UAVObject obj, int type, boolean allInstances)
+	{
+		int length;
+		int dataOffset;
+		int objId;
+		int instId;
+		int allInstId = ALL_INSTANCES;
+		
+		assert(objMngr != null && outStream != null);
+		
+		ByteBuffer bbuf = ByteBuffer.allocate(MAX_PACKET_LENGTH);
+		bbuf.order(ByteOrder.LITTLE_ENDIAN);
+
+		// Determine data length
+		if (type == TYPE_OBJ_REQ || type == TYPE_ACK)
+		{
+			length = 0;
+		}
+		else
+		{
+			length = obj.getNumBytes();
+		}
+		
+		// Setup type and object id fields
+		bbuf.put((byte) (SYNC_VAL & 0xff));
+		bbuf.put((byte) (type & 0xff));
+		bbuf.putShort((short) (length + 
+				2 /* SYNC, Type */ + 
+				2 /* Size */ + 
+				4 /* ObjID */ + 
+				(obj.isSingleInstance() ? 0 : 2) )); 
+		bbuf.putInt(obj.getObjID());
+		
+		// Setup instance ID if one is required
+		if ( !obj.isSingleInstance() )
+		{
+			// Check if all instances are requested
+			if (allInstances)
+				bbuf.putShort((short) (allInstId & 0xffff));
+			else
+				bbuf.putShort((short) (obj.getInstID() & 0xffff));
+		}
+				
+		// Check length
+		if (length >= MAX_PAYLOAD_LENGTH)
+			return false;
+
+		// Copy data (if any)
+		if (length > 0)
+			try {
+				if ( obj.pack(bbuf) == 0)
+					return false;
+			} catch (Exception e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+				return false;
+			}
+
+		// Calculate checksum
+		bbuf.put((byte) (updateCRC(0, bbuf.array()) & 0xff));
+
+		try {
+			outStream.write(bbuf.array());
+		} catch (IOException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+			return false;
+		}
+		
+//		//TODO: Need to use a different outStream type and check that the backlog isn't more than TX_BUFFER_SIZE
+//		// Send buffer, check that the transmit backlog does not grow above limit
+//		if ( io->bytesToWrite() < TX_BUFFER_SIZE )
+//		{
+//			io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
+//		}
+//		else
+//		{
+//			++stats.txErrors;
+//			return false;
+//		}
+
+		// Update stats
+		++stats.txObjects;
+		stats.txBytes += bbuf.position();
+		stats.txObjectBytes += length;
+
+		// Done
+		return true;
+	}
+
+	/**
+	 * Update the crc value with new data.
+	 *
+	 * Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
+	 * using the configuration:
+	 *    Width        = 8
+	 *    Poly         = 0x07
+	 *    XorIn        = 0x00
+	 *    ReflectIn    = False
+	 *    XorOut       = 0x00
+	 *    ReflectOut   = False
+	 *    Algorithm    = table-driven
+	 *
+	 * \param crc      The current crc value.
+	 * \param data     Pointer to a buffer of \a data_len bytes.
+	 * \param length   Number of bytes in the \a data buffer.
+	 * \return         The updated crc value.
+	 */
+	int updateCRC(int crc, int data)
+	{
+		return crc_table[crc ^ (data & 0xff)];
+	}
+	int updateCRC(int crc, byte [] data)
+	{
+		for (int i = 0; i < data.length; i++)
+			crc = updateCRC(crc, (int) data[i]);
+		return crc;		
+	}
+
+
+
+}
diff --git a/androidgcs/tests/org/openpilot/uavtalk/ObjMngrTest.java b/androidgcs/tests/org/openpilot/uavtalk/ObjMngrTest.java
new file mode 100644
index 000000000..0131d1246
--- /dev/null
+++ b/androidgcs/tests/org/openpilot/uavtalk/ObjMngrTest.java
@@ -0,0 +1,22 @@
+package org.openpilot.uavtalk;
+
+import static org.junit.Assert.*;
+
+import org.junit.BeforeClass;
+import org.junit.Test;
+import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
+
+public class ObjMngrTest {
+
+	@BeforeClass
+	public static void setUpBeforeClass() throws Exception {
+	}
+
+	@Test
+	public void testGetObjects() {
+		UAVObjectManager objMngr = new UAVObjectManager();
+		UAVObjectsInitialize.register(objMngr);
+//		System.out.println(objMngr.getObject("ActuatorSettings", 0));
+	}
+
+}
diff --git a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
new file mode 100644
index 000000000..6dc23530e
--- /dev/null
+++ b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
@@ -0,0 +1,74 @@
+package org.openpilot.uavtalk;
+import static org.junit.Assert.*;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.io.OutputStream;
+import java.net.DatagramSocket;
+import java.net.InetAddress;
+import java.net.Socket;
+import java.nio.ByteBuffer;
+
+import org.junit.BeforeClass;
+import org.junit.Test;
+import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
+import org.openpilot.uavtalk.UAVTalk;
+
+
+public class TalkTest {
+
+	static UAVObjectManager objMngr;
+	static final String IP_ADDRDESS = new String("127.0.0.1");
+	static final int PORT_NUM = 8000;
+	
+	@BeforeClass
+	public static void setUpBeforeClass() throws Exception {
+		objMngr = new UAVObjectManager();
+		UAVObjectsInitialize.register(objMngr);
+	}
+
+	@Test
+	public void testProcessInputStream() {
+		Socket connection = null;
+		UAVTalk talk = null;
+		try{
+			InetAddress ip = InetAddress.getByName(IP_ADDRDESS);
+			connection = new Socket(ip, PORT_NUM);
+		} catch (Exception e) {
+			e.printStackTrace();
+			fail("Couldn't connect to test platform");
+		}
+		
+		try {
+			talk = new UAVTalk(connection.getInputStream(), connection.getOutputStream(), objMngr);
+		} catch (IOException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+			fail("Couldn't construct UAVTalk object");
+		}
+		
+		talk.processInputStream();
+	}
+
+	@Test
+	public void testSendObjectRequest() {
+		fail("Not yet implemented");
+	}
+
+	@Test
+	public void testSendObject() {
+		fail("Not yet implemented");
+	}
+
+	@Test
+	public void testReceiveObject() {
+		fail("Not yet implemented");
+	}
+
+	@Test
+	public void testUpdateObject() {
+		fail("Not yet implemented");
+	}
+
+}

From c7961b9f384c9f8e98cfe99399e49a4ffc4b3dea Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 6 Mar 2011 18:22:39 -0600
Subject: [PATCH 210/543] Updates to various objects

---
 .../uavtalk/uavobjects/AHRSCalibration.java   |  2 +-
 .../uavtalk/uavobjects/AHRSSettings.java      |  4 +-
 .../uavtalk/uavobjects/ActuatorSettings.java  | 44 +++++++++----------
 .../uavtalk/uavobjects/BatterySettings.java   |  2 +-
 .../uavtalk/uavobjects/FlightPlanControl.java |  2 +-
 .../uavtalk/uavobjects/FlightPlanStatus.java  |  4 +-
 .../uavtalk/uavobjects/GuidanceSettings.java  |  4 +-
 .../uavtalk/uavobjects/HomeLocation.java      |  2 +-
 .../uavobjects/ManualControlSettings.java     | 44 +++++++++----------
 .../uavtalk/uavobjects/MixerSettings.java     | 16 +++----
 .../uavtalk/uavobjects/SystemAlarms.java      | 32 +++++++-------
 .../uavtalk/uavobjects/SystemSettings.java    |  2 +-
 .../uavtalk/uavobjects/TelemetrySettings.java |  2 +-
 13 files changed, 80 insertions(+), 80 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java
index a3096ad39..922582398 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java
@@ -171,7 +171,7 @@ public class AHRSCalibration extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("measure_var").setValue(0);
+		getField("measure_var").setValue("SET");
 		getField("accel_bias").setValue(-73.5,0);
 		getField("accel_bias").setValue(-73.5,1);
 		getField("accel_bias").setValue(73.5,2);
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java
index a38915c28..c49c04778 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java
@@ -132,10 +132,10 @@ public class AHRSSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("Algorithm").setValue(1);
+		getField("Algorithm").setValue("INSGPS_INDOOR_NOMAG");
 		getField("Downsampling").setValue(20);
 		getField("UpdatePeriod").setValue(1);
-		getField("BiasCorrectedRaw").setValue(0);
+		getField("BiasCorrectedRaw").setValue("TRUE");
 		getField("YawBias").setValue(0);
 		getField("PitchBias").setValue(0);
 		getField("RollBias").setValue(0);
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
index ebbfaeb17..542b433d1 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
@@ -358,20 +358,20 @@ public class ActuatorSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("FixedWingRoll1").setValue(8);
-		getField("FixedWingRoll2").setValue(8);
-		getField("FixedWingPitch1").setValue(8);
-		getField("FixedWingPitch2").setValue(8);
-		getField("FixedWingYaw").setValue(8);
-		getField("FixedWingThrottle").setValue(8);
-		getField("VTOLMotorN").setValue(8);
-		getField("VTOLMotorNE").setValue(8);
-		getField("VTOLMotorE").setValue(8);
-		getField("VTOLMotorSE").setValue(8);
-		getField("VTOLMotorS").setValue(8);
-		getField("VTOLMotorSW").setValue(8);
-		getField("VTOLMotorW").setValue(8);
-		getField("VTOLMotorNW").setValue(8);
+		getField("FixedWingRoll1").setValue("None");
+		getField("FixedWingRoll2").setValue("None");
+		getField("FixedWingPitch1").setValue("None");
+		getField("FixedWingPitch2").setValue("None");
+		getField("FixedWingYaw").setValue("None");
+		getField("FixedWingThrottle").setValue("None");
+		getField("VTOLMotorN").setValue("None");
+		getField("VTOLMotorNE").setValue("None");
+		getField("VTOLMotorE").setValue("None");
+		getField("VTOLMotorSE").setValue("None");
+		getField("VTOLMotorS").setValue("None");
+		getField("VTOLMotorSW").setValue("None");
+		getField("VTOLMotorW").setValue("None");
+		getField("VTOLMotorNW").setValue("None");
 		getField("ChannelUpdateFreq").setValue(50,0);
 		getField("ChannelUpdateFreq").setValue(50,1);
 		getField("ChannelUpdateFreq").setValue(50,2);
@@ -400,14 +400,14 @@ public class ActuatorSettings extends UAVDataObject {
 		getField("ChannelMin").setValue(1000,5);
 		getField("ChannelMin").setValue(1000,6);
 		getField("ChannelMin").setValue(1000,7);
-		getField("ChannelType").setValue(0,0);
-		getField("ChannelType").setValue(0,1);
-		getField("ChannelType").setValue(0,2);
-		getField("ChannelType").setValue(0,3);
-		getField("ChannelType").setValue(0,4);
-		getField("ChannelType").setValue(0,5);
-		getField("ChannelType").setValue(0,6);
-		getField("ChannelType").setValue(0,7);
+		getField("ChannelType").setValue("PWM",0);
+		getField("ChannelType").setValue("PWM",1);
+		getField("ChannelType").setValue("PWM",2);
+		getField("ChannelType").setValue("PWM",3);
+		getField("ChannelType").setValue("PWM",4);
+		getField("ChannelType").setValue("PWM",5);
+		getField("ChannelType").setValue("PWM",6);
+		getField("ChannelType").setValue("PWM",7);
 		getField("ChannelAddr").setValue(0,0);
 		getField("ChannelAddr").setValue(1,1);
 		getField("ChannelAddr").setValue(2,2);
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BatterySettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BatterySettings.java
index 19e477b62..6af673930 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BatterySettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BatterySettings.java
@@ -121,7 +121,7 @@ public class BatterySettings extends UAVDataObject {
 	{
 		getField("BatteryVoltage").setValue(11.1);
 		getField("BatteryCapacity").setValue(2200);
-		getField("BatteryType").setValue(0);
+		getField("BatteryType").setValue("LiPo");
 		getField("Calibrations").setValue(1,0);
 		getField("Calibrations").setValue(1,1);
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
index 2e453eda5..fdc5bfcb0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
@@ -104,7 +104,7 @@ public class FlightPlanControl extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("Command").setValue(0);
+		getField("Command").setValue("Start");
 
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
index 00920553c..2303514c0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
@@ -144,8 +144,8 @@ public class FlightPlanStatus extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("Status").setValue(0);
-		getField("ErrorType").setValue(0);
+		getField("Status").setValue("Stopped");
+		getField("ErrorType").setValue("None");
 		getField("Debug1").setValue(0);
 		getField("Debug2").setValue(0);
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
index 2cde12f64..2fe8bb437 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
@@ -142,7 +142,7 @@ public class GuidanceSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("GuidanceMode").setValue(0);
+		getField("GuidanceMode").setValue("DUAL_LOOP");
 		getField("HorizontalP").setValue(0.2,0);
 		getField("HorizontalP").setValue(150,1);
 		getField("HorizontalVelPID").setValue(0.1,0);
@@ -155,7 +155,7 @@ public class GuidanceSettings extends UAVDataObject {
 		getField("VerticalVelPID").setValue(0,1);
 		getField("VerticalVelPID").setValue(0,2);
 		getField("VerticalVelPID").setValue(0,3);
-		getField("ThrottleControl").setValue(0);
+		getField("ThrottleControl").setValue("FALSE");
 		getField("MaxRollPitch").setValue(10);
 		getField("UpdatePeriod").setValue(100);
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
index 2adebce70..5941c069c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
@@ -139,7 +139,7 @@ public class HomeLocation extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("Set").setValue(0);
+		getField("Set").setValue("FALSE");
 		getField("Latitude").setValue(0);
 		getField("Longitude").setValue(0);
 		getField("Altitude").setValue(0);
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
index c14aef758..83697999a 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
@@ -309,28 +309,28 @@ public class ManualControlSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("InputMode").setValue(0);
-		getField("Roll").setValue(0);
-		getField("Pitch").setValue(1);
-		getField("Yaw").setValue(2);
-		getField("Throttle").setValue(3);
-		getField("FlightMode").setValue(4);
-		getField("Accessory1").setValue(8);
-		getField("Accessory2").setValue(8);
-		getField("Accessory3").setValue(8);
-		getField("Arming").setValue(0);
-		getField("Stabilization1Settings").setValue(2,0);
-		getField("Stabilization1Settings").setValue(2,1);
-		getField("Stabilization1Settings").setValue(2,2);
-		getField("Stabilization2Settings").setValue(2,0);
-		getField("Stabilization2Settings").setValue(2,1);
-		getField("Stabilization2Settings").setValue(2,2);
-		getField("Stabilization3Settings").setValue(2,0);
-		getField("Stabilization3Settings").setValue(2,1);
-		getField("Stabilization3Settings").setValue(2,2);
-		getField("FlightModePosition").setValue(0,0);
-		getField("FlightModePosition").setValue(1,1);
-		getField("FlightModePosition").setValue(2,2);
+		getField("InputMode").setValue("PWM");
+		getField("Roll").setValue("Channel1");
+		getField("Pitch").setValue("Channel2");
+		getField("Yaw").setValue("Channel3");
+		getField("Throttle").setValue("Channel4");
+		getField("FlightMode").setValue("Channel5");
+		getField("Accessory1").setValue("None");
+		getField("Accessory2").setValue("None");
+		getField("Accessory3").setValue("None");
+		getField("Arming").setValue("Always Disarmed");
+		getField("Stabilization1Settings").setValue("Attitude",0);
+		getField("Stabilization1Settings").setValue("Attitude",1);
+		getField("Stabilization1Settings").setValue("Attitude",2);
+		getField("Stabilization2Settings").setValue("Attitude",0);
+		getField("Stabilization2Settings").setValue("Attitude",1);
+		getField("Stabilization2Settings").setValue("Attitude",2);
+		getField("Stabilization3Settings").setValue("Attitude",0);
+		getField("Stabilization3Settings").setValue("Attitude",1);
+		getField("Stabilization3Settings").setValue("Attitude",2);
+		getField("FlightModePosition").setValue("Manual",0);
+		getField("FlightModePosition").setValue("Manual",1);
+		getField("FlightModePosition").setValue("Manual",2);
 		getField("ChannelMax").setValue(2000,0);
 		getField("ChannelMax").setValue(2000,1);
 		getField("ChannelMax").setValue(2000,2);
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
index 554e366f3..9aa87d49e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
@@ -270,49 +270,49 @@ public class MixerSettings extends UAVDataObject {
 		getField("ThrottleCurve2").setValue(0.5,2);
 		getField("ThrottleCurve2").setValue(0.75,3);
 		getField("ThrottleCurve2").setValue(1,4);
-		getField("Mixer1Type").setValue(0);
+		getField("Mixer1Type").setValue("Disabled");
 		getField("Mixer1Vector").setValue(0,0);
 		getField("Mixer1Vector").setValue(0,1);
 		getField("Mixer1Vector").setValue(0,2);
 		getField("Mixer1Vector").setValue(0,3);
 		getField("Mixer1Vector").setValue(0,4);
-		getField("Mixer2Type").setValue(0);
+		getField("Mixer2Type").setValue("Disabled");
 		getField("Mixer2Vector").setValue(0,0);
 		getField("Mixer2Vector").setValue(0,1);
 		getField("Mixer2Vector").setValue(0,2);
 		getField("Mixer2Vector").setValue(0,3);
 		getField("Mixer2Vector").setValue(0,4);
-		getField("Mixer3Type").setValue(0);
+		getField("Mixer3Type").setValue("Disabled");
 		getField("Mixer3Vector").setValue(0,0);
 		getField("Mixer3Vector").setValue(0,1);
 		getField("Mixer3Vector").setValue(0,2);
 		getField("Mixer3Vector").setValue(0,3);
 		getField("Mixer3Vector").setValue(0,4);
-		getField("Mixer4Type").setValue(0);
+		getField("Mixer4Type").setValue("Disabled");
 		getField("Mixer4Vector").setValue(0,0);
 		getField("Mixer4Vector").setValue(0,1);
 		getField("Mixer4Vector").setValue(0,2);
 		getField("Mixer4Vector").setValue(0,3);
 		getField("Mixer4Vector").setValue(0,4);
-		getField("Mixer5Type").setValue(0);
+		getField("Mixer5Type").setValue("Disabled");
 		getField("Mixer5Vector").setValue(0,0);
 		getField("Mixer5Vector").setValue(0,1);
 		getField("Mixer5Vector").setValue(0,2);
 		getField("Mixer5Vector").setValue(0,3);
 		getField("Mixer5Vector").setValue(0,4);
-		getField("Mixer6Type").setValue(0);
+		getField("Mixer6Type").setValue("Disabled");
 		getField("Mixer6Vector").setValue(0,0);
 		getField("Mixer6Vector").setValue(0,1);
 		getField("Mixer6Vector").setValue(0,2);
 		getField("Mixer6Vector").setValue(0,3);
 		getField("Mixer6Vector").setValue(0,4);
-		getField("Mixer7Type").setValue(0);
+		getField("Mixer7Type").setValue("Disabled");
 		getField("Mixer7Vector").setValue(0,0);
 		getField("Mixer7Vector").setValue(0,1);
 		getField("Mixer7Vector").setValue(0,2);
 		getField("Mixer7Vector").setValue(0,3);
 		getField("Mixer7Vector").setValue(0,4);
-		getField("Mixer8Type").setValue(0);
+		getField("Mixer8Type").setValue("Disabled");
 		getField("Mixer8Vector").setValue(0,0);
 		getField("Mixer8Vector").setValue(0,1);
 		getField("Mixer8Vector").setValue(0,2);
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
index 9136627f4..e9313472c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
@@ -121,22 +121,22 @@ public class SystemAlarms extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("Alarm").setValue(0,0);
-		getField("Alarm").setValue(0,1);
-		getField("Alarm").setValue(0,2);
-		getField("Alarm").setValue(0,3);
-		getField("Alarm").setValue(0,4);
-		getField("Alarm").setValue(0,5);
-		getField("Alarm").setValue(0,6);
-		getField("Alarm").setValue(0,7);
-		getField("Alarm").setValue(0,8);
-		getField("Alarm").setValue(0,9);
-		getField("Alarm").setValue(0,10);
-		getField("Alarm").setValue(0,11);
-		getField("Alarm").setValue(0,12);
-		getField("Alarm").setValue(0,13);
-		getField("Alarm").setValue(0,14);
-		getField("Alarm").setValue(0,15);
+		getField("Alarm").setValue("Uninitialised",0);
+		getField("Alarm").setValue("Uninitialised",1);
+		getField("Alarm").setValue("Uninitialised",2);
+		getField("Alarm").setValue("Uninitialised",3);
+		getField("Alarm").setValue("Uninitialised",4);
+		getField("Alarm").setValue("Uninitialised",5);
+		getField("Alarm").setValue("Uninitialised",6);
+		getField("Alarm").setValue("Uninitialised",7);
+		getField("Alarm").setValue("Uninitialised",8);
+		getField("Alarm").setValue("Uninitialised",9);
+		getField("Alarm").setValue("Uninitialised",10);
+		getField("Alarm").setValue("Uninitialised",11);
+		getField("Alarm").setValue("Uninitialised",12);
+		getField("Alarm").setValue("Uninitialised",13);
+		getField("Alarm").setValue("Uninitialised",14);
+		getField("Alarm").setValue("Uninitialised",15);
 
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
index d01b55b24..99bceb6ba 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
@@ -117,7 +117,7 @@ public class SystemSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("AirframeType").setValue(0);
+		getField("AirframeType").setValue("FixedWing");
 
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TelemetrySettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TelemetrySettings.java
index 6995a02b0..675f9b592 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TelemetrySettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TelemetrySettings.java
@@ -108,7 +108,7 @@ public class TelemetrySettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("Speed").setValue(5);
+		getField("Speed").setValue("57600");
 
 	}
 

From 7d13f4869d60195b2ec69c3962479c4a9a3fa4f4 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 7 Mar 2011 04:54:43 -0600
Subject: [PATCH 211/543] Made a lot of critical functions synchronized to
 block race conditions (essentialy implements a mutex locker for that object).
  Also added callbacks to UAVObjects for unpacked and updated.  More to come. 
 Finally test case that checks that we get FlightStatus through UAVTalk (i.e.
 that the aircraft is talking).

---
 .../src/org/openpilot/uavtalk/UAVObject.java  | 49 +++++++++++++++++--
 .../org/openpilot/uavtalk/UAVObjectField.java | 18 +++----
 .../openpilot/uavtalk/UAVObjectManager.java   | 14 +++---
 .../src/org/openpilot/uavtalk/UAVTalk.java    | 18 ++++++-
 .../tests/org/openpilot/uavtalk/TalkTest.java | 33 +++++++++++--
 5 files changed, 107 insertions(+), 25 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index a990def2c..6ede86094 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -3,9 +3,50 @@ package org.openpilot.uavtalk;
 import java.nio.ByteBuffer;
 import java.util.List;
 import java.util.ListIterator;
+import java.util.Observer;
+import java.util.Observable;
 
 public abstract class UAVObject {
 
+	public class CallbackListener extends Observable {		
+		private UAVObject parent;
+		
+		public CallbackListener(UAVObject parent) {
+			this.parent = parent;
+		}
+
+		public void event () {
+			setChanged();
+			notifyObservers(parent);
+		}
+	}
+	
+	private CallbackListener updatedListeners = new CallbackListener(this);
+	public void addUpdatedObserver(Observer o) {
+		synchronized(updatedListeners) {
+			updatedListeners.addObserver(o);
+		}
+	}
+	void updated() {
+		synchronized(updatedListeners) {
+			updatedListeners.event();
+		}
+	}
+	
+	private CallbackListener unpackedListeners = new CallbackListener(this);
+	public void addUnpackedObserver(Observer o) {
+		synchronized(unpackedListeners) {
+			unpackedListeners.addObserver(o);
+		}
+	}
+	void unpacked() {
+		synchronized(unpackedListeners) {
+			System.out.println("Unpacked!: " + unpackedListeners.countObservers() + " " + getName());
+			unpackedListeners.event();
+		}
+	}
+
+	
 	/**
 	 * Object update mode
 	 */
@@ -298,10 +339,12 @@ public abstract class UAVObject {
 			UAVObjectField field = li.next();
 			numBytes += field.unpack(dataIn);
 		}
+		
+		// Trigger all the listeners for the unpack event
+		unpacked();
+		updated();
+		
 		return numBytes;
-		// TODO: Callbacks
-		// emit objectUnpacked(this); // trigger object updated event
-		// emit objectUpdated(this);
 	}
 
 	// /**
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index 0b72c33c8..21444a04b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -91,8 +91,7 @@ public class UAVObjectField {
      * @param dataOut
      * @return the number of bytes added
      **/
-    public int pack(ByteBuffer dataOut) {
-        //QMutexLocker locker(obj->getMutex());
+    public synchronized int pack(ByteBuffer dataOut) {
         // Pack each element in output buffer
     	dataOut.order(ByteOrder.LITTLE_ENDIAN);
         switch (type)
@@ -153,7 +152,7 @@ public class UAVObjectField {
         return getNumBytes();    	
     }
     
-    public int unpack(ByteBuffer dataIn) {
+    public synchronized int unpack(ByteBuffer dataIn) {
         // Unpack each element from input buffer
     	dataIn.order(ByteOrder.LITTLE_ENDIAN);
         switch (type)
@@ -240,10 +239,9 @@ public class UAVObjectField {
         return getNumBytes();    	
     }
     
-    Object getValue()  { return getValue(0); };
+    public Object getValue()  { return getValue(0); };
     @SuppressWarnings("unchecked")
-	Object getValue(int index)  {
-//        QMutexLocker locker(obj->getMutex());
+	public synchronized Object getValue(int index)  {
         // Check that index is not out of bounds
         if ( index >= numElements )
         {
@@ -287,8 +285,7 @@ public class UAVObjectField {
     
     public void setValue(Object data) { setValue(data,0); }    
     @SuppressWarnings("unchecked")
-	public void setValue(Object data, int index) {
-    	//    	   QMutexLocker locker(obj->getMutex());
+	public synchronized void setValue(Object data, int index) {
     	// Check that index is not out of bounds
     	//if ( index >= numElements );
     		//throw new Exception("Index out of bounds");
@@ -361,6 +358,7 @@ public class UAVObjectField {
     			//throw new Exception("Sorry I haven't implemented strings yet");
     		}
     		}
+    		obj.updated();
     	}
     }
     
@@ -449,7 +447,7 @@ public class UAVObjectField {
     }
 
     @SuppressWarnings("unchecked")
-	public void clear() {
+	public synchronized void clear() {
     	switch (type)
         {
             case INT8:
@@ -503,7 +501,7 @@ public class UAVObjectField {
         }
     }
     
-    public void constructorInitialize(String name, String units, FieldType type, List<String> elementNames, List<String> options) {
+    public synchronized void constructorInitialize(String name, String units, FieldType type, List<String> elementNames, List<String> options) {
         // Copy params
         this.name = name;
         this.units = units;
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
index 2e531fc85..74ddb95fb 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
@@ -23,7 +23,7 @@ public class UAVObjectManager {
 	 * updates.
 	 * @throws Exception 
 	 */
-	public boolean registerObject(UAVDataObject obj) throws Exception
+	public synchronized boolean registerObject(UAVDataObject obj) throws Exception
 	{
 		//  QMutexLocker locker(mutex);
 
@@ -128,7 +128,7 @@ public class UAVObjectManager {
 		return true;
 	}
 
-	public void addObject(UAVObject obj)
+	public synchronized void addObject(UAVObject obj)
 	{
 		// Add to list
 		List<UAVObject> ls = new ArrayList<UAVObject>();
@@ -143,15 +143,15 @@ public class UAVObjectManager {
 	 */
 	public List<List<UAVObject>> getObjects()
 	{
-		//QMutexLocker locker(mutex);
 		return objects;
 	}
 
 	/**
 	 * Same as getObjects() but will only return DataObjects.
 	 */
-	public List< List<UAVDataObject> > getDataObjects()
+	public  List< List<UAVDataObject> > getDataObjects()
 	{
+		assert(false); // TOOD This
 		return new ArrayList<List<UAVDataObject>>();
 
 		/*		QMutexLocker locker(mutex);
@@ -190,6 +190,7 @@ public class UAVObjectManager {
 	 */
 	public List <List<UAVMetaObject> > getMetaObjects()
 	{
+		assert(false); // TODO		
 		return new ArrayList< List<UAVMetaObject> >();
 		/*
 		QMutexLocker locker(mutex);
@@ -267,7 +268,7 @@ public class UAVObjectManager {
 	/**
 	 * Helper function for the public getObject() functions.
 	 */
-	public UAVObject getObject(String name, int objId, int instId)
+	public synchronized UAVObject getObject(String name, int objId, int instId)
 	{
 		//QMutexLocker locker(mutex);
 		// Check if this object type is already in the list
@@ -310,9 +311,8 @@ public class UAVObjectManager {
 	/**
 	 * Helper function for the public getObjectInstances()
 	 */
-	public List<UAVObject> getObjectInstances(String name, int objId)
+	public synchronized List<UAVObject> getObjectInstances(String name, int objId)
 	{
-		//QMutexLocker locker(mutex);
 		// Check if this object type is already in the list
 		ListIterator<List<UAVObject>> objIter = objects.listIterator();
 		while(objIter.hasNext()) {
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 07b061bc9..7ea9c7c60 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -10,6 +10,22 @@ import java.nio.ByteOrder;
 
 public class UAVTalk {
 
+	private Thread inputProcessingThread = null;
+	/**
+	 * A reference to the thread for processing the incoming stream
+	 * @return
+	 */
+	public Thread getInputProcessThread() {
+		if(inputProcessingThread == null)
+
+			inputProcessingThread = new Thread() {
+			public void run() {
+				processInputStream();
+			}
+		};
+		return inputProcessingThread;
+	}
+	
 	/**
 	 * Constants
 	 */
@@ -684,7 +700,7 @@ public class UAVTalk {
 	 * \param[in] type Transaction type
 	 * \return Success (true), Failure (false)
 	 */
-	public boolean transmitSingleObject(UAVObject obj, int type, boolean allInstances)
+	public synchronized boolean transmitSingleObject(UAVObject obj, int type, boolean allInstances)
 	{
 		int length;
 		int dataOffset;
diff --git a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
index 6dc23530e..252927122 100644
--- a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
+++ b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
@@ -9,6 +9,8 @@ import java.net.DatagramSocket;
 import java.net.InetAddress;
 import java.net.Socket;
 import java.nio.ByteBuffer;
+import java.util.Observable;
+import java.util.Observer;
 
 import org.junit.BeforeClass;
 import org.junit.Test;
@@ -20,8 +22,9 @@ public class TalkTest {
 
 	static UAVObjectManager objMngr;
 	static final String IP_ADDRDESS = new String("127.0.0.1");
-	static final int PORT_NUM = 8000;
-	
+	static final int PORT_NUM = 7777;
+	boolean succeed = false;
+
 	@BeforeClass
 	public static void setUpBeforeClass() throws Exception {
 		objMngr = new UAVObjectManager();
@@ -29,7 +32,7 @@ public class TalkTest {
 	}
 
 	@Test
-	public void testProcessInputStream() {
+	public void testGetFlightStatus() {
 		Socket connection = null;
 		UAVTalk talk = null;
 		try{
@@ -48,7 +51,29 @@ public class TalkTest {
 			fail("Couldn't construct UAVTalk object");
 		}
 		
-		talk.processInputStream();
+		Thread inputStream = talk.getInputProcessThread();
+		inputStream.start();
+
+		succeed = false;
+		
+		UAVObject obj = objMngr.getObject("FlightTelemetryStats");
+
+		obj.addUpdatedObserver( new Observer() {
+			public void update(Observable observable, Object data) {
+				// TODO Auto-generated method stub
+				System.out.println("Updated: " + data.toString());
+				succeed = true;
+			}
+		});
+		
+		try {
+			Thread.sleep(1000);
+		} catch (InterruptedException e1) {
+		}
+		
+		if(!succeed)
+			fail("Never received a FlightTelemetryStats update");
+
 	}
 
 	@Test

From b81450a4aa8a22e1d357c4182d27f805968ffb2e Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 7 Mar 2011 04:56:14 -0600
Subject: [PATCH 212/543] Test case for the callbacks

---
 .../org/openpilot/uavtalk/DataObjectTest.java | 95 +++++++++++++++++++
 1 file changed, 95 insertions(+)
 create mode 100644 androidgcs/tests/org/openpilot/uavtalk/DataObjectTest.java

diff --git a/androidgcs/tests/org/openpilot/uavtalk/DataObjectTest.java b/androidgcs/tests/org/openpilot/uavtalk/DataObjectTest.java
new file mode 100644
index 000000000..0f8106cc5
--- /dev/null
+++ b/androidgcs/tests/org/openpilot/uavtalk/DataObjectTest.java
@@ -0,0 +1,95 @@
+package org.openpilot.uavtalk;
+
+import static org.junit.Assert.*;
+
+import java.nio.ByteBuffer;
+import java.util.Observer;
+
+import org.junit.BeforeClass;
+import org.junit.Test;
+import org.openpilot.uavtalk.uavobjects.ActuatorCommand;
+import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
+
+import android.database.Observable;
+
+public class DataObjectTest {
+
+ boolean succeed = false;
+
+	@BeforeClass
+	public static void setUpBeforeClass() throws Exception {
+	}
+
+	@Test
+	public void testUpdatedObserver() {
+		
+		succeed = false;
+		
+		UAVObject obj = new ActuatorCommand();
+		obj.addUpdatedObserver( new Observer() {
+
+			public void update(java.util.Observable observable, Object data) {
+				System.out.println("Updated: " + data.toString());				
+				succeed = true;
+			}
+		});
+		obj.updated();
+		
+		if(!succeed)
+			fail("No callback");
+		
+		System.out.println("Done");
+
+	}
+
+	@Test
+	public void testUpdatedViaObjMngr() {
+		succeed = false;
+		
+		UAVObjectManager objMngr = new UAVObjectManager();
+		UAVObjectsInitialize.register(objMngr);
+
+		UAVObject obj = objMngr.getObject("FlightTelemetryStats");
+		obj.addUpdatedObserver( new Observer() {
+
+			public void update(java.util.Observable observable, Object data) {
+				System.out.println("Updated: " + data.toString());				
+				succeed = true;
+			}
+		});
+		objMngr.getObject("FlightTelemetryStats").updated();	
+
+		if(!succeed)
+			fail("No callback");
+		System.out.println("Done");
+
+	}
+	
+	@Test
+	public void testUnpackedViaObjMngr() {
+		succeed = false;
+		
+		UAVObjectManager objMngr = new UAVObjectManager();
+		UAVObjectsInitialize.register(objMngr);
+
+		UAVObject obj = objMngr.getObject("FlightTelemetryStats");
+		obj.addUnpackedObserver( new Observer() {
+
+			public void update(java.util.Observable observable, Object data) {
+				System.out.println("Updated: " + data.toString());				
+				succeed = true;
+			}
+		});
+		
+		ByteBuffer bbuf = ByteBuffer.allocate(obj.getNumBytes());
+		objMngr.getObject("FlightTelemetryStats").unpack(bbuf);
+
+		if(!succeed)
+			fail("No callback");
+
+		System.out.println("Done");
+
+	}
+
+
+}

From 157e5619273a2681284322b16c3025e4135245ac Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 7 Mar 2011 11:26:50 -0600
Subject: [PATCH 213/543] Add isMetadata() instead of testing whether dynamic
 cast fails

---
 androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java | 1 +
 androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java | 5 +++++
 androidgcs/src/org/openpilot/uavtalk/UAVObject.java     | 1 +
 3 files changed, 7 insertions(+)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
index de04f81c5..5694cc9d8 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
@@ -24,6 +24,7 @@ public abstract class UAVDataObject extends UAVObject {
 	    super.initialize(instID);
 	}
 
+	public boolean isMetadata() { return true; };
 	/**
 	 * Assign a metaobject
 	 */
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
index 98e4bd626..7aab176ef 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
@@ -66,6 +66,11 @@ public class UAVMetaObject extends UAVObject {
 		// Setup metadata of parent
 		parentMetadata = parent.getDefaultMetadata();	
 	}
+	
+	@Override
+	public boolean isMetadata() { 
+		return true; 
+	};
 
 	/**
 	 * Get the parent object
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index 6ede86094..6d35df822 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -46,6 +46,7 @@ public abstract class UAVObject {
 		}
 	}
 
+	public abstract boolean isMetadata();
 	
 	/**
 	 * Object update mode

From 943dd82a7587b26aa391dd869f92a0ec1e4f835c Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 7 Mar 2011 11:27:21 -0600
Subject: [PATCH 214/543] Initial start of the telemetry system which
 interfaces between UAVTalk and the ObjectManager/Objects

---
 .../src/org/openpilot/uavtalk/Telemetry.java  |  25 ++
 .../openpilot/uavtalk/TelemetryManager.java   |   5 +
 .../openpilot/uavtalk/TelemetryMonitor.java   | 263 ++++++++++++++++++
 3 files changed, 293 insertions(+)
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/Telemetry.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/TelemetryManager.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
new file mode 100644
index 000000000..88bc33de5
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -0,0 +1,25 @@
+package org.openpilot.uavtalk;
+
+public class Telemetry {
+	
+	private TelemetryStats stats;
+    public class TelemetryStats {
+        public int txBytes;
+        public int rxBytes;
+        public int txObjectBytes;
+        public int rxObjectBytes;
+        public int rxObjects;
+        public int txObjects;
+        public int txErrors;
+        public int rxErrors;
+        public int txRetries;
+    } ;
+    
+    public TelemetryStats getStats() {
+    	return stats;
+    }    
+    
+    public void resetStats() {
+    	stats = new TelemetryStats();
+    }
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryManager.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryManager.java
new file mode 100644
index 000000000..7540a1423
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryManager.java
@@ -0,0 +1,5 @@
+package org.openpilot.uavtalk;
+
+public class TelemetryManager {
+
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
new file mode 100644
index 000000000..40fc220cc
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -0,0 +1,263 @@
+package org.openpilot.uavtalk;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+import java.util.Observable;
+import java.util.Observer;
+import java.util.Timer;
+import java.util.TimerTask;
+
+import org.openpilot.uavtalk.uavobjects.FlightTelemetryStats;
+import org.openpilot.uavtalk.uavobjects.GCSTelemetryStats;
+
+import android.util.Log;
+
+public class TelemetryMonitor {
+
+	private static final String TAG = "TelemetryMonitor";
+	
+    static final int STATS_UPDATE_PERIOD_MS = 4000;
+    static final int STATS_CONNECT_PERIOD_MS = 1000;
+    static final int CONNECTION_TIMEOUT_MS = 8000;
+
+	private UAVObjectManager objMngr;
+	private Telemetry tel;
+	private UAVObject objPending;
+	private UAVObject gcsStatsObj;
+	private UAVObject flightStatsObj;
+	private Timer periodicTask;
+	private int currentPeriod;
+	private List<UAVObject> queue;
+	
+	public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel)
+	{
+	    this.objMngr = objMngr;
+	    this.tel = tel;
+	    this.objPending = null;
+	    queue = new ArrayList<UAVObject>();
+
+	    // Get stats objects
+	    gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
+	    flightStatsObj = objMngr.getObject("FlightTelemetryStats");
+
+	    flightStatsObj.addUpdatedObserver(new Observer() {
+			public void update(Observable observable, Object data) {
+				flightStatsUpdated((UAVObject) data);
+			}	    	
+	    });
+
+	    // Start update timer
+	    setPeriod(STATS_CONNECT_PERIOD_MS);
+	}
+
+	/**
+	 * Initiate object retrieval, initialize queue with objects to be retrieved.
+	 */
+	public void startRetrievingObjects()
+	{
+	    // Clear object queue
+	    queue.clear();
+	    // Get all objects, add metaobjects, settings and data objects with OnChange update mode to the queue
+	    List< List<UAVObject> > objs = objMngr.getObjects();
+	    
+	    ListIterator<List<UAVObject>> objListIterator = objs.listIterator();
+	    while( objListIterator.hasNext() )
+	    {
+	    	List <UAVObject> instList = objListIterator.next();
+	        UAVObject obj = instList.get(0);
+	        UAVObject.Metadata mdata = obj.getMetadata();
+	        if ( mdata.gcsTelemetryUpdateMode != UAVObject.UpdateMode.UPDATEMODE_NEVER )
+	        {
+	            if ( obj.isMetadata() )
+	            {
+	                queue.add(obj);
+	            }
+	            else /* Data object */
+	            {
+	            	UAVDataObject dobj = (UAVDataObject) obj;
+	                if ( dobj.isSettings() )
+	                {
+	                    queue.add(obj);
+	                }
+	                else
+	                {
+	                    if ( mdata.flightTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE )
+	                    {
+	                        queue.add(obj);
+	                    }
+	                }
+	            }
+	        }
+	    }
+	    // Start retrieving
+	    Log.d(TAG,"Starting to retrieve meta and settings objects from the autopilot (%1 objects)" + queue.size()) ;
+	    retrieveNextObject();
+	}
+
+	/**
+	 * Cancel the object retrieval
+	 */
+	public void stopRetrievingObjects()
+	{
+	    //qxtLog->debug("Object retrieval has been cancelled");
+	    queue.clear();
+	}
+
+	/**
+	 * Retrieve the next object in the queue
+	 */
+	public void retrieveNextObject()
+	{
+	    // If queue is empty return
+	    if ( queue.isEmpty() )
+	    {
+	        //qxtLog->debug("Object retrieval completed");
+	        //emit connected();
+	        return;
+	    }
+	    // Get next object from the queue
+	    UAVObject obj = queue.remove(0);
+	    
+	    Log.d(TAG, "Retrieving object: " + obj.getName()) ;
+	    // Connect to object
+	    //connect(obj, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(transactionCompleted(UAVObject*,bool)));
+	    // Request update
+	    obj.requestUpdate();
+	    objPending = obj;
+	}
+
+	/**
+	 * Called by the retrieved object when a transaction is completed.
+	 */
+	public void transactionCompleted(UAVObject obj, boolean success)
+	{
+	    //QMutexLocker locker(mutex);
+	    // Disconnect from sending object
+	    //obj->disconnect(this);
+	    objPending = null;
+	    
+	    // Process next object if telemetry is still available
+	    if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
+	    {
+	        retrieveNextObject();
+	    }
+	    else
+	    {
+	        stopRetrievingObjects();
+	    }
+	}
+
+	/**
+	 * Called each time the flight stats object is updated by the autopilot
+	 */
+	public synchronized void flightStatsUpdated(UAVObject obj)
+	{
+	    // Force update if not yet connected
+	    if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 ||
+	    		((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
+	    {
+	        processStatsUpdates();
+	    }
+	}
+
+	/**
+	 * Called periodically to update the statistics and connection status.
+	 */
+	public synchronized void processStatsUpdates()
+	{
+	    // Get telemetry stats
+	    Telemetry.TelemetryStats telStats = tel.getStats();
+	    tel.resetStats();
+
+	    // Update stats object 
+	    gcsStatsObj.getField("RxDataRate").setDouble( (float)telStats.rxBytes / ((float)currentPeriod/1000.0) );
+	    gcsStatsObj.getField("TxDataRate").setDouble( (float)telStats.txBytes / ((float)currentPeriod/1000.0) );
+	    UAVObjectField field = gcsStatsObj.getField("RxFailures");
+	    field.setDouble(field.getDouble() + telStats.rxErrors);
+	    field = gcsStatsObj.getField("TxFailures");
+	    field.setDouble(field.getDouble() + telStats.txErrors);
+	    field = gcsStatsObj.getField("TxRetries");
+	    field.setDouble(field.getDouble() + telStats.txRetries);
+
+	    // Check for a connection timeout
+	    boolean connectionTimeout;
+	    if ( telStats.rxObjects > 0 )
+	    {
+	        //connectionTimer.start();
+	    }
+	    if ( connectionTimer.elapsed() > CONNECTION_TIMEOUT_MS  )
+	    {
+	        connectionTimeout = true;
+	    }
+	    else
+	    {
+	        connectionTimeout = false;
+	    }
+
+	    // Update connection state
+	    int oldStatus = gcsStats.Status;
+	    if ( gcsStats.Status == GCSTelemetryStats::STATUS_DISCONNECTED )
+	    {
+	        // Request connection
+	        gcsStats.Status = GCSTelemetryStats::STATUS_HANDSHAKEREQ;
+	    }
+	    else if ( gcsStats.Status == GCSTelemetryStats::STATUS_HANDSHAKEREQ )
+	    {
+	        // Check for connection acknowledge
+	        if ( flightStats.Status == FlightTelemetryStats::STATUS_HANDSHAKEACK )
+	        {
+	            gcsStats.Status = GCSTelemetryStats::STATUS_CONNECTED;
+	        }
+	    }
+	    else if ( gcsStats.Status == GCSTelemetryStats::STATUS_CONNECTED )
+	    {
+	        // Check if the connection is still active and the the autopilot is still connected
+	        if (flightStats.Status == FlightTelemetryStats::STATUS_DISCONNECTED || connectionTimeout)
+	        {
+	            gcsStats.Status = GCSTelemetryStats::STATUS_DISCONNECTED;
+	        }
+	    }
+
+	    // Set data
+	    gcsStatsObj->setData(gcsStats);
+
+	    // Force telemetry update if not yet connected
+	    if ( gcsStats.Status != GCSTelemetryStats::STATUS_CONNECTED ||
+	         flightStats.Status != FlightTelemetryStats::STATUS_CONNECTED )
+	    {
+	        gcsStatsObj->updated();
+	    }
+
+	    // Act on new connections or disconnections
+	    if (gcsStats.Status == GCSTelemetryStats::STATUS_CONNECTED && gcsStats.Status != oldStatus)
+	    {
+	    	setPeriod(STATS_UPDATE_PERIOD_MS);
+	        statsTimer->setInterval(STATS_UPDATE_PERIOD_MS);
+	        Log.d(TAG,"Connection with the autopilot established");
+	        startRetrievingObjects();
+	    }
+	    if (gcsStats.Status == GCSTelemetryStats::STATUS_DISCONNECTED && gcsStats.Status != oldStatus)
+	    {
+	    	setPeriod(STATS_CONNECT_PERIOD_MS);
+	        Log.d(TAG,"Connection with the autopilot lost");
+	        Log.d(TAG,"Trying to connect to the autopilot");
+	        emit disconnected();
+	    }
+	}
+
+	private void setPeriod(int ms) {
+		if(periodicTask == null)
+		    periodicTask = new Timer();
+
+		periodicTask.cancel();
+		currentPeriod = ms;
+	    periodicTask.scheduleAtFixedRate(new TimerTask() {
+			@Override
+			public void run() {
+				processStatsUpdates();				
+			}	    	
+	    }, currentPeriod, currentPeriod);
+	}
+
+}

From 63f750c51e05d4e0b1c9f06db3ff32c0d3fb16fb Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 9 Mar 2011 02:44:25 -0600
Subject: [PATCH 215/543] A few more synchronized statements and deep cloning
 of objects

---
 .../src/org/openpilot/uavtalk/UAVObject.java  |  30 ++--
 .../org/openpilot/uavtalk/UAVObjectField.java |  13 +-
 .../openpilot/uavtalk/UAVObjectManager.java   | 130 +++++++++---------
 3 files changed, 97 insertions(+), 76 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index 6d35df822..adfece03e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -1,6 +1,7 @@
 package org.openpilot.uavtalk;
 
 import java.nio.ByteBuffer;
+import java.util.ArrayList;
 import java.util.List;
 import java.util.ListIterator;
 import java.util.Observer;
@@ -128,8 +129,7 @@ public abstract class UAVObject {
 		// this.mutex = new QMutex(QMutex::Recursive);
 	};
 
-	public void initialize(int instID) {
-		// QMutexLocker locker(mutex);
+	public synchronized void initialize(int instID) {
 		this.instID = instID;
 	}
 
@@ -146,9 +146,8 @@ public abstract class UAVObject {
 	 * @throws Exception
 	 *             When unable to unpack a field
 	 */
-	public void initializeFields(List<UAVObjectField> fields, ByteBuffer data,
+	public synchronized void initializeFields(List<UAVObjectField> fields, ByteBuffer data,
 			int numBytes) {
-		// TODO: QMutexLocker locker(mutex);
 		this.numBytes = numBytes;
 		this.fields = fields;
 		// Initialize fields
@@ -267,15 +266,13 @@ public abstract class UAVObject {
 	 * Get the number of fields held by this object
 	 */
 	public int getNumFields() {
-		// QMutexLocker locker(mutex);
 		return fields.size();
 	}
 
 	/**
 	 * Get the object's fields
 	 */
-	public List<UAVObjectField> getFields() {
-		// QMutexLocker locker(mutex);
+	public synchronized List<UAVObjectField> getFields() {
 		return fields;
 	}
 
@@ -286,7 +283,6 @@ public abstract class UAVObject {
 	 * @returns The field or NULL if not found
 	 */
 	public UAVObjectField getField(String name) {
-		// QMutexLocker locker(mutex);
 		// Look for field
 		ListIterator<UAVObjectField> li = fields.listIterator();
 		while (li.hasNext()) {
@@ -307,8 +303,7 @@ public abstract class UAVObject {
 	 * @returns The number of bytes copied
 	 * @note The array must already have enough space allocated for the object
 	 */
-	public int pack(ByteBuffer dataOut) throws Exception {
-		// QMutexLocker locker(mutex);
+	public synchronized int pack(ByteBuffer dataOut) throws Exception {
 		if (dataOut.remaining() < getNumBytes())
 			throw new Exception("Not enough bytes in ByteBuffer to pack object");
 		int numBytes = 0;
@@ -329,7 +324,7 @@ public abstract class UAVObject {
 	 * @throws Exception
 	 * @returns The number of bytes copied
 	 */
-	public int unpack(ByteBuffer dataIn) {
+	public synchronized int unpack(ByteBuffer dataIn) {
 		if( dataIn == null )
 			return 0;
 
@@ -532,8 +527,17 @@ public abstract class UAVObject {
 	/**
 	 * Java specific functions
 	 */
-	public UAVObject clone() {
-		return (UAVObject) clone();
+	public synchronized UAVObject clone() {
+		UAVObject newObj = clone();
+		List<UAVObjectField> newFields = new ArrayList<UAVObjectField>();
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			UAVObjectField nf = li.next().clone();
+			nf.initialize(newObj);
+			newFields.add(nf);
+		}
+		newObj.initializeFields(newFields, ByteBuffer.allocate(numBytes), numBytes);
+		return newObj;
 	}
 
 	/**
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index 21444a04b..2fd7f7846 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -617,6 +617,17 @@ public class UAVObjectField {
     	
     	return num;
     }
+    
+    @Override
+    public UAVObjectField clone()
+    {
+    	UAVObjectField newField = new UAVObjectField(new String(name), new String(units), type, 
+    			new ArrayList<String>(elementNames), 
+    			new ArrayList<String>(options));
+    	newField.initialize(obj);
+    	newField.data = data;
+		return newField;
+    }
 
 	private String name;
 	private String units;
@@ -626,7 +637,7 @@ public class UAVObjectField {
     private int numElements;
     private int numBytesPerElement;
     private int offset;
-    private Object data;
     private UAVObject obj;
+    protected Object data;
 
 }
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
index 74ddb95fb..63f535eac 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
@@ -3,9 +3,29 @@ package org.openpilot.uavtalk;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.ListIterator;
+import java.util.Observable;
+import java.util.Observer;
 
 public class UAVObjectManager {
 
+	public class CallbackListener extends Observable {		
+		public void event (UAVObject obj) {
+			setChanged();
+			notifyObservers(obj);
+		}
+	}
+	private CallbackListener newInstance = new CallbackListener();
+	public void addNewInstanceObserver(Observer o) {
+		synchronized(newInstance) {
+			newInstance.addObserver(o);
+		}
+	}
+	private CallbackListener newObject = new CallbackListener();
+	public void addNewObjectObserver(Observer o) {
+		synchronized(newObject) {
+			newObject.addObserver(o);
+		}
+	}
 	private final int MAX_INSTANCES = 10;
 
 	// Use array list to store objects since rarely added or deleted
@@ -79,11 +99,12 @@ public class UAVObjectManager {
 					UAVDataObject newObj = obj.clone(instID);
 					newObj.initialize(mobj);
 					instList.add(newObj);
-					// emit new instance signal
+					newInstance.event(newObj);
 				}
 				obj.initialize(mobj);
 				//emit new instance signal
 				instList.add(obj);
+				newInstance.event(obj);
 
 				instIter = instList.listIterator();
 				while(instIter.hasNext()) {
@@ -101,13 +122,13 @@ public class UAVObjectManager {
 					UAVDataObject cobj = obj.clone(instId);
 					cobj.initialize(mobj);
 					instList.add(cobj);
-					// emit newInstance(cobj);
+					newInstance.event(cobj);
 				}
 				// Finally, initialize the actual object instance
 				obj.initialize(mobj);
 				// Add the actual object instance in the list
 				instList.add(obj);
-				//emit newInstance(obj);
+				newInstance.event(obj);
 				return true;
 			}
 
@@ -149,81 +170,67 @@ public class UAVObjectManager {
 	/**
 	 * Same as getObjects() but will only return DataObjects.
 	 */
-	public  List< List<UAVDataObject> > getDataObjects()
+	public synchronized List< List<UAVDataObject> > getDataObjects()
 	{
-		assert(false); // TOOD This
-		return new ArrayList<List<UAVDataObject>>();
-
-		/*		QMutexLocker locker(mutex);
-		QList< QList<UAVDataObject*> > dObjects;
+		List< List<UAVDataObject> > dObjects = new ArrayList< List<UAVDataObject> > ();
 
 		// Go through objects and copy to new list when types match
-		for (int objidx = 0; objidx < objects.length(); ++objidx)
-		{
-			if (objects[objidx].length() > 0)
-			{
-				// Check type
-				UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objects[objidx][0]);
-				if (obj != NULL)
-				{
-					// Create instance list
-					QList<UAVDataObject*> list;
-					// Go through instances and cast them to UAVDataObject, then add to list
-					for (int instidx = 0; instidx < objects[objidx].length(); ++instidx)
-					{
-						obj = dynamic_cast<UAVDataObject*>(objects[objidx][instidx]);
-						if (obj != NULL)
-						{
-							list.append(obj);
-						}
-					}
-					// Append to object list
-					dObjects.append(list);
-				}
+		ListIterator<List<UAVObject>> objIt = objects.listIterator(0);
+
+		// Check if this object type is already in the list
+		while(objIt.hasNext()) {
+			List<UAVObject> instList = objIt.next();
+
+			// If no instances skip
+			if(instList.size() == 0)
+				continue;
+			
+			// If meta data skip
+			if(instList.get(0).isMetadata())
+				continue;
+			
+			List<UAVDataObject> newInstList = new ArrayList<UAVDataObject>();			
+			ListIterator<UAVObject> instIt = instList.listIterator();			
+			while(instIt.hasNext()) {
+				newInstList.add((UAVDataObject) instIt.next());
 			}
-		}*/
+			dObjects.add(newInstList);
+		}
 		// Done
+		return dObjects;
 	}
 
 	/**
 	 * Same as getObjects() but will only return MetaObjects.
 	 */
-	public List <List<UAVMetaObject> > getMetaObjects()
+	public synchronized List <List<UAVMetaObject> > getMetaObjects()
 	{
-		assert(false); // TODO		
-		return new ArrayList< List<UAVMetaObject> >();
-		/*
-		QMutexLocker locker(mutex);
-		QList< QList<UAVMetaObject*> > mObjects;
+		List< List<UAVMetaObject> > mObjects = new ArrayList< List<UAVMetaObject> > ();
 
 		// Go through objects and copy to new list when types match
-		for (int objidx = 0; objidx < objects.length(); ++objidx)
-		{
-			if (objects[objidx].length() > 0)
-			{
-				// Check type
-				UAVMetaObject* obj = dynamic_cast<UAVMetaObject*>(objects[objidx][0]);
-				if (obj != NULL)
-				{
-					// Create instance list
-					QList<UAVMetaObject*> list;
-					// Go through instances and cast them to UAVMetaObject, then add to list
-					for (int instidx = 0; instidx < objects[objidx].length(); ++instidx)
-					{
-						obj = dynamic_cast<UAVMetaObject*>(objects[objidx][instidx]);
-						if (obj != NULL)
-						{
-							list.append(obj);
-						}
-					}
-					// Append to object list
-					mObjects.append(list);
-				}
+		ListIterator<List<UAVObject>> objIt = objects.listIterator(0);
+
+		// Check if this object type is already in the list
+		while(objIt.hasNext()) {
+			List<UAVObject> instList = objIt.next();
+
+			// If no instances skip
+			if(instList.size() == 0)
+				continue;
+			
+			// If meta data skip
+			if(!instList.get(0).isMetadata())
+				continue;
+			
+			List<UAVMetaObject> newInstList = new ArrayList<UAVMetaObject>();			
+			ListIterator<UAVObject> instIt = instList.listIterator();			
+			while(instIt.hasNext()) {
+				newInstList.add((UAVMetaObject) instIt.next());
 			}
+			mObjects.add(newInstList);
 		}
 		// Done
 		return mObjects;
-		 */
 	}
 
 	
@@ -270,7 +277,6 @@ public class UAVObjectManager {
 	 */
 	public synchronized UAVObject getObject(String name, int objId, int instId)
 	{
-		//QMutexLocker locker(mutex);
 		// Check if this object type is already in the list
 		ListIterator<List<UAVObject>> objIter = objects.listIterator();
 		while(objIter.hasNext()) {

From 6bc97f1a3dedbba1e5c1d4e5bc28c6c2a21e3ca7 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 Mar 2011 02:05:36 -0600
Subject: [PATCH 216/543] Most of the work on Telemetry.java as well as lots of
 signals for various object events

---
 .../src/org/openpilot/uavtalk/Telemetry.java  | 623 +++++++++++++++++-
 .../openpilot/uavtalk/TelemetryMonitor.java   |   2 +-
 .../src/org/openpilot/uavtalk/UAVObject.java  |  51 +-
 .../openpilot/uavtalk/UAVObjectManager.java   |   3 +-
 .../src/org/openpilot/uavtalk/UAVTalk.java    |   7 +-
 5 files changed, 673 insertions(+), 13 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 88bc33de5..79e821fe3 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -1,8 +1,18 @@
 package org.openpilot.uavtalk;
 
+import java.util.LinkedList;
+import java.util.List;
+import java.util.ListIterator;
+import java.util.Observable;
+import java.util.Observer;
+import java.util.Queue;
+import java.util.Timer;
+import java.util.TimerTask;
+
+import org.openpilot.uavtalk.UAVObject.Acked;
+
 public class Telemetry {
 	
-	private TelemetryStats stats;
     public class TelemetryStats {
         public int txBytes;
         public int rxBytes;
@@ -15,11 +25,612 @@ public class Telemetry {
         public int txRetries;
     } ;
     
-    public TelemetryStats getStats() {
-    	return stats;
-    }    
+    class ObjectTimeInfo {
+        UAVObject obj;
+        int updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
+        int timeToNextUpdateMs; /** Time delay to the next update */
+    };
+
+    class ObjectQueueInfo {
+        UAVObject obj;
+        int event;
+        boolean allInstances;
+    };
+
+    class ObjectTransactionInfo {
+        UAVObject obj;
+        boolean allInstances;
+        boolean objRequest;
+        int retriesRemaining;
+        Acked acked;
+    } ;
     
-    public void resetStats() {
-    	stats = new TelemetryStats();
+    /**
+     * Events generated by objects.  Not enum because used in mask.
+     */
+    private static final int EV_UNPACKED = 0x01;       /** Object data updated by unpacking */
+    private static final int EV_UPDATED = 0x02;        /** Object data updated by changing the data structure */
+    private static final int EV_UPDATED_MANUAL = 0x04; /** Object update event manually generated */
+    private static final int EV_UPDATE_REQ = 0x08;     /** Request to update object data */
+    
+    /**
+     * Constructor
+     */
+    public Telemetry(UAVTalk utalk, UAVObjectManager objMngr)
+    {
+        this.utalk = utalk;
+        this.objMngr = objMngr;
+
+        // Process all objects in the list
+        List< List<UAVObject> > objs = objMngr.getObjects();
+        ListIterator<List<UAVObject>> li = objs.listIterator();
+        while(li.hasNext()) 
+        	registerObject(li.next().get(0)); // we only need to register one instance per object type
+
+        // Listen to new object creations
+        objMngr.addNewInstanceObserver(new Observer() {
+			public void update(Observable observable, Object data) {
+        		newInstance((UAVObject) data);        		
+			}
+        });
+        objMngr.addNewObjectObserver(new Observer() {
+			public void update(Observable observable, Object data) {
+        		newObject((UAVObject) data);        		
+        	}        	
+        });
+
+        // Listen to transaction completions
+        utalk.addObserver(new Observer() {
+			public void update(Observable observable, Object data) {
+				transactionCompleted((UAVObject) data);				
+			}        	
+        });
+        
+        // Get GCS stats object
+        gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
+
+        // Setup transaction timer
+        transPending = false;
+        transTimer = new Timer();
+        transTimerTask = new TimerTask() {
+			@Override
+			public void run() {
+				transactionTimeout();
+			}        	
+        };
+        // Setup and start the periodic timer
+        timeToNextUpdateMs = 0;
+        
+        updateTimer = new Timer();
+        updateTimerTask = new TimerTask() {
+			@Override
+			public void run() {
+				processPeriodicUpdates();
+			}        	
+        };
+        updateTimer.scheduleAtFixedRate(updateTimerTask, 1000, 1000);
+        // Setup and start the stats timer
+        txErrors = 0;
+        txRetries = 0;
     }
+
+    /**
+     * Register a new object for periodic updates (if enabled)
+     */
+    private void registerObject(UAVObject obj)
+    {
+        // Setup object for periodic updates
+        addObject(obj);
+
+        // Setup object for telemetry updates
+        updateObject(obj);
+    }
+
+    /**
+     * Add an object in the list used for periodic updates
+     */
+    private void addObject(UAVObject obj)
+    {
+        // Check if object type is already in the list
+    	ListIterator<ObjectTimeInfo> li = objList.listIterator();
+    	while(li.hasNext()) {
+    		ObjectTimeInfo n = li.next();
+    		if( n.obj.getObjID() == obj.getObjID() )
+            {
+                // Object type (not instance!) is already in the list, do nothing
+                return;
+            }
+        }
+
+        // If this point is reached, then the object type is new, let's add it
+        ObjectTimeInfo timeInfo = new ObjectTimeInfo();
+        timeInfo.obj = obj;
+        timeInfo.timeToNextUpdateMs = 0;
+        timeInfo.updatePeriodMs = 0;
+        objList.add(timeInfo);
+    }
+
+    /**
+     * Update the object's timers
+     */
+    private void setUpdatePeriod(UAVObject obj, int periodMs)
+    {
+        // Find object type (not instance!) and update its period
+    	ListIterator<ObjectTimeInfo> li = objList.listIterator();
+    	while(li.hasNext()) {
+    		ObjectTimeInfo n = li.next();
+            if ( n.obj.getObjID() == obj.getObjID() )
+            {
+                n.updatePeriodMs = periodMs;
+                n.timeToNextUpdateMs = (int) (periodMs * (new java.util.Random()).nextDouble()); // avoid bunching of updates
+            }
+        }
+    }
+
+    /**
+     * Connect to all instances of an object depending on the event mask specified
+     */
+    private void connectToObjectInstances(UAVObject obj, int eventMask)
+    {
+        List<UAVObject> objs = objMngr.getObjectInstances(obj.getObjID());
+        ListIterator<UAVObject> li = objs.listIterator();
+        while(li.hasNext())
+        {
+        	obj = li.next();
+            //TODO: Disconnect all
+            // obj.disconnect(this);
+        	
+            // Connect only the selected events
+            if ( (eventMask&EV_UNPACKED) != 0)
+            {
+            	obj.addUnpackedObserver(new Observer() {
+					public void update(Observable observable, Object data) {
+	            		objectUnpacked( (UAVObject) data);
+	            	}            		
+            	});
+            }
+            if ( (eventMask&EV_UPDATED) != 0)
+            {
+            	obj.addUpdatedAutoObserver(new Observer() {
+					public void update(Observable observable, Object data) {
+						objectUpdatedAuto( (UAVObject) data);
+	            	}            		            		
+            	});
+            }
+            if ( (eventMask&EV_UPDATED_MANUAL) != 0)
+            {
+            	obj.addUpdatedManualObserver(new Observer() {
+					public void update(Observable observable, Object data) {
+						objectUpdatedManual( (UAVObject) data);
+	            	}            		            		
+            	});
+            }
+            if ( (eventMask&EV_UPDATE_REQ) != 0)
+            {
+            	obj.addUpdatedObserver(new Observer() {
+					public void update(Observable observable, Object data) {
+						updateRequested( (UAVObject) data);
+	            	}            		
+            	});
+            }
+        }
+    }
+
+    /**
+     * Update an object based on its metadata properties
+     */
+    private void updateObject(UAVObject obj)
+    {
+        // Get metadata
+        UAVObject.Metadata metadata = obj.getMetadata();
+
+        // Setup object depending on update mode
+        int eventMask;
+        if ( metadata.gcsTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_PERIODIC )
+        {
+            // Set update period
+            setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
+            // Connect signals for all instances
+            eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
+            if(obj.isMetadata())
+                eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
+
+            connectToObjectInstances(obj, eventMask);
+        }
+        else if ( metadata.gcsTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE )
+        {
+            // Set update period
+            setUpdatePeriod(obj, 0);
+            // Connect signals for all instances
+            eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
+            if(obj.isMetadata())
+                eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
+
+            connectToObjectInstances(obj, eventMask);
+        }
+        else if ( metadata.gcsTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_MANUAL )
+        {
+            // Set update period
+            setUpdatePeriod(obj, 0);
+            // Connect signals for all instances
+            eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
+            if(obj.isMetadata())
+                eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
+
+            connectToObjectInstances(obj, eventMask);
+        }
+        else if ( metadata.gcsTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_NEVER )
+        {
+            // Set update period
+            setUpdatePeriod(obj, 0);
+            // Disconnect from object
+            connectToObjectInstances(obj, 0);
+        }
+    }
+
+    /**
+     * Called when a transaction is successfully completed (uavtalk event)
+     */
+    private void transactionCompleted(UAVObject obj)
+    {
+        // Check if there is a pending transaction and the objects match
+        if ( transPending && transInfo.obj.getObjID() == obj.getObjID() )
+        {
+        //    qDebug() << QString("Telemetry: transaction completed for %1").arg(obj->getName());
+            // Complete transaction
+        	transTimer.cancel();
+            transPending = false;
+            // Send signal
+            obj.transactionCompleted(true);
+            // Process new object updates from queue
+            processObjectQueue();
+        } else
+        {
+      //      qDebug() << "Error: received a transaction completed when did not expect it.";
+        }
+    }
+
+    /**
+     * Called when a transaction is not completed within the timeout period (timer event)
+     */
+    private void transactionTimeout()
+    {
+//        qDebug() << "Telemetry: transaction timeout.";
+        transTimer.cancel();
+        // Proceed only if there is a pending transaction
+        if ( transPending )
+        {
+            // Check if more retries are pending
+            if (transInfo.retriesRemaining > 0)
+            {
+                --transInfo.retriesRemaining;
+                processObjectTransaction();
+                ++txRetries;
+            }
+            else
+            {
+                // Terminate transaction
+                utalk.cancelTransaction();
+                transPending = false;
+                // Send signal
+                transInfo.obj.transactionCompleted(false);
+                // Process new object updates from queue
+                processObjectQueue();
+                ++txErrors;
+            }
+        }
+    }
+
+    /**
+     * Start an object transaction with UAVTalk, all information is stored in transInfo
+     */
+    private void processObjectTransaction()
+    {
+        if (transPending)
+        {
+        //    qDebug() << tr("Process Object transaction for %1").arg(transInfo.obj->getName());
+            // Initiate transaction
+            if (transInfo.objRequest)
+            {
+                utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
+            }
+            else
+            {
+                utalk.sendObject(transInfo.obj, transInfo.acked == Acked.TRUE, transInfo.allInstances);
+            }
+            // Start timer if a response is expected
+            if ( transInfo.objRequest || transInfo.acked == Acked.TRUE )
+            {
+            	transTimer.scheduleAtFixedRate(transTimerTask, REQ_TIMEOUT_MS, REQ_TIMEOUT_MS);
+            }
+            else
+            {
+            	transTimer.cancel();
+                transPending = false;
+            }
+        } else
+        {
+      //      qDebug() << "Error: inside of processObjectTransaction with no transPending";
+        }
+    }
+
+    /**
+     * Process the event received from an object
+     */
+    private void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority)
+    {
+        // Push event into queue
+//        qDebug() << "Push event into queue for obj " << QString("%1 event %2").arg(obj->getName()).arg(event);
+        ObjectQueueInfo objInfo = new ObjectQueueInfo();
+        objInfo.obj = obj;
+        objInfo.event = event;
+        objInfo.allInstances = allInstances;
+        if (priority)
+        {
+            if ( objPriorityQueue.size() < MAX_QUEUE_SIZE )
+            {
+                objPriorityQueue.add(objInfo);
+            }
+            else
+            {
+                ++txErrors;
+                obj.transactionCompleted(false);
+                //qxtLog->warning(tr("Telemetry: priority event queue is full, event lost (%1)").arg(obj->getName()));
+            }
+        }
+        else
+        {
+            if ( objQueue.size() < MAX_QUEUE_SIZE )
+            {            
+                objQueue.add(objInfo);
+            }
+            else
+            {
+                ++txErrors;
+                obj.transactionCompleted(false);
+            }
+        }
+
+        // If there is no transaction in progress then process event
+        if (!transPending)
+        {
+        //    qDebug() << "No transaction pending, process object queue...";
+            processObjectQueue();
+        } else
+        {
+       //     qDebug() << "Transaction pending, DO NOT process object queue...";
+        }
+    }
+
+    /**
+     * Process events from the object queue
+     */
+    private void processObjectQueue()
+    {
+      //  qDebug() << "Process object queue " << tr("- Depth (%1 %2)").arg(objQueue.length()).arg(objPriorityQueue.length());
+
+        // Don nothing if a transaction is already in progress (should not happen)
+        if (transPending)
+        {
+//            qxtLog->error("Telemetry: Dequeue while a transaction pending!");
+            return;
+        }
+
+        // Get object information from queue (first the priority and then the regular queue)
+        ObjectQueueInfo objInfo;
+        if ( !objPriorityQueue.isEmpty() )
+        {
+            objInfo = objPriorityQueue.remove();
+        }
+        else if ( !objQueue.isEmpty() )
+        {
+            objInfo = objQueue.remove();
+        }
+        else
+        {
+            return;
+        }
+
+        // Check if a connection has been established, only process GCSTelemetryStats updates
+        // (used to establish the connection)
+        if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 )
+        {
+            objQueue.clear();
+            if ( objInfo.obj.getObjID() != objMngr.getObject("GCSTelemetryStats").getObjID() )
+            {
+                objInfo.obj.transactionCompleted(false);
+                return;
+            }
+        }
+
+        // Setup transaction (skip if unpack event)
+        if ( objInfo.event != EV_UNPACKED )
+        {
+            UAVObject.Metadata metadata = objInfo.obj.getMetadata();
+            transInfo.obj = objInfo.obj;
+            transInfo.allInstances = objInfo.allInstances;
+            transInfo.retriesRemaining = MAX_RETRIES;
+            transInfo.acked = metadata.gcsTelemetryAcked;
+            if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL )
+            {
+                transInfo.objRequest = false;
+            }
+            else if ( objInfo.event == EV_UPDATE_REQ )
+            {
+                transInfo.objRequest = true;
+            }
+            // Start transaction
+            transPending = true;
+            processObjectTransaction();
+        } else
+        {
+//            qDebug() << QString("Process object queue: this is an unpack event for %1").arg(objInfo.obj->getName());
+        }
+
+        // If this is a metaobject then make necessary telemetry updates
+        if (objInfo.obj.isMetadata()) 
+        {
+        	UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
+            updateObject( metaobj.getParentObject() );
+        }
+
+        // The fact we received an unpacked event does not mean that
+        // we do not have additional objects still in the queue,
+        // so we have to reschedule queue processing to make sure they are not
+        // stuck:
+        if ( objInfo.event == EV_UNPACKED )
+            processObjectQueue();
+
+    }
+
+    /**
+     * Check is any objects are pending for periodic updates
+     * TODO: Clean-up
+     */
+    private synchronized void processPeriodicUpdates()
+    {
+        // Stop timer
+    	updateTimer.cancel();
+
+        // Iterate through each object and update its timer, if zero then transmit object.
+        // Also calculate smallest delay to next update (will be used for setting timeToNextUpdateMs)
+        int minDelay = MAX_UPDATE_PERIOD_MS;
+        ObjectTimeInfo objinfo;
+        int elapsedMs = 0;
+        long startTime;
+        int offset;
+        ListIterator<ObjectTimeInfo> li = objList.listIterator();
+        while(li.hasNext())
+        {
+            objinfo = li.next();
+            // If object is configured for periodic updates
+            if (objinfo.updatePeriodMs > 0)
+            {
+                objinfo.timeToNextUpdateMs -= timeToNextUpdateMs;
+                // Check if time for the next update
+                if (objinfo.timeToNextUpdateMs <= 0)
+                {
+                    // Reset timer
+                    offset = (-objinfo.timeToNextUpdateMs) % objinfo.updatePeriodMs;
+                    objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs - offset;
+                    // Send object
+                    startTime = System.currentTimeMillis();
+                    processObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false);
+                    elapsedMs = (int) (System.currentTimeMillis() - startTime);
+                    // Update timeToNextUpdateMs with the elapsed delay of sending the object;
+                    timeToNextUpdateMs += elapsedMs;
+                }
+                // Update minimum delay
+                if (objinfo.timeToNextUpdateMs < minDelay)
+                {
+                    minDelay = objinfo.timeToNextUpdateMs;
+                }
+            }
+        }
+
+        // Check if delay for the next update is too short
+        if (minDelay < MIN_UPDATE_PERIOD_MS)
+        {
+            minDelay = MIN_UPDATE_PERIOD_MS;
+        }
+
+        // Done
+        timeToNextUpdateMs = minDelay;
+
+        // Restart timer
+        //updateTimer->start(timeToNextUpdateMs);
+        updateTimer.scheduleAtFixedRate(updateTimerTask, timeToNextUpdateMs, timeToNextUpdateMs);
+    }
+
+    public TelemetryStats getStats()
+    {
+        // Get UAVTalk stats
+        UAVTalk.ComStats utalkStats = utalk.getStats();
+
+        // Update stats
+        TelemetryStats stats = new TelemetryStats();
+        stats.txBytes = utalkStats.txBytes;
+        stats.rxBytes = utalkStats.rxBytes;
+        stats.txObjectBytes = utalkStats.txObjectBytes;
+        stats.rxObjectBytes = utalkStats.rxObjectBytes;
+        stats.rxObjects = utalkStats.rxObjects;
+        stats.txObjects = utalkStats.txObjects;
+        stats.txErrors = utalkStats.txErrors + txErrors;
+        stats.rxErrors = utalkStats.rxErrors;
+        stats.txRetries = txRetries;
+
+        // Done
+        return stats;
+    }
+
+    public synchronized void resetStats()
+    {
+        utalk.resetStats();
+        txErrors = 0;
+        txRetries = 0;
+    }
+
+    private synchronized void objectUpdatedAuto(UAVObject obj)
+    {
+        processObjectUpdates(obj, EV_UPDATED, false, true);
+    }
+
+    private synchronized void objectUpdatedManual(UAVObject obj)
+    {
+        processObjectUpdates(obj, EV_UPDATED_MANUAL, false, true);
+    }
+
+    private synchronized void objectUnpacked(UAVObject obj)
+    {
+        processObjectUpdates(obj, EV_UNPACKED, false, true);
+    }
+
+    private synchronized void updateRequested(UAVObject obj)
+    {
+        processObjectUpdates(obj, EV_UPDATE_REQ, false, true);
+    }
+
+    private void newObject(UAVObject obj)
+    {
+        registerObject(obj);
+    }
+
+    private synchronized void newInstance(UAVObject obj)
+    {
+        registerObject(obj);
+    }
+    
+	/**
+	 * Private variables
+	 */
+	private TelemetryStats stats;
+    private UAVObjectManager objMngr;
+    private UAVTalk utalk;
+    private UAVObject gcsStatsObj;
+    private List<ObjectTimeInfo> objList;
+    private Queue<ObjectQueueInfo> objQueue = new LinkedList<ObjectQueueInfo>();
+    private Queue<ObjectQueueInfo> objPriorityQueue = new LinkedList<ObjectQueueInfo>();
+    private ObjectTransactionInfo transInfo;
+    private boolean transPending;
+    
+    private Timer updateTimer;
+    private TimerTask updateTimerTask;
+    private Timer transTimer;
+    private TimerTask transTimerTask;
+    
+    private int timeToNextUpdateMs;
+    private int txErrors;
+    private int txRetries;
+    
+    /**
+     * Private constants
+     */
+    private static final int REQ_TIMEOUT_MS = 250;
+    private static final int MAX_RETRIES = 2;
+    private static final int MAX_UPDATE_PERIOD_MS = 1000;
+    private static final int MIN_UPDATE_PERIOD_MS = 1;
+    private static final int MAX_QUEUE_SIZE = 20;
+    
+
+
 }
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index 40fc220cc..39d332457 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -123,7 +123,7 @@ public class TelemetryMonitor {
 	    // Connect to object
 	    //connect(obj, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(transactionCompleted(UAVObject*,bool)));
 	    // Request update
-	    obj.requestUpdate();
+	    tel.requestUpdate(obj);
 	    objPending = obj;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index adfece03e..9e4f69a39 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -8,7 +8,7 @@ import java.util.Observer;
 import java.util.Observable;
 
 public abstract class UAVObject {
-
+	
 	public class CallbackListener extends Observable {		
 		private UAVObject parent;
 		
@@ -20,6 +20,31 @@ public abstract class UAVObject {
 			setChanged();
 			notifyObservers(parent);
 		}
+		public void event (Object data) {
+			setChanged();
+			notifyObservers(data);
+		}
+	}
+	
+	public class TransactionResult {
+		public UAVObject obj;
+		public boolean success;
+		public TransactionResult(UAVObject obj, boolean success) {
+			this.obj = obj;
+			this.success = success;
+		}
+	}
+	
+	private CallbackListener transactionCompletedListeners = new CallbackListener(this);
+	public void addTransactionCompleted(Observer o) {
+		synchronized(transactionCompletedListeners) {
+			transactionCompletedListeners.addObserver(o);
+		}
+	}
+	void transactionCompleted(boolean status) {
+		synchronized(transactionCompletedListeners) {
+			transactionCompletedListeners.event(new TransactionResult(this,status));
+		}
 	}
 	
 	private CallbackListener updatedListeners = new CallbackListener(this);
@@ -47,6 +72,30 @@ public abstract class UAVObject {
 		}
 	}
 
+	private CallbackListener updatedAutoListeners = new CallbackListener(this);
+	public void addUpdatedAutoObserver(Observer o) {
+		synchronized(updatedAutoListeners) {
+			updatedAutoListeners.addObserver(o);
+		}
+	}
+	void updatedAuto() {
+		synchronized(updatedAutoListeners) {
+			updatedAutoListeners.event();
+		}
+	}
+
+	private CallbackListener updatedManualListeners = new CallbackListener(this);
+	public void addUpdatedManualObserver(Observer o) {
+		synchronized(updatedManualListeners) {
+			updatedManualListeners.addObserver(o);
+		}
+	}
+	void updatedManual() {
+		synchronized(updatedManualListeners) {
+			updatedManualListeners.event();
+		}
+	}
+
 	public abstract boolean isMetadata();
 	
 	/**
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
index 63f535eac..3ec588879 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
@@ -102,7 +102,6 @@ public class UAVObjectManager {
 					newInstance.event(newObj);
 				}
 				obj.initialize(mobj);
-				//emit new instance signal
 				instList.add(obj);
 				newInstance.event(obj);
 
@@ -155,7 +154,7 @@ public class UAVObjectManager {
 		List<UAVObject> ls = new ArrayList<UAVObject>();
 		ls.add(obj);
 		objects.add(ls);
-		//emit newObject(obj);
+		newObject.event(obj);
 	}
 
 	/**
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 7ea9c7c60..847b7c425 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -7,8 +7,9 @@ import java.io.InputStream;
 import java.io.OutputStream;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
+import java.util.Observable;
 
-public class UAVTalk {
+public class UAVTalk extends Observable{
 
 	private Thread inputProcessingThread = null;
 	/**
@@ -632,8 +633,8 @@ public class UAVTalk {
 		if (respObj != null && respObj.getObjID() == obj.getObjID() && (respObj.getInstID() == obj.getInstID() || respAllInstances))
 		{
 			respObj = null;
-			// TODO: Signals
-//			emit transactionCompleted(obj);
+			setChanged();
+			notifyObservers(obj);
 		}
 	}
 

From b10c3f623d5312948ac306bc3f5b2de8b24a3a45 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 Mar 2011 02:39:33 -0600
Subject: [PATCH 217/543] Changes to TelemetryMonitor, ready for testing

---
 .../src/org/openpilot/uavtalk/Telemetry.java  |  2 +-
 .../openpilot/uavtalk/TelemetryMonitor.java   | 54 +++++++++++--------
 2 files changed, 32 insertions(+), 24 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 79e821fe3..4bed72fea 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -585,7 +585,7 @@ public class Telemetry {
         processObjectUpdates(obj, EV_UNPACKED, false, true);
     }
 
-    private synchronized void updateRequested(UAVObject obj)
+    public synchronized void updateRequested(UAVObject obj)
     {
         processObjectUpdates(obj, EV_UPDATE_REQ, false, true);
     }
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index 39d332457..dabbf1d4b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -28,6 +28,7 @@ public class TelemetryMonitor {
 	private UAVObject flightStatsObj;
 	private Timer periodicTask;
 	private int currentPeriod;
+	private long lastUpdateTime;
 	private List<UAVObject> queue;
 	
 	public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel)
@@ -121,9 +122,15 @@ public class TelemetryMonitor {
 	    
 	    Log.d(TAG, "Retrieving object: " + obj.getName()) ;
 	    // Connect to object
-	    //connect(obj, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(transactionCompleted(UAVObject*,bool)));
+	    obj.addTransactionCompleted(new Observer() {
+			public void update(Observable observable, Object data) {
+				UAVObject.TransactionResult result = (UAVObject.TransactionResult) data;
+				transactionCompleted(result.obj, result.success);
+			}	    	
+	    });
+
 	    // Request update
-	    tel.requestUpdate(obj);
+	    tel.updateRequested(obj);
 	    objPending = obj;
 	}
 
@@ -184,9 +191,10 @@ public class TelemetryMonitor {
 	    boolean connectionTimeout;
 	    if ( telStats.rxObjects > 0 )
 	    {
-	        //connectionTimer.start();
+	    	lastUpdateTime = System.currentTimeMillis();
+
 	    }
-	    if ( connectionTimer.elapsed() > CONNECTION_TIMEOUT_MS  )
+	    if ( (System.currentTimeMillis() - lastUpdateTime) > CONNECTION_TIMEOUT_MS  )
 	    {
 	        connectionTimeout = true;
 	    }
@@ -196,53 +204,53 @@ public class TelemetryMonitor {
 	    }
 
 	    // Update connection state
-	    int oldStatus = gcsStats.Status;
-	    if ( gcsStats.Status == GCSTelemetryStats::STATUS_DISCONNECTED )
+	    UAVObjectField statusField = gcsStatsObj.getField("Connection");
+	    String oldStatus = (String) statusField.getValue();
+	    if ( oldStatus.compareTo("Disconnected") == 0 )
 	    {
 	        // Request connection
-	        gcsStats.Status = GCSTelemetryStats::STATUS_HANDSHAKEREQ;
+	    	statusField.setValue("HandshakeReq");
 	    }
-	    else if ( gcsStats.Status == GCSTelemetryStats::STATUS_HANDSHAKEREQ )
+	    else if ( oldStatus.compareTo("HandshakeReq") == 0 )
 	    {
 	        // Check for connection acknowledge
-	        if ( flightStats.Status == FlightTelemetryStats::STATUS_HANDSHAKEACK )
+	        if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("HandshakeAck") == 0 )
 	        {
-	            gcsStats.Status = GCSTelemetryStats::STATUS_CONNECTED;
+	        	statusField.setValue("Connected");
 	        }
 	    }
-	    else if ( gcsStats.Status == GCSTelemetryStats::STATUS_CONNECTED )
+	    else if ( oldStatus.compareTo("Connected") == 0 )
 	    {
 	        // Check if the connection is still active and the the autopilot is still connected
-	        if (flightStats.Status == FlightTelemetryStats::STATUS_DISCONNECTED || connectionTimeout)
+	        if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("Disconnected") == 0 || connectionTimeout)
 	        {
-	            gcsStats.Status = GCSTelemetryStats::STATUS_DISCONNECTED;
+	        	statusField.setValue("Disconnected");
 	        }
 	    }
 
-	    // Set data
-	    gcsStatsObj->setData(gcsStats);
-
 	    // Force telemetry update if not yet connected
-	    if ( gcsStats.Status != GCSTelemetryStats::STATUS_CONNECTED ||
-	         flightStats.Status != FlightTelemetryStats::STATUS_CONNECTED )
+	    boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
+	    boolean gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
+	    boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
+	    if (  gcsStatusChanged ||
+	    		((String) flightStatsObj.getField("Status").getValue()).compareTo("Disconnected") != 0 )
 	    {
-	        gcsStatsObj->updated();
+	        gcsStatsObj.updated();
 	    }
 
 	    // Act on new connections or disconnections
-	    if (gcsStats.Status == GCSTelemetryStats::STATUS_CONNECTED && gcsStats.Status != oldStatus)
+	    if (gcsConnected && gcsStatusChanged)
 	    {
 	    	setPeriod(STATS_UPDATE_PERIOD_MS);
-	        statsTimer->setInterval(STATS_UPDATE_PERIOD_MS);
 	        Log.d(TAG,"Connection with the autopilot established");
 	        startRetrievingObjects();
 	    }
-	    if (gcsStats.Status == GCSTelemetryStats::STATUS_DISCONNECTED && gcsStats.Status != oldStatus)
+	    if (gcsDisconnected && gcsStatusChanged)
 	    {
 	    	setPeriod(STATS_CONNECT_PERIOD_MS);
 	        Log.d(TAG,"Connection with the autopilot lost");
 	        Log.d(TAG,"Trying to connect to the autopilot");
-	        emit disconnected();
+	        //emit disconnected();
 	    }
 	}
 

From f80424875e58106f9e54a6d17ecdf96e7e559fad Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 Mar 2011 12:27:27 -0600
Subject: [PATCH 218/543] Fixed bug in object signals that stopped updates
 sending.  Various tweaks.

---
 .../src/org/openpilot/uavtalk/Telemetry.java  | 33 ++++++++++-------
 .../openpilot/uavtalk/TelemetryMonitor.java   | 35 +++++++++++++++----
 .../org/openpilot/uavtalk/UAVDataObject.java  |  2 +-
 .../src/org/openpilot/uavtalk/UAVObject.java  |  8 +++--
 .../org/openpilot/uavtalk/UAVObjectField.java |  4 +--
 .../src/org/openpilot/uavtalk/UAVTalk.java    | 15 +++++---
 6 files changed, 68 insertions(+), 29 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 4bed72fea..d2f82459b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -1,5 +1,6 @@
 package org.openpilot.uavtalk;
 
+import java.util.ArrayList;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.ListIterator;
@@ -91,6 +92,15 @@ public class Telemetry {
 
         // Setup transaction timer
         transPending = false;
+        // Setup and start the periodic timer
+        timeToNextUpdateMs = 0;
+        updateTimerSetPeriod(1000);
+        // Setup and start the stats timer
+        txErrors = 0;
+        txRetries = 0;
+    }
+    
+    synchronized void transTimerSetPeriod(int periodMs) {
         transTimer = new Timer();
         transTimerTask = new TimerTask() {
 			@Override
@@ -98,9 +108,10 @@ public class Telemetry {
 				transactionTimeout();
 			}        	
         };
-        // Setup and start the periodic timer
-        timeToNextUpdateMs = 0;
-        
+        transTimer.schedule(transTimerTask, periodMs, periodMs);
+    }
+    
+    synchronized void updateTimerSetPeriod(int periodMs) {
         updateTimer = new Timer();
         updateTimerTask = new TimerTask() {
 			@Override
@@ -108,10 +119,8 @@ public class Telemetry {
 				processPeriodicUpdates();
 			}        	
         };
-        updateTimer.scheduleAtFixedRate(updateTimerTask, 1000, 1000);
-        // Setup and start the stats timer
-        txErrors = 0;
-        txRetries = 0;
+        updateTimer.schedule(updateTimerTask, periodMs, periodMs);
+
     }
 
     /**
@@ -341,7 +350,7 @@ public class Telemetry {
             // Start timer if a response is expected
             if ( transInfo.objRequest || transInfo.acked == Acked.TRUE )
             {
-            	transTimer.scheduleAtFixedRate(transTimerTask, REQ_TIMEOUT_MS, REQ_TIMEOUT_MS);
+            	transTimerSetPeriod(REQ_TIMEOUT_MS);
             }
             else
             {
@@ -433,6 +442,7 @@ public class Telemetry {
 
         // Check if a connection has been established, only process GCSTelemetryStats updates
         // (used to establish the connection)
+        gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
         if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 )
         {
             objQueue.clear();
@@ -538,8 +548,7 @@ public class Telemetry {
         timeToNextUpdateMs = minDelay;
 
         // Restart timer
-        //updateTimer->start(timeToNextUpdateMs);
-        updateTimer.scheduleAtFixedRate(updateTimerTask, timeToNextUpdateMs, timeToNextUpdateMs);
+        updateTimerSetPeriod(timeToNextUpdateMs);
     }
 
     public TelemetryStats getStats()
@@ -607,10 +616,10 @@ public class Telemetry {
     private UAVObjectManager objMngr;
     private UAVTalk utalk;
     private UAVObject gcsStatsObj;
-    private List<ObjectTimeInfo> objList;
+    private List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
     private Queue<ObjectQueueInfo> objQueue = new LinkedList<ObjectQueueInfo>();
     private Queue<ObjectQueueInfo> objPriorityQueue = new LinkedList<ObjectQueueInfo>();
-    private ObjectTransactionInfo transInfo;
+    private ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
     private boolean transPending;
     
     private Timer updateTimer;
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index dabbf1d4b..bc0bfd6eb 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -92,7 +92,7 @@ public class TelemetryMonitor {
 	        }
 	    }
 	    // Start retrieving
-	    Log.d(TAG,"Starting to retrieve meta and settings objects from the autopilot (%1 objects)" + queue.size()) ;
+	    System.out.println(TAG + "Starting to retrieve meta and settings objects from the autopilot (" + queue.size() + " objects)");
 	    retrieveNextObject();
 	}
 
@@ -120,7 +120,7 @@ public class TelemetryMonitor {
 	    // Get next object from the queue
 	    UAVObject obj = queue.remove(0);
 	    
-	    Log.d(TAG, "Retrieving object: " + obj.getName()) ;
+//	    Log.d(TAG, "Retrieving object: " + obj.getName()) ;
 	    // Connect to object
 	    obj.addTransactionCompleted(new Observer() {
 			public void update(Observable observable, Object data) {
@@ -161,6 +161,10 @@ public class TelemetryMonitor {
 	public synchronized void flightStatsUpdated(UAVObject obj)
 	{
 	    // Force update if not yet connected
+	    gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
+	    flightStatsObj = objMngr.getObject("FlightTelemetryStats");
+	    
+	    System.out.println(flightStatsObj.toString());
 	    if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 ||
 	    		((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
 	    {
@@ -204,8 +208,17 @@ public class TelemetryMonitor {
 	    }
 
 	    // Update connection state
-	    UAVObjectField statusField = gcsStatsObj.getField("Connection");
+	    gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
+	    flightStatsObj = objMngr.getObject("FlightTelemetryStats");
+	    if(gcsStatsObj == null) {
+	    	System.out.println("No GCS stats yet");
+	    	return;
+	    }
+	    UAVObjectField statusField = gcsStatsObj.getField("Status");
 	    String oldStatus = (String) statusField.getValue();
+	    
+	    System.out.println("GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
+
 	    if ( oldStatus.compareTo("Disconnected") == 0 )
 	    {
 	        // Request connection
@@ -217,6 +230,7 @@ public class TelemetryMonitor {
 	        if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("HandshakeAck") == 0 )
 	        {
 	        	statusField.setValue("Connected");
+	        	System.out.println("Connected" + statusField.toString());
 	        }
 	    }
 	    else if ( oldStatus.compareTo("Connected") == 0 )
@@ -230,11 +244,18 @@ public class TelemetryMonitor {
 
 	    // Force telemetry update if not yet connected
 	    boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
+	    
+	    if(gcsStatusChanged)
+	    	System.out.println("GCS Status changed");
 	    boolean gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
 	    boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
+	    
+	    if(gcsConnected) 
+	    	System.out.println("Detected here");
 	    if (  gcsStatusChanged ||
 	    		((String) flightStatsObj.getField("Status").getValue()).compareTo("Disconnected") != 0 )
 	    {
+	    	System.out.println("Sending gcs status\n\n\n");
 	        gcsStatsObj.updated();
 	    }
 
@@ -242,14 +263,15 @@ public class TelemetryMonitor {
 	    if (gcsConnected && gcsStatusChanged)
 	    {
 	    	setPeriod(STATS_UPDATE_PERIOD_MS);
-	        Log.d(TAG,"Connection with the autopilot established");
+	    	System.out.println(TAG + " Connection with the autopilot established");
+	        //Log.d(TAG,"Connection with the autopilot established");
 	        startRetrievingObjects();
 	    }
 	    if (gcsDisconnected && gcsStatusChanged)
 	    {
 	    	setPeriod(STATS_CONNECT_PERIOD_MS);
-	        Log.d(TAG,"Connection with the autopilot lost");
-	        Log.d(TAG,"Trying to connect to the autopilot");
+	        System.out.println(TAG + " Connection with the autopilot lost");
+	        //Log.d(TAG,"Trying to connect to the autopilot");
 	        //emit disconnected();
 	    }
 	}
@@ -260,6 +282,7 @@ public class TelemetryMonitor {
 
 		periodicTask.cancel();
 		currentPeriod = ms;
+		periodicTask = new Timer();
 	    periodicTask.scheduleAtFixedRate(new TimerTask() {
 			@Override
 			public void run() {
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
index 5694cc9d8..0acc02226 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
@@ -24,7 +24,7 @@ public abstract class UAVDataObject extends UAVObject {
 	    super.initialize(instID);
 	}
 
-	public boolean isMetadata() { return true; };
+	public boolean isMetadata() { return false; };
 	/**
 	 * Assign a metaobject
 	 */
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index 9e4f69a39..fac67cabc 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -53,11 +53,14 @@ public abstract class UAVObject {
 			updatedListeners.addObserver(o);
 		}
 	}
-	void updated() {
+	void updated(boolean manually) {
 		synchronized(updatedListeners) {
 			updatedListeners.event();
 		}
+		if(manually)
+			updatedManual();
 	}
+	void updated() { updated(true); };
 	
 	private CallbackListener unpackedListeners = new CallbackListener(this);
 	public void addUnpackedObserver(Observer o) {
@@ -67,7 +70,6 @@ public abstract class UAVObject {
 	}
 	void unpacked() {
 		synchronized(unpackedListeners) {
-			System.out.println("Unpacked!: " + unpackedListeners.countObservers() + " " + getName());
 			unpackedListeners.event();
 		}
 	}
@@ -387,7 +389,7 @@ public abstract class UAVObject {
 		
 		// Trigger all the listeners for the unpack event
 		unpacked();
-		updated();
+		updated(false);
 		
 		return numBytes;
 	}
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index 2fd7f7846..8d792bb39 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -131,7 +131,7 @@ public class UAVObjectField {
             case UINT32:
             	// TODO: Deal properly with unsigned
                 for (int index = 0; index < numElements; ++index) {
-                	Integer val = (Integer) getValue(index);
+                	Integer val = (int) ( ((Long) getValue(index)).longValue() & 0xffffffffL);
                 	dataOut.putInt(val);
                 }
                 break;
@@ -364,7 +364,7 @@ public class UAVObjectField {
     
     public double getDouble() { return getDouble(0); };
     public double getDouble(int index) {
-    	return Double.valueOf((Double) getValue(index));
+    	return ((Number) getValue(index)).doubleValue();
     }
     
     public void setDouble(double value) { setDouble(value, 0); };
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 847b7c425..8576be78c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -200,9 +200,9 @@ public class UAVTalk extends Observable{
 	 * \param[in] allInstances If set true then all instances will be updated
 	 * \return Success (true), Failure (false)
 	 */
-	public boolean sendObject(UAVObject obj, boolean acked, boolean allInstances)
+	public synchronized boolean sendObject(UAVObject obj, boolean acked, boolean allInstances)
 	{
-		//QMutexLocker locker(mutex);
+		System.out.println("Sending obj: " + obj.toString());
 		if (acked)
 		{
 			return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
@@ -216,9 +216,8 @@ public class UAVTalk extends Observable{
 	/**
 	 * Cancel a pending transaction
 	 */
-	public void cancelTransaction()
+	public synchronized void cancelTransaction()
 	{
-		//QMutexLocker locker(mutex);
 		respObj = null;
 	}
 
@@ -250,6 +249,7 @@ public class UAVTalk extends Observable{
 		}
 		else if (type == TYPE_OBJ)
 		{
+			System.out.println("Transmitting object: " + obj.toString());
 			return transmitObject(obj, TYPE_OBJ, allInstances);
 		}
 		else
@@ -763,7 +763,12 @@ public class UAVTalk extends Observable{
 		bbuf.put((byte) (updateCRC(0, bbuf.array()) & 0xff));
 
 		try {
-			outStream.write(bbuf.array());
+			int packlen = bbuf.position();
+			bbuf.position(0);
+			byte [] dst = new byte[packlen];
+			bbuf.get(dst,0,packlen);
+			System.out.println("Outputting: " + dst.length);
+			outStream.write(dst);
 		} catch (IOException e) {
 			// TODO Auto-generated catch block
 			e.printStackTrace();

From abc07fd7484d58a4abf79c370493962305a183fb Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 Mar 2011 12:27:59 -0600
Subject: [PATCH 219/543] Unit test for telemetry

---
 .../uavtalk/TelemetryMonitorTest.java         | 64 +++++++++++++++++++
 1 file changed, 64 insertions(+)
 create mode 100644 androidgcs/tests/org/openpilot/uavtalk/TelemetryMonitorTest.java

diff --git a/androidgcs/tests/org/openpilot/uavtalk/TelemetryMonitorTest.java b/androidgcs/tests/org/openpilot/uavtalk/TelemetryMonitorTest.java
new file mode 100644
index 000000000..1fc02d145
--- /dev/null
+++ b/androidgcs/tests/org/openpilot/uavtalk/TelemetryMonitorTest.java
@@ -0,0 +1,64 @@
+package org.openpilot.uavtalk;
+
+import static org.junit.Assert.*;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.io.OutputStream;
+import java.net.DatagramSocket;
+import java.net.InetAddress;
+import java.net.Socket;
+import java.nio.ByteBuffer;
+import java.util.Observable;
+import java.util.Observer;
+
+import org.junit.BeforeClass;
+import org.junit.Test;
+import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
+import org.openpilot.uavtalk.UAVTalk;
+
+
+public class TelemetryMonitorTest {
+	
+	static UAVObjectManager objMngr;
+	static UAVTalk talk;
+	static final String IP_ADDRDESS = new String("127.0.0.1");
+	static final int PORT_NUM = 7777;
+	static Socket connection = null;
+	boolean succeed = false;
+
+	@Test
+	public void testTelemetry() throws Exception {
+		objMngr = new UAVObjectManager();
+		UAVObjectsInitialize.register(objMngr);
+		talk = null;
+		try{
+			InetAddress ip = InetAddress.getByName(IP_ADDRDESS);
+			connection = new Socket(ip, PORT_NUM);
+		} catch (Exception e) {
+			e.printStackTrace();
+			fail("Couldn't connect to test platform");
+		}
+		
+		try {
+			talk = new UAVTalk(connection.getInputStream(), connection.getOutputStream(), objMngr);
+		} catch (IOException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+			fail("Couldn't construct UAVTalk object");
+		}
+		
+		Thread inputStream = talk.getInputProcessThread();
+		inputStream.start();
+		
+		Telemetry tel = new Telemetry(talk, objMngr);
+		TelemetryMonitor mon = new TelemetryMonitor(objMngr,tel);
+		
+		Thread.sleep(10000);
+		
+		System.out.println("Done");
+	}
+
+
+}

From 29fd09b204c5d95a95da2c3293327c75f7b0275e Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 Mar 2011 13:44:40 -0600
Subject: [PATCH 220/543] Little updates

---
 .../src/org/openpilot/uavtalk/UAVTalk.java    | 16 +++---
 .../tests/org/openpilot/uavtalk/TalkTest.java | 56 ++++++++++++++-----
 2 files changed, 51 insertions(+), 21 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 8576be78c..92b5585de 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -202,7 +202,6 @@ public class UAVTalk extends Observable{
 	 */
 	public synchronized boolean sendObject(UAVObject obj, boolean acked, boolean allInstances)
 	{
-		System.out.println("Sending obj: " + obj.toString());
 		if (acked)
 		{
 			return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
@@ -249,7 +248,6 @@ public class UAVTalk extends Observable{
 		}
 		else if (type == TYPE_OBJ)
 		{
-			System.out.println("Transmitting object: " + obj.toString());
 			return transmitObject(obj, TYPE_OBJ, allInstances);
 		}
 		else
@@ -263,7 +261,7 @@ public class UAVTalk extends Observable{
 	 * \param[in] rxbyte Received byte
 	 * \return Success (true), Failure (false)
 	 */
-	public boolean processInputByte(int rxbyte)
+	public synchronized boolean processInputByte(int rxbyte)
 	{
 		assert(objMngr != null);
 
@@ -448,12 +446,10 @@ public class UAVTalk extends Observable{
 				break;
 			}
 
-			//mutex->lock();
 			rxBuffer.position(0);
 			receiveObject(rxType, rxObjId, rxInstId, rxBuffer);
 			stats.rxObjectBytes += rxLength;
 			stats.rxObjects++;
-			//mutex->unlock();
 
 			rxState = RxStateType.STATE_SYNC;
 			break;
@@ -484,13 +480,13 @@ public class UAVTalk extends Observable{
 		boolean error = false;
 		boolean allInstances = (instId == ALL_INSTANCES? true : false);
 
-		System.out.println("Received object: " + objId + " " + objMngr.getObject(objId).getName());
 		// Process message type
 		switch (type) {
 		case TYPE_OBJ:
 			// All instances, not allowed for OBJ messages
 			if (!allInstances)
 			{
+				System.out.println("Received object: " + objId + " " + objMngr.getObject(objId).getName());
 				// Get object and update its data
 				obj = updateObject(objId, instId, data);
 				// Check if an ack is pending
@@ -512,6 +508,7 @@ public class UAVTalk extends Observable{
 			// All instances, not allowed for OBJ_ACK messages
 			if (!allInstances)
 			{
+				System.out.println("Received object ack: " + objId + " " + objMngr.getObject(objId).getName());
 				// Get object and update its data
 				obj = updateObject(objId, instId, data);
 				// Transmit ACK
@@ -531,6 +528,7 @@ public class UAVTalk extends Observable{
 			break;
 		case TYPE_OBJ_REQ:
 			// Get object, if all instances are requested get instance 0 of the object
+			System.out.println("Received object request: " + objId + " " + objMngr.getObject(objId).getName());
 			if (allInstances)
 			{
 				obj = objMngr.getObject(objId);
@@ -553,6 +551,7 @@ public class UAVTalk extends Observable{
 			// All instances, not allowed for ACK messages
 			if (!allInstances)
 			{
+				System.out.println("Received ack: " + objId + " " + objMngr.getObject(objId).getName());
 				// Get object
 				obj = objMngr.getObject(objId, instId);
 				// Check if an ack is pending
@@ -578,7 +577,7 @@ public class UAVTalk extends Observable{
 	 * If the object instance could not be found in the list, then a
 	 * new one is created.
 	 */
-	public UAVObject updateObject(int objId, int instId, ByteBuffer data)
+	public synchronized UAVObject updateObject(int objId, int instId, ByteBuffer data)
 	{
 		assert(objMngr != null);
 
@@ -613,13 +612,14 @@ public class UAVTalk extends Observable{
 				// TODO Auto-generated catch block
 				e.printStackTrace();
 			}
+			System.out.println("Unpacking new object");
 			instobj.unpack(data);
 			return instobj;
 		}
 		else
 		{
 			// Unpack data into object instance
-			// System.out.println("Unpacking: " + data.position() + " / " + data.capacity() );
+			System.out.println("Unpacking existing object: " + data.position() + " / " + data.capacity() );
 			obj.unpack(data);
 			return obj;
 		}
diff --git a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
index 252927122..044ddfd06 100644
--- a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
+++ b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
@@ -1,10 +1,13 @@
 package org.openpilot.uavtalk;
 import static org.junit.Assert.*;
 
+import java.io.ByteArrayInputStream;
+import java.io.ByteArrayOutputStream;
 import java.io.IOException;
 import java.io.InputStream;
 import java.io.InputStreamReader;
 import java.io.OutputStream;
+import java.io.OutputStreamWriter;
 import java.net.DatagramSocket;
 import java.net.InetAddress;
 import java.net.Socket;
@@ -31,7 +34,7 @@ public class TalkTest {
 		UAVObjectsInitialize.register(objMngr);
 	}
 
-	@Test
+	//@Test
 	public void testGetFlightStatus() {
 		Socket connection = null;
 		UAVTalk talk = null;
@@ -78,22 +81,49 @@ public class TalkTest {
 
 	@Test
 	public void testSendObjectRequest() {
-		fail("Not yet implemented");
+		ByteArrayInputStream is = new ByteArrayInputStream(new byte[0], 0, 0);
+		ByteArrayOutputStream os = new ByteArrayOutputStream(100);
+		
+		UAVTalk talk = new UAVTalk(is,os,objMngr);
+		UAVObject obj = objMngr.getObject("FlightTelemetryStats");
+		obj.getField("Status").setValue("Connected");
+		
+		talk.sendObject(obj, false, false);
+		
+		System.out.println("Size: " + os.size());
+		byte [] array = os.toByteArray();
+		for(int i = 0; i < array.length; i++) {
+			System.out.print("0x" + Integer.toHexString((int) array[i] & 0xff));
+			if(i != array.length-1)
+				System.out.print(", ");
+		}
+		System.out.print("\n");
 	}
-
-	@Test
-	public void testSendObject() {
-		fail("Not yet implemented");
-	}
-
+	
 	@Test
 	public void testReceiveObject() {
-		fail("Not yet implemented");
+		ByteArrayInputStream is = new ByteArrayInputStream(new byte[0], 0, 0);
+		ByteArrayOutputStream os = new ByteArrayOutputStream(100);
+		
+		// Send object to create the test packet (should hard code in test string)
+		UAVTalk talk = new UAVTalk(is,os,objMngr);
+		UAVObject obj = objMngr.getObject("FlightTelemetryStats");
+		obj.getField("Status").setValue("Connected");
+		talk.sendObject(obj, false, false);
+		
+		obj.getField("Status").setValue("Disconnected");
+		
+		// Test receiving from that stream
+		is = new ByteArrayInputStream(os.toByteArray(), 0, os.size());
+		talk = new UAVTalk(is,os,objMngr);
+		Thread inputStream = talk.getInputProcessThread();
+		inputStream.start();
+		
+		System.out.println("Should be FlightTelemetry Stats:");
+		System.out.println(objMngr.getObject("FlightTelemetryStats").toString());
+
+		fail("Not working yet");
 	}
 
-	@Test
-	public void testUpdateObject() {
-		fail("Not yet implemented");
-	}
 
 }

From 1ea90c415879a2ea123af97d0d14b7137aa5a243 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 Mar 2011 14:36:37 -0600
Subject: [PATCH 221/543] Fix the CRC calculation for java sending

---
 .../src/org/openpilot/uavtalk/UAVTalk.java    | 13 ++++---
 .../tests/org/openpilot/uavtalk/TalkTest.java | 34 ++++++++++++-------
 2 files changed, 31 insertions(+), 16 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 92b5585de..d656aa707 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -175,7 +175,12 @@ public class UAVTalk extends Observable{
 				e.printStackTrace();
 				break;
 			}
-			//System.out.println("Received byte " + val + " in state + " + rxState);
+			if(val == -1) {
+				System.out.println("End of stream, terminating processInputStream thread");
+				break;
+			}
+			
+			System.out.println("Received byte " + val + " in state + " + rxState);
 			processInputByte(val);
 		}
 	}
@@ -760,7 +765,7 @@ public class UAVTalk extends Observable{
 			}
 
 		// Calculate checksum
-		bbuf.put((byte) (updateCRC(0, bbuf.array()) & 0xff));
+		bbuf.put((byte) (updateCRC(0, bbuf.array(), bbuf.position()) & 0xff));
 
 		try {
 			int packlen = bbuf.position();
@@ -818,9 +823,9 @@ public class UAVTalk extends Observable{
 	{
 		return crc_table[crc ^ (data & 0xff)];
 	}
-	int updateCRC(int crc, byte [] data)
+	int updateCRC(int crc, byte [] data, int length)
 	{
-		for (int i = 0; i < data.length; i++)
+		for (int i = 0; i < length; i++)
 			crc = updateCRC(crc, (int) data[i]);
 		return crc;		
 	}
diff --git a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
index 044ddfd06..91f3aa198 100644
--- a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
+++ b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
@@ -28,6 +28,16 @@ public class TalkTest {
 	static final int PORT_NUM = 7777;
 	boolean succeed = false;
 
+	byte[] flightStatsConnected = 
+		{0x3c,0x20,0x1d,0x00,
+			(byte) 0x5e,(byte) 0x26,(byte) 0x0c,(byte) 0x66,
+			0x03,0x00,0x00,0x00,
+			0x00,0x00,0x00,0x00,
+			0x00,0x00,0x00,0x00,
+			0x00,0x00,0x00,0x00,
+			0x00,0x00,0x00,0x00,
+			0x00,(byte) 0xAE};
+	
 	@BeforeClass
 	public static void setUpBeforeClass() throws Exception {
 		objMngr = new UAVObjectManager();
@@ -89,40 +99,40 @@ public class TalkTest {
 		obj.getField("Status").setValue("Connected");
 		
 		talk.sendObject(obj, false, false);
-		
+				
 		System.out.println("Size: " + os.size());
 		byte [] array = os.toByteArray();
 		for(int i = 0; i < array.length; i++) {
 			System.out.print("0x" + Integer.toHexString((int) array[i] & 0xff));
+			System.out.print("/0x" + Integer.toHexString((int) flightStatsConnected[i] & 0xff));
 			if(i != array.length-1)
-				System.out.print(", ");
+				System.out.print("\n");
 		}
 		System.out.print("\n");
+		for(int i = 0; i < array.length; i++)
+			assertEquals(os.toByteArray()[i], flightStatsConnected[i]);
 	}
 	
 	@Test
-	public void testReceiveObject() {
-		ByteArrayInputStream is = new ByteArrayInputStream(new byte[0], 0, 0);
+	public void testReceiveObject() throws InterruptedException {
+		ByteArrayInputStream is = new ByteArrayInputStream(flightStatsConnected, 0, flightStatsConnected.length);
 		ByteArrayOutputStream os = new ByteArrayOutputStream(100);
 		
-		// Send object to create the test packet (should hard code in test string)
-		UAVTalk talk = new UAVTalk(is,os,objMngr);
+		// Make the Status wrong initially
 		UAVObject obj = objMngr.getObject("FlightTelemetryStats");
-		obj.getField("Status").setValue("Connected");
-		talk.sendObject(obj, false, false);
-		
 		obj.getField("Status").setValue("Disconnected");
 		
 		// Test receiving from that stream
-		is = new ByteArrayInputStream(os.toByteArray(), 0, os.size());
-		talk = new UAVTalk(is,os,objMngr);
+		UAVTalk talk = new UAVTalk(is,os,objMngr);
 		Thread inputStream = talk.getInputProcessThread();
 		inputStream.start();
 		
+		Thread.sleep(1000);
+		
 		System.out.println("Should be FlightTelemetry Stats:");
 		System.out.println(objMngr.getObject("FlightTelemetryStats").toString());
 
-		fail("Not working yet");
+		assertEquals(obj.getField("Status").getValue(), new String("Connected"));
 	}
 
 

From 20a4021bd32c4dc8f287a2624678ac931f752423 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 Mar 2011 21:36:09 -0600
Subject: [PATCH 222/543] Fixed some timer issues.  Got connection with this.

---
 .../src/org/openpilot/uavtalk/Telemetry.java     |  9 ++++++++-
 .../org/openpilot/uavtalk/TelemetryMonitor.java  |  3 ---
 .../src/org/openpilot/uavtalk/UAVTalk.java       | 16 +++++++---------
 3 files changed, 15 insertions(+), 13 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index d2f82459b..7f04e344b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -101,7 +101,14 @@ public class Telemetry {
     }
     
     synchronized void transTimerSetPeriod(int periodMs) {
-        transTimer = new Timer();
+    	if(transTimerTask != null)
+    		transTimerTask.cancel();
+    	
+    	if(transTimer != null) 
+    		transTimer.purge();
+
+   		transTimer = new Timer();
+    	
         transTimerTask = new TimerTask() {
 			@Override
 			public void run() {
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index bc0bfd6eb..eb406923d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -164,7 +164,6 @@ public class TelemetryMonitor {
 	    gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
 	    flightStatsObj = objMngr.getObject("FlightTelemetryStats");
 	    
-	    System.out.println(flightStatsObj.toString());
 	    if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 ||
 	    		((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
 	    {
@@ -250,8 +249,6 @@ public class TelemetryMonitor {
 	    boolean gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
 	    boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
 	    
-	    if(gcsConnected) 
-	    	System.out.println("Detected here");
 	    if (  gcsStatusChanged ||
 	    		((String) flightStatsObj.getField("Status").getValue()).compareTo("Disconnected") != 0 )
 	    {
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index d656aa707..825f9d9fe 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -180,7 +180,7 @@ public class UAVTalk extends Observable{
 				break;
 			}
 			
-			System.out.println("Received byte " + val + " in state + " + rxState);
+			//System.out.println("Received byte " + val + " in state + " + rxState);
 			processInputByte(val);
 		}
 	}
@@ -423,7 +423,6 @@ public class UAVTalk extends Observable{
 			// Update CRC
 			rxCS = updateCRC(rxCS, rxbyte);
 
-			//System.out.println(rxCount + "/" + rxLength);
 			rxBuffer.put(rxCount++, (byte) (rxbyte & 0xff));
 			if (rxCount < rxLength)
 				break;
@@ -491,7 +490,7 @@ public class UAVTalk extends Observable{
 			// All instances, not allowed for OBJ messages
 			if (!allInstances)
 			{
-				System.out.println("Received object: " + objId + " " + objMngr.getObject(objId).getName());
+				System.out.println("Received object: " + objMngr.getObject(objId).getName());
 				// Get object and update its data
 				obj = updateObject(objId, instId, data);
 				// Check if an ack is pending
@@ -513,7 +512,7 @@ public class UAVTalk extends Observable{
 			// All instances, not allowed for OBJ_ACK messages
 			if (!allInstances)
 			{
-				System.out.println("Received object ack: " + objId + " " + objMngr.getObject(objId).getName());
+//				System.out.println("Received object ack: " + objId + " " + objMngr.getObject(objId).getName());
 				// Get object and update its data
 				obj = updateObject(objId, instId, data);
 				// Transmit ACK
@@ -533,7 +532,7 @@ public class UAVTalk extends Observable{
 			break;
 		case TYPE_OBJ_REQ:
 			// Get object, if all instances are requested get instance 0 of the object
-			System.out.println("Received object request: " + objId + " " + objMngr.getObject(objId).getName());
+//			System.out.println("Received object request: " + objId + " " + objMngr.getObject(objId).getName());
 			if (allInstances)
 			{
 				obj = objMngr.getObject(objId);
@@ -556,7 +555,7 @@ public class UAVTalk extends Observable{
 			// All instances, not allowed for ACK messages
 			if (!allInstances)
 			{
-				System.out.println("Received ack: " + objId + " " + objMngr.getObject(objId).getName());
+//				System.out.println("Received ack: " + objId + " " + objMngr.getObject(objId).getName());
 				// Get object
 				obj = objMngr.getObject(objId, instId);
 				// Check if an ack is pending
@@ -617,14 +616,14 @@ public class UAVTalk extends Observable{
 				// TODO Auto-generated catch block
 				e.printStackTrace();
 			}
-			System.out.println("Unpacking new object");
+//			System.out.println("Unpacking new object");
 			instobj.unpack(data);
 			return instobj;
 		}
 		else
 		{
 			// Unpack data into object instance
-			System.out.println("Unpacking existing object: " + data.position() + " / " + data.capacity() );
+//			System.out.println("Unpacking existing object: " + data.position() + " / " + data.capacity() );
 			obj.unpack(data);
 			return obj;
 		}
@@ -772,7 +771,6 @@ public class UAVTalk extends Observable{
 			bbuf.position(0);
 			byte [] dst = new byte[packlen];
 			bbuf.get(dst,0,packlen);
-			System.out.println("Outputting: " + dst.length);
 			outStream.write(dst);
 		} catch (IOException e) {
 			// TODO Auto-generated catch block

From 34dfaf0023c41729ddfe2779eaa965e6b969763d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 13 Mar 2011 21:01:11 -0500
Subject: [PATCH 223/543] Works on Nook, but recursive loop too deep in
 registering objects

---
 androidgcs/AndroidManifest.xml                |  12 +-
 androidgcs/default.properties                 |   2 +-
 androidgcs/res/layout/main.xml                |   1 -
 androidgcs/res/values/strings.xml             |   1 -
 .../openpilot/androidgcs/ObjectBrowser.java   | 129 ++++++++++++++++++
 .../src/org/openpilot/uavtalk/Telemetry.java  |  47 ++++---
 .../openpilot/uavtalk/TelemetryMonitor.java   |  15 +-
 .../src/org/openpilot/uavtalk/UAVObject.java  |  12 +-
 8 files changed, 186 insertions(+), 33 deletions(-)
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 7a96a6600..8b3a9e4b3 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -5,8 +5,18 @@
       android:versionName="1.0">
     <uses-sdk android:minSdkVersion="7" />
 
-    <application android:icon="@drawable/icon" android:label="@string/app_name">
+	<uses-permission android:name="android.permission.BLUETOOTH" />
+	<uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
+	
+    <application android:icon="@drawable/icon" android:label="@string/app_name" >
 
+        <activity android:name="ObjectBrowser"
+                  android:label="@string/app_name">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN" />
+                <category android:name="android.intent.category.LAUNCHER" />
+            </intent-filter>
+        </activity>
 
     </application>
 </manifest>
\ No newline at end of file
diff --git a/androidgcs/default.properties b/androidgcs/default.properties
index 46769a720..66db0d159 100644
--- a/androidgcs/default.properties
+++ b/androidgcs/default.properties
@@ -8,4 +8,4 @@
 # project structure.
 
 # Project target.
-target=android-7
+target=android-10
diff --git a/androidgcs/res/layout/main.xml b/androidgcs/res/layout/main.xml
index 3a5f117d3..7e4a852bf 100644
--- a/androidgcs/res/layout/main.xml
+++ b/androidgcs/res/layout/main.xml
@@ -7,6 +7,5 @@
 <TextView  
     android:layout_width="fill_parent" 
     android:layout_height="wrap_content" 
-    android:text="@string/hello"
     />
 </LinearLayout>
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index 0d9f93bc2..52fa56534 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -1,5 +1,4 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
-    <string name="hello">Hello World!</string>
     <string name="app_name">OpenPilot GCS</string>
 </resources>
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
new file mode 100644
index 000000000..3c6231258
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -0,0 +1,129 @@
+package org.openpilot.androidgcs;
+
+import java.io.IOException;
+import java.util.Set;
+import java.util.UUID;
+
+import android.app.Activity;
+import android.bluetooth.BluetoothAdapter;
+import android.bluetooth.BluetoothDevice;
+import android.bluetooth.BluetoothSocket;
+import android.content.Intent;
+import android.os.Bundle;
+import android.util.Log;
+
+import org.openpilot.androidgcs.*;
+import org.openpilot.uavtalk.Telemetry;
+import org.openpilot.uavtalk.TelemetryMonitor;
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVTalk;
+import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
+
+public class ObjectBrowser extends Activity {
+	
+	private final String TAG = "ObjectBrower";
+	private final String DEVICE_NAME = "RN42-222D";
+	private final int REQUEST_ENABLE_BT = 0;
+	private UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
+	BluetoothAdapter mBluetoothAdapter;
+	UAVObjectManager objMngr;
+	UAVTalk uavTalk;
+	
+    /** Called when the activity is first created. */
+    @Override
+    public void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.main);
+        
+        Log.d(TAG, "Launching Object Browser");
+        
+        mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
+        if (mBluetoothAdapter == null) {
+            // Device does not support Bluetooth
+        	Log.d(TAG, "Device does not support Bluetooth");
+        	return;
+        }
+        
+        if (!mBluetoothAdapter.isEnabled()) {
+            Intent enableBtIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
+            startActivityForResult(enableBtIntent, REQUEST_ENABLE_BT);
+        } else {
+        	queryDevices();
+        }
+    }
+    
+    @Override
+    public void onActivityResult(int requestCode, int resultCode, Intent data) {
+    	if(requestCode == REQUEST_ENABLE_BT && resultCode == RESULT_OK) {
+    		Log.d(TAG, "Bluetooth started succesfully");
+    		queryDevices();
+    	}
+    	if(requestCode == REQUEST_ENABLE_BT && resultCode != RESULT_OK)
+    		Log.d(TAG, "Bluetooth could not be started");
+    	
+    }
+    
+    public void queryDevices() {
+    	Log.d(TAG, "Searching for devices");
+		Set<BluetoothDevice> pairedDevices = mBluetoothAdapter.getBondedDevices();
+		// If there are paired devices
+		if (pairedDevices.size() > 0) {
+		    // Loop through paired devices
+		    for (BluetoothDevice device : pairedDevices) {
+		        // Add the name and address to an array adapter to show in a ListView
+		        //mArrayAdapter.add(device.getName() + "\n" + device.getAddress());
+		    	Log.d(TAG, "Paired device: " + device.getName());
+		    	if(device.getName().compareTo(DEVICE_NAME) == 0) {
+		    		openTelmetryBluetooth(device);
+		    		openTelmetryBluetooth(device);
+		    		}
+		    }
+		}
+    	
+    }
+
+	private void openTelmetryBluetooth(BluetoothDevice device) {
+		Log.d(TAG, "Opening conncetion to " + device.getName());
+		BluetoothSocket socket = null;
+		try {
+			socket = device.createInsecureRfcommSocketToServiceRecord(MY_UUID);
+		} catch (IOException e) {
+			Log.e(TAG,"Unable to create Rfcomm socket");
+			e.printStackTrace();			
+		}
+		
+		mBluetoothAdapter.cancelDiscovery();
+		
+		try {
+			socket.connect();
+		}
+		catch (IOException e) {
+			Log.e(TAG,"Unable to connect to requested device", e);
+            try {
+                socket.close();
+            } catch (IOException e2) {
+                Log.e(TAG, "unable to close() socket during connection failure", e2);
+            }
+			return;
+		}
+
+		objMngr = new UAVObjectManager();
+		UAVObjectsInitialize.register(objMngr);
+
+		try {
+			uavTalk = new UAVTalk(socket.getInputStream(), socket.getOutputStream(), objMngr);
+		} catch (IOException e) {
+			Log.e(TAG,"Error starting UAVTalk");
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+			return;
+		}
+		
+		Thread inputStream = uavTalk.getInputProcessThread();
+		inputStream.start();
+		
+		Telemetry tel = new Telemetry(uavTalk, objMngr);
+		TelemetryMonitor mon = new TelemetryMonitor(objMngr,tel);
+
+	}
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 7f04e344b..b403f85e3 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -12,8 +12,12 @@ import java.util.TimerTask;
 
 import org.openpilot.uavtalk.UAVObject.Acked;
 
+import android.util.Log;
+
 public class Telemetry {
 	
+	private final String TAG = "Telemetry";
+	
     public class TelemetryStats {
         public int txBytes;
         public int rxBytes;
@@ -133,7 +137,7 @@ public class Telemetry {
     /**
      * Register a new object for periodic updates (if enabled)
      */
-    private void registerObject(UAVObject obj)
+    private synchronized void registerObject(UAVObject obj)
     {
         // Setup object for periodic updates
         addObject(obj);
@@ -145,7 +149,7 @@ public class Telemetry {
     /**
      * Add an object in the list used for periodic updates
      */
-    private void addObject(UAVObject obj)
+    private synchronized void addObject(UAVObject obj)
     {
         // Check if object type is already in the list
     	ListIterator<ObjectTimeInfo> li = objList.listIterator();
@@ -169,7 +173,7 @@ public class Telemetry {
     /**
      * Update the object's timers
      */
-    private void setUpdatePeriod(UAVObject obj, int periodMs)
+    private synchronized void setUpdatePeriod(UAVObject obj, int periodMs)
     {
         // Find object type (not instance!) and update its period
     	ListIterator<ObjectTimeInfo> li = objList.listIterator();
@@ -186,7 +190,7 @@ public class Telemetry {
     /**
      * Connect to all instances of an object depending on the event mask specified
      */
-    private void connectToObjectInstances(UAVObject obj, int eventMask)
+    private synchronized void connectToObjectInstances(UAVObject obj, int eventMask)
     {
         List<UAVObject> objs = objMngr.getObjectInstances(obj.getObjID());
         ListIterator<UAVObject> li = objs.listIterator();
@@ -235,7 +239,7 @@ public class Telemetry {
     /**
      * Update an object based on its metadata properties
      */
-    private void updateObject(UAVObject obj)
+    private synchronized void updateObject(UAVObject obj)
     {
         // Get metadata
         UAVObject.Metadata metadata = obj.getMetadata();
@@ -287,12 +291,12 @@ public class Telemetry {
     /**
      * Called when a transaction is successfully completed (uavtalk event)
      */
-    private void transactionCompleted(UAVObject obj)
+    private synchronized void transactionCompleted(UAVObject obj)
     {
         // Check if there is a pending transaction and the objects match
         if ( transPending && transInfo.obj.getObjID() == obj.getObjID() )
         {
-        //    qDebug() << QString("Telemetry: transaction completed for %1").arg(obj->getName());
+        	Log.d(TAG,"Telemetry: transaction completed for " + obj.getName());
             // Complete transaction
         	transTimer.cancel();
             transPending = false;
@@ -302,16 +306,16 @@ public class Telemetry {
             processObjectQueue();
         } else
         {
-      //      qDebug() << "Error: received a transaction completed when did not expect it.";
+        	Log.e(TAG,"Error: received a transaction completed when did not expect it.");
         }
     }
 
     /**
      * Called when a transaction is not completed within the timeout period (timer event)
      */
-    private void transactionTimeout()
+    private synchronized void transactionTimeout()
     {
-//        qDebug() << "Telemetry: transaction timeout.";
+    	Log.d(TAG,"Telemetry: transaction timeout.");
         transTimer.cancel();
         // Proceed only if there is a pending transaction
         if ( transPending )
@@ -340,11 +344,11 @@ public class Telemetry {
     /**
      * Start an object transaction with UAVTalk, all information is stored in transInfo
      */
-    private void processObjectTransaction()
+    private synchronized void processObjectTransaction()
     {
         if (transPending)
         {
-        //    qDebug() << tr("Process Object transaction for %1").arg(transInfo.obj->getName());
+        	Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
             // Initiate transaction
             if (transInfo.objRequest)
             {
@@ -366,17 +370,17 @@ public class Telemetry {
             }
         } else
         {
-      //      qDebug() << "Error: inside of processObjectTransaction with no transPending";
+        	Log.e(TAG,"Error: inside of processObjectTransaction with no transPending");
         }
     }
 
     /**
      * Process the event received from an object
      */
-    private void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority)
+    private synchronized void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority)
     {
         // Push event into queue
-//        qDebug() << "Push event into queue for obj " << QString("%1 event %2").arg(obj->getName()).arg(event);
+    	Log.d(TAG, "Push event into queue for obj " + obj.getName() + " event " + event);
         ObjectQueueInfo objInfo = new ObjectQueueInfo();
         objInfo.obj = obj;
         objInfo.event = event;
@@ -391,7 +395,7 @@ public class Telemetry {
             {
                 ++txErrors;
                 obj.transactionCompleted(false);
-                //qxtLog->warning(tr("Telemetry: priority event queue is full, event lost (%1)").arg(obj->getName()));
+                Log.w(TAG,"Telemetry: priority event queue is full, event lost " + obj.getName());
             }
         }
         else
@@ -410,25 +414,26 @@ public class Telemetry {
         // If there is no transaction in progress then process event
         if (!transPending)
         {
-        //    qDebug() << "No transaction pending, process object queue...";
+
             processObjectQueue();
+
         } else
         {
-       //     qDebug() << "Transaction pending, DO NOT process object queue...";
+        	Log.d(TAG,"Transaction pending, DO NOT process object queue...");
         }
     }
 
     /**
      * Process events from the object queue
      */
-    private void processObjectQueue()
+    private synchronized void processObjectQueue()
     {
-      //  qDebug() << "Process object queue " << tr("- Depth (%1 %2)").arg(objQueue.length()).arg(objPriorityQueue.length());
+      	Log.d(TAG, "Process object queue - Depth " + objQueue.size() + " priority " + objPriorityQueue.size());
 
         // Don nothing if a transaction is already in progress (should not happen)
         if (transPending)
         {
-//            qxtLog->error("Telemetry: Dequeue while a transaction pending!");
+        	Log.e(TAG,"Dequeue while a transaction pending");
             return;
         }
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index eb406923d..e2050fc25 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -55,7 +55,7 @@ public class TelemetryMonitor {
 	/**
 	 * Initiate object retrieval, initialize queue with objects to be retrieved.
 	 */
-	public void startRetrievingObjects()
+	public synchronized void startRetrievingObjects()
 	{
 	    // Clear object queue
 	    queue.clear();
@@ -108,7 +108,7 @@ public class TelemetryMonitor {
 	/**
 	 * Retrieve the next object in the queue
 	 */
-	public void retrieveNextObject()
+	public synchronized void retrieveNextObject()
 	{
 	    // If queue is empty return
 	    if ( queue.isEmpty() )
@@ -120,7 +120,12 @@ public class TelemetryMonitor {
 	    // Get next object from the queue
 	    UAVObject obj = queue.remove(0);
 	    
-//	    Log.d(TAG, "Retrieving object: " + obj.getName()) ;
+	    if(obj == null) {
+	    	Log.e(TAG, "Got null object forom transaction queue");
+	    	return;
+	    }
+	    	    
+	    Log.d(TAG, "Retrieving object: " + obj.getName()) ;
 	    // Connect to object
 	    obj.addTransactionCompleted(new Observer() {
 			public void update(Observable observable, Object data) {
@@ -137,10 +142,12 @@ public class TelemetryMonitor {
 	/**
 	 * Called by the retrieved object when a transaction is completed.
 	 */
-	public void transactionCompleted(UAVObject obj, boolean success)
+	public synchronized void transactionCompleted(UAVObject obj, boolean success)
 	{
 	    //QMutexLocker locker(mutex);
 	    // Disconnect from sending object
+		Log.d(TAG,"transactionCompleted");
+		// TODO: Need to be able to disconnect signals
 	    //obj->disconnect(this);
 	    objPending = null;
 	    
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index fac67cabc..b74df9218 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -17,12 +17,16 @@ public abstract class UAVObject {
 		}
 
 		public void event () {
-			setChanged();
-			notifyObservers(parent);
+			synchronized(this) {
+				setChanged();
+				notifyObservers(parent);
+			}
 		}
 		public void event (Object data) {
-			setChanged();
-			notifyObservers(data);
+			synchronized(this) {
+				setChanged();
+				notifyObservers(data);
+			}
 		}
 	}
 	

From 594978e2abd21764289b93e5a43de0f0510f686e Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 16 Mar 2011 15:18:45 -0500
Subject: [PATCH 224/543] Update display to show connected icon

---
 androidgcs/res/drawable-hdpi/icon.png         | Bin 4147 -> 48558 bytes
 androidgcs/res/drawable-ldpi/icon.png         | Bin 1723 -> 48558 bytes
 androidgcs/res/drawable-mdpi/icon.png         | Bin 2574 -> 48558 bytes
 androidgcs/res/layout/main.xml                |   2 +
 .../openpilot/androidgcs/ObjectBrowser.java   |  92 +++++++++++++++---
 5 files changed, 83 insertions(+), 11 deletions(-)

diff --git a/androidgcs/res/drawable-hdpi/icon.png b/androidgcs/res/drawable-hdpi/icon.png
index 8074c4c571b8cd19e27f4ee5545df367420686d7..eab1fc68fd7ad531ac025a53956f78de8d4e5180 100644
GIT binary patch
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z>kW?GN|1jfh3Ro(h<KDZN|fWBj7@=)05T}o0kZov5oZ%?h%8)~*k=Yr+YBDaVOp3T
zBFg{7f(5Qr%7ttVh}3fDAw-1vQZd7!TMCkUL<sw@Rk22a=Izx=SwI*ShDAWTmANx1
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diff --git a/androidgcs/res/layout/main.xml b/androidgcs/res/layout/main.xml
index 7e4a852bf..9e5f90add 100644
--- a/androidgcs/res/layout/main.xml
+++ b/androidgcs/res/layout/main.xml
@@ -8,4 +8,6 @@
     android:layout_width="fill_parent" 
     android:layout_height="wrap_content" 
     />
+<TextView android:text="TextView" android:id="@+id/textView1" android:layout_width="wrap_content" android:layout_height="wrap_content"></TextView>
+<ToggleButton android:text="ToggleButton" android:id="@+id/toggleButton1" android:layout_width="wrap_content" android:layout_height="wrap_content"></ToggleButton>
 </LinearLayout>
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index 3c6231258..a8c58d58d 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -1,6 +1,8 @@
 package org.openpilot.androidgcs;
 
 import java.io.IOException;
+import java.util.Observable;
+import java.util.Observer;
 import java.util.Set;
 import java.util.UUID;
 
@@ -10,11 +12,15 @@ import android.bluetooth.BluetoothDevice;
 import android.bluetooth.BluetoothSocket;
 import android.content.Intent;
 import android.os.Bundle;
+import android.os.Handler;
 import android.util.Log;
+import android.widget.TextView;
+import android.widget.ToggleButton;
 
 import org.openpilot.androidgcs.*;
 import org.openpilot.uavtalk.Telemetry;
 import org.openpilot.uavtalk.TelemetryMonitor;
+import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectManager;
 import org.openpilot.uavtalk.UAVTalk;
 import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
@@ -26,9 +32,35 @@ public class ObjectBrowser extends Activity {
 	private final int REQUEST_ENABLE_BT = 0;
 	private UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
 	BluetoothAdapter mBluetoothAdapter;
+	BluetoothSocket socket;
+	boolean connected;
 	UAVObjectManager objMngr;
 	UAVTalk uavTalk;
 	
+	final Handler uavobjHandler = new Handler(); 
+	final Runnable updateText = new Runnable() {
+		public void run() {
+			ToggleButton button = (ToggleButton) findViewById(R.id.toggleButton1);
+			button.setChecked(!connected);
+
+			Log.d(TAG,"HERE" + connected);
+			
+			TextView text = (TextView) findViewById(R.id.textView1);
+			
+			UAVObject obj1 = objMngr.getObject("SystemStats");
+			UAVObject obj2 = objMngr.getObject("AttitudeRaw");
+			UAVObject obj3 = objMngr.getObject("AttitudeActual");
+			UAVObject obj4 = objMngr.getObject("SystemAlarms");
+
+			if(obj1 == null || obj2 == null || obj3 == null || obj4 == null)
+				return;
+
+			Log.d(TAG,"And here");
+			text.setText(obj1.toString() + "\n" + obj2.toString() + "\n" + obj3.toString() + "\n" + obj4.toString() );
+			
+		}
+	};
+	
     /** Called when the activity is first created. */
     @Override
     public void onCreate(Bundle savedInstanceState) {
@@ -36,11 +68,16 @@ public class ObjectBrowser extends Activity {
         setContentView(R.layout.main);
         
         Log.d(TAG, "Launching Object Browser");
+
+        connected = false;
         
+        objMngr = new UAVObjectManager();
+		UAVObjectsInitialize.register(objMngr);
+
         mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
         if (mBluetoothAdapter == null) {
             // Device does not support Bluetooth
-        	Log.d(TAG, "Device does not support Bluetooth");
+        	Log.e(TAG, "Device does not support Bluetooth");
         	return;
         }
         
@@ -50,16 +87,49 @@ public class ObjectBrowser extends Activity {
         } else {
         	queryDevices();
         }
+        
+		
+		UAVObject obj = objMngr.getObject("SystemStats");
+		if(obj != null)
+			obj.addUpdatedObserver(new Observer() {
+				public void update(Observable observable, Object data) {
+					uavobjHandler.post(updateText);
+				}				
+			});
+		obj = objMngr.getObject("AttitudeRaw");
+		if(obj != null)
+			obj.addUpdatedObserver(new Observer() {
+				public void update(Observable observable, Object data) {
+					uavobjHandler.post(updateText);
+				}				
+			});
+		obj = objMngr.getObject("AttitudeActual");
+		if(obj != null)
+			obj.addUpdatedObserver(new Observer() {
+				public void update(Observable observable, Object data) {
+					uavobjHandler.post(updateText);
+				}				
+			});
+		obj = objMngr.getObject("SystemAlarms");
+		if(obj != null)
+			obj.addUpdatedObserver(new Observer() {
+				public void update(Observable observable, Object data) {
+					uavobjHandler.post(updateText);
+				}				
+			});
+		
+
     }
     
     @Override
     public void onActivityResult(int requestCode, int resultCode, Intent data) {
     	if(requestCode == REQUEST_ENABLE_BT && resultCode == RESULT_OK) {
-    		Log.d(TAG, "Bluetooth started succesfully");
+    		//Log.d(TAG, "Bluetooth started succesfully");
     		queryDevices();
     	}
-    	if(requestCode == REQUEST_ENABLE_BT && resultCode != RESULT_OK)
-    		Log.d(TAG, "Bluetooth could not be started");
+    	if(requestCode == REQUEST_ENABLE_BT && resultCode != RESULT_OK) {
+    		//Log.d(TAG, "Bluetooth could not be started");
+    	}
     	
     }
     
@@ -84,12 +154,13 @@ public class ObjectBrowser extends Activity {
 
 	private void openTelmetryBluetooth(BluetoothDevice device) {
 		Log.d(TAG, "Opening conncetion to " + device.getName());
-		BluetoothSocket socket = null;
+		socket = null;
+		connected = false;
 		try {
 			socket = device.createInsecureRfcommSocketToServiceRecord(MY_UUID);
 		} catch (IOException e) {
 			Log.e(TAG,"Unable to create Rfcomm socket");
-			e.printStackTrace();			
+			//e.printStackTrace();			
 		}
 		
 		mBluetoothAdapter.cancelDiscovery();
@@ -102,20 +173,19 @@ public class ObjectBrowser extends Activity {
             try {
                 socket.close();
             } catch (IOException e2) {
-                Log.e(TAG, "unable to close() socket during connection failure", e2);
+                //Log.e(TAG, "unable to close() socket during connection failure", e2);
             }
 			return;
 		}
 
-		objMngr = new UAVObjectManager();
-		UAVObjectsInitialize.register(objMngr);
-
+		connected = true;
+		
 		try {
 			uavTalk = new UAVTalk(socket.getInputStream(), socket.getOutputStream(), objMngr);
 		} catch (IOException e) {
 			Log.e(TAG,"Error starting UAVTalk");
 			// TODO Auto-generated catch block
-			e.printStackTrace();
+			//e.printStackTrace();
 			return;
 		}
 		

From 8dc6b09b961d3a90f13aab07b7b2ccc6891e8a77 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 16 Mar 2011 15:19:18 -0500
Subject: [PATCH 225/543] Make it easy to enable or disable logging in separate
 modules

---
 .../src/org/openpilot/uavtalk/Telemetry.java  |  30 +-
 .../openpilot/uavtalk/TelemetryMonitor.java   |  41 +-
 .../src/org/openpilot/uavtalk/UAVObject.java  |  12 +
 .../org/openpilot/uavtalk/UAVObjectField.java |   2 +-
 .../src/org/openpilot/uavtalk/UAVTalk.java    | 593 ++++++++----------
 5 files changed, 324 insertions(+), 354 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index b403f85e3..c754c8329 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -17,7 +17,10 @@ import android.util.Log;
 public class Telemetry {
 	
 	private final String TAG = "Telemetry";
-	
+	public static int LOGLEVEL = 0;
+	public static boolean WARN = LOGLEVEL > 1;
+	public static boolean DEBUG = LOGLEVEL > 0;
+
     public class TelemetryStats {
         public int txBytes;
         public int rxBytes;
@@ -227,7 +230,7 @@ public class Telemetry {
             }
             if ( (eventMask&EV_UPDATE_REQ) != 0)
             {
-            	obj.addUpdatedObserver(new Observer() {
+            	obj.addUpdateRequestedObserver(new Observer() {
 					public void update(Observable observable, Object data) {
 						updateRequested( (UAVObject) data);
 	            	}            		
@@ -293,10 +296,11 @@ public class Telemetry {
      */
     private synchronized void transactionCompleted(UAVObject obj)
     {
+    	if (DEBUG) Log.d(TAG,"UAVTalk transactionCompleted");
         // Check if there is a pending transaction and the objects match
         if ( transPending && transInfo.obj.getObjID() == obj.getObjID() )
         {
-        	Log.d(TAG,"Telemetry: transaction completed for " + obj.getName());
+        	if (DEBUG) Log.d(TAG,"Telemetry: transaction completed for " + obj.getName());
             // Complete transaction
         	transTimer.cancel();
             transPending = false;
@@ -315,7 +319,7 @@ public class Telemetry {
      */
     private synchronized void transactionTimeout()
     {
-    	Log.d(TAG,"Telemetry: transaction timeout.");
+    	if (DEBUG) Log.d(TAG,"Telemetry: transaction timeout.");
         transTimer.cancel();
         // Proceed only if there is a pending transaction
         if ( transPending )
@@ -348,7 +352,7 @@ public class Telemetry {
     {
         if (transPending)
         {
-        	Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
+        	if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
             // Initiate transaction
             if (transInfo.objRequest)
             {
@@ -380,7 +384,9 @@ public class Telemetry {
     private synchronized void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority)
     {
         // Push event into queue
-    	Log.d(TAG, "Push event into queue for obj " + obj.getName() + " event " + event);
+    	if (DEBUG) Log.d(TAG, "Push event into queue for obj " + obj.getName() + " event " + event);
+    	if(event == 8 && obj.getName().compareTo("GCSTelemetryStats") == 0)
+    		Thread.dumpStack();
         ObjectQueueInfo objInfo = new ObjectQueueInfo();
         objInfo.obj = obj;
         objInfo.event = event;
@@ -414,12 +420,7 @@ public class Telemetry {
         // If there is no transaction in progress then process event
         if (!transPending)
         {
-
             processObjectQueue();
-
-        } else
-        {
-        	Log.d(TAG,"Transaction pending, DO NOT process object queue...");
         }
     }
 
@@ -428,7 +429,7 @@ public class Telemetry {
      */
     private synchronized void processObjectQueue()
     {
-      	Log.d(TAG, "Process object queue - Depth " + objQueue.size() + " priority " + objPriorityQueue.size());
+      	if (DEBUG) Log.d(TAG, "Process object queue - Depth " + objQueue.size() + " priority " + objPriorityQueue.size());
 
         // Don nothing if a transaction is already in progress (should not happen)
         if (transPending)
@@ -460,6 +461,9 @@ public class Telemetry {
             objQueue.clear();
             if ( objInfo.obj.getObjID() != objMngr.getObject("GCSTelemetryStats").getObjID() )
             {
+            	if (DEBUG) Log.d(TAG,"transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
+            	System.out.println(gcsStatsObj.toString());
+            	System.out.println(objInfo.obj.toString());
                 objInfo.obj.transactionCompleted(false);
                 return;
             }
@@ -511,6 +515,8 @@ public class Telemetry {
      */
     private synchronized void processPeriodicUpdates()
     {
+    	
+    	if (DEBUG) Log.d(TAG, "processPeriodicUpdates()");
         // Stop timer
     	updateTimer.cancel();
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index e2050fc25..a5885e7bc 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -57,6 +57,8 @@ public class TelemetryMonitor {
 	 */
 	public synchronized void startRetrievingObjects()
 	{
+		Log.d(TAG, "Start retrieving objects");
+		
 	    // Clear object queue
 	    queue.clear();
 	    // Get all objects, add metaobjects, settings and data objects with OnChange update mode to the queue
@@ -101,7 +103,7 @@ public class TelemetryMonitor {
 	 */
 	public void stopRetrievingObjects()
 	{
-	    //qxtLog->debug("Object retrieval has been cancelled");
+		Log.d(TAG, "Stop retrieving objects");
 	    queue.clear();
 	}
 
@@ -113,6 +115,7 @@ public class TelemetryMonitor {
 	    // If queue is empty return
 	    if ( queue.isEmpty() )
 	    {
+	    	Log.d(TAG, "All objects retrieved: Connected Successfully");
 	        //qxtLog->debug("Object retrieval completed");
 	        //emit connected();
 	        return;
@@ -121,8 +124,7 @@ public class TelemetryMonitor {
 	    UAVObject obj = queue.remove(0);
 	    
 	    if(obj == null) {
-	    	Log.e(TAG, "Got null object forom transaction queue");
-	    	return;
+	    	throw new Error("Got null object forom transaction queue");
 	    }
 	    	    
 	    Log.d(TAG, "Retrieving object: " + obj.getName()) ;
@@ -130,6 +132,7 @@ public class TelemetryMonitor {
 	    obj.addTransactionCompleted(new Observer() {
 			public void update(Observable observable, Object data) {
 				UAVObject.TransactionResult result = (UAVObject.TransactionResult) data;
+				Log.d(TAG,"Got transaction completed event from " + result.obj.getName() + " status: " + result.success);
 				transactionCompleted(result.obj, result.success);
 			}	    	
 	    });
@@ -146,11 +149,16 @@ public class TelemetryMonitor {
 	{
 	    //QMutexLocker locker(mutex);
 	    // Disconnect from sending object
-		Log.d(TAG,"transactionCompleted");
+		Log.d(TAG,"transactionCompleted.  Status: " + success);
 		// TODO: Need to be able to disconnect signals
 	    //obj->disconnect(this);
 	    objPending = null;
 	    
+	    if(!success) {
+	    	Log.e(TAG, "Transaction failed: " + obj.getName() + " sending again.");
+	    	return;
+	    }
+	    
 	    // Process next object if telemetry is still available
 	    if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
 	    {
@@ -184,6 +192,7 @@ public class TelemetryMonitor {
 	public synchronized void processStatsUpdates()
 	{
 	    // Get telemetry stats
+		Log.d(TAG, "processStatsUpdates()");
 	    Telemetry.TelemetryStats telStats = tel.getStats();
 	    tel.resetStats();
 
@@ -221,9 +230,9 @@ public class TelemetryMonitor {
 	    	return;
 	    }
 	    UAVObjectField statusField = gcsStatsObj.getField("Status");
-	    String oldStatus = (String) statusField.getValue();
+	    String oldStatus = new String((String) statusField.getValue());
 	    
-	    System.out.println("GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
+	    Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
 
 	    if ( oldStatus.compareTo("Disconnected") == 0 )
 	    {
@@ -236,7 +245,7 @@ public class TelemetryMonitor {
 	        if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("HandshakeAck") == 0 )
 	        {
 	        	statusField.setValue("Connected");
-	        	System.out.println("Connected" + statusField.toString());
+	        	Log.d(TAG,"Connected" + statusField.toString());
 	        }
 	    }
 	    else if ( oldStatus.compareTo("Connected") == 0 )
@@ -251,31 +260,31 @@ public class TelemetryMonitor {
 	    // Force telemetry update if not yet connected
 	    boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
 	    
-	    if(gcsStatusChanged)
-	    	System.out.println("GCS Status changed");
+	    if(gcsStatusChanged) {
+	    	Log.d(TAG,"GCS Status changed");
+	    	Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
+	    }
 	    boolean gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
 	    boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
+	    boolean flightConnected = ((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0;
 	    
-	    if (  gcsStatusChanged ||
-	    		((String) flightStatsObj.getField("Status").getValue()).compareTo("Disconnected") != 0 )
+	    if (  !gcsConnected || !flightConnected )
 	    {
-	    	System.out.println("Sending gcs status\n\n\n");
+	    	Log.d(TAG,"Sending gcs status");
 	        gcsStatsObj.updated();
 	    }
 
 	    // Act on new connections or disconnections
 	    if (gcsConnected && gcsStatusChanged)
 	    {
+	        Log.d(TAG,"Connection with the autopilot established");
 	    	setPeriod(STATS_UPDATE_PERIOD_MS);
-	    	System.out.println(TAG + " Connection with the autopilot established");
-	        //Log.d(TAG,"Connection with the autopilot established");
 	        startRetrievingObjects();
 	    }
 	    if (gcsDisconnected && gcsStatusChanged)
 	    {
+	        Log.d(TAG,"Trying to connect to the autopilot");
 	    	setPeriod(STATS_CONNECT_PERIOD_MS);
-	        System.out.println(TAG + " Connection with the autopilot lost");
-	        //Log.d(TAG,"Trying to connect to the autopilot");
 	        //emit disconnected();
 	    }
 	}
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index b74df9218..ba3bf1ae3 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -102,6 +102,18 @@ public abstract class UAVObject {
 		}
 	}
 
+	private CallbackListener updateRequestedListeners = new CallbackListener(this);
+	public void addUpdateRequestedObserver(Observer o) {
+		synchronized(updateRequestedListeners) {
+			updateRequestedListeners.addObserver(o);
+		}
+	}
+	void updateRequested() {
+		synchronized(updateRequestedListeners) {
+			updateRequestedListeners.event();
+		}
+	}
+
 	public abstract boolean isMetadata();
 	
 	/**
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index 8d792bb39..de2059e90 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -358,7 +358,7 @@ public class UAVObjectField {
     			//throw new Exception("Sorry I haven't implemented strings yet");
     		}
     		}
-    		obj.updated();
+    		//obj.updated();
     	}
     }
     
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 825f9d9fe..33daefab7 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -9,49 +9,66 @@ import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.util.Observable;
 
-public class UAVTalk extends Observable{
+import android.util.Log;
+
+public class UAVTalk extends Observable {
+
+	static final String TAG = "UAVTalk";
+	public static int LOGLEVEL = 0;
+	public static boolean WARN = LOGLEVEL > 1;
+	public static boolean DEBUG = LOGLEVEL > 0;
 
 	private Thread inputProcessingThread = null;
+
 	/**
 	 * A reference to the thread for processing the incoming stream
+	 * 
 	 * @return
 	 */
 	public Thread getInputProcessThread() {
-		if(inputProcessingThread == null)
+		if (inputProcessingThread == null)
 
 			inputProcessingThread = new Thread() {
-			public void run() {
-				processInputStream();
-			}
-		};
+				public void run() {
+					processInputStream();
+				}
+			};
 		return inputProcessingThread;
 	}
-	
+
 	/**
 	 * Constants
 	 */
 	private static final int SYNC_VAL = 0x3C;
 
-	private static final short crc_table[] = {
-		0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
-		0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
-		0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
-		0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
-		0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
-		0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
-		0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
-		0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
-		0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
-		0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
-		0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
-		0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
-		0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
-		0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
-		0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
-		0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
-	};
+	private static final short crc_table[] = { 0x00, 0x07, 0x0e, 0x09, 0x1c,
+			0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
+			0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46,
+			0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb,
+			0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, 0x90,
+			0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
+			0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5,
+			0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0,
+			0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93,
+			0x94, 0x9d, 0x9a, 0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32,
+			0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59,
+			0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74,
+			0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1,
+			0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4, 0xf9, 0xfe, 0xf7, 0xf0,
+			0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3,
+			0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56,
+			0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10, 0x05,
+			0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
+			0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78,
+			0x7f, 0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25,
+			0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae,
+			0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f,
+			0x8a, 0x8d, 0x84, 0x83, 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc,
+			0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3 };
 
-	enum RxStateType {STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS};
+	enum RxStateType {
+		STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS
+	};
 
 	static final int TYPE_MASK = 0xFC;
 	static final int TYPE_VER = 0x20;
@@ -60,17 +77,21 @@ public class UAVTalk extends Observable{
 	static final int TYPE_OBJ_ACK = (TYPE_VER | 0x02);
 	static final int TYPE_ACK = (TYPE_VER | 0x03);
 
-	static final int MIN_HEADER_LENGTH = 8; // sync(1), type (1), size(2), object ID(4)
-	static final int MAX_HEADER_LENGTH = 10; // sync(1), type (1), size(2), object ID (4), instance ID(2, not used in single objects)
+	static final int MIN_HEADER_LENGTH = 8; // sync(1), type (1), size(2),
+											// object ID(4)
+	static final int MAX_HEADER_LENGTH = 10; // sync(1), type (1), size(2),
+												// object ID (4), instance ID(2,
+												// not used in single objects)
 
 	static final int CHECKSUM_LENGTH = 1;
 
 	static final int MAX_PAYLOAD_LENGTH = 256;
 
-	static final int MAX_PACKET_LENGTH = (MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH);
+	static final int MAX_PACKET_LENGTH = (MAX_HEADER_LENGTH
+			+ MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH);
 
 	static final int ALL_INSTANCES = 0xFFFF;
-	static final int TX_BUFFER_SIZE = 2*1024;	
+	static final int TX_BUFFER_SIZE = 2 * 1024;
 
 	/**
 	 * Private data
@@ -93,12 +114,12 @@ public class UAVTalk extends Observable{
 	int rxCSPacket, rxCS;
 	int rxCount;
 	int packetSize;
-	RxStateType rxState;	
+	RxStateType rxState;
 	ComStats stats = new ComStats();
 
 	/**
 	 * Comm stats
-	 */	
+	 */
 	public class ComStats {
 		public int txBytes = 0;
 		public int rxBytes = 0;
@@ -113,8 +134,8 @@ public class UAVTalk extends Observable{
 	/**
 	 * Constructor
 	 */
-	public UAVTalk(InputStream inStream, OutputStream outStream, UAVObjectManager objMngr)
-	{
+	public UAVTalk(InputStream inStream, OutputStream outStream,
+			UAVObjectManager objMngr) {
 		this.objMngr = objMngr;
 		this.inStream = inStream;
 		this.outStream = outStream;
@@ -122,7 +143,7 @@ public class UAVTalk extends Observable{
 		rxState = RxStateType.STATE_SYNC;
 		rxPacketLength = 0;
 
-		//mutex = new QMutex(QMutex::Recursive);
+		// mutex = new QMutex(QMutex::Recursive);
 
 		respObj = null;
 		resetStats();
@@ -131,88 +152,80 @@ public class UAVTalk extends Observable{
 		rxBuffer = ByteBuffer.allocate(MAX_PAYLOAD_LENGTH);
 		rxBuffer.order(ByteOrder.LITTLE_ENDIAN);
 
-		// TOOD: Callback connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
+		// TOOD: Callback connect(io, SIGNAL(readyRead()), this,
+		// SLOT(processInputStream()));
 	}
 
 	/**
 	 * Reset the statistics counters
 	 */
-	public void resetStats()
-	{
-		//QMutexLocker locker(mutex);
+	public void resetStats() {
+		// QMutexLocker locker(mutex);
 		stats = new ComStats();
 	}
 
 	/**
 	 * Get the statistics counters
 	 */
-	public ComStats getStats()
-	{
-		//QMutexLocker locker(mutex);
+	public ComStats getStats() {
+		// QMutexLocker locker(mutex);
 		return stats;
 	}
 
 	/**
 	 * Called each time there are data in the input buffer
 	 */
-	public void processInputStream()
-	{
+	public void processInputStream() {
 		int val;
-		
-		while (true)
-		{
+
+		while (true) {
 			try {
-				//inStream.wait();
+				// inStream.wait();
 				val = inStream.read();
-			} /*catch (InterruptedException e) {
-				// TODO Auto-generated catch block
-				System.out.println("Connection was aborted\n");
-				e.printStackTrace();
-				break;
-			}*/ catch (IOException e) {
+			} /*
+			 * catch (InterruptedException e) { // TODO Auto-generated catch
+			 * block System.out.println("Connection was aborted\n");
+			 * e.printStackTrace(); break; }
+			 */catch (IOException e) {
 				// TODO Auto-generated catch block
 				System.out.println("Error reading from stream\n");
 				e.printStackTrace();
 				break;
 			}
-			if(val == -1) {
-				System.out.println("End of stream, terminating processInputStream thread");
+			if (val == -1) {
+				System.out
+						.println("End of stream, terminating processInputStream thread");
 				break;
 			}
-			
-			//System.out.println("Received byte " + val + " in state + " + rxState);
+
+			// System.out.println("Received byte " + val + " in state + " +
+			// rxState);
 			processInputByte(val);
 		}
 	}
 
 	/**
-	 * Request an update for the specified object, on success the object data would have been
-	 * updated by the GCS.
-	 * \param[in] obj Object to update
+	 * Request an update for the specified object, on success the object data
+	 * would have been updated by the GCS. \param[in] obj Object to update
 	 * \param[in] allInstances If set true then all instances will be updated
 	 * \return Success (true), Failure (false)
 	 */
-	public boolean sendObjectRequest(UAVObject obj, boolean allInstances)
-	{
-		//QMutexLocker locker(mutex);
+	public boolean sendObjectRequest(UAVObject obj, boolean allInstances) {
+		// QMutexLocker locker(mutex);
 		return objectTransaction(obj, TYPE_OBJ_REQ, allInstances);
 	}
 
 	/**
-	 * Send the specified object through the telemetry link.
-	 * \param[in] obj Object to send
-	 * \param[in] acked Selects if an ack is required
-	 * \param[in] allInstances If set true then all instances will be updated
-	 * \return Success (true), Failure (false)
+	 * Send the specified object through the telemetry link. \param[in] obj
+	 * Object to send \param[in] acked Selects if an ack is required \param[in]
+	 * allInstances If set true then all instances will be updated \return
+	 * Success (true), Failure (false)
 	 */
-	public synchronized boolean sendObject(UAVObject obj, boolean acked, boolean allInstances)
-	{
-		if (acked)
-		{
+	public synchronized boolean sendObject(UAVObject obj, boolean acked,
+			boolean allInstances) {
+		if (acked) {
 			return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
-		}
-		else
-		{
+		} else {
 			return objectTransaction(obj, TYPE_OBJ, allInstances);
 		}
 	}
@@ -220,64 +233,49 @@ public class UAVTalk extends Observable{
 	/**
 	 * Cancel a pending transaction
 	 */
-	public synchronized void cancelTransaction()
-	{
+	public synchronized void cancelTransaction() {
 		respObj = null;
 	}
 
 	/**
-	 * Execute the requested transaction on an object.
-	 * \param[in] obj Object
-	 * \param[in] type Transaction type
-	 * 			  TYPE_OBJ: send object,
-	 * 			  TYPE_OBJ_REQ: request object update
-	 * 			  TYPE_OBJ_ACK: send object with an ack
-	 * \param[in] allInstances If set true then all instances will be updated
-	 * \return Success (true), Failure (false)
+	 * Execute the requested transaction on an object. \param[in] obj Object
+	 * \param[in] type Transaction type TYPE_OBJ: send object, TYPE_OBJ_REQ:
+	 * request object update TYPE_OBJ_ACK: send object with an ack \param[in]
+	 * allInstances If set true then all instances will be updated \return
+	 * Success (true), Failure (false)
 	 */
-	public boolean objectTransaction(UAVObject obj, int type, boolean allInstances)
-	{
+	public boolean objectTransaction(UAVObject obj, int type,
+			boolean allInstances) {
 		// Send object depending on if a response is needed
-		if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ)
-		{
-			if ( transmitObject(obj, type, allInstances) )
-			{
+		if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ) {
+			if (transmitObject(obj, type, allInstances)) {
 				respObj = obj;
-				respAllInstances = allInstances;    
+				respAllInstances = allInstances;
 				return true;
-			}
-			else
-			{
+			} else {
 				return false;
 			}
-		}
-		else if (type == TYPE_OBJ)
-		{
+		} else if (type == TYPE_OBJ) {
 			return transmitObject(obj, TYPE_OBJ, allInstances);
-		}
-		else
-		{
+		} else {
 			return false;
 		}
 	}
 
 	/**
-	 * Process an byte from the telemetry stream.
-	 * \param[in] rxbyte Received byte
-	 * \return Success (true), Failure (false)
+	 * Process an byte from the telemetry stream. \param[in] rxbyte Received
+	 * byte \return Success (true), Failure (false)
 	 */
-	public synchronized boolean processInputByte(int rxbyte)
-	{
-		assert(objMngr != null);
+	public synchronized boolean processInputByte(int rxbyte) {
+		assert (objMngr != null);
 
 		// Update stats
 		stats.rxBytes++;
 
-		rxPacketLength++;   // update packet byte count
+		rxPacketLength++; // update packet byte count
 
 		// Receive state machine
-		switch (rxState)
-		{
+		switch (rxState) {
 		case STATE_SYNC:
 
 			if (rxbyte != SYNC_VAL)
@@ -296,8 +294,7 @@ public class UAVTalk extends Observable{
 			// Update CRC
 			rxCS = updateCRC(rxCS, rxbyte);
 
-			if ((rxbyte & TYPE_MASK) != TYPE_VER)
-			{
+			if ((rxbyte & TYPE_MASK) != TYPE_VER) {
 				rxState = RxStateType.STATE_SYNC;
 				break;
 			}
@@ -315,8 +312,7 @@ public class UAVTalk extends Observable{
 			// Update CRC
 			rxCS = updateCRC(rxCS, rxbyte);
 
-			if (rxCount == 0)
-			{
+			if (rxCount == 0) {
 				packetSize += rxbyte;
 				rxCount++;
 				break;
@@ -324,10 +320,12 @@ public class UAVTalk extends Observable{
 
 			packetSize += (rxbyte << 8) & 0xff00;
 
-			if (packetSize < MIN_HEADER_LENGTH || packetSize > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH)
-			{   // incorrect packet size
+			if (packetSize < MIN_HEADER_LENGTH
+					|| packetSize > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH) { // incorrect
+																				// packet
+																				// size
 				rxState = RxStateType.STATE_SYNC;
-			break;
+				break;
 			}
 
 			rxCount = 0;
@@ -348,8 +346,7 @@ public class UAVTalk extends Observable{
 			rxObjId = rxTmpBuffer.getInt(0);
 			{
 				UAVObject rxObj = objMngr.getObject(rxObjId);
-				if (rxObj == null)
-				{
+				if (rxObj == null) {
 					stats.rxErrors++;
 					rxState = RxStateType.STATE_SYNC;
 					break;
@@ -361,38 +358,38 @@ public class UAVTalk extends Observable{
 				else
 					rxLength = rxObj.getNumBytes();
 
-					// Check length and determine next state
-					if (rxLength >= MAX_PAYLOAD_LENGTH)
-					{
-						stats.rxErrors++;
-						rxState = RxStateType.STATE_SYNC;
-						break;
-					}
+				// Check length and determine next state
+				if (rxLength >= MAX_PAYLOAD_LENGTH) {
+					stats.rxErrors++;
+					rxState = RxStateType.STATE_SYNC;
+					break;
+				}
 
-					// Check the lengths match
-					if ((rxPacketLength + rxLength) != packetSize)
-					{   // packet error - mismatched packet size
-						stats.rxErrors++;
-						rxState = RxStateType.STATE_SYNC;
-						break;
-					}
+				// Check the lengths match
+				if ((rxPacketLength + rxLength) != packetSize) { // packet error
+																	// -
+																	// mismatched
+																	// packet
+																	// size
+					stats.rxErrors++;
+					rxState = RxStateType.STATE_SYNC;
+					break;
+				}
 
-					// Check if this is a single instance object (i.e. if the instance ID field is coming next)
-					if (rxObj.isSingleInstance())
-					{
-						// If there is a payload get it, otherwise receive checksum
-						if (rxLength > 0)
-							rxState = RxStateType.STATE_DATA;
-						else
-							rxState = RxStateType.STATE_CS;
-						rxInstId = 0;
-						rxCount = 0;
-					}
+				// Check if this is a single instance object (i.e. if the
+				// instance ID field is coming next)
+				if (rxObj.isSingleInstance()) {
+					// If there is a payload get it, otherwise receive checksum
+					if (rxLength > 0)
+						rxState = RxStateType.STATE_DATA;
 					else
-					{
-						rxState = RxStateType.STATE_INSTID;
-						rxCount = 0;
-					}
+						rxState = RxStateType.STATE_CS;
+					rxInstId = 0;
+					rxCount = 0;
+				} else {
+					rxState = RxStateType.STATE_INSTID;
+					rxCount = 0;
+				}
 			}
 
 			break;
@@ -419,7 +416,7 @@ public class UAVTalk extends Observable{
 			break;
 
 		case STATE_DATA:
-			
+
 			// Update CRC
 			rxCS = updateCRC(rxCS, rxbyte);
 
@@ -436,15 +433,15 @@ public class UAVTalk extends Observable{
 			// The CRC byte
 			rxCSPacket = rxbyte;
 
-			if (rxCS != rxCSPacket)
-			{   // packet error - faulty CRC
+			if (rxCS != rxCSPacket) { // packet error - faulty CRC
 				stats.rxErrors++;
 				rxState = RxStateType.STATE_SYNC;
 				break;
 			}
 
-			if (rxPacketLength != (packetSize + 1))
-			{   // packet error - mismatched packet size
+			if (rxPacketLength != (packetSize + 1)) { // packet error -
+														// mismatched packet
+														// size
 				stats.rxErrors++;
 				rxState = RxStateType.STATE_SYNC;
 				break;
@@ -468,103 +465,84 @@ public class UAVTalk extends Observable{
 	}
 
 	/**
-	 * Receive an object. This function process objects received through the telemetry stream.
-	 * \param[in] type Type of received message (TYPE_OBJ, TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK)
-	 * \param[in] obj Handle of the received object
-	 * \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
-	 * \param[in] data Data buffer
-	 * \param[in] length Buffer length
-	 * \return Success (true), Failure (false)
+	 * Receive an object. This function process objects received through the
+	 * telemetry stream. \param[in] type Type of received message (TYPE_OBJ,
+	 * TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK) \param[in] obj Handle of the
+	 * received object \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES
+	 * for all instances. \param[in] data Data buffer \param[in] length Buffer
+	 * length \return Success (true), Failure (false)
 	 */
-	public boolean receiveObject(int type, int objId, int instId, ByteBuffer data)
-	{
-		assert(objMngr != null);
-		
+	public boolean receiveObject(int type, int objId, int instId,
+			ByteBuffer data) {
+		assert (objMngr != null);
+
 		UAVObject obj = null;
 		boolean error = false;
-		boolean allInstances = (instId == ALL_INSTANCES? true : false);
+		boolean allInstances = (instId == ALL_INSTANCES ? true : false);
 
 		// Process message type
 		switch (type) {
 		case TYPE_OBJ:
 			// All instances, not allowed for OBJ messages
-			if (!allInstances)
-			{
-				System.out.println("Received object: " + objMngr.getObject(objId).getName());
+			if (!allInstances) {
+				if (DEBUG) Log.d(TAG,"Received object: " + objMngr.getObject(objId).getName());
 				// Get object and update its data
 				obj = updateObject(objId, instId, data);
 				// Check if an ack is pending
-				if ( obj != null )
-				{
+				if (obj != null) {
 					updateAck(obj);
-				}
-				else
-				{
+				} else {
 					error = true;
 				}
-			}
-			else
-			{
+			} else {
 				error = true;
 			}
 			break;
 		case TYPE_OBJ_ACK:
 			// All instances, not allowed for OBJ_ACK messages
-			if (!allInstances)
-			{
-//				System.out.println("Received object ack: " + objId + " " + objMngr.getObject(objId).getName());
+			if (!allInstances) {
+				// System.out.println("Received object ack: " + objId + " " +
+				// objMngr.getObject(objId).getName());
 				// Get object and update its data
 				obj = updateObject(objId, instId, data);
 				// Transmit ACK
-				if ( obj != null )
-				{
+				if (obj != null) {
 					transmitObject(obj, TYPE_ACK, false);
-				}
-				else
-				{
+				} else {
 					error = true;
 				}
-			}
-			else
-			{
+			} else {
 				error = true;
 			}
 			break;
 		case TYPE_OBJ_REQ:
-			// Get object, if all instances are requested get instance 0 of the object
-//			System.out.println("Received object request: " + objId + " " + objMngr.getObject(objId).getName());
-			if (allInstances)
-			{
+			// Get object, if all instances are requested get instance 0 of the
+			// object
+			// System.out.println("Received object request: " + objId + " " +
+			// objMngr.getObject(objId).getName());
+			if (allInstances) {
 				obj = objMngr.getObject(objId);
-			}
-			else
-			{
+			} else {
 				obj = objMngr.getObject(objId, instId);
 			}
 			// If object was found transmit it
-			if (obj != null)
-			{
+			if (obj != null) {
 				transmitObject(obj, TYPE_OBJ, allInstances);
-			}
-			else
-			{
+			} else {
 				error = true;
 			}
 			break;
 		case TYPE_ACK:
 			// All instances, not allowed for ACK messages
-			if (!allInstances)
-			{
-//				System.out.println("Received ack: " + objId + " " + objMngr.getObject(objId).getName());
+			if (!allInstances) {
+				// System.out.println("Received ack: " + objId + " " +
+				// objMngr.getObject(objId).getName());
 				// Get object
 				obj = objMngr.getObject(objId, instId);
 				// Check if an ack is pending
-				if (obj != null)
-				{
+				if (obj != null) {
 					updateAck(obj);
-				}
-				else
-				{
+				} else {
 					error = true;
 				}
 			}
@@ -577,23 +555,20 @@ public class UAVTalk extends Observable{
 	}
 
 	/**
-	 * Update the data of an object from a byte array (unpack).
-	 * If the object instance could not be found in the list, then a
-	 * new one is created.
+	 * Update the data of an object from a byte array (unpack). If the object
+	 * instance could not be found in the list, then a new one is created.
 	 */
-	public synchronized UAVObject updateObject(int objId, int instId, ByteBuffer data)
-	{
-		assert(objMngr != null);
+	public synchronized UAVObject updateObject(int objId, int instId,
+			ByteBuffer data) {
+		assert (objMngr != null);
 
 		// Get object
 		UAVObject obj = objMngr.getObject(objId, instId);
 		// If the instance does not exist create it
-		if (obj == null)
-		{
+		if (obj == null) {
 			// Get the object type
 			UAVObject tobj = objMngr.getObject(objId);
-			if (tobj == null)
-			{
+			if (tobj == null) {
 				return null;
 			}
 			// Make sure this is a data object
@@ -604,26 +579,26 @@ public class UAVTalk extends Observable{
 				// Failed to cast to a data object
 				return null;
 			}
-			
+
 			// Create a new instance, unpack and register
 			UAVDataObject instobj = dobj.clone(instId);
 			try {
-				if ( !objMngr.registerObject(instobj) )
-				{
+				if (!objMngr.registerObject(instobj)) {
 					return null;
 				}
 			} catch (Exception e) {
 				// TODO Auto-generated catch block
 				e.printStackTrace();
 			}
-//			System.out.println("Unpacking new object");
+			// System.out.println("Unpacking new object");
+			if (DEBUG) Log.d(TAG, "Unpacking new object");
 			instobj.unpack(data);
 			return instobj;
-		}
-		else
-		{
+		} else {
 			// Unpack data into object instance
-//			System.out.println("Unpacking existing object: " + data.position() + " / " + data.capacity() );
+			// System.out.println("Unpacking existing object: " +
+			// data.position() + " / " + data.capacity() );
+			if (DEBUG) Log.d(TAG, "Unpacking existing object: " + obj.getName());
 			obj.unpack(data);
 			return obj;
 		}
@@ -632,10 +607,9 @@ public class UAVTalk extends Observable{
 	/**
 	 * Check if a transaction is pending and if yes complete it.
 	 */
-	public void updateAck(UAVObject obj)
-	{
-		if (respObj != null && respObj.getObjID() == obj.getObjID() && (respObj.getInstID() == obj.getInstID() || respAllInstances))
-		{
+	synchronized void updateAck(UAVObject obj) {
+		if (respObj != null && respObj.getObjID() == obj.getObjID()
+				&& (respObj.getInstID() == obj.getInstID() || respAllInstances)) {
 			respObj = null;
 			setChanged();
 			notifyObservers(obj);
@@ -643,111 +617,88 @@ public class UAVTalk extends Observable{
 	}
 
 	/**
-	 * Send an object through the telemetry link.
-	 * \param[in] obj Object to send
-	 * \param[in] type Transaction type
-	 * \param[in] allInstances True is all instances of the object are to be sent
-	 * \return Success (true), Failure (false)
+	 * Send an object through the telemetry link. 
+	 * @param[in] obj Object to send
+	 * @param[in] type Transaction type 
+	 * @param[in] allInstances True is all instances of the object are to be sent 
+	 * @return Success (true), Failure (false)
 	 */
-	public boolean transmitObject(UAVObject obj, int type, boolean allInstances)
-	{   
-		// If all instances are requested on a single instance object it is an error
-		if (allInstances && obj.isSingleInstance())
-		{
+	public synchronized boolean transmitObject(UAVObject obj, int type, boolean allInstances) {
+		// If all instances are requested on a single instance object it is an
+		// error
+		if (allInstances && obj.isSingleInstance()) {
 			allInstances = false;
 		}
 
 		// Process message type
-		if ( type == TYPE_OBJ || type == TYPE_OBJ_ACK )
-		{
-			if (allInstances)
-			{
+		if (type == TYPE_OBJ || type == TYPE_OBJ_ACK) {
+			if (allInstances) {
 				// Get number of instances
 				int numInst = objMngr.getNumInstances(obj.getObjID());
 				// Send all instances
-				for (int instId = 0; instId < numInst; ++instId)
-				{
+				for (int instId = 0; instId < numInst; ++instId) {
 					UAVObject inst = objMngr.getObject(obj.getObjID(), instId);
 					transmitSingleObject(inst, type, false);
 				}
 				return true;
-			}
-			else
-			{
+			} else {
 				return transmitSingleObject(obj, type, false);
 			}
-		}
-		else if (type == TYPE_OBJ_REQ)
-		{
+		} else if (type == TYPE_OBJ_REQ) {
 			return transmitSingleObject(obj, TYPE_OBJ_REQ, allInstances);
-		}
-		else if (type == TYPE_ACK)
-		{
-			if (!allInstances)
-			{
+		} else if (type == TYPE_ACK) {
+			if (!allInstances) {
 				return transmitSingleObject(obj, TYPE_ACK, false);
-			}
-			else
-			{
+			} else {
 				return false;
 			}
-		}
-		else
-		{
+		} else {
 			return false;
 		}
 	}
 
-
 	/**
-	 * Send an object through the telemetry link.
-	 * \param[in] obj Object handle to send
-	 * \param[in] type Transaction type
-	 * \return Success (true), Failure (false)
+	 * Send an object through the telemetry link. \param[in] obj Object handle
+	 * to send \param[in] type Transaction type \return Success (true), Failure
+	 * (false)
 	 */
-	public synchronized boolean transmitSingleObject(UAVObject obj, int type, boolean allInstances)
-	{
+	public synchronized boolean transmitSingleObject(UAVObject obj, int type,
+			boolean allInstances) {
 		int length;
 		int dataOffset;
 		int objId;
 		int instId;
 		int allInstId = ALL_INSTANCES;
-		
-		assert(objMngr != null && outStream != null);
-		
+
+		assert (objMngr != null && outStream != null);
+
 		ByteBuffer bbuf = ByteBuffer.allocate(MAX_PACKET_LENGTH);
 		bbuf.order(ByteOrder.LITTLE_ENDIAN);
 
 		// Determine data length
-		if (type == TYPE_OBJ_REQ || type == TYPE_ACK)
-		{
+		if (type == TYPE_OBJ_REQ || type == TYPE_ACK) {
 			length = 0;
-		}
-		else
-		{
+		} else {
 			length = obj.getNumBytes();
 		}
-		
+
 		// Setup type and object id fields
 		bbuf.put((byte) (SYNC_VAL & 0xff));
 		bbuf.put((byte) (type & 0xff));
-		bbuf.putShort((short) (length + 
-				2 /* SYNC, Type */ + 
-				2 /* Size */ + 
-				4 /* ObjID */ + 
-				(obj.isSingleInstance() ? 0 : 2) )); 
+		bbuf
+				.putShort((short) (length + 2 /* SYNC, Type */+ 2 /* Size */+ 4 /* ObjID */+ (obj
+						.isSingleInstance() ? 0 : 2)));
 		bbuf.putInt(obj.getObjID());
-		
+
 		// Setup instance ID if one is required
-		if ( !obj.isSingleInstance() )
-		{
+		if (!obj.isSingleInstance()) {
 			// Check if all instances are requested
 			if (allInstances)
 				bbuf.putShort((short) (allInstId & 0xffff));
 			else
 				bbuf.putShort((short) (obj.getInstID() & 0xffff));
 		}
-				
+
 		// Check length
 		if (length >= MAX_PAYLOAD_LENGTH)
 			return false;
@@ -755,7 +706,7 @@ public class UAVTalk extends Observable{
 		// Copy data (if any)
 		if (length > 0)
 			try {
-				if ( obj.pack(bbuf) == 0)
+				if (obj.pack(bbuf) == 0)
 					return false;
 			} catch (Exception e) {
 				// TODO Auto-generated catch block
@@ -769,26 +720,28 @@ public class UAVTalk extends Observable{
 		try {
 			int packlen = bbuf.position();
 			bbuf.position(0);
-			byte [] dst = new byte[packlen];
-			bbuf.get(dst,0,packlen);
+			byte[] dst = new byte[packlen];
+			bbuf.get(dst, 0, packlen);
 			outStream.write(dst);
 		} catch (IOException e) {
 			// TODO Auto-generated catch block
 			e.printStackTrace();
 			return false;
 		}
-		
-//		//TODO: Need to use a different outStream type and check that the backlog isn't more than TX_BUFFER_SIZE
-//		// Send buffer, check that the transmit backlog does not grow above limit
-//		if ( io->bytesToWrite() < TX_BUFFER_SIZE )
-//		{
-//			io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
-//		}
-//		else
-//		{
-//			++stats.txErrors;
-//			return false;
-//		}
+
+		// //TODO: Need to use a different outStream type and check that the
+		// backlog isn't more than TX_BUFFER_SIZE
+		// // Send buffer, check that the transmit backlog does not grow above
+		// limit
+		// if ( io->bytesToWrite() < TX_BUFFER_SIZE )
+		// {
+		// io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
+		// }
+		// else
+		// {
+		// ++stats.txErrors;
+		// return false;
+		// }
 
 		// Update stats
 		++stats.txObjects;
@@ -801,33 +754,23 @@ public class UAVTalk extends Observable{
 
 	/**
 	 * Update the crc value with new data.
-	 *
-	 * Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
-	 * using the configuration:
-	 *    Width        = 8
-	 *    Poly         = 0x07
-	 *    XorIn        = 0x00
-	 *    ReflectIn    = False
-	 *    XorOut       = 0x00
-	 *    ReflectOut   = False
-	 *    Algorithm    = table-driven
-	 *
-	 * \param crc      The current crc value.
-	 * \param data     Pointer to a buffer of \a data_len bytes.
-	 * \param length   Number of bytes in the \a data buffer.
-	 * \return         The updated crc value.
+	 * 
+	 * Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/ using the
+	 * configuration: Width = 8 Poly = 0x07 XorIn = 0x00 ReflectIn = False
+	 * XorOut = 0x00 ReflectOut = False Algorithm = table-driven
+	 * 
+	 * \param crc The current crc value. \param data Pointer to a buffer of \a
+	 * data_len bytes. \param length Number of bytes in the \a data buffer.
+	 * \return The updated crc value.
 	 */
-	int updateCRC(int crc, int data)
-	{
+	int updateCRC(int crc, int data) {
 		return crc_table[crc ^ (data & 0xff)];
 	}
-	int updateCRC(int crc, byte [] data, int length)
-	{
+
+	int updateCRC(int crc, byte[] data, int length) {
 		for (int i = 0; i < length; i++)
 			crc = updateCRC(crc, (int) data[i]);
-		return crc;		
+		return crc;
 	}
 
-
-
 }

From cdac9d7f9e897acea31e63ba53f226a90b7dc2fe Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 17 Mar 2011 13:57:18 -0500
Subject: [PATCH 226/543] Make the UAVTalk object process one byte per call so
 it can be embedded in another loop.  Also clean up some warnings.

---
 .../src/org/openpilot/uavtalk/UAVTalk.java    | 59 +++++++++----------
 1 file changed, 28 insertions(+), 31 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 33daefab7..8671cdef9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -1,7 +1,5 @@
 package org.openpilot.uavtalk;
 
-import java.io.ByteArrayInputStream;
-import java.io.ByteArrayOutputStream;
 import java.io.IOException;
 import java.io.InputStream;
 import java.io.OutputStream;
@@ -30,7 +28,10 @@ public class UAVTalk extends Observable {
 
 			inputProcessingThread = new Thread() {
 				public void run() {
-					processInputStream();
+					while(true) {
+						if( !processInputStream() )
+							break;
+					}
 				}
 			};
 		return inputProcessingThread;
@@ -173,37 +174,36 @@ public class UAVTalk extends Observable {
 	}
 
 	/**
-	 * Called each time there are data in the input buffer
+	 * Process any data in the queue
 	 */
-	public void processInputStream() {
+	public boolean processInputStream() {
 		int val;
 
-		while (true) {
-			try {
-				// inStream.wait();
-				val = inStream.read();
-			} /*
-			 * catch (InterruptedException e) { // TODO Auto-generated catch
-			 * block System.out.println("Connection was aborted\n");
-			 * e.printStackTrace(); break; }
-			 */catch (IOException e) {
-				// TODO Auto-generated catch block
-				System.out.println("Error reading from stream\n");
-				e.printStackTrace();
-				break;
-			}
-			if (val == -1) {
-				System.out
-						.println("End of stream, terminating processInputStream thread");
-				break;
-			}
+		try {
+			// inStream.wait();
+			val = inStream.read();
+		} /*
+		 * catch (InterruptedException e) { // TODO Auto-generated catch
+		 * block System.out.println("Connection was aborted\n");
+		 * e.printStackTrace(); break; }
+		 */catch (IOException e) {
+			 // TODO Auto-generated catch block
+			 System.out.println("Error reading from stream\n");
+			 e.printStackTrace();
+			 return false;
+		 }
+		 if (val == -1) {
+			 System.out.println("End of stream, terminating processInputStream thread");
+			 return false;
+		 }
 
-			// System.out.println("Received byte " + val + " in state + " +
-			// rxState);
-			processInputByte(val);
-		}
+		 // System.out.println("Received byte " + val + " in state + " +
+		 // rxState);
+		 processInputByte(val);
+		 return true;
 	}
 
+	
 	/**
 	 * Request an update for the specified object, on success the object data
 	 * would have been updated by the GCS. \param[in] obj Object to update
@@ -665,9 +665,6 @@ public class UAVTalk extends Observable {
 	public synchronized boolean transmitSingleObject(UAVObject obj, int type,
 			boolean allInstances) {
 		int length;
-		int dataOffset;
-		int objId;
-		int instId;
 		int allInstId = ALL_INSTANCES;
 
 		assert (objMngr != null && outStream != null);

From d3f9c979613e547992ac1ebcd550b2cff8d252af Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 17 Mar 2011 13:58:55 -0500
Subject: [PATCH 227/543] Create a UAVTalk service that is called from the
 object browser

---
 androidgcs/AndroidManifest.xml                |   1 +
 .../androidgcs/BluetoothUAVTalk.java          | 146 ++++++++++++++++++
 .../androidgcs/OPTelemetryService.java        |  88 +++++++++++
 .../openpilot/androidgcs/ObjectBrowser.java   |  97 +-----------
 4 files changed, 238 insertions(+), 94 deletions(-)
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 8b3a9e4b3..6c89f2632 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -18,5 +18,6 @@
             </intent-filter>
         </activity>
 
+		<service android:name=".OPTelemetryService"></service>
     </application>
 </manifest>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
new file mode 100644
index 000000000..b240f3adc
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
@@ -0,0 +1,146 @@
+package org.openpilot.androidgcs;
+
+import java.io.IOException;
+import java.util.Set;
+import java.util.UUID;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVTalk;
+
+import android.app.Activity;
+import android.bluetooth.BluetoothAdapter;
+import android.bluetooth.BluetoothDevice;
+import android.bluetooth.BluetoothSocket;
+import android.content.BroadcastReceiver;
+import android.content.Context;
+import android.content.Intent;
+import android.util.Log;
+
+public class BluetoothUAVTalk {
+	private final String TAG = "BluetoothUAVTalk";
+	public static int LOGLEVEL = 2;
+	public static boolean WARN = LOGLEVEL > 1;
+	public static boolean DEBUG = LOGLEVEL > 0;
+	
+	// Temporarily define fixed device name
+	public final static String DEVICE_NAME = "RN42-222D";
+	private final static UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
+	
+	private BluetoothAdapter mBluetoothAdapter;
+	private BluetoothSocket socket;
+	private BluetoothDevice device;
+	private UAVTalk uavTalk;
+	private boolean connected; 
+	
+	public BluetoothUAVTalk(Context caller, String deviceName) {
+        if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + deviceName);
+
+        connected = false;
+        device = null;
+        
+        mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
+        if (mBluetoothAdapter == null) {
+            // Device does not support Bluetooth
+        	Log.e(TAG, "Device does not support Bluetooth");
+        	return;
+        }
+        
+        if (!mBluetoothAdapter.isEnabled()) {
+        	// Enable bluetooth if it isn't already
+            Intent enableBtIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
+            caller.sendOrderedBroadcast(enableBtIntent, "android.permission.BLUETOOTH_ADMIN", new BroadcastReceiver() {
+				@Override
+				public void onReceive(Context context, Intent intent) {
+					Log.e(TAG,"Received " + context + intent);		
+					//TODO: some logic here to see if it worked
+					queryDevices();
+				}            	
+            }, null, Activity.RESULT_OK, null, null);
+        } else {
+        	queryDevices();
+        }        		
+    }
+	
+	public boolean connect(UAVObjectManager objMngr) {
+		if( getConnected() ) 
+			return true;
+		if( !getFoundDevice() )
+			return false;		
+		if( !openTelemetryBluetooth(objMngr) )
+			return false;
+		return true;		
+	}
+
+	public boolean getConnected() {
+		return connected;
+	}
+    
+	public boolean getFoundDevice() {
+		return (device != null);
+	}
+	
+	public UAVTalk getUavtalk() {
+		return uavTalk;
+	}
+	
+    private void queryDevices() {
+    	Log.d(TAG, "Searching for devices");
+		Set<BluetoothDevice> pairedDevices = mBluetoothAdapter.getBondedDevices();
+		// If there are paired devices
+		if (pairedDevices.size() > 0) {
+		    // Loop through paired devices
+		    for (BluetoothDevice device : pairedDevices) {
+		        // Add the name and address to an array adapter to show in a ListView
+		        //mArrayAdapter.add(device.getName() + "\n" + device.getAddress());
+		    	Log.d(TAG, "Paired device: " + device.getName());
+		    	if(device.getName().compareTo(DEVICE_NAME) == 0) {
+		    		this.device = device;
+		    		return;
+		    	}
+		    }
+		}
+    	
+    }
+
+	private boolean openTelemetryBluetooth(UAVObjectManager objMngr) {
+		Log.d(TAG, "Opening conncetion to " + device.getName());
+		socket = null;
+		connected = false;
+		try {
+			socket = device.createInsecureRfcommSocketToServiceRecord(MY_UUID);
+		} catch (IOException e) {
+			Log.e(TAG,"Unable to create Rfcomm socket");
+			return false;
+			//e.printStackTrace();			
+		}
+		
+		mBluetoothAdapter.cancelDiscovery();
+		
+		try {
+			socket.connect();
+		}
+		catch (IOException e) {
+			Log.e(TAG,"Unable to connect to requested device", e);
+            try {
+                socket.close();
+            } catch (IOException e2) {
+                Log.e(TAG, "unable to close() socket during connection failure", e2);
+            }
+			return false;
+		}
+
+		connected = true;
+		
+		try {
+			uavTalk = new UAVTalk(socket.getInputStream(), socket.getOutputStream(), objMngr);
+		} catch (IOException e) {
+			Log.e(TAG,"Error starting UAVTalk");
+			// TODO Auto-generated catch block
+			//e.printStackTrace();
+			return false;
+		}
+				
+		return true;
+	}
+
+}
diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
new file mode 100644
index 000000000..2994be6d2
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -0,0 +1,88 @@
+package org.openpilot.androidgcs;
+
+import org.openpilot.uavtalk.Telemetry;
+import org.openpilot.uavtalk.TelemetryMonitor;
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVTalk;
+import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
+
+import android.app.Service;
+import android.content.Intent;
+import android.os.IBinder;
+import android.os.Looper;
+import android.util.Log;
+
+public class OPTelemetryService extends Service {
+	private final String TAG = "OPTElemetryService";
+	public static int LOGLEVEL = 2;
+	public static boolean WARN = LOGLEVEL > 1;
+	public static boolean DEBUG = LOGLEVEL > 0;
+
+	private UAVObjectManager objMngr;
+	private UAVTalk uavTalk;
+	private Telemetry tel;
+	private TelemetryMonitor mon;
+
+	@Override
+	public IBinder onBind(Intent arg0) {
+		return null;
+	}
+
+	@Override
+	public void onCreate() {
+		super.onCreate();
+		
+		if (DEBUG) Log.d(TAG, "Telemetry Service started");
+
+		Thread telemetryThread = new Thread(telemetryRunnable);
+		telemetryThread.start();
+ 	}
+
+	@Override
+	public void onDestroy() {
+		super.onDestroy();
+	}
+	
+	private final Runnable telemetryRunnable = new Runnable() {
+
+		public void run() {			
+			Looper.prepare();
+			
+			if (DEBUG) Log.d(TAG, "Telemetry Thread started");
+			
+	        objMngr = new UAVObjectManager();
+			UAVObjectsInitialize.register(objMngr);
+
+			BluetoothUAVTalk bt = new BluetoothUAVTalk(OPTelemetryService.this, BluetoothUAVTalk.DEVICE_NAME);
+			while(true) {
+				if (DEBUG) Log.d(TAG, "Attempting Bluetooth Connection");
+				if(! bt.getConnected() )
+					bt.connect(objMngr);
+				else
+					break;
+				Looper.loop();
+			}
+			
+			if (DEBUG) Log.d(TAG, "Connected via bluetooth");
+			
+			uavTalk = bt.getUavtalk();
+			tel = new Telemetry(uavTalk, objMngr);
+			mon = new TelemetryMonitor(objMngr,tel);
+
+			if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
+			while(true) {
+				if( !uavTalk.processInputStream() )
+					break;
+				Looper.loop();
+			}
+			if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
+		}
+	
+	};
+	
+	public UAVObjectManager getObjMngr() { return objMngr; };
+	public UAVTalk getUavTalk() { return uavTalk; };
+	public Telemetry getTelemetry() { return tel; };
+	public TelemetryMonitor getTelemetryMonitor() { return mon; };
+
+}
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index a8c58d58d..6bb217930 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -69,26 +69,12 @@ public class ObjectBrowser extends Activity {
         
         Log.d(TAG, "Launching Object Browser");
 
-        connected = false;
+        Log.d(TAG, "Start OP Telemetry Service");
+        startService( new Intent( this, OPTelemetryService.class ) );
         
         objMngr = new UAVObjectManager();
 		UAVObjectsInitialize.register(objMngr);
 
-        mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
-        if (mBluetoothAdapter == null) {
-            // Device does not support Bluetooth
-        	Log.e(TAG, "Device does not support Bluetooth");
-        	return;
-        }
-        
-        if (!mBluetoothAdapter.isEnabled()) {
-            Intent enableBtIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
-            startActivityForResult(enableBtIntent, REQUEST_ENABLE_BT);
-        } else {
-        	queryDevices();
-        }
-        
-		
 		UAVObject obj = objMngr.getObject("SystemStats");
 		if(obj != null)
 			obj.addUpdatedObserver(new Observer() {
@@ -116,84 +102,7 @@ public class ObjectBrowser extends Activity {
 				public void update(Observable observable, Object data) {
 					uavobjHandler.post(updateText);
 				}				
-			});
-		
-
+			});		
     }
     
-    @Override
-    public void onActivityResult(int requestCode, int resultCode, Intent data) {
-    	if(requestCode == REQUEST_ENABLE_BT && resultCode == RESULT_OK) {
-    		//Log.d(TAG, "Bluetooth started succesfully");
-    		queryDevices();
-    	}
-    	if(requestCode == REQUEST_ENABLE_BT && resultCode != RESULT_OK) {
-    		//Log.d(TAG, "Bluetooth could not be started");
-    	}
-    	
-    }
-    
-    public void queryDevices() {
-    	Log.d(TAG, "Searching for devices");
-		Set<BluetoothDevice> pairedDevices = mBluetoothAdapter.getBondedDevices();
-		// If there are paired devices
-		if (pairedDevices.size() > 0) {
-		    // Loop through paired devices
-		    for (BluetoothDevice device : pairedDevices) {
-		        // Add the name and address to an array adapter to show in a ListView
-		        //mArrayAdapter.add(device.getName() + "\n" + device.getAddress());
-		    	Log.d(TAG, "Paired device: " + device.getName());
-		    	if(device.getName().compareTo(DEVICE_NAME) == 0) {
-		    		openTelmetryBluetooth(device);
-		    		openTelmetryBluetooth(device);
-		    		}
-		    }
-		}
-    	
-    }
-
-	private void openTelmetryBluetooth(BluetoothDevice device) {
-		Log.d(TAG, "Opening conncetion to " + device.getName());
-		socket = null;
-		connected = false;
-		try {
-			socket = device.createInsecureRfcommSocketToServiceRecord(MY_UUID);
-		} catch (IOException e) {
-			Log.e(TAG,"Unable to create Rfcomm socket");
-			//e.printStackTrace();			
-		}
-		
-		mBluetoothAdapter.cancelDiscovery();
-		
-		try {
-			socket.connect();
-		}
-		catch (IOException e) {
-			Log.e(TAG,"Unable to connect to requested device", e);
-            try {
-                socket.close();
-            } catch (IOException e2) {
-                //Log.e(TAG, "unable to close() socket during connection failure", e2);
-            }
-			return;
-		}
-
-		connected = true;
-		
-		try {
-			uavTalk = new UAVTalk(socket.getInputStream(), socket.getOutputStream(), objMngr);
-		} catch (IOException e) {
-			Log.e(TAG,"Error starting UAVTalk");
-			// TODO Auto-generated catch block
-			//e.printStackTrace();
-			return;
-		}
-		
-		Thread inputStream = uavTalk.getInputProcessThread();
-		inputStream.start();
-		
-		Telemetry tel = new Telemetry(uavTalk, objMngr);
-		TelemetryMonitor mon = new TelemetryMonitor(objMngr,tel);
-
-	}
 }

From f247443d6420db79bb3afa228c4a6d9209130119 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 19 Mar 2011 10:09:35 -0500
Subject: [PATCH 228/543] Clean up the logging somewhat

---
 .../androidgcs/OPTelemetryService.java        |  62 +-
 .../openpilot/uavtalk/TelemetryMonitor.java   |  31 +-
 flight/Revolution/Makefile.osx                | 672 ++++++++++++++++++
 3 files changed, 740 insertions(+), 25 deletions(-)
 create mode 100644 flight/Revolution/Makefile.osx

diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index 2994be6d2..5a48bbc05 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -6,8 +6,14 @@ import org.openpilot.uavtalk.UAVObjectManager;
 import org.openpilot.uavtalk.UAVTalk;
 import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
 
+import android.app.Notification;
+import android.app.NotificationManager;
+import android.app.PendingIntent;
 import android.app.Service;
+import android.content.Context;
 import android.content.Intent;
+import android.net.Uri;
+import android.os.Handler;
 import android.os.IBinder;
 import android.os.Looper;
 import android.util.Log;
@@ -18,10 +24,16 @@ public class OPTelemetryService extends Service {
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
+	final int DISCONNECT_MESSAGE = 0;
+	final int CONNECT_MESSAGE = 1;
+	final int CONNECT_FAILED_MESSAGE = 2;
+	
 	private UAVObjectManager objMngr;
 	private UAVTalk uavTalk;
 	private Telemetry tel;
 	private TelemetryMonitor mon;
+	
+	private Handler handler;
 
 	@Override
 	public IBinder onBind(Intent arg0) {
@@ -46,22 +58,38 @@ public class OPTelemetryService extends Service {
 	private final Runnable telemetryRunnable = new Runnable() {
 
 		public void run() {			
-			Looper.prepare();
-			
 			if (DEBUG) Log.d(TAG, "Telemetry Thread started");
+
+			Looper.prepare();						
 			
 	        objMngr = new UAVObjectManager();
 			UAVObjectsInitialize.register(objMngr);
-
+			
+			postNotification(CONNECT_FAILED_MESSAGE, "Connecting");
 			BluetoothUAVTalk bt = new BluetoothUAVTalk(OPTelemetryService.this, BluetoothUAVTalk.DEVICE_NAME);
-			while(true) {
+			for( int i = 0; i < 10; i++ ) {
 				if (DEBUG) Log.d(TAG, "Attempting Bluetooth Connection");
-				if(! bt.getConnected() )
-					bt.connect(objMngr);
-				else
+					
+				bt.connect(objMngr);
+				
+				if (DEBUG) Log.d(TAG, "Done attempting connection");
+				if( bt.getConnected() )
 					break;
-				Looper.loop();
+				
+				try {
+					Thread.sleep(1000);
+				} catch (InterruptedException e) {
+					Log.e(TAG, "Thread interrupted while trying to connect");
+					e.printStackTrace();
+					return;
+				}
 			}
+			if( ! bt.getConnected() ) {
+				postNotification(CONNECT_FAILED_MESSAGE, "Could not connect to UAV");
+				return;
+			}
+			
+			postNotification(CONNECT_MESSAGE, "Connected to UAV port");
 			
 			if (DEBUG) Log.d(TAG, "Connected via bluetooth");
 			
@@ -73,13 +101,29 @@ public class OPTelemetryService extends Service {
 			while(true) {
 				if( !uavTalk.processInputStream() )
 					break;
-				Looper.loop();
 			}
 			if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
+			postNotification(DISCONNECT_MESSAGE,"UAVTalk stream disconnected");
 		}
 	
 	};
 	
+	void postNotification(int id, String message) {
+		String ns = Context.NOTIFICATION_SERVICE;
+		NotificationManager mNManager = (NotificationManager) getSystemService(ns);
+		final Notification msg = new Notification(R.drawable.icon, message, System.currentTimeMillis());
+		
+		Context context = getApplicationContext(); 
+		CharSequence contentTitle = "OpenPilot";
+		CharSequence contentText = message; 
+		Intent msgIntent = new Intent(Intent.ACTION_VIEW, Uri.parse("http://forums.openpilot.org"));
+		PendingIntent intent = PendingIntent.getActivity(this, 0, msgIntent, Intent.FLAG_ACTIVITY_NEW_TASK);		
+		
+		msg.setLatestEventInfo(context, contentTitle, contentText, intent);
+		
+		mNManager.notify(id, msg);
+	}
+	
 	public UAVObjectManager getObjMngr() { return objMngr; };
 	public UAVTalk getUavTalk() { return uavTalk; };
 	public Telemetry getTelemetry() { return tel; };
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index a5885e7bc..9b4474d8e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -16,7 +16,10 @@ import android.util.Log;
 public class TelemetryMonitor {
 
 	private static final String TAG = "TelemetryMonitor";
-	
+	public static int LOGLEVEL = 0;
+	public static boolean WARN = LOGLEVEL > 1;
+	public static boolean DEBUG = LOGLEVEL > 0;
+
     static final int STATS_UPDATE_PERIOD_MS = 4000;
     static final int STATS_CONNECT_PERIOD_MS = 1000;
     static final int CONNECTION_TIMEOUT_MS = 8000;
@@ -57,7 +60,7 @@ public class TelemetryMonitor {
 	 */
 	public synchronized void startRetrievingObjects()
 	{
-		Log.d(TAG, "Start retrieving objects");
+		if (DEBUG) Log.d(TAG, "Start retrieving objects");
 		
 	    // Clear object queue
 	    queue.clear();
@@ -115,7 +118,7 @@ public class TelemetryMonitor {
 	    // If queue is empty return
 	    if ( queue.isEmpty() )
 	    {
-	    	Log.d(TAG, "All objects retrieved: Connected Successfully");
+	    	if (DEBUG) Log.d(TAG, "All objects retrieved: Connected Successfully");
 	        //qxtLog->debug("Object retrieval completed");
 	        //emit connected();
 	        return;
@@ -127,12 +130,12 @@ public class TelemetryMonitor {
 	    	throw new Error("Got null object forom transaction queue");
 	    }
 	    	    
-	    Log.d(TAG, "Retrieving object: " + obj.getName()) ;
+	    if (DEBUG) Log.d(TAG, "Retrieving object: " + obj.getName()) ;
 	    // Connect to object
 	    obj.addTransactionCompleted(new Observer() {
 			public void update(Observable observable, Object data) {
 				UAVObject.TransactionResult result = (UAVObject.TransactionResult) data;
-				Log.d(TAG,"Got transaction completed event from " + result.obj.getName() + " status: " + result.success);
+				if (DEBUG) Log.d(TAG,"Got transaction completed event from " + result.obj.getName() + " status: " + result.success);
 				transactionCompleted(result.obj, result.success);
 			}	    	
 	    });
@@ -149,7 +152,7 @@ public class TelemetryMonitor {
 	{
 	    //QMutexLocker locker(mutex);
 	    // Disconnect from sending object
-		Log.d(TAG,"transactionCompleted.  Status: " + success);
+		if (DEBUG) Log.d(TAG,"transactionCompleted.  Status: " + success);
 		// TODO: Need to be able to disconnect signals
 	    //obj->disconnect(this);
 	    objPending = null;
@@ -192,7 +195,7 @@ public class TelemetryMonitor {
 	public synchronized void processStatsUpdates()
 	{
 	    // Get telemetry stats
-		Log.d(TAG, "processStatsUpdates()");
+		if (DEBUG) Log.d(TAG, "processStatsUpdates()");
 	    Telemetry.TelemetryStats telStats = tel.getStats();
 	    tel.resetStats();
 
@@ -232,7 +235,7 @@ public class TelemetryMonitor {
 	    UAVObjectField statusField = gcsStatsObj.getField("Status");
 	    String oldStatus = new String((String) statusField.getValue());
 	    
-	    Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
+	    if (DEBUG) Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
 
 	    if ( oldStatus.compareTo("Disconnected") == 0 )
 	    {
@@ -245,7 +248,7 @@ public class TelemetryMonitor {
 	        if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("HandshakeAck") == 0 )
 	        {
 	        	statusField.setValue("Connected");
-	        	Log.d(TAG,"Connected" + statusField.toString());
+	        	if (DEBUG) Log.d(TAG,"Connected" + statusField.toString());
 	        }
 	    }
 	    else if ( oldStatus.compareTo("Connected") == 0 )
@@ -260,30 +263,26 @@ public class TelemetryMonitor {
 	    // Force telemetry update if not yet connected
 	    boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
 	    
-	    if(gcsStatusChanged) {
-	    	Log.d(TAG,"GCS Status changed");
-	    	Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
-	    }
 	    boolean gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
 	    boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
 	    boolean flightConnected = ((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0;
 	    
 	    if (  !gcsConnected || !flightConnected )
 	    {
-	    	Log.d(TAG,"Sending gcs status");
+	    	if (DEBUG) Log.d(TAG,"Sending gcs status");
 	        gcsStatsObj.updated();
 	    }
 
 	    // Act on new connections or disconnections
 	    if (gcsConnected && gcsStatusChanged)
 	    {
-	        Log.d(TAG,"Connection with the autopilot established");
+	    	if (DEBUG) Log.d(TAG,"Connection with the autopilot established");
 	    	setPeriod(STATS_UPDATE_PERIOD_MS);
 	        startRetrievingObjects();
 	    }
 	    if (gcsDisconnected && gcsStatusChanged)
 	    {
-	        Log.d(TAG,"Trying to connect to the autopilot");
+	    	if (DEBUG) Log.d(TAG,"Trying to connect to the autopilot");
 	    	setPeriod(STATS_CONNECT_PERIOD_MS);
 	        //emit disconnected();
 	    }
diff --git a/flight/Revolution/Makefile.osx b/flight/Revolution/Makefile.osx
new file mode 100644
index 000000000..e2c8ea694
--- /dev/null
+++ b/flight/Revolution/Makefile.osx
@@ -0,0 +1,672 @@
+ #####
+ # Project: Revolution
+ #
+ #
+ # Makefile for OpenPilot project build PiOS and the AP.
+ #
+ # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2012.
+ #
+ # 
+ # This program is free software; you can redistribute it and/or modify
+ # it under the terms of the GNU General Public License as published by
+ # the Free Software Foundation; either version 3 of the License, or
+ # (at your option) any later version.
+ #
+ # This program is distributed in the hope that it will be useful, but
+ # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ # for more details.
+ #
+ # You should have received a copy of the GNU General Public License along
+ # with this program; if not, write to the Free Software Foundation, Inc.,
+ # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ #####
+
+
+# Set developer code and compile options
+# Set to YES to compile for debugging
+DEBUG ?= YES
+
+# Set to YES to use the Servo output pins for debugging via scope or logic analyser
+ENABLE_DEBUG_PINS ?= NO
+
+# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
+ENABLE_AUX_UART ?= NO
+
+#
+USE_BOOTLOADER ?= NO
+
+
+# Set to YES when using Code Sourcery toolchain
+CODE_SOURCERY ?= NO
+
+# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
+TCHAIN_PREFIX ?= /usr/local/android-ndk-r5/toolchains/arm-linux-androideabi-4.4.3/prebuilt/darwin-x86/bin/arm-linux-androideabi-
+
+# Remove command is different for Code Sourcery on Windows
+REMOVE_CMD ?= rm
+
+FLASH_TOOL = OPENOCD
+
+# YES enables -mthumb option to flags for source-files listed
+# in SRC and CPPSRC
+USE_THUMB_MODE = YES
+
+# List of modules to include
+MODULES +=  Actuator ManualControl Stabilization 
+MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
+MODULES += Attitude/revolution
+#MODULES += OveroSync/simulated
+
+# To run simulation instead of connect to SITL
+MODULES += Sensors/simulated
+
+MODULES += Telemetry
+
+# MCU name, submodel and board
+# - MCU used for compiler-option (-mtune)
+# - MODEL used for linker-script name (-T) and passed as define
+# - BOARD just passed as define (optional)
+MCU      = i686
+#CHIP     = STM32F103RET
+#BOARD    = STM3210E_OP
+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 = ../../build/sim_osx
+
+# Target file name (without extension).
+TARGET = Revolution
+
+# Paths
+OPSYSTEM = ./System
+OPSYSTEMINC = $(OPSYSTEM)/inc
+OPUAVTALK = ../UAVTalk
+OPUAVTALKINC = $(OPUAVTALK)/inc
+OPUAVOBJ = ../UAVObjects
+OPUAVOBJINC = $(OPUAVOBJ)/inc
+OPTESTS  = ./Tests
+OPMODULEDIR = ../Modules
+FLIGHTLIB = ../Libraries
+FLIGHTLIBINC = $(FLIGHTLIB)/inc
+PIOS = ../PiOS.osx
+PIOSINC = $(PIOS)/inc
+PIOSPOSIX = $(PIOS)/osx
+APPLIBDIR = $(PIOSPOSIX)/Libraries
+RTOSDIR = $(APPLIBDIR)/FreeRTOS
+RTOSSRCDIR = $(RTOSDIR)/Source
+RTOSINCDIR = $(RTOSSRCDIR)/include
+DOXYGENDIR = ../Doc/Doxygen
+PYMITE = $(FLIGHTLIB)/PyMite
+PYMITELIB = $(PYMITE)/lib
+PYMITEPLAT = $(PYMITE)/platform/openpilot_sitl
+PYMITETOOLS = $(PYMITE)/tools
+PYMITEVM = $(PYMITE)/vm
+PYMITEINC = $(PYMITEVM)
+PYMITEINC += $(PYMITEPLAT)
+PYMITEINC += $(OUTDIR)
+FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
+FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
+
+UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
+UAVOBJPYTHONSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/python
+
+# List C source files here. (C dependencies are automatically generated.)
+# use file-extension c for "c-only"-files
+
+MODNAMES = $(notdir ${MODULES})
+
+ifndef TESTAPP
+
+## PyMite files
+SRC += $(OUTDIR)/pmlib_img.c
+SRC += $(OUTDIR)/pmlib_nat.c
+SRC += $(OUTDIR)/pmlibusr_img.c
+SRC += $(OUTDIR)/pmlibusr_nat.c
+SRC += $(wildcard ${PYMITEVM}/*.c)
+SRC += $(wildcard ${PYMITEPLAT}/*.c)
+
+## MODULES
+SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
+SRC += ${OUTDIR}/InitMods.c
+## OPENPILOT CORE:
+SRC += ${OPMODULEDIR}/System/systemmod.c
+SRC += $(OPSYSTEM)/revolution.c
+SRC += $(OPSYSTEM)/pios_board_sim.c
+SRC += $(OPSYSTEM)/alarms.c
+SRC += $(OPUAVTALK)/uavtalk.c
+SRC += $(OPUAVOBJ)/uavobjectmanager.c
+SRC += $(OPUAVOBJ)/eventdispatcher.c
+SRC += $(UAVOBJSYNTHDIR)/uavobjectsinit.c
+else
+## TESTCODE
+SRC += $(OPTESTS)/test_common.c
+SRC += $(OPTESTS)/$(TESTAPP).c
+endif
+
+
+
+## UAVOBJECTS
+ifndef TESTAPP
+#include $(UAVOBJSYNTHDIR)/Makefile.inc
+include ./UAVObjects.inc
+
+UAVOBJSRCFILENAMES += attitudesimulated
+UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
+UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
+
+SRC += $(UAVOBJSRC)
+CFLAGS_UAVOBJECTS = $(UAVOBJDEFINE)
+endif
+
+## PIOS Hardware (posix)
+SRC += $(PIOSPOSIX)/pios_crc.c
+SRC += $(PIOSPOSIX)/pios_sys.c
+SRC += $(PIOSPOSIX)/pios_led.c
+SRC += $(PIOSPOSIX)/pios_irq.c
+SRC += $(PIOSPOSIX)/pios_delay.c
+SRC += $(PIOSPOSIX)/pios_sdcard.c
+SRC += $(PIOSPOSIX)/pios_udp.c
+SRC += $(PIOSPOSIX)/pios_tcp.c
+SRC += $(PIOSPOSIX)/pios_com.c
+SRC += $(PIOSPOSIX)/pios_servo.c
+SRC += $(PIOSPOSIX)/pios_wdg.c
+SRC += $(PIOSPOSIX)/pios_debug.c
+
+SRC += $(PIOSPOSIX)/pios_rcvr.c
+SRC += $(PIOSPOSIX)/pios_gcsrcvr.c
+
+## Libraries for flight calculations
+SRC += $(FLIGHTLIB)/fifo_buffer.c
+SRC += $(FLIGHTLIB)/WorldMagModel.c
+SRC += $(FLIGHTLIB)/CoordinateConversions.c
+SRC += $(FLIGHTLIB)/paths.c
+SRC += $(FLIGHTLIB)/insgps13state.c
+SRC += $(FLIGHTLIB)/taskmonitor.c
+
+## RTOS and RTOS Portable 
+SRC += $(RTOSSRCDIR)/list.c
+SRC += $(RTOSSRCDIR)/queue.c
+UNAME := $(shell uname)
+SRC += $(RTOSSRCDIR)/task.c
+SRC += $(RTOSSRCDIR)/timers.c
+SRC += $(RTOSSRCDIR)/portable/GCC/Posix/port.c
+SRC += $(RTOSSRCDIR)/portable/MemMang/heap_3.c
+
+
+
+# List C source files here which must be compiled in ARM-Mode (no -mthumb).
+# use file-extension c for "c-only"-files
+## just for testing, timer.c could be compiled in thumb-mode too
+SRCARM =
+
+# List C++ source files here.
+# use file-extension .cpp for C++-files (not .C)
+CPPSRC =
+
+# List C++ source files here which must be compiled in ARM-Mode.
+# use file-extension .cpp for C++-files (not .C)
+#CPPSRCARM = $(TARGET).cpp
+CPPSRCARM =
+
+
+# List any extra directories to look for include files here.
+#    Each directory must be seperated by a space.
+EXTRAINCDIRS  =  $(OPSYSTEM)
+EXTRAINCDIRS  += $(OPSYSTEMINC)
+EXTRAINCDIRS  += $(OPUAVTALK)
+EXTRAINCDIRS  += $(OPUAVTALKINC)
+EXTRAINCDIRS  += $(OPUAVOBJ)
+EXTRAINCDIRS  += $(OPUAVOBJINC)
+EXTRAINCDIRS  += $(UAVOBJSYNTHDIR)
+EXTRAINCDIRS  += $(PIOS)
+EXTRAINCDIRS  += $(PIOSINC)
+EXTRAINCDIRS  += $(FLIGHTLIBINC)
+EXTRAINCDIRS  += $(PIOSPOSIX)
+EXTRAINCDIRS  += $(RTOSINCDIR)
+EXTRAINCDIRS  += $(APPLIBDIR)
+EXTRAINCDIRS  += $(RTOSSRCDIR)/portable/GCC/Posix
+EXTRAINCDIRS  += $(PYMITEINC)
+
+EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
+
+
+# List any extra directories to look for library files here.
+# Also add directories where the linker should search for
+# includes from linker-script to the list
+#     Each directory must be seperated by a space.
+EXTRA_LIBDIRS =
+
+# Extra Libraries
+#    Each library-name must be seperated by a space.
+#    i.e. to link with libxyz.a, libabc.a and libefsl.a:
+#    EXTRA_LIBS = xyz abc efsl
+# for newlib-lpc (file: libnewlibc-lpc.a):
+#    EXTRA_LIBS = newlib-lpc
+EXTRA_LIBS =
+
+# Path to Linker-Scripts
+LINKERSCRIPTPATH = $(PIOSSTM32F10X)
+
+# Optimization level, can be [0, 1, 2, 3, s].
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+
+ifeq ($(DEBUG),YES)
+OPT = 0
+else
+OPT = s
+endif
+
+# Output format. (can be ihex or binary or both)
+#  binary to create a load-image in raw-binary format i.e. for SAM-BA,
+#  ihex to create a load-image in Intel hex format
+#LOADFORMAT = ihex
+#LOADFORMAT = binary
+LOADFORMAT = both
+
+# Debugging format.
+#DEBUGF = dwarf-2
+
+# Place project-specific -D (define) and/or
+# -U options for C here.
+ifeq ($(ENABLE_DEBUG_PINS), YES)
+CDEFS += -DPIOS_ENABLE_DEBUG_PINS
+endif
+ifeq ($(ENABLE_AUX_UART), YES)
+CDEFS += -DPIOS_ENABLE_AUX_UART
+endif
+ifeq ($(USE_BOOTLOADER), YES)
+CDEFS += -DUSE_BOOTLOADER
+endif
+
+# Compiler flag to set the C Standard level.
+# c89   - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99   - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+#-----
+
+# Compiler flags.
+
+#  -g*:          generate debugging information
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+#
+# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
+
+ifeq ($(DEBUG),YES)
+CFLAGS = -g$(DEBUGF) -DDEBUG
+endif
+
+CFLAGS += -DDIAGNOSTICS
+CFLAGS += -DDIAG_TASKS
+
+CFLAGS += $(CFLAGS_UAVOBJECTS)
+CFLAGS += -DARCH_POSIX
+CFLAGS += -O$(OPT)
+CFLAGS += -mtune=$(MCU)
+CFLAGS += $(CDEFS)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
+
+#CFLAGS += ARCH=arm 
+#CROSS_COMPILE=/usr/local/android-ndk-r5/toolchains/arm-linux-androideabi-4.4.3/prebuilt/darwin-x86/bin/arm-linux-androideabi-
+
+CFLAGS += -fomit-frame-pointer
+ifeq ($(CODE_SOURCERY), YES)
+CFLAGS += -fpromote-loop-indices
+endif
+
+CFLAGS += -Wall
+CFLAGS += -Werror
+# Compiler flags to generate dependency files:
+CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
+
+# flags only for C
+#CONLYFLAGS += -Wnested-externs
+CONLYFLAGS += $(CSTANDARD)
+
+# Assembler flags.
+#  -Wa,...:    tell GCC to pass this to the assembler.
+#  -ahlns:     create listing
+ASFLAGS  = -mtune=$(MCU) -I. -x assembler-with-cpp
+ASFLAGS += $(ADEFS)
+ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
+ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+
+MATH_LIB = -lm
+
+# Linker flags.
+#  -Wl,...:     tell GCC to pass this to linker.
+#    -Map:      create map file
+#    --cref:    add cross reference to  map file
+LDFLAGS += -lpthread 
+LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
+LDFLAGS += -lc
+LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
+LDFLAGS += $(MATH_LIB)
+LDFLAGS += -lc -lgcc
+
+# To include simulation model
+LDFLAGS += -L$(OUTDIR) 
+#LDFLAGS += -lsimmodel
+
+
+# Define programs and commands.
+CC      = $(TCHAIN_PREFIX)gcc
+CPP     = $(TCHAIN_PREFIX)g++
+AR      = $(TCHAIN_PREFIX)ar
+OBJCOPY = $(TCHAIN_PREFIX)objcopy
+OBJDUMP = $(TCHAIN_PREFIX)objdump
+SIZE    = $(TCHAIN_PREFIX)size
+NM      = $(TCHAIN_PREFIX)nm
+REMOVE  = $(REMOVE_CMD) -f
+PYTHON  = python
+###SHELL   = sh
+###COPY    = cp
+
+
+
+# Define Messages
+# English
+MSG_ERRORS_NONE = Errors: none
+MSG_BEGIN = ${quote}-------- begin (mode: $(RUN_MODE)) --------${quote}
+MSG_END = ${quote}--------  end  --------${quote}
+MSG_MODINIT = ${quote}**** Generating ModInit.c${quote}
+MSG_SIZE_BEFORE = ${quote}Size before:${quote}
+MSG_SIZE_AFTER = ${quote}Size after build:${quote}
+MSG_LOAD_FILE = ${quote}Creating load file:${quote}
+MSG_EXTENDED_LISTING = ${quote}Creating Extended Listing/Disassembly:${quote}
+MSG_SYMBOL_TABLE = ${quote}Creating Symbol Table:${quote}
+MSG_LINKING = ${quote}**** Linking :${quote}
+MSG_COMPILING = ${quote}**** Compiling C :${quote}
+MSG_COMPILING_ARM = ${quote}**** Compiling C (ARM-only):${quote}
+MSG_COMPILINGCPP = ${quote}Compiling C++ :${quote}
+MSG_COMPILINGCPP_ARM = ${quote}Compiling C++ (ARM-only):${quote}
+MSG_ASSEMBLING = ${quote}**** Assembling:${quote}
+MSG_ASSEMBLING_ARM = ${quote}****Assembling (ARM-only):${quote}
+MSG_CLEANING = ${quote}Cleaning project:${quote}
+MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
+MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
+MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
+MSG_PYMITEINIT = ${quote}**** Generating PyMite intermediate code${quote}
+
+# List of all source files.
+ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
+# List of all source files without directory and file-extension.
+ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
+
+# Define all object files.
+ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
+
+# Define all listing files (used for make clean).
+LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
+# Define all depedency-files (used for make clean).
+DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
+
+elf: $(OUTDIR)/$(TARGET).elf
+lss: $(OUTDIR)/$(TARGET).lss
+sym: $(OUTDIR)/$(TARGET).sym
+hex: $(OUTDIR)/$(TARGET).hex
+bin: $(OUTDIR)/$(TARGET).bin
+
+# Default target.
+#all: begin gccversion sizebefore build sizeafter finished end
+#all: begin gencode gccversion build sizeafter finished end
+all: elf
+
+ifeq ($(LOADFORMAT),ihex)
+build: elf hex lss sym
+else
+ifeq ($(LOADFORMAT),binary)
+build: elf bin lss sym
+else
+ifeq ($(LOADFORMAT),both)
+build: elf hex bin lss sym
+else
+$(error "$(MSG_FORMATERROR) $(FORMAT)")
+endif
+endif
+endif
+
+# Test if quotes are needed for the echo-command
+result = ${shell echo "test"}
+ifeq (${result}, test)
+	quote = '
+else
+	quote =
+endif
+
+# Generate intermediate code
+gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h 
+
+getmodname = $(firstword $(subst /, ,$1))
+
+MOD_GEN := $(foreach MOD,$(MODULES),$(call getmodname,$(MOD)))
+
+# Generate code for module initialization
+${OUTDIR}/InitMods.c: Makefile.osx
+	echo ${MOD_GEN}
+	@echo ${MSG_MODINIT}
+	@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
+	@echo ${quote}${foreach MOD, ${MOD_GEN}, extern unsigned int ${MOD}Initialize(void);}${quote}  >> ${OUTDIR}/InitMods.c
+	@echo ${quote}${foreach MOD, ${MOD_GEN}, extern unsigned int ${MOD}Start(void);}${quote}  >> ${OUTDIR}/InitMods.c
+	@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
+	@echo ${quote}${foreach MOD, ${MOD_GEN}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
+	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
+	@echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c
+	@echo ${quote}${foreach MOD, ${MOD_GEN}, ${MOD}Start();}${quote}  >> ${OUTDIR}/InitMods.c
+	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
+
+# Generate code for PyMite
+${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
+	@echo ${MSG_PYMITEINIT}
+	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
+	@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
+	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
+
+# Eye candy.
+begin:
+##	@echo
+	@echo $(MSG_BEGIN)
+
+finished:
+##	@echo $(MSG_ERRORS_NONE)
+
+end:
+	@echo $(MSG_END)
+##	@echo
+
+# Display sizes of sections.
+ELFSIZE = $(SIZE) -A  $(OUTDIR)/$(TARGET).elf
+##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
+sizebefore:
+#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
+
+sizeafter:
+#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
+	@echo $(MSG_SIZE_AFTER)
+	$(ELFSIZE)
+
+# Display compiler version information.
+gccversion :
+	@$(CC) --version
+#	@echo $(ALLOBJ)
+
+# Program the device.
+ifeq ($(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 0 -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
+
+# Create final output file (.hex) from ELF output file.
+%.hex: %.elf
+##	@echo
+	@echo $(MSG_LOAD_FILE) $@
+	$(OBJCOPY) -O ihex $< $@
+
+# Create final output file (.bin) from ELF output file.
+%.bin: %.elf
+##	@echo
+	@echo $(MSG_LOAD_FILE) $@
+	$(OBJCOPY) -O binary $< $@
+
+# Create extended listing file/disassambly from ELF output file.
+# using objdump testing: option -C
+%.lss: %.elf
+##	@echo
+	@echo $(MSG_EXTENDED_LISTING) $@
+	$(OBJDUMP) -h -S -C -r $< > $@
+#	$(OBJDUMP) -x -S $< > $@
+
+# Create a symbol table from ELF output file.
+%.sym: %.elf
+##	@echo
+	@echo $(MSG_SYMBOL_TABLE) $@
+	$(NM) -n $< > $@
+
+# Link: create ELF output file from object files.
+.SECONDARY : $(TARGET).elf
+.PRECIOUS : $(ALLOBJ)
+%.elf:  $(ALLOBJ)
+	@echo $(MSG_LINKING) $@
+# use $(CC) for C-only projects or $(CPP) for C++-projects:
+	$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
+#	$(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
+
+ 
+# Assemble: create object files from assembler source files.
+define ASSEMBLE_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_ASSEMBLING) $$<  to  $$@
+	$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
+endef
+$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
+
+# Assemble: create object files from assembler source files. ARM-only
+define ASSEMBLE_ARM_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_ASSEMBLING_ARM) $$<  to  $$@
+	$(CC) -c $$(ASFLAGS) $$< -o $$@
+endef
+$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
+
+
+# Compile: create object files from C source files.
+define COMPILE_C_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_COMPILING) $$<  to  $$@
+	$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
+endef
+$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
+
+# Compile: create object files from C source files. ARM-only
+define COMPILE_C_ARM_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_COMPILING_ARM) $$<  to  $$@
+	$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
+endef
+$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
+
+
+# Compile: create object files from C++ source files.
+define COMPILE_CPP_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_COMPILINGCPP) $$<  to  $$@
+	$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
+endef
+$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
+
+# Compile: create object files from C++ source files. ARM-only
+define COMPILE_CPP_ARM_TEMPLATE
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
+##	@echo
+	@echo $(MSG_COMPILINGCPP_ARM) $$<  to  $$@
+	$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
+endef
+$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
+
+
+# Compile: create assembler files from C source files. ARM/Thumb
+$(SRC:.c=.s) : %.s : %.c
+	@echo $(MSG_ASMFROMC) $< to $@
+	$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+
+# Compile: create assembler files from C source files. ARM only
+$(SRCARM:.c=.s) : %.s : %.c
+	@echo $(MSG_ASMFROMC_ARM) $< to $@
+	$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+
+# Generate Doxygen documents
+docs:
+	doxygen  $(DOXYGENDIR)/doxygen.cfg
+
+# Target: clean project.
+clean: begin clean_list finished end
+
+clean_list :
+##	@echo
+	@echo $(MSG_CLEANING)
+	$(REMOVE) $(OUTDIR)/$(TARGET).map
+	$(REMOVE) $(OUTDIR)/$(TARGET).elf
+	$(REMOVE) $(OUTDIR)/$(TARGET).hex
+	$(REMOVE) $(OUTDIR)/$(TARGET).bin
+	$(REMOVE) $(OUTDIR)/$(TARGET).sym
+	$(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(REMOVE) $(wildcard $(OUTDIR)/*.c)
+	$(REMOVE) $(wildcard $(OUTDIR)/*.h)
+	$(REMOVE) $(ALLOBJ)
+	$(REMOVE) $(LSTFILES)
+	$(REMOVE) $(DEPFILES)
+	$(REMOVE) $(SRC:.c=.s)
+	$(REMOVE) $(SRCARM:.c=.s)
+	$(REMOVE) $(CPPSRC:.cpp=.s)
+	$(REMOVE) $(CPPSRCARM:.cpp=.s)
+
+
+# Create output files directory
+# all known MS Windows OS define the ComSpec environment variable
+ifdef ComSpec
+$(shell md $(OUTDIR) 2>NUL)
+else
+$(shell mkdir $(OUTDIR) 2>/dev/null)
+endif
+
+# Include the dependency files.
+ifdef ComSpec
+-include $(shell md $(OUTDIR)\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
+else
+-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
+endif
+
+
+
+# Listing of phony targets.
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
+build elf hex bin lss sym clean clean_list program gencode
+

From 2f7320fc16dd1c51765908952e4b863614b56fcb Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 19 Mar 2011 19:58:57 -0500
Subject: [PATCH 229/543] Common Activity class that binds to the Telemetry
 service

---
 .../androidgcs/ObjectManagerActivity.java     | 97 +++++++++++++++++++
 1 file changed, 97 insertions(+)
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
new file mode 100644
index 000000000..9f57796dc
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -0,0 +1,97 @@
+package org.openpilot.androidgcs;
+
+import org.openpilot.androidgcs.OPTelemetryService.LocalBinder;
+import org.openpilot.androidgcs.OPTelemetryService.TelemTask;
+import org.openpilot.uavtalk.UAVObjectManager;
+
+import android.app.Activity;
+import android.content.BroadcastReceiver;
+import android.content.ComponentName;
+import android.content.Context;
+import android.content.Intent;
+import android.content.IntentFilter;
+import android.content.ServiceConnection;
+import android.os.Bundle;
+import android.os.IBinder;
+import android.util.Log;
+
+public abstract class ObjectManagerActivity extends Activity {
+
+	private final String TAG = "ObjectManagerActivity";
+	private static int LOGLEVEL = 2;
+//	private static boolean WARN = LOGLEVEL > 1;
+	private static boolean DEBUG = LOGLEVEL > 0;
+
+	UAVObjectManager objMngr;
+    boolean mBound = false;
+    boolean mConnected = false;
+    LocalBinder binder;
+    
+
+	/** Called when the activity is first created. */
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		
+		BroadcastReceiver connectedReceiver = new BroadcastReceiver() {
+			@Override
+			public void onReceive(Context context, Intent intent) {
+				Log.d(TAG, "Received intent");
+				TelemTask task;
+				if(intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_CONNECTED) == 0) {
+					
+					if(binder  == null)
+						return;
+					if((task = binder.getTelemTask(0)) == null)
+						return;
+					objMngr = task.getObjectManager();
+					mConnected = true;
+					onOPConnected();
+					Log.d(TAG, "Connected()");
+				} else if (intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_DISCONNECTED) == 0) {
+					objMngr = null;
+					mConnected = false;
+					onOPDisconnected();
+					Log.d(TAG, "Disonnected()");
+				}
+			}			
+		};
+		
+		IntentFilter filter = new IntentFilter();
+		filter.addCategory(OPTelemetryService.INTENT_CATEGORY_GCS);
+		filter.addAction(OPTelemetryService.INTENT_ACTION_CONNECTED);
+		filter.addAction(OPTelemetryService.INTENT_ACTION_DISCONNECTED);
+		registerReceiver(connectedReceiver, filter);
+	}
+	
+	void onOPConnected() {
+		
+	}
+	
+	void onOPDisconnected() {
+		
+	}
+	
+	@Override
+	public void onStart() {
+		super.onStart();
+		Intent intent = new Intent(this, OPTelemetryService.class);
+		bindService(intent, mConnection, Context.BIND_AUTO_CREATE);
+	}
+
+	/** Defines callbacks for service binding, passed to bindService() */
+	private ServiceConnection mConnection = new ServiceConnection() {
+		public void onServiceConnected(ComponentName arg0, IBinder service) {
+			// We've bound to LocalService, cast the IBinder and attempt to open a connection			
+			if (DEBUG) Log.d(TAG,"Service bound");
+			binder = (LocalBinder) service;			
+			binder.openFakeConnection();
+		}
+
+		public void onServiceDisconnected(ComponentName name) {
+			mBound = false;
+			mConnected = false;
+			objMngr = null;
+		}
+	};
+}

From a70c967f9c4da5564b2e5e2957a4436b90d70b36 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 19 Mar 2011 20:00:12 -0500
Subject: [PATCH 230/543] Start of a widget for monitoring telemetry status

---
 androidgcs/AndroidManifest.xml                | 43 +++++++++++++------
 androidgcs/res/layout/telemetry_widget.xml    |  7 +++
 .../openpilot/androidgcs/TelemetryWidget.java | 31 +++++++++++++
 3 files changed, 67 insertions(+), 14 deletions(-)
 create mode 100644 androidgcs/res/layout/telemetry_widget.xml
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 6c89f2632..9a3d1dd25 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -1,23 +1,38 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
-      package="org.openpilot.androidgcs"
-      android:versionCode="1"
-      android:versionName="1.0">
-    <uses-sdk android:minSdkVersion="7" />
+	package="org.openpilot.androidgcs" android:versionCode="1"
+	android:versionName="1.0">
+	<uses-sdk android:minSdkVersion="7" />
 
 	<uses-permission android:name="android.permission.BLUETOOTH" />
 	<uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
-	
-    <application android:icon="@drawable/icon" android:label="@string/app_name" >
 
-        <activity android:name="ObjectBrowser"
-                  android:label="@string/app_name">
-            <intent-filter>
-                <action android:name="android.intent.action.MAIN" />
-                <category android:name="android.intent.category.LAUNCHER" />
-            </intent-filter>
-        </activity>
+	<application android:icon="@drawable/icon" android:label="@string/app_name">
+
+		<!-- Object browser - main activity at the moment -->
+		<activity android:name="ObjectBrowser" android:label="@string/app_name">
+			<intent-filter>
+				<action android:name="android.intent.action.MAIN" />
+				<category android:name="android.intent.category.LAUNCHER" />
+			</intent-filter>
+			<intent-filter>
+				<action android:name="org.openpilot.intent.action.CONNECTED" />
+				<action android:name="org.openpilot.intent.action.DISCONNECTED" />
+			</intent-filter>
+		</activity>
+
+		<receiver android:name="TelemetryWidget">
+			<intent-filter>
+				<action android:name="android.appwidget.action.APPWIDGET_UPDATE" />
+			</intent-filter>
+			<intent-filter>
+				<action android:name="org.openpilot.intent.action.CONNECTED" />
+				<action android:name="org.openpilot.intent.action.DISCONNECTED" />
+			</intent-filter>
+			<meta-data android:name="android.appwidget.provider"
+				android:resource="@xml/telemetry_widget_info" />
+		</receiver>
 
 		<service android:name=".OPTelemetryService"></service>
-    </application>
+	</application>
 </manifest>
\ No newline at end of file
diff --git a/androidgcs/res/layout/telemetry_widget.xml b/androidgcs/res/layout/telemetry_widget.xml
new file mode 100644
index 000000000..6af378104
--- /dev/null
+++ b/androidgcs/res/layout/telemetry_widget.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout
+  xmlns:android="http://schemas.android.com/apk/res/android"
+  android:layout_width="match_parent"
+  android:layout_height="match_parent">
+    <TextView android:text="TextView" android:layout_width="wrap_content" android:id="@+id/telemetryWidgetStatus" android:layout_height="wrap_content"></TextView>
+</LinearLayout>
diff --git a/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java b/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java
new file mode 100644
index 000000000..90ab80899
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java
@@ -0,0 +1,31 @@
+package org.openpilot.androidgcs;
+
+import android.appwidget.AppWidgetManager;
+import android.appwidget.AppWidgetProvider;
+import android.content.Context;
+import android.content.Intent;
+import android.os.Bundle;
+import android.widget.RemoteViews;
+
+public class TelemetryWidget extends AppWidgetProvider {
+	
+	private static boolean connected = false;
+
+	public void onUpdate(Context context, AppWidgetManager appWidgetManager, int[] appWidgetIds) {
+        final int N = appWidgetIds.length;
+
+        // Perform this loop procedure for each App Widget that belongs to this provider
+        for (int i=0; i<N; i++) {
+            int appWidgetId = appWidgetIds[i];
+
+            // Get the layout for the App Widget and attach an on-click listener to the button
+            RemoteViews views = new RemoteViews(context.getPackageName(), R.layout.telemetry_widget);
+            //views.setOnClickPendingIntent(R.id.button, pendingIntent);
+
+            // Tell the AppWidgetManager to perform an update on the current App Widget
+            appWidgetManager.updateAppWidget(appWidgetId, views);
+        }
+    }
+    
+
+}

From f3c8eac00271e1f152b3b7c51b7ed80b1afed30e Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 19 Mar 2011 20:01:01 -0500
Subject: [PATCH 231/543] Get rid of lots of warnings

---
 .../androidgcs/OPTelemetryService.java        | 211 ++++++++++++++----
 .../openpilot/androidgcs/ObjectBrowser.java   |  83 ++-----
 .../openpilot/androidgcs/TelemetryWidget.java |   4 -
 .../src/org/openpilot/uavtalk/Telemetry.java  |   1 -
 .../openpilot/uavtalk/TelemetryMonitor.java   |  11 +-
 .../src/org/openpilot/uavtalk/UAVObject.java  |   2 +-
 .../org/openpilot/uavtalk/UAVObjectField.java |  11 +-
 7 files changed, 194 insertions(+), 129 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index 5a48bbc05..557c3b256 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -2,6 +2,7 @@ package org.openpilot.androidgcs;
 
 import org.openpilot.uavtalk.Telemetry;
 import org.openpilot.uavtalk.TelemetryMonitor;
+import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObjectManager;
 import org.openpilot.uavtalk.UAVTalk;
 import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
@@ -13,69 +14,192 @@ import android.app.Service;
 import android.content.Context;
 import android.content.Intent;
 import android.net.Uri;
+import android.os.Binder;
 import android.os.Handler;
+import android.os.HandlerThread;
 import android.os.IBinder;
 import android.os.Looper;
+import android.os.Message;
+import android.os.Process;
 import android.util.Log;
+import android.widget.Toast;
 
 public class OPTelemetryService extends Service {
+
+	// Logging settings
 	private final String TAG = "OPTElemetryService";
 	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
-	final int DISCONNECT_MESSAGE = 0;
-	final int CONNECT_MESSAGE = 1;
-	final int CONNECT_FAILED_MESSAGE = 2;
-	
-	private UAVObjectManager objMngr;
-	private UAVTalk uavTalk;
-	private Telemetry tel;
-	private TelemetryMonitor mon;
-	
-	private Handler handler;
+	// Intent category
+	public final static String INTENT_CATEGORY_GCS        = "org.openpilot.intent.category.GCS";
 
-	@Override
-	public IBinder onBind(Intent arg0) {
-		return null;
-	}
+	// Intent actions
+	public final static String INTENT_ACTION_CONNECTED    = "org.openpilot.intent.action.CONNECTED";
+	public final static String INTENT_ACTION_DISCONNECTED = "org.openpilot.intent.action.DISCONNECTED";
+
+	// Variables for local message handler thread
+	private Looper mServiceLooper;
+	private ServiceHandler mServiceHandler;
+
+	// Message ids
+	final int MSG_START = 0;
+	final int MSG_CONNECT_BT = 1;
+	final int MSG_CONNECT_FAKE = 2;
+	final int MSG_TOAST = 100;
+
+	private Thread activeTelem;
+
+	private final IBinder mBinder = new LocalBinder();
+
+	private final class ServiceHandler extends Handler {
+		public ServiceHandler(Looper looper) {
+			super(looper);
+		}
+		@Override
+		public void handleMessage(Message msg) {
+			switch(msg.arg1) {
+			case MSG_START:
+				Toast.makeText(OPTelemetryService.this, "HERE", Toast.LENGTH_SHORT);
+				System.out.println("HERE");
+				stopSelf(msg.arg2);
+			case MSG_CONNECT_BT:
+				activeTelem = new BTTelemetryThread();
+				activeTelem.start();
+				break;
+			case MSG_CONNECT_FAKE:
+				activeTelem = new FakeTelemetryThread();
+				activeTelem.start();
+				break;
+			case MSG_TOAST:
+				Toast.makeText(OPTelemetryService.this, (String) msg.obj, Toast.LENGTH_SHORT);
+				break;
+			default:
+				System.out.println(msg.toString());
+				throw new Error("Invalid message");
+			}
+		}
+	};
 
 	@Override
 	public void onCreate() {
-		super.onCreate();
-		
-		if (DEBUG) Log.d(TAG, "Telemetry Service started");
+		// Low priority thread for message handling with service
+		HandlerThread thread = new HandlerThread("TelemetryServiceHandler",
+				Process.THREAD_PRIORITY_BACKGROUND);
+		thread.start();
 
-		Thread telemetryThread = new Thread(telemetryRunnable);
-		telemetryThread.start();
- 	}
+		// Get the HandlerThread's Looper and use it for our Handler 
+		mServiceLooper = thread.getLooper();
+		mServiceHandler = new ServiceHandler(mServiceLooper);
+	}
+
+	@Override
+	public int onStartCommand(Intent intent, int flags, int startId) {
+		Toast.makeText(this, "Telemetry service starting", Toast.LENGTH_SHORT).show();
+
+		System.out.println("Start");
+		// For each start request, send a message to start a job and deliver the
+		// start ID so we know which request we're stopping when we finish the job
+		Message msg = mServiceHandler.obtainMessage();
+		msg.arg1 = MSG_START;
+		msg.arg2 = startId;
+		mServiceHandler.sendMessage(msg);
+
+		// If we get killed, after returning from here, restart
+		return START_STICKY;
+	}
+
+	@Override
+	public IBinder onBind(Intent intent) {		
+		return mBinder;
+	}
 
 	@Override
 	public void onDestroy() {
-		super.onDestroy();
+		Toast.makeText(this, "Telemetry service done", Toast.LENGTH_SHORT).show(); 
 	}
+
+	public class LocalBinder extends Binder {
+		public TelemTask getTelemTask(int id) {
+			return (TelemTask) activeTelem;
+		}
+		public void openFakeConnection() {
+			Message msg = mServiceHandler.obtainMessage();
+			msg.arg1 = MSG_CONNECT_FAKE;
+			mServiceHandler.sendMessage(msg);
+		}
+	};
 	
-	private final Runnable telemetryRunnable = new Runnable() {
+	public void toastMessage(String msgText) {
+		Message msg = mServiceHandler.obtainMessage();
+		msg.arg1 = MSG_TOAST;
+		msg.obj = msgText;
+		mServiceHandler.sendMessage(msg);
+	}
+
+	public interface TelemTask {
+		public UAVObjectManager getObjectManager();
+	};
+
+	// Fake class for testing, simply emits periodic updates on 
+	private class FakeTelemetryThread extends Thread implements TelemTask  {
+		private UAVObjectManager objMngr;
+		public UAVObjectManager getObjectManager() { return objMngr; };
+
+		FakeTelemetryThread() {
+			objMngr = new UAVObjectManager();
+			UAVObjectsInitialize.register(objMngr);
+		}
+		
+		public void run() {
+			System.out.println("Runnin fake thread");
+
+			Intent intent = new Intent();
+			intent.setAction(INTENT_ACTION_CONNECTED);
+			sendBroadcast(intent,null);
+			
+			//toastMessage("Started fake telemetry thread");
+			UAVDataObject systemStats = (UAVDataObject) objMngr.getObject("SystemStats");
+			while(true) {
+				systemStats.updated();
+				try {
+					Thread.sleep(1000);
+				} catch (InterruptedException e) {
+					break;
+				}
+			}
+		}
+	}
+	private class BTTelemetryThread extends Thread implements TelemTask { 
+
+		private UAVObjectManager objMngr;
+		private UAVTalk uavTalk;
+		private Telemetry tel;
+		//private TelemetryMonitor mon;
+
+		public UAVObjectManager getObjectManager() { return objMngr; };
+
+		BTTelemetryThread() {
+			objMngr = new UAVObjectManager();
+			UAVObjectsInitialize.register(objMngr);
+		}
 
 		public void run() {			
 			if (DEBUG) Log.d(TAG, "Telemetry Thread started");
 
 			Looper.prepare();						
-			
-	        objMngr = new UAVObjectManager();
-			UAVObjectsInitialize.register(objMngr);
-			
-			postNotification(CONNECT_FAILED_MESSAGE, "Connecting");
+
 			BluetoothUAVTalk bt = new BluetoothUAVTalk(OPTelemetryService.this, BluetoothUAVTalk.DEVICE_NAME);
 			for( int i = 0; i < 10; i++ ) {
 				if (DEBUG) Log.d(TAG, "Attempting Bluetooth Connection");
-					
+
 				bt.connect(objMngr);
-				
+
 				if (DEBUG) Log.d(TAG, "Done attempting connection");
 				if( bt.getConnected() )
 					break;
-				
+
 				try {
 					Thread.sleep(1000);
 				} catch (InterruptedException e) {
@@ -85,17 +209,15 @@ public class OPTelemetryService extends Service {
 				}
 			}
 			if( ! bt.getConnected() ) {
-				postNotification(CONNECT_FAILED_MESSAGE, "Could not connect to UAV");
 				return;
 			}
-			
-			postNotification(CONNECT_MESSAGE, "Connected to UAV port");
-			
+
+
 			if (DEBUG) Log.d(TAG, "Connected via bluetooth");
-			
+
 			uavTalk = bt.getUavtalk();
 			tel = new Telemetry(uavTalk, objMngr);
-			mon = new TelemetryMonitor(objMngr,tel);
+			new TelemetryMonitor(objMngr,tel);
 
 			if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
 			while(true) {
@@ -103,30 +225,23 @@ public class OPTelemetryService extends Service {
 					break;
 			}
 			if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
-			postNotification(DISCONNECT_MESSAGE,"UAVTalk stream disconnected");
 		}
-	
+
 	};
-	
+
 	void postNotification(int id, String message) {
 		String ns = Context.NOTIFICATION_SERVICE;
 		NotificationManager mNManager = (NotificationManager) getSystemService(ns);
 		final Notification msg = new Notification(R.drawable.icon, message, System.currentTimeMillis());
-		
+
 		Context context = getApplicationContext(); 
 		CharSequence contentTitle = "OpenPilot";
 		CharSequence contentText = message; 
 		Intent msgIntent = new Intent(Intent.ACTION_VIEW, Uri.parse("http://forums.openpilot.org"));
 		PendingIntent intent = PendingIntent.getActivity(this, 0, msgIntent, Intent.FLAG_ACTIVITY_NEW_TASK);		
-		
+
 		msg.setLatestEventInfo(context, contentTitle, contentText, intent);
-		
+
 		mNManager.notify(id, msg);
 	}
-	
-	public UAVObjectManager getObjMngr() { return objMngr; };
-	public UAVTalk getUavTalk() { return uavTalk; };
-	public Telemetry getTelemetry() { return tel; };
-	public TelemetryMonitor getTelemetryMonitor() { return mon; };
-
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index 6bb217930..48aa1cd10 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -1,42 +1,21 @@
 package org.openpilot.androidgcs;
 
-import java.io.IOException;
 import java.util.Observable;
 import java.util.Observer;
-import java.util.Set;
-import java.util.UUID;
 
-import android.app.Activity;
-import android.bluetooth.BluetoothAdapter;
-import android.bluetooth.BluetoothDevice;
-import android.bluetooth.BluetoothSocket;
-import android.content.Intent;
 import android.os.Bundle;
 import android.os.Handler;
 import android.util.Log;
 import android.widget.TextView;
 import android.widget.ToggleButton;
 
-import org.openpilot.androidgcs.*;
-import org.openpilot.uavtalk.Telemetry;
-import org.openpilot.uavtalk.TelemetryMonitor;
 import org.openpilot.uavtalk.UAVObject;
-import org.openpilot.uavtalk.UAVObjectManager;
-import org.openpilot.uavtalk.UAVTalk;
-import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
 
-public class ObjectBrowser extends Activity {
-	
+public class ObjectBrowser extends ObjectManagerActivity {
+
 	private final String TAG = "ObjectBrower";
-	private final String DEVICE_NAME = "RN42-222D";
-	private final int REQUEST_ENABLE_BT = 0;
-	private UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
-	BluetoothAdapter mBluetoothAdapter;
-	BluetoothSocket socket;
 	boolean connected;
-	UAVObjectManager objMngr;
-	UAVTalk uavTalk;
-	
+
 	final Handler uavobjHandler = new Handler(); 
 	final Runnable updateText = new Runnable() {
 		public void run() {
@@ -44,9 +23,9 @@ public class ObjectBrowser extends Activity {
 			button.setChecked(!connected);
 
 			Log.d(TAG,"HERE" + connected);
-			
+
 			TextView text = (TextView) findViewById(R.id.textView1);
-			
+
 			UAVObject obj1 = objMngr.getObject("SystemStats");
 			UAVObject obj2 = objMngr.getObject("AttitudeRaw");
 			UAVObject obj3 = objMngr.getObject("AttitudeActual");
@@ -57,52 +36,30 @@ public class ObjectBrowser extends Activity {
 
 			Log.d(TAG,"And here");
 			text.setText(obj1.toString() + "\n" + obj2.toString() + "\n" + obj3.toString() + "\n" + obj4.toString() );
-			
+
 		}
 	};
-	
-    /** Called when the activity is first created. */
-    @Override
-    public void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        setContentView(R.layout.main);
-        
-        Log.d(TAG, "Launching Object Browser");
 
-        Log.d(TAG, "Start OP Telemetry Service");
-        startService( new Intent( this, OPTelemetryService.class ) );
-        
-        objMngr = new UAVObjectManager();
-		UAVObjectsInitialize.register(objMngr);
+	/** Called when the activity is first created. */
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		setContentView(R.layout.main);
+	}
+
+	@Override
+	void onOPConnected() {
+		//		Toast.makeText(this,"Telemetry estabilished",Toast.LENGTH_SHORT);
+		Log.d(TAG, "onOPConnected()");
 
 		UAVObject obj = objMngr.getObject("SystemStats");
+		Log.d(TAG, ((Boolean) (obj == null)).toString());
 		if(obj != null)
 			obj.addUpdatedObserver(new Observer() {
 				public void update(Observable observable, Object data) {
 					uavobjHandler.post(updateText);
 				}				
 			});
-		obj = objMngr.getObject("AttitudeRaw");
-		if(obj != null)
-			obj.addUpdatedObserver(new Observer() {
-				public void update(Observable observable, Object data) {
-					uavobjHandler.post(updateText);
-				}				
-			});
-		obj = objMngr.getObject("AttitudeActual");
-		if(obj != null)
-			obj.addUpdatedObserver(new Observer() {
-				public void update(Observable observable, Object data) {
-					uavobjHandler.post(updateText);
-				}				
-			});
-		obj = objMngr.getObject("SystemAlarms");
-		if(obj != null)
-			obj.addUpdatedObserver(new Observer() {
-				public void update(Observable observable, Object data) {
-					uavobjHandler.post(updateText);
-				}				
-			});		
-    }
-    
+
+	}
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java b/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java
index 90ab80899..d316526ef 100644
--- a/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java
+++ b/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java
@@ -3,14 +3,10 @@ package org.openpilot.androidgcs;
 import android.appwidget.AppWidgetManager;
 import android.appwidget.AppWidgetProvider;
 import android.content.Context;
-import android.content.Intent;
-import android.os.Bundle;
 import android.widget.RemoteViews;
 
 public class TelemetryWidget extends AppWidgetProvider {
 	
-	private static boolean connected = false;
-
 	public void onUpdate(Context context, AppWidgetManager appWidgetManager, int[] appWidgetIds) {
         final int N = appWidgetIds.length;
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index c754c8329..1395a5c08 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -630,7 +630,6 @@ public class Telemetry {
 	/**
 	 * Private variables
 	 */
-	private TelemetryStats stats;
     private UAVObjectManager objMngr;
     private UAVTalk utalk;
     private UAVObject gcsStatsObj;
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index 9b4474d8e..7208181ad 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -8,9 +8,6 @@ import java.util.Observer;
 import java.util.Timer;
 import java.util.TimerTask;
 
-import org.openpilot.uavtalk.uavobjects.FlightTelemetryStats;
-import org.openpilot.uavtalk.uavobjects.GCSTelemetryStats;
-
 import android.util.Log;
 
 public class TelemetryMonitor {
@@ -26,7 +23,7 @@ public class TelemetryMonitor {
 
 	private UAVObjectManager objMngr;
 	private Telemetry tel;
-	private UAVObject objPending;
+//	private UAVObject objPending;
 	private UAVObject gcsStatsObj;
 	private UAVObject flightStatsObj;
 	private Timer periodicTask;
@@ -38,7 +35,7 @@ public class TelemetryMonitor {
 	{
 	    this.objMngr = objMngr;
 	    this.tel = tel;
-	    this.objPending = null;
+//	    this.objPending = null;
 	    queue = new ArrayList<UAVObject>();
 
 	    // Get stats objects
@@ -142,7 +139,7 @@ public class TelemetryMonitor {
 
 	    // Request update
 	    tel.updateRequested(obj);
-	    objPending = obj;
+//	    objPending = obj;
 	}
 
 	/**
@@ -155,7 +152,7 @@ public class TelemetryMonitor {
 		if (DEBUG) Log.d(TAG,"transactionCompleted.  Status: " + success);
 		// TODO: Need to be able to disconnect signals
 	    //obj->disconnect(this);
-	    objPending = null;
+//	    objPending = null;
 	    
 	    if(!success) {
 	    	Log.e(TAG, "Transaction failed: " + obj.getName() + " sending again.");
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index ba3bf1ae3..940b076a5 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -64,7 +64,7 @@ public abstract class UAVObject {
 		if(manually)
 			updatedManual();
 	}
-	void updated() { updated(true); };
+	public void updated() { updated(true); };
 	
 	private CallbackListener unpackedListeners = new CallbackListener(this);
 	public void addUnpackedObserver(Observer o) {
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index de2059e90..78ad70630 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -1,6 +1,5 @@
 package org.openpilot.uavtalk;
 
-import java.io.Serializable;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.util.ArrayList;
@@ -91,7 +90,8 @@ public class UAVObjectField {
      * @param dataOut
      * @return the number of bytes added
      **/
-    public synchronized int pack(ByteBuffer dataOut) {
+    @SuppressWarnings("unchecked")
+	public synchronized int pack(ByteBuffer dataOut) {
         // Pack each element in output buffer
     	dataOut.order(ByteOrder.LITTLE_ENDIAN);
         switch (type)
@@ -152,7 +152,8 @@ public class UAVObjectField {
         return getNumBytes();    	
     }
     
-    public synchronized int unpack(ByteBuffer dataIn) {
+    @SuppressWarnings("unchecked")
+	public synchronized int unpack(ByteBuffer dataIn) {
         // Unpack each element from input buffer
     	dataIn.order(ByteOrder.LITTLE_ENDIAN);
         switch (type)
@@ -436,9 +437,9 @@ public class UAVObjectField {
         }    	
     }
     
-    public String toString() {
+	public String toString() {
         String sout = new String();
-        sout += name + ": " + ((List) data).toString() + " (" + units + ")\n";
+        sout += name + ": " + data.toString() + " (" + units + ")\n";
         return sout;    	
     }
 

From 6613e4d3bf2eb381998ddb1d6b64bc29d5797271 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 20 Mar 2011 06:09:06 -0500
Subject: [PATCH 232/543] Added some missing files.  Improved object browser to
 use ListView. ExpandableListView next.

---
 androidgcs/Doc/.AndroidArchitecture.txt.swp   | Bin 0 -> 12288 bytes
 androidgcs/Doc/AndroidArchitecture.txt        |  31 +++++++
 androidgcs/res/layout/main.xml                |  17 ++--
 androidgcs/res/layout/object_view.xml         |   7 ++
 androidgcs/res/menu/options_menu.xml          |   6 ++
 androidgcs/res/values/strings.xml             |   4 +
 androidgcs/res/xml/telemetry_widget_info.xml  |   9 ++
 .../androidgcs/OPTelemetryService.java        |  69 +++++++++++---
 .../openpilot/androidgcs/ObjectBrowser.java   |  84 +++++++++++++-----
 .../androidgcs/ObjectManagerActivity.java     |   1 -
 .../openpilot/uavtalk/TelemetryMonitor.java   |  30 +++++--
 .../src/org/openpilot/uavtalk/UAVTalk.java    |   3 +-
 12 files changed, 202 insertions(+), 59 deletions(-)
 create mode 100644 androidgcs/Doc/.AndroidArchitecture.txt.swp
 create mode 100644 androidgcs/Doc/AndroidArchitecture.txt
 create mode 100644 androidgcs/res/layout/object_view.xml
 create mode 100644 androidgcs/res/menu/options_menu.xml
 create mode 100644 androidgcs/res/xml/telemetry_widget_info.xml

diff --git a/androidgcs/Doc/.AndroidArchitecture.txt.swp b/androidgcs/Doc/.AndroidArchitecture.txt.swp
new file mode 100644
index 0000000000000000000000000000000000000000..167a072526a8207b396d71d6dd7d3e7a417cba19
GIT binary patch
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diff --git a/androidgcs/Doc/AndroidArchitecture.txt b/androidgcs/Doc/AndroidArchitecture.txt
new file mode 100644
index 000000000..d9cdf2ada
--- /dev/null
+++ b/androidgcs/Doc/AndroidArchitecture.txt
@@ -0,0 +1,31 @@
+------- TELEMETRY ---------
+The Telemetry system has been implemented, and is composed of a few
+major components:
+
+Telemetry.java - receives command to transmit objects through telemetry and
+also emits notification when transactions are completed
+
+TelemetryMonitor.java - monitors the FlightTelemetryStats and GCSTelemetryStats
+to establish when a working connection is in place.  Also initiates downloading
+all the objects on a new connection.
+
+UAVObjectManager.java - the central data store.  The data is actually stored
+within objects, but this maintains the handles to all of them.
+
+UAVTalk.java - the actual communication layer.  Can packetize an object and
+insert into stream and process the incoming stream and update objects
+accordingly.
+
+---- MESSAGE PASSING ----
+The current implementation/analog to the slots/sockets in QT are Observers
+which are registered as added to an Observable.  This is used extensibly within
+the telemetry system.  I will continue to use this _within_ the Telemetry
+module so it doesn't depend on any android features.
+
+In android there is a constraint that UI operations should all be done from the
+UI thread.  The most common way to do this is for the UI object (such as
+Activity) to instantiate a Handler to which messages or runnables are posted.
+
+So for external objects they will register a runnable somehow...
+
+
diff --git a/androidgcs/res/layout/main.xml b/androidgcs/res/layout/main.xml
index 9e5f90add..880e276ff 100644
--- a/androidgcs/res/layout/main.xml
+++ b/androidgcs/res/layout/main.xml
@@ -1,13 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
-<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:orientation="vertical"
-    android:layout_width="fill_parent"
-    android:layout_height="fill_parent"
-    >
-<TextView  
-    android:layout_width="fill_parent" 
-    android:layout_height="wrap_content" 
-    />
-<TextView android:text="TextView" android:id="@+id/textView1" android:layout_width="wrap_content" android:layout_height="wrap_content"></TextView>
-<ToggleButton android:text="ToggleButton" android:id="@+id/toggleButton1" android:layout_width="wrap_content" android:layout_height="wrap_content"></ToggleButton>
-</LinearLayout>
+<RelativeLayout   xmlns:android="http://schemas.android.com/apk/res/android"
+  android:layout_width="match_parent"
+  android:layout_height="match_parent">
+    <ListView android:layout_width="match_parent" android:layout_height="wrap_content" android:id="@+id/object_list"></ListView>
+</RelativeLayout>
diff --git a/androidgcs/res/layout/object_view.xml b/androidgcs/res/layout/object_view.xml
new file mode 100644
index 000000000..fdf5a0bae
--- /dev/null
+++ b/androidgcs/res/layout/object_view.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TextView xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="fill_parent"
+    android:layout_height="fill_parent"
+    android:padding="10dp"
+    android:textSize="16sp" >
+</TextView>
diff --git a/androidgcs/res/menu/options_menu.xml b/androidgcs/res/menu/options_menu.xml
new file mode 100644
index 000000000..db86aa670
--- /dev/null
+++ b/androidgcs/res/menu/options_menu.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<menu xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:title="@string/menu_item_settings" android:id="@+id/menu_settings"></item>
+    <item android:title="@string/menu_item_connect" android:id="@+id/menu_connect"></item>
+    <item android:title="@string/menu_item_disconnect" android:id="@+id/menu_disconnect"></item>
+</menu>
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index 52fa56534..8daa0ec36 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -1,4 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
     <string name="app_name">OpenPilot GCS</string>
+    <string name="menu_item_settings">Settings</string>
+    <string name="menu_item_connect">Connect</string>
+    <string name="menu_item_disconnect">Disconnect</string>
+    <string name="object_browser_title">OpenPilot Object Browser</string>
 </resources>
diff --git a/androidgcs/res/xml/telemetry_widget_info.xml b/androidgcs/res/xml/telemetry_widget_info.xml
new file mode 100644
index 000000000..f2ced6645
--- /dev/null
+++ b/androidgcs/res/xml/telemetry_widget_info.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<appwidget-provider
+  xmlns:android="http://schemas.android.com/apk/res/android">
+    android:minWidth="294dp"
+    android:minHeight="72dp"
+    android:updatePeriodMillis="86400000"
+    android:initialLayout="@layout/telemetry_widget">
+    <!--  android:configure="com.example.android.ExampleAppWidgetConfigure" -->
+</appwidget-provider>
diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index 557c3b256..7b3030d4f 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -1,5 +1,8 @@
 package org.openpilot.androidgcs;
 
+import java.util.Observable;
+import java.util.Observer;
+
 import org.openpilot.uavtalk.Telemetry;
 import org.openpilot.uavtalk.TelemetryMonitor;
 import org.openpilot.uavtalk.UAVDataObject;
@@ -27,7 +30,7 @@ import android.widget.Toast;
 public class OPTelemetryService extends Service {
 
 	// Logging settings
-	private final String TAG = "OPTElemetryService";
+	private final String TAG = "OPTelemetryService";
 	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
@@ -44,10 +47,13 @@ public class OPTelemetryService extends Service {
 	private ServiceHandler mServiceHandler;
 
 	// Message ids
-	final int MSG_START = 0;
-	final int MSG_CONNECT_BT = 1;
-	final int MSG_CONNECT_FAKE = 2;
-	final int MSG_TOAST = 100;
+	static final int MSG_START        = 0;
+	static final int MSG_CONNECT_BT   = 1;
+	static final int MSG_CONNECT_FAKE = 2;
+	static final int MSG_DISCONNECT   = 3;
+	static final int MSG_TOAST        = 100;
+
+	private boolean terminate = false;
 
 	private Thread activeTelem;
 
@@ -65,12 +71,28 @@ public class OPTelemetryService extends Service {
 				System.out.println("HERE");
 				stopSelf(msg.arg2);
 			case MSG_CONNECT_BT:
+				terminate = false;
 				activeTelem = new BTTelemetryThread();
 				activeTelem.start();
 				break;
 			case MSG_CONNECT_FAKE:
+				terminate = false;
 				activeTelem = new FakeTelemetryThread();
 				activeTelem.start();
+				break;
+			case MSG_DISCONNECT:
+				terminate = true;
+				try {
+					activeTelem.join();
+				} catch (InterruptedException e) {
+					e.printStackTrace();
+				}
+				activeTelem = null;
+
+				Intent intent = new Intent();
+				intent.setAction(INTENT_ACTION_DISCONNECTED);
+				sendBroadcast(intent,null);
+
 				break;
 			case MSG_TOAST:
 				Toast.makeText(OPTelemetryService.this, (String) msg.obj, Toast.LENGTH_SHORT);
@@ -129,8 +151,18 @@ public class OPTelemetryService extends Service {
 			msg.arg1 = MSG_CONNECT_FAKE;
 			mServiceHandler.sendMessage(msg);
 		}
+		public void openBTConnection() {
+			Message msg = mServiceHandler.obtainMessage();
+			msg.arg1 = MSG_CONNECT_BT;
+			mServiceHandler.sendMessage(msg);
+		}
+		public void stopConnection() {
+			Message msg = mServiceHandler.obtainMessage();
+			msg.arg1 = MSG_DISCONNECT;
+			mServiceHandler.sendMessage(msg);
+		}
 	};
-	
+
 	public void toastMessage(String msgText) {
 		Message msg = mServiceHandler.obtainMessage();
 		msg.arg1 = MSG_TOAST;
@@ -151,17 +183,17 @@ public class OPTelemetryService extends Service {
 			objMngr = new UAVObjectManager();
 			UAVObjectsInitialize.register(objMngr);
 		}
-		
+
 		public void run() {
-			System.out.println("Runnin fake thread");
+			System.out.println("Running fake thread");
 
 			Intent intent = new Intent();
 			intent.setAction(INTENT_ACTION_CONNECTED);
 			sendBroadcast(intent,null);
-			
+
 			//toastMessage("Started fake telemetry thread");
 			UAVDataObject systemStats = (UAVDataObject) objMngr.getObject("SystemStats");
-			while(true) {
+			while( !terminate ) {
 				systemStats.updated();
 				try {
 					Thread.sleep(1000);
@@ -176,7 +208,7 @@ public class OPTelemetryService extends Service {
 		private UAVObjectManager objMngr;
 		private UAVTalk uavTalk;
 		private Telemetry tel;
-		//private TelemetryMonitor mon;
+		private TelemetryMonitor mon;
 
 		public UAVObjectManager getObjectManager() { return objMngr; };
 
@@ -217,10 +249,21 @@ public class OPTelemetryService extends Service {
 
 			uavTalk = bt.getUavtalk();
 			tel = new Telemetry(uavTalk, objMngr);
-			new TelemetryMonitor(objMngr,tel);
+			mon = new TelemetryMonitor(objMngr,tel);
+			mon.addObserver(new Observer() {
+				public void update(Observable arg0, Object arg1) {
+					System.out.println("Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
+					if(mon.getConnected() /*&& mon.getObjectsUpdated()*/) {
+						Intent intent = new Intent();
+						intent.setAction(INTENT_ACTION_CONNECTED);
+						sendBroadcast(intent,null);					
+					}
+				}				
+			});
+
 
 			if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
-			while(true) {
+			while( !terminate ) {
 				if( !uavTalk.processInputStream() )
 					break;
 			}
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index 48aa1cd10..f68e839c1 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -1,42 +1,67 @@
 package org.openpilot.androidgcs;
 
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
 import java.util.Observable;
 import java.util.Observer;
 
+import android.database.DataSetObserver;
 import android.os.Bundle;
 import android.os.Handler;
 import android.util.Log;
+import android.view.Menu;
+import android.view.MenuInflater;
+import android.view.MenuItem;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.ArrayAdapter;
+import android.widget.ExpandableListAdapter;
+import android.widget.ExpandableListView;
+import android.widget.ListView;
+import android.widget.SimpleAdapter;
+import android.widget.SimpleExpandableListAdapter;
 import android.widget.TextView;
-import android.widget.ToggleButton;
+import android.widget.Toast;
 
+import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObject;
 
 public class ObjectBrowser extends ObjectManagerActivity {
 
+	@Override
+	public boolean onOptionsItemSelected(MenuItem item) {
+		switch(item.getItemId()) {
+		case R.id.menu_connect:
+			binder.openBTConnection();
+			return true;
+		case R.id.menu_disconnect:
+			binder.stopConnection();
+			updateText.run();
+			return true;
+		case R.id.menu_settings:
+			return true;
+		default:
+			return super.onOptionsItemSelected(item);
+		}
+
+	}
+
+	@Override
+	public boolean onCreateOptionsMenu(Menu menu) {
+		MenuInflater inflater = getMenuInflater();
+		inflater.inflate(R.menu.options_menu, menu);
+		return true;
+	}
+
 	private final String TAG = "ObjectBrower";
 	boolean connected;
 
 	final Handler uavobjHandler = new Handler(); 
 	final Runnable updateText = new Runnable() {
 		public void run() {
-			ToggleButton button = (ToggleButton) findViewById(R.id.toggleButton1);
-			button.setChecked(!connected);
-
-			Log.d(TAG,"HERE" + connected);
-
-			TextView text = (TextView) findViewById(R.id.textView1);
-
-			UAVObject obj1 = objMngr.getObject("SystemStats");
-			UAVObject obj2 = objMngr.getObject("AttitudeRaw");
-			UAVObject obj3 = objMngr.getObject("AttitudeActual");
-			UAVObject obj4 = objMngr.getObject("SystemAlarms");
-
-			if(obj1 == null || obj2 == null || obj3 == null || obj4 == null)
-				return;
-
-			Log.d(TAG,"And here");
-			text.setText(obj1.toString() + "\n" + obj2.toString() + "\n" + obj3.toString() + "\n" + obj4.toString() );
-
+			Log.d(TAG,"Update");
+			update();
 		}
 	};
 
@@ -44,16 +69,15 @@ public class ObjectBrowser extends ObjectManagerActivity {
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
-		setContentView(R.layout.main);
+		setContentView(R.layout.main);		
 	}
 
 	@Override
 	void onOPConnected() {
-		//		Toast.makeText(this,"Telemetry estabilished",Toast.LENGTH_SHORT);
+		Toast.makeText(this,"Telemetry estabilished",Toast.LENGTH_SHORT);
 		Log.d(TAG, "onOPConnected()");
-
+		
 		UAVObject obj = objMngr.getObject("SystemStats");
-		Log.d(TAG, ((Boolean) (obj == null)).toString());
 		if(obj != null)
 			obj.addUpdatedObserver(new Observer() {
 				public void update(Observable observable, Object data) {
@@ -62,4 +86,18 @@ public class ObjectBrowser extends ObjectManagerActivity {
 			});
 
 	}
+	
+	public void update() {
+		List<List<UAVDataObject>> allobjects = objMngr.getDataObjects();
+		List<UAVDataObject> linearized = new ArrayList<UAVDataObject>();
+		ListIterator<List<UAVDataObject>> li = allobjects.listIterator();
+		while(li.hasNext()) {
+			linearized.addAll(li.next());
+		}
+		
+		ArrayAdapter<UAVDataObject> adapter = new ArrayAdapter<UAVDataObject>(this,R.layout.object_view, linearized);
+		ListView objects = (ListView) findViewById(R.id.object_list);
+		objects.setAdapter(adapter);
+
+	}
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index 9f57796dc..12a072de7 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -85,7 +85,6 @@ public abstract class ObjectManagerActivity extends Activity {
 			// We've bound to LocalService, cast the IBinder and attempt to open a connection			
 			if (DEBUG) Log.d(TAG,"Service bound");
 			binder = (LocalBinder) service;			
-			binder.openFakeConnection();
 		}
 
 		public void onServiceDisconnected(ComponentName name) {
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index 7208181ad..daedcc85b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -10,10 +10,10 @@ import java.util.TimerTask;
 
 import android.util.Log;
 
-public class TelemetryMonitor {
+public class TelemetryMonitor extends Observable{
 
 	private static final String TAG = "TelemetryMonitor";
-	public static int LOGLEVEL = 0;
+	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
@@ -31,6 +31,12 @@ public class TelemetryMonitor {
 	private long lastUpdateTime;
 	private List<UAVObject> queue;
 	
+	private boolean connected = false;
+	private boolean objects_updated = false;
+	
+	public boolean getConnected() { return connected; };
+	public boolean getObjectsUpdated() { return objects_updated; };
+	
 	public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel)
 	{
 	    this.objMngr = objMngr;
@@ -116,8 +122,9 @@ public class TelemetryMonitor {
 	    if ( queue.isEmpty() )
 	    {
 	    	if (DEBUG) Log.d(TAG, "All objects retrieved: Connected Successfully");
-	        //qxtLog->debug("Object retrieval completed");
-	        //emit connected();
+	    	objects_updated = true;
+	    	setChanged();
+	    	notifyObservers();
 	        return;
 	    }
 	    // Get next object from the queue
@@ -260,9 +267,9 @@ public class TelemetryMonitor {
 	    // Force telemetry update if not yet connected
 	    boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
 	    
-	    boolean gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
-	    boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
-	    boolean flightConnected = ((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0;
+	    boolean gcsConnected = statusField.getValue().equals("Connected");
+	    boolean gcsDisconnected = statusField.getValue().equals("Disconnected");
+	    boolean flightConnected = flightStatsObj.getField("Status").equals("Connected");
 	    
 	    if (  !gcsConnected || !flightConnected )
 	    {
@@ -275,14 +282,21 @@ public class TelemetryMonitor {
 	    {
 	    	if (DEBUG) Log.d(TAG,"Connection with the autopilot established");
 	    	setPeriod(STATS_UPDATE_PERIOD_MS);
+	    	connected = true;
+	    	objects_updated = false;
 	        startRetrievingObjects();
+	        setChanged();
 	    }
 	    if (gcsDisconnected && gcsStatusChanged)
 	    {
 	    	if (DEBUG) Log.d(TAG,"Trying to connect to the autopilot");
 	    	setPeriod(STATS_CONNECT_PERIOD_MS);
-	        //emit disconnected();
+	    	connected = false;
+	    	objects_updated = false;
+	        setChanged();
 	    }
+        notifyObservers();
+
 	}
 
 	private void setPeriod(int ms) {
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 8671cdef9..39c1f6ee7 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -197,8 +197,7 @@ public class UAVTalk extends Observable {
 			 return false;
 		 }
 
-		 // System.out.println("Received byte " + val + " in state + " +
-		 // rxState);
+		 //System.out.println("Received byte " + val + " in state + " + rxState);
 		 processInputByte(val);
 		 return true;
 	}

From 247d3a7754ac5b48a0af2ce6ee91a483cdc5e91d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 20 Mar 2011 21:34:03 -0500
Subject: [PATCH 233/543] Added a home page, added an option to select
 connection type.  Made the ListView adapter trigger updates on the data.

---
 androidgcs/AndroidManifest.xml                |  8 ++-
 androidgcs/Doc/AndroidArchitecture.txt        | 39 +++++++++++
 androidgcs/res/layout/gcs_home.xml            |  7 ++
 androidgcs/res/values/arrays.xml              | 15 +++++
 androidgcs/res/values/strings.xml             |  9 ++-
 androidgcs/res/xml/preferences.xml            | 12 ++++
 .../org/openpilot/androidgcs/HomePage.java    | 23 +++++++
 .../androidgcs/OPTelemetryService.java        | 39 ++++++-----
 .../openpilot/androidgcs/ObjectBrowser.java   | 65 ++++++++-----------
 .../androidgcs/ObjectManagerActivity.java     | 28 ++++++++
 .../org/openpilot/androidgcs/Preferences.java | 12 ++++
 11 files changed, 201 insertions(+), 56 deletions(-)
 create mode 100644 androidgcs/res/layout/gcs_home.xml
 create mode 100644 androidgcs/res/values/arrays.xml
 create mode 100644 androidgcs/res/xml/preferences.xml
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/HomePage.java
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/Preferences.java

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 9a3d1dd25..a791d0fbb 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -10,17 +10,23 @@
 	<application android:icon="@drawable/icon" android:label="@string/app_name">
 
 		<!-- Object browser - main activity at the moment -->
-		<activity android:name="ObjectBrowser" android:label="@string/app_name">
+		<activity android:name="HomePage" android:label="@string/app_name">
 			<intent-filter>
 				<action android:name="android.intent.action.MAIN" />
 				<category android:name="android.intent.category.LAUNCHER" />
 			</intent-filter>
+		</activity>
+		
+		
+		<activity android:name="ObjectBrowser" android:label="@string/object_browser_name">
 			<intent-filter>
 				<action android:name="org.openpilot.intent.action.CONNECTED" />
 				<action android:name="org.openpilot.intent.action.DISCONNECTED" />
 			</intent-filter>
 		</activity>
 
+ 		<activity android:name="Preferences" android:label="@string/preference_title"/>
+ 		
 		<receiver android:name="TelemetryWidget">
 			<intent-filter>
 				<action android:name="android.appwidget.action.APPWIDGET_UPDATE" />
diff --git a/androidgcs/Doc/AndroidArchitecture.txt b/androidgcs/Doc/AndroidArchitecture.txt
index d9cdf2ada..0a17a8dfa 100644
--- a/androidgcs/Doc/AndroidArchitecture.txt
+++ b/androidgcs/Doc/AndroidArchitecture.txt
@@ -16,6 +16,11 @@ UAVTalk.java - the actual communication layer.  Can packetize an object and
 insert into stream and process the incoming stream and update objects
 accordingly.
 
+** Threading
+Currently object updates run within the thread of the function that called
+update.  This should be changed so that it adds a message to the Telemetry
+thread which will then send on its own time.
+
 ---- MESSAGE PASSING ----
 The current implementation/analog to the slots/sockets in QT are Observers
 which are registered as added to an Observable.  This is used extensibly within
@@ -28,4 +33,38 @@ Activity) to instantiate a Handler to which messages or runnables are posted.
 
 So for external objects they will register a runnable somehow...
 
+--- TELEMETRY SERVICE ---
+The telemetry connection will be maintained by a service separate from the the
+main activity(s).  Although it is a bit unusual, the service will support being
+started and stopped, as well as being bound.  Binding will be required to get
+access to the Object Manager.
 
+In addition, to make it forward looking, the start intent can specify a
+connection to open.  This will allow the service in future to monitor multiple
+connections.
+
+The service will destroy itself only when all active connections disappear and
+all activies are unbound.
+
+It will also handle any logging desired (I think).
+
+There will be a primary message handler thread.  This thread will separately
+launch telemetry threads when required.
+
+The service should send broadcast intents whenever a connection is estabilished
+or dropped.
+
+I dont think the service should have the options about which UAVs are
+supported.
+
+** Telemetry IBinder
+*** Give handle to the ObjectManager for each UAV
+*** Call disconnect
+*** Query conncetion status
+
+--- TELEMETRY WIDGET ---
+Listens for conncet/disconnect intents
+
+Also show if service is running?
+
+Ability to launch service?
diff --git a/androidgcs/res/layout/gcs_home.xml b/androidgcs/res/layout/gcs_home.xml
new file mode 100644
index 000000000..e6f4ea567
--- /dev/null
+++ b/androidgcs/res/layout/gcs_home.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RelativeLayout
+  xmlns:android="http://schemas.android.com/apk/res/android"
+  android:layout_width="match_parent"
+  android:layout_height="match_parent">
+    <Button android:layout_alignParentTop="true" android:layout_height="wrap_content" android:text="@string/object_browser_name" android:layout_width="wrap_content" android:id="@+id/launch_object_browser"></Button>
+</RelativeLayout>
diff --git a/androidgcs/res/values/arrays.xml b/androidgcs/res/values/arrays.xml
new file mode 100644
index 000000000..18ee52298
--- /dev/null
+++ b/androidgcs/res/values/arrays.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<resources>
+    <string-array name="connectTypeArray">
+        <item>None</item>
+        <item>Fake</item>
+        <item>Bluetooth</item>
+        <item>Network</item>
+    </string-array>
+    <string-array name="connectTypeValues">
+        <item>0</item>
+        <item>1</item>
+        <item>2</item>
+        <item>3</item>
+    </string-array>
+</resources>
\ No newline at end of file
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index 8daa0ec36..e9b66a312 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -1,8 +1,13 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
-    <string name="app_name">OpenPilot GCS</string>
+    <string name="app_name">OpenPilot GCS Home</string>
+    <string name="object_browser_name">OpenPilot Object Browser</string>
     <string name="menu_item_settings">Settings</string>
     <string name="menu_item_connect">Connect</string>
     <string name="menu_item_disconnect">Disconnect</string>
-    <string name="object_browser_title">OpenPilot Object Browser</string>
+    <string name="preference_title">Settings</string>
+    <string name="preference_checkbox_autoconnect">Automatically Connect</string>
+    <string name="preference_checkbox_connection_type">Connection Type</string>
+    <string name="preference_checkbox_bluetooth">Bluetooth</string>
+    <string name="preference_connection_method_summary">Select the connection method</string>
 </resources>
diff --git a/androidgcs/res/xml/preferences.xml b/androidgcs/res/xml/preferences.xml
new file mode 100644
index 000000000..d731f59dd
--- /dev/null
+++ b/androidgcs/res/xml/preferences.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<PreferenceScreen
+  xmlns:android="http://schemas.android.com/apk/res/android">
+    <CheckBoxPreference android:title="@string/preference_checkbox_autoconnect" android:key="autoconnect" />
+    <ListPreference 
+    	android:title="@string/preference_checkbox_connection_type" 
+    	android:key="connection_type"
+		android:summary="@string/preference_connection_method_summary"
+		android:defaultValue="None"
+		android:entries="@array/connectTypeArray"
+		android:entryValues="@array/connectTypeValues" />
+</PreferenceScreen>
diff --git a/androidgcs/src/org/openpilot/androidgcs/HomePage.java b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
new file mode 100644
index 000000000..478c7cdca
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
@@ -0,0 +1,23 @@
+package org.openpilot.androidgcs;
+
+import android.content.Intent;
+import android.os.Bundle;
+import android.view.View;
+import android.view.View.OnClickListener;
+import android.widget.Button;
+
+public class HomePage extends ObjectManagerActivity {
+	/** Called when the activity is first created. */
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);		
+		setContentView(R.layout.gcs_home);		
+		Button objectBrowser = (Button) findViewById(R.id.launch_object_browser);
+		objectBrowser.setOnClickListener(new OnClickListener() {
+			public void onClick(View arg0) {
+				startActivity(new Intent(HomePage.this, ObjectBrowser.class));	
+			}			
+		});
+	}
+
+}
diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index 7b3030d4f..5af7c7d60 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -16,6 +16,7 @@ import android.app.PendingIntent;
 import android.app.Service;
 import android.content.Context;
 import android.content.Intent;
+import android.content.SharedPreferences;
 import android.net.Uri;
 import android.os.Binder;
 import android.os.Handler;
@@ -24,6 +25,7 @@ import android.os.IBinder;
 import android.os.Looper;
 import android.os.Message;
 import android.os.Process;
+import android.preference.PreferenceManager;
 import android.util.Log;
 import android.widget.Toast;
 
@@ -48,8 +50,7 @@ public class OPTelemetryService extends Service {
 
 	// Message ids
 	static final int MSG_START        = 0;
-	static final int MSG_CONNECT_BT   = 1;
-	static final int MSG_CONNECT_FAKE = 2;
+	static final int MSG_CONNECT      = 1;
 	static final int MSG_DISCONNECT   = 3;
 	static final int MSG_TOAST        = 100;
 
@@ -70,14 +71,22 @@ public class OPTelemetryService extends Service {
 				Toast.makeText(OPTelemetryService.this, "HERE", Toast.LENGTH_SHORT);
 				System.out.println("HERE");
 				stopSelf(msg.arg2);
-			case MSG_CONNECT_BT:
+			case MSG_CONNECT:				
 				terminate = false;
-				activeTelem = new BTTelemetryThread();
-				activeTelem.start();
-				break;
-			case MSG_CONNECT_FAKE:
-				terminate = false;
-				activeTelem = new FakeTelemetryThread();
+				SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
+				int connection_type = Integer.decode(prefs.getString("connection_type", ""));
+				switch(connection_type) {
+				case 0: // No connection
+					return;
+				case 1:
+					activeTelem = new FakeTelemetryThread();
+					break;
+				case 2:
+					activeTelem = new BTTelemetryThread();
+					break;
+				case 3:
+					throw new Error("Unsupported");
+				}
 				activeTelem.start();
 				break;
 			case MSG_DISCONNECT:
@@ -146,14 +155,9 @@ public class OPTelemetryService extends Service {
 		public TelemTask getTelemTask(int id) {
 			return (TelemTask) activeTelem;
 		}
-		public void openFakeConnection() {
+		public void openConnection() {
 			Message msg = mServiceHandler.obtainMessage();
-			msg.arg1 = MSG_CONNECT_FAKE;
-			mServiceHandler.sendMessage(msg);
-		}
-		public void openBTConnection() {
-			Message msg = mServiceHandler.obtainMessage();
-			msg.arg1 = MSG_CONNECT_BT;
+			msg.arg1 = MSG_CONNECT;
 			mServiceHandler.sendMessage(msg);
 		}
 		public void stopConnection() {
@@ -161,6 +165,9 @@ public class OPTelemetryService extends Service {
 			msg.arg1 = MSG_DISCONNECT;
 			mServiceHandler.sendMessage(msg);
 		}
+		public boolean isConnected() {
+			return activeTelem != null;
+		}
 	};
 
 	public void toastMessage(String msgText) {
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index f68e839c1..f3cc56d47 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -6,15 +6,20 @@ import java.util.ListIterator;
 import java.util.Observable;
 import java.util.Observer;
 
+import android.content.Intent;
+import android.content.SharedPreferences;
+import android.content.SharedPreferences.OnSharedPreferenceChangeListener;
 import android.database.DataSetObserver;
 import android.os.Bundle;
 import android.os.Handler;
+import android.preference.PreferenceManager;
 import android.util.Log;
 import android.view.Menu;
 import android.view.MenuInflater;
 import android.view.MenuItem;
 import android.view.View;
 import android.view.ViewGroup;
+import android.widget.Adapter;
 import android.widget.ArrayAdapter;
 import android.widget.ExpandableListAdapter;
 import android.widget.ExpandableListView;
@@ -27,36 +32,13 @@ import android.widget.Toast;
 import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObject;
 
-public class ObjectBrowser extends ObjectManagerActivity {
-
-	@Override
-	public boolean onOptionsItemSelected(MenuItem item) {
-		switch(item.getItemId()) {
-		case R.id.menu_connect:
-			binder.openBTConnection();
-			return true;
-		case R.id.menu_disconnect:
-			binder.stopConnection();
-			updateText.run();
-			return true;
-		case R.id.menu_settings:
-			return true;
-		default:
-			return super.onOptionsItemSelected(item);
-		}
-
-	}
-
-	@Override
-	public boolean onCreateOptionsMenu(Menu menu) {
-		MenuInflater inflater = getMenuInflater();
-		inflater.inflate(R.menu.options_menu, menu);
-		return true;
-	}
+public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPreferenceChangeListener {
 
 	private final String TAG = "ObjectBrower";
 	boolean connected;
-
+	SharedPreferences prefs;
+	ArrayAdapter<UAVDataObject> adapter;
+	
 	final Handler uavobjHandler = new Handler(); 
 	final Runnable updateText = new Runnable() {
 		public void run() {
@@ -70,6 +52,8 @@ public class ObjectBrowser extends ObjectManagerActivity {
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
 		setContentView(R.layout.main);		
+		prefs = PreferenceManager.getDefaultSharedPreferences(this);
+		prefs.registerOnSharedPreferenceChangeListener(this);
 	}
 
 	@Override
@@ -77,6 +61,17 @@ public class ObjectBrowser extends ObjectManagerActivity {
 		Toast.makeText(this,"Telemetry estabilished",Toast.LENGTH_SHORT);
 		Log.d(TAG, "onOPConnected()");
 		
+		List<List<UAVDataObject>> allobjects = objMngr.getDataObjects();
+		List<UAVDataObject> linearized = new ArrayList<UAVDataObject>();
+		ListIterator<List<UAVDataObject>> li = allobjects.listIterator();
+		while(li.hasNext()) {
+			linearized.addAll(li.next());
+		}
+		
+		adapter = new ArrayAdapter<UAVDataObject>(this,R.layout.object_view, linearized);
+		ListView objects = (ListView) findViewById(R.id.object_list);
+		objects.setAdapter(adapter);
+
 		UAVObject obj = objMngr.getObject("SystemStats");
 		if(obj != null)
 			obj.addUpdatedObserver(new Observer() {
@@ -88,16 +83,12 @@ public class ObjectBrowser extends ObjectManagerActivity {
 	}
 	
 	public void update() {
-		List<List<UAVDataObject>> allobjects = objMngr.getDataObjects();
-		List<UAVDataObject> linearized = new ArrayList<UAVDataObject>();
-		ListIterator<List<UAVDataObject>> li = allobjects.listIterator();
-		while(li.hasNext()) {
-			linearized.addAll(li.next());
-		}
-		
-		ArrayAdapter<UAVDataObject> adapter = new ArrayAdapter<UAVDataObject>(this,R.layout.object_view, linearized);
-		ListView objects = (ListView) findViewById(R.id.object_list);
-		objects.setAdapter(adapter);
+		adapter.notifyDataSetChanged();
+	}
 
+	public void onSharedPreferenceChanged(SharedPreferences sharedPreferences,
+			String key) {
+		// TODO Auto-generated method stub
+		
 	}
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index 12a072de7..d91946b92 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -14,6 +14,9 @@ import android.content.ServiceConnection;
 import android.os.Bundle;
 import android.os.IBinder;
 import android.util.Log;
+import android.view.Menu;
+import android.view.MenuInflater;
+import android.view.MenuItem;
 
 public abstract class ObjectManagerActivity extends Activity {
 
@@ -72,6 +75,31 @@ public abstract class ObjectManagerActivity extends Activity {
 		
 	}
 	
+	@Override
+	public boolean onOptionsItemSelected(MenuItem item) {
+		switch(item.getItemId()) {
+		case R.id.menu_connect:
+			binder.openConnection();
+			return true;
+		case R.id.menu_disconnect:
+			binder.stopConnection();
+			return true;
+		case R.id.menu_settings:
+			startActivity(new Intent(this, Preferences.class));
+			return true;
+		default:
+			return super.onOptionsItemSelected(item);
+		}
+
+	}
+
+	@Override
+	public boolean onCreateOptionsMenu(Menu menu) {
+		MenuInflater inflater = getMenuInflater();
+		inflater.inflate(R.menu.options_menu, menu);
+		return true;
+	}
+
 	@Override
 	public void onStart() {
 		super.onStart();
diff --git a/androidgcs/src/org/openpilot/androidgcs/Preferences.java b/androidgcs/src/org/openpilot/androidgcs/Preferences.java
new file mode 100644
index 000000000..913de0f73
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/Preferences.java
@@ -0,0 +1,12 @@
+package org.openpilot.androidgcs;
+
+import android.os.Bundle;
+import android.preference.PreferenceActivity;
+
+public class Preferences extends PreferenceActivity {
+	  @Override
+	  protected void onCreate(Bundle savedInstanceState) { 
+	    super.onCreate(savedInstanceState);
+	    addPreferencesFromResource(R.xml.preferences); 
+	  }
+}

From fd3a02eb92ddd89d6b1faefe8c2382f1570167a1 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 21 Mar 2011 18:33:47 -0500
Subject: [PATCH 234/543] More work on the object browser/editor.  Hard to make
 it resize itself though.

---
 androidgcs/AndroidManifest.xml                |   1 +
 androidgcs/Doc/.AndroidArchitecture.txt.swp   | Bin 12288 -> 0 bytes
 .../layout/{main.xml => object_browser.xml}   |   0
 androidgcs/res/layout/object_edit.xml         |   9 +++
 .../openpilot/androidgcs/ObjectBrowser.java   |  44 ++++++++-------
 .../openpilot/androidgcs/ObjectEditor.java    |  52 ++++++++++++++++++
 .../androidgcs/ObjectManagerActivity.java     |  23 +++++++-
 7 files changed, 108 insertions(+), 21 deletions(-)
 delete mode 100644 androidgcs/Doc/.AndroidArchitecture.txt.swp
 rename androidgcs/res/layout/{main.xml => object_browser.xml} (100%)
 create mode 100644 androidgcs/res/layout/object_edit.xml
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index a791d0fbb..fe8c6ae9a 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -26,6 +26,7 @@
 		</activity>
 
  		<activity android:name="Preferences" android:label="@string/preference_title"/>
+ 		<activity android:name="ObjectEditor" android:label="ObjectEditor" android:theme="@android:style/Theme.Dialog"/>
  		
 		<receiver android:name="TelemetryWidget">
 			<intent-filter>
diff --git a/androidgcs/Doc/.AndroidArchitecture.txt.swp b/androidgcs/Doc/.AndroidArchitecture.txt.swp
deleted file mode 100644
index 167a072526a8207b396d71d6dd7d3e7a417cba19..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 12288
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diff --git a/androidgcs/res/layout/main.xml b/androidgcs/res/layout/object_browser.xml
similarity index 100%
rename from androidgcs/res/layout/main.xml
rename to androidgcs/res/layout/object_browser.xml
diff --git a/androidgcs/res/layout/object_edit.xml b/androidgcs/res/layout/object_edit.xml
new file mode 100644
index 000000000..62a482be9
--- /dev/null
+++ b/androidgcs/res/layout/object_edit.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RelativeLayout
+  xmlns:android="http://schemas.android.com/apk/res/android"
+  android:layout_width="match_parent"
+  android:layout_height="match_parent">
+    <TextView android:layout_height="wrap_content" android:text="ObjectEditor: " android:id="@+id/object_edit_title" android:layout_alignParentTop="true" android:layout_width="wrap_content" android:layout_centerHorizontal="true" android:textStyle="bold"></TextView>
+    <TextView android:text="" android:id="@+id/object_edit_name" android:layout_toRightOf="@+id/object_edit_title" android:layout_alignTop="@+id/textView1" android:layout_alignBottom="@+id/textView1" android:layout_height="wrap_content" android:layout_width="50dip"></TextView>
+    <LinearLayout android:id="@+id/object_edit_fields" android:layout_height="match_parent" android:layout_width="match_parent" android:layout_alignParentBottom="true" android:orientation="vertical"></LinearLayout>
+</RelativeLayout>
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index f3cc56d47..df2d114a4 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -9,25 +9,16 @@ import java.util.Observer;
 import android.content.Intent;
 import android.content.SharedPreferences;
 import android.content.SharedPreferences.OnSharedPreferenceChangeListener;
-import android.database.DataSetObserver;
 import android.os.Bundle;
 import android.os.Handler;
 import android.preference.PreferenceManager;
 import android.util.Log;
-import android.view.Menu;
-import android.view.MenuInflater;
-import android.view.MenuItem;
 import android.view.View;
-import android.view.ViewGroup;
-import android.widget.Adapter;
+import android.widget.AdapterView;
 import android.widget.ArrayAdapter;
-import android.widget.ExpandableListAdapter;
-import android.widget.ExpandableListView;
 import android.widget.ListView;
-import android.widget.SimpleAdapter;
-import android.widget.SimpleExpandableListAdapter;
-import android.widget.TextView;
 import android.widget.Toast;
+import android.widget.AdapterView.OnItemClickListener;
 
 import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObject;
@@ -38,6 +29,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 	boolean connected;
 	SharedPreferences prefs;
 	ArrayAdapter<UAVDataObject> adapter;
+	List<UAVDataObject> allObjects;
 	
 	final Handler uavobjHandler = new Handler(); 
 	final Runnable updateText = new Runnable() {
@@ -51,7 +43,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
-		setContentView(R.layout.main);		
+		setContentView(R.layout.object_browser);		
 		prefs = PreferenceManager.getDefaultSharedPreferences(this);
 		prefs.registerOnSharedPreferenceChangeListener(this);
 	}
@@ -60,18 +52,32 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 	void onOPConnected() {
 		Toast.makeText(this,"Telemetry estabilished",Toast.LENGTH_SHORT);
 		Log.d(TAG, "onOPConnected()");
-		
+
 		List<List<UAVDataObject>> allobjects = objMngr.getDataObjects();
-		List<UAVDataObject> linearized = new ArrayList<UAVDataObject>();
+		allObjects = new ArrayList<UAVDataObject>();
 		ListIterator<List<UAVDataObject>> li = allobjects.listIterator();
 		while(li.hasNext()) {
-			linearized.addAll(li.next());
+			allObjects.addAll(li.next());
 		}
-		
-		adapter = new ArrayAdapter<UAVDataObject>(this,R.layout.object_view, linearized);
+
+		adapter = new ArrayAdapter<UAVDataObject>(this,R.layout.object_view, allObjects);
 		ListView objects = (ListView) findViewById(R.id.object_list);
 		objects.setAdapter(adapter);
 
+		objects.setOnItemClickListener(new OnItemClickListener() {
+			public void onItemClick(AdapterView<?> parent, View view,
+					int position, long id) {
+			      /*Toast.makeText(getApplicationContext(), ((TextView) view).getText(),
+			              Toast.LENGTH_SHORT).show();*/
+				Intent intent = new Intent(ObjectBrowser.this, ObjectEditor.class);
+				intent.putExtra("org.openpilot.androidgcs.ObjectName", allObjects.get(position).getName());
+				intent.putExtra("org.openpilot.androidgcs.ObjectId", allObjects.get(position).getObjID());
+				intent.putExtra("org.openpilot.androidgcs.InstId", allObjects.get(position).getInstID());
+				startActivity(intent);
+			}
+		});
+
+
 		UAVObject obj = objMngr.getObject("SystemStats");
 		if(obj != null)
 			obj.addUpdatedObserver(new Observer() {
@@ -81,7 +87,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 			});
 
 	}
-	
+
 	public void update() {
 		adapter.notifyDataSetChanged();
 	}
@@ -89,6 +95,6 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 	public void onSharedPreferenceChanged(SharedPreferences sharedPreferences,
 			String key) {
 		// TODO Auto-generated method stub
-		
+
 	}
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java b/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
new file mode 100644
index 000000000..33d0e2f8e
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
@@ -0,0 +1,52 @@
+package org.openpilot.androidgcs;
+
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+import android.os.Bundle;
+import android.widget.LinearLayout;
+import android.widget.TextView;
+import android.widget.Toast;
+
+public class ObjectEditor extends ObjectManagerActivity {
+
+	String objectName;
+	int objectID;
+	int instID;
+	
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		setContentView(R.layout.object_edit);
+
+		System.out.println("Started. Intent:" + getIntent());
+	    Bundle extras = getIntent().getExtras();
+	    if(extras != null){
+	    	objectName = extras.getString("org.openpilot.androidgcs.ObjectName");
+	        objectID = extras.getInt("org.openpilot.androidgcs.ObjectId");
+	        instID = extras.getInt("org.openpilot.androidgcs.InstId");
+	    }	    	    
+	}	
+	
+	public void onOPConnected() {
+		UAVObject obj = objMngr.getObject(objectID, instID);
+		Toast.makeText(getApplicationContext(), obj.toString(), Toast.LENGTH_SHORT);
+		
+		TextView objectName = (TextView) findViewById(R.id.object_edit_name);
+		objectName.setText(obj.getName());
+		
+		LinearLayout fieldViewList = (LinearLayout) findViewById(R.id.object_edit_fields);
+		List<UAVObjectField> fields = obj.getFields();
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			UAVObjectField field = li.next();
+			TextView fieldName = new TextView(this);
+			fieldName.setText(field.getName());
+			fieldViewList.addView(fieldName);
+		}
+	}
+
+}
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index d91946b92..5027d4d24 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -21,7 +21,7 @@ import android.view.MenuItem;
 public abstract class ObjectManagerActivity extends Activity {
 
 	private final String TAG = "ObjectManagerActivity";
-	private static int LOGLEVEL = 2;
+	private static int LOGLEVEL = 0;
 //	private static boolean WARN = LOGLEVEL > 1;
 	private static boolean DEBUG = LOGLEVEL > 0;
 
@@ -106,19 +106,38 @@ public abstract class ObjectManagerActivity extends Activity {
 		Intent intent = new Intent(this, OPTelemetryService.class);
 		bindService(intent, mConnection, Context.BIND_AUTO_CREATE);
 	}
+	
+	public void onBind() {
+		
+	}
 
 	/** Defines callbacks for service binding, passed to bindService() */
 	private ServiceConnection mConnection = new ServiceConnection() {
 		public void onServiceConnected(ComponentName arg0, IBinder service) {
 			// We've bound to LocalService, cast the IBinder and attempt to open a connection			
 			if (DEBUG) Log.d(TAG,"Service bound");
-			binder = (LocalBinder) service;			
+			mBound = true;
+			binder = (LocalBinder) service;
+			
+			if(binder.isConnected()) {
+				TelemTask task;
+				if((task = binder.getTelemTask(0)) != null) {
+					objMngr = task.getObjectManager();
+					mConnected = true;
+					onOPConnected();
+				}
+			
+			}
 		}
 
 		public void onServiceDisconnected(ComponentName name) {
 			mBound = false;
+			binder = null;
 			mConnected = false;
 			objMngr = null;
+			objMngr = null;
+			mConnected = false;
+			onOPDisconnected();
 		}
 	};
 }

From bee57409835e2faea5b4f28bb8e3ef4d0a612ff8 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 22 Mar 2011 12:59:01 -0500
Subject: [PATCH 235/543] Added a simple PFD

---
 androidgcs/AndroidManifest.xml                |   9 +-
 androidgcs/res/drawable-hdpi/browser_icon.png | Bin 0 -> 456 bytes
 androidgcs/res/drawable-ldpi/browser_icon.png | Bin 0 -> 456 bytes
 androidgcs/res/drawable-mdpi/browser_icon.png | Bin 0 -> 456 bytes
 androidgcs/res/layout/gcs_home.xml            |   9 +-
 androidgcs/res/layout/pfd.xml                 |   8 +
 androidgcs/res/values/colors.xml              |   6 +
 androidgcs/res/values/strings.xml             |   6 +
 .../openpilot/androidgcs/AttitudeView.java    |  89 +++++++++++
 .../org/openpilot/androidgcs/CompassView.java | 139 ++++++++++++++++++
 .../org/openpilot/androidgcs/HomePage.java    |   9 ++
 .../src/org/openpilot/androidgcs/PFD.java     |  51 +++++++
 12 files changed, 318 insertions(+), 8 deletions(-)
 create mode 100644 androidgcs/res/drawable-hdpi/browser_icon.png
 create mode 100644 androidgcs/res/drawable-ldpi/browser_icon.png
 create mode 100644 androidgcs/res/drawable-mdpi/browser_icon.png
 create mode 100644 androidgcs/res/layout/pfd.xml
 create mode 100644 androidgcs/res/values/colors.xml
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/CompassView.java
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/PFD.java

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index fe8c6ae9a..1942146c4 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -18,13 +18,8 @@
 		</activity>
 		
 		
-		<activity android:name="ObjectBrowser" android:label="@string/object_browser_name">
-			<intent-filter>
-				<action android:name="org.openpilot.intent.action.CONNECTED" />
-				<action android:name="org.openpilot.intent.action.DISCONNECTED" />
-			</intent-filter>
-		</activity>
-
+		<activity android:name="ObjectBrowser" android:label="@string/object_browser_name" />
+ 		<activity android:name="PFD" android:label="PFD"/>
  		<activity android:name="Preferences" android:label="@string/preference_title"/>
  		<activity android:name="ObjectEditor" android:label="ObjectEditor" android:theme="@android:style/Theme.Dialog"/>
  		
diff --git a/androidgcs/res/drawable-hdpi/browser_icon.png b/androidgcs/res/drawable-hdpi/browser_icon.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fcee485245922172e66bad2eb2203db14cdac39
GIT binary patch
literal 456
zcmV;(0XP1MP)<h;3K|Lk000e1NJLTq001BW001Be1^@s6b9#F800006VoOIv0RI60
z0RN!9r;`8x0ewkCK~z|U?U%c10zni&&(7-lEH(?9V6YLvM<j}1%Jcyh!C&z8qZW3y
z`GXXxL<8%-CWRyr-$_>2!duSV%belNQ;||iLJSe+;1>Z9S#NM0kJ-$^wmm*RY+To8
zv9OU+Vp%S#Dwxlg2qCa-7b$%#%SVV+t!?|?eYIMiWKts<Rnas-I;~<DVn4um{K{nV
z9?0xsu{4Sj!F9oPK}s-;pE;o`xB^@Ot^ikn4S+~Q4Hw|~xy0k+J&F<%06?o%pxv$z
zjc!~O=K%nyR80E)1~)gUZ~y>wJ<f30;Nc+yoW{w)T_A))r&FZaET3e79=#2#)msLG
z;FbL99MJW|uatP6A1na;Psz3i_@7V0YW0?0uYs;7j~+aga)JW@FpLDF(G$hu9fy=?
z+7i>$f(3w;l5V%m%S&OW63?^9=i}S!{|oRH^?GKj631~Um0~;V0=*5_l}PE6%PFYp
yZavDW{)W@(8>Xp~%_jEdoebdExV#6+x#JU=$8dKofqu*Y0000<MNUMnLSTZw($3ES

literal 0
HcmV?d00001

diff --git a/androidgcs/res/drawable-ldpi/browser_icon.png b/androidgcs/res/drawable-ldpi/browser_icon.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fcee485245922172e66bad2eb2203db14cdac39
GIT binary patch
literal 456
zcmV;(0XP1MP)<h;3K|Lk000e1NJLTq001BW001Be1^@s6b9#F800006VoOIv0RI60
z0RN!9r;`8x0ewkCK~z|U?U%c10zni&&(7-lEH(?9V6YLvM<j}1%Jcyh!C&z8qZW3y
z`GXXxL<8%-CWRyr-$_>2!duSV%belNQ;||iLJSe+;1>Z9S#NM0kJ-$^wmm*RY+To8
zv9OU+Vp%S#Dwxlg2qCa-7b$%#%SVV+t!?|?eYIMiWKts<Rnas-I;~<DVn4um{K{nV
z9?0xsu{4Sj!F9oPK}s-;pE;o`xB^@Ot^ikn4S+~Q4Hw|~xy0k+J&F<%06?o%pxv$z
zjc!~O=K%nyR80E)1~)gUZ~y>wJ<f30;Nc+yoW{w)T_A))r&FZaET3e79=#2#)msLG
z;FbL99MJW|uatP6A1na;Psz3i_@7V0YW0?0uYs;7j~+aga)JW@FpLDF(G$hu9fy=?
z+7i>$f(3w;l5V%m%S&OW63?^9=i}S!{|oRH^?GKj631~Um0~;V0=*5_l}PE6%PFYp
yZavDW{)W@(8>Xp~%_jEdoebdExV#6+x#JU=$8dKofqu*Y0000<MNUMnLSTZw($3ES

literal 0
HcmV?d00001

diff --git a/androidgcs/res/drawable-mdpi/browser_icon.png b/androidgcs/res/drawable-mdpi/browser_icon.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fcee485245922172e66bad2eb2203db14cdac39
GIT binary patch
literal 456
zcmV;(0XP1MP)<h;3K|Lk000e1NJLTq001BW001Be1^@s6b9#F800006VoOIv0RI60
z0RN!9r;`8x0ewkCK~z|U?U%c10zni&&(7-lEH(?9V6YLvM<j}1%Jcyh!C&z8qZW3y
z`GXXxL<8%-CWRyr-$_>2!duSV%belNQ;||iLJSe+;1>Z9S#NM0kJ-$^wmm*RY+To8
zv9OU+Vp%S#Dwxlg2qCa-7b$%#%SVV+t!?|?eYIMiWKts<Rnas-I;~<DVn4um{K{nV
z9?0xsu{4Sj!F9oPK}s-;pE;o`xB^@Ot^ikn4S+~Q4Hw|~xy0k+J&F<%06?o%pxv$z
zjc!~O=K%nyR80E)1~)gUZ~y>wJ<f30;Nc+yoW{w)T_A))r&FZaET3e79=#2#)msLG
z;FbL99MJW|uatP6A1na;Psz3i_@7V0YW0?0uYs;7j~+aga)JW@FpLDF(G$hu9fy=?
z+7i>$f(3w;l5V%m%S&OW63?^9=i}S!{|oRH^?GKj631~Um0~;V0=*5_l}PE6%PFYp
yZavDW{)W@(8>Xp~%_jEdoebdExV#6+x#JU=$8dKofqu*Y0000<MNUMnLSTZw($3ES

literal 0
HcmV?d00001

diff --git a/androidgcs/res/layout/gcs_home.xml b/androidgcs/res/layout/gcs_home.xml
index e6f4ea567..1a5a81cd7 100644
--- a/androidgcs/res/layout/gcs_home.xml
+++ b/androidgcs/res/layout/gcs_home.xml
@@ -3,5 +3,12 @@
   xmlns:android="http://schemas.android.com/apk/res/android"
   android:layout_width="match_parent"
   android:layout_height="match_parent">
-    <Button android:layout_alignParentTop="true" android:layout_height="wrap_content" android:text="@string/object_browser_name" android:layout_width="wrap_content" android:id="@+id/launch_object_browser"></Button>
+    <Button 
+    	android:layout_alignParentTop="true" 
+    	android:layout_height="wrap_content" 
+    	android:text="@string/object_browser_name" 
+    	android:layout_width="wrap_content" 
+    	android:id="@+id/launch_object_browser" 
+    	android:drawableLeft="@drawable/browser_icon" android:layout_centerHorizontal="true"/>
+    <Button android:layout_width="wrap_content" android:layout_height="wrap_content" android:text="@string/pfd_name" android:id="@+id/launch_pfd" android:drawableLeft="@drawable/browser_icon" android:layout_below="@+id/launch_object_browser" android:layout_alignLeft="@+id/launch_object_browser" android:layout_alignRight="@+id/launch_object_browser"></Button>
 </RelativeLayout>
diff --git a/androidgcs/res/layout/pfd.xml b/androidgcs/res/layout/pfd.xml
new file mode 100644
index 000000000..191a80eb9
--- /dev/null
+++ b/androidgcs/res/layout/pfd.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout
+  xmlns:android="http://schemas.android.com/apk/res/android"
+  android:layout_width="match_parent"
+  android:layout_height="match_parent">
+    <org.openpilot.androidgcs.CompassView android:id="@+id/compass_view" android:layout_height="wrap_content" android:layout_width="wrap_content"></org.openpilot.androidgcs.CompassView>
+    <org.openpilot.androidgcs.AttitudeView android:id="@+id/attitude_view" android:layout_height="fill_parent" android:layout_width="fill_parent"></org.openpilot.androidgcs.AttitudeView>
+</LinearLayout>
diff --git a/androidgcs/res/values/colors.xml b/androidgcs/res/values/colors.xml
new file mode 100644
index 000000000..dc8eaf315
--- /dev/null
+++ b/androidgcs/res/values/colors.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+	<color name="background_color">#F555</color> 
+	<color name="marker_color">#AFFF</color> 
+	<color name="text_color">#AFFF</color>
+</resources>
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index e9b66a312..3b3a38d02 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -2,6 +2,7 @@
 <resources>
     <string name="app_name">OpenPilot GCS Home</string>
     <string name="object_browser_name">OpenPilot Object Browser</string>
+    <string name="pfd_name">OpenPilot PFD</string>
     <string name="menu_item_settings">Settings</string>
     <string name="menu_item_connect">Connect</string>
     <string name="menu_item_disconnect">Disconnect</string>
@@ -10,4 +11,9 @@
     <string name="preference_checkbox_connection_type">Connection Type</string>
     <string name="preference_checkbox_bluetooth">Bluetooth</string>
     <string name="preference_connection_method_summary">Select the connection method</string>
+    <string name="compass_name">Compass</string> 
+    <string name="cardinal_north">N</string> 
+    <string name="cardinal_east">E</string> 
+    <string name="cardinal_south">S</string> 
+    <string name="cardinal_west">W</string>    
 </resources>
diff --git a/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java b/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
new file mode 100644
index 000000000..24a8bf5f0
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
@@ -0,0 +1,89 @@
+package org.openpilot.androidgcs;
+
+import android.content.Context;
+import android.content.res.Resources;
+import android.graphics.Canvas;
+import android.graphics.Paint;
+import android.util.AttributeSet;
+import android.view.View;
+
+public class AttitudeView extends View {
+
+	public AttitudeView(Context context) {
+		super(context);
+		initAttitudeView();
+	}
+
+	public AttitudeView(Context context, AttributeSet ats, int defaultStyle) { 
+		super(context, ats, defaultStyle);
+		initAttitudeView();
+	}
+
+	public AttitudeView(Context context, AttributeSet ats) { 
+		super(context, ats);
+		initAttitudeView();
+	}
+
+	protected void initAttitudeView() { 
+		setFocusable(true);
+
+		circlePaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		circlePaint.setColor(R.color.background_color); 
+		circlePaint.setStrokeWidth(1); 
+		circlePaint.setStyle(Paint.Style.FILL_AND_STROKE);
+		Resources r = this.getResources(); 
+		textPaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		textPaint.setColor(r.getColor(R.color.text_color));
+		markerPaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		markerPaint.setColor(r.getColor(R.color.marker_color));		
+	}
+
+	@Override protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
+		int measuredWidth = measure(widthMeasureSpec); 
+		int measuredHeight = measure(heightMeasureSpec);
+		int d = Math.min(measuredWidth, measuredHeight); 
+		setMeasuredDimension(d/2, d/2);
+	}
+
+	private int measure(int measureSpec) { 
+		int result = 0;
+		// Decode the measurement specifications. 
+
+		int specMode = MeasureSpec.getMode(measureSpec); 
+		int specSize = MeasureSpec.getSize(measureSpec);
+
+		if (specMode == MeasureSpec.UNSPECIFIED) { // Return a default size of 200 if no bounds are specified. 
+			result = 200;
+		} else { 
+			// As you want to fill the available space 
+			// always return the full available bounds. 
+			result = specSize;
+		}
+		return result;
+	}
+
+	private double roll;
+	public void setRoll(double roll) { 
+		this.roll = roll;
+	} 
+	private double pitch;
+	public void setPitch(double d) { 
+		this.pitch = d;
+	} 
+
+	// Drawing related code
+	private Paint markerPaint; 
+	private Paint textPaint; 
+	private Paint circlePaint; 
+
+	@Override
+	protected void onDraw(Canvas canvas) {
+		int px = getMeasuredWidth() / 2; 
+		int py = getMeasuredHeight() /2 ;
+		int radius = Math.min(px, py);
+		
+		canvas.drawLine(px,py, (int) (px+radius * Math.cos(roll)), (int) (py + radius * Math.sin(roll)), markerPaint);		
+		canvas.drawLine(px,py, (int) (px+radius * Math.cos(pitch)), (int) (py + radius * Math.sin(pitch)), markerPaint);
+	}
+
+}
diff --git a/androidgcs/src/org/openpilot/androidgcs/CompassView.java b/androidgcs/src/org/openpilot/androidgcs/CompassView.java
new file mode 100644
index 000000000..50e4abc0a
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/CompassView.java
@@ -0,0 +1,139 @@
+package org.openpilot.androidgcs;
+
+import android.content.Context;
+import android.content.res.Resources;
+import android.graphics.Canvas;
+import android.graphics.Paint;
+import android.util.AttributeSet;
+import android.view.View;
+
+public class CompassView extends View {
+
+	public CompassView(Context context) {
+		super(context);
+		initCompassView();
+	}
+
+	public CompassView(Context context, AttributeSet ats, int defaultStyle) { 
+		super(context, ats, defaultStyle);
+		initCompassView();
+	}
+
+	public CompassView(Context context, AttributeSet ats) { 
+		super(context, ats);
+		initCompassView();
+	}
+
+	protected void initCompassView() { 
+		setFocusable(true);
+
+		circlePaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		circlePaint.setColor(R.color.background_color); 
+		circlePaint.setStrokeWidth(1); 
+		circlePaint.setStyle(Paint.Style.FILL_AND_STROKE);
+		Resources r = this.getResources(); 
+		northString = r.getString(R.string.cardinal_north); 
+		eastString = r.getString(R.string.cardinal_east); 
+		southString = r.getString(R.string.cardinal_south); 
+		westString = r.getString(R.string.cardinal_west);
+		textPaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		textPaint.setColor(r.getColor(R.color.text_color));
+		textHeight = (int)textPaint.measureText("yY");
+		markerPaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		markerPaint.setColor(r.getColor(R.color.marker_color));		
+	}
+
+	@Override protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
+		int measuredWidth = measure(widthMeasureSpec); 
+		int measuredHeight = measure(heightMeasureSpec);
+		int d = Math.min(measuredWidth, measuredHeight); 
+		setMeasuredDimension(d/2, d/2);
+	}
+
+	private int measure(int measureSpec) { 
+		int result = 0;
+		// Decode the measurement specifications. 
+
+		int specMode = MeasureSpec.getMode(measureSpec); 
+		int specSize = MeasureSpec.getSize(measureSpec);
+
+		if (specMode == MeasureSpec.UNSPECIFIED) { // Return a default size of 200 if no bounds are specified. 
+			result = 200;
+		} else { 
+			// As you want to fill the available space 
+			// always return the full available bounds. 
+			result = specSize;
+		}
+		return result;
+	}
+
+	private double bearing;
+	public void setBearing(double bearing) { 
+		this.bearing = bearing;
+	} 
+
+	// Drawing related code
+	private Paint markerPaint; 
+	private Paint textPaint; 
+	private Paint circlePaint; 
+	private String northString; 
+	private String eastString; 
+	private String southString; 
+	private String westString; 
+	private int textHeight;
+
+	@Override
+	protected void onDraw(Canvas canvas) {
+		int px = getMeasuredWidth() / 2; 
+		int py = getMeasuredHeight() /2 ;
+		int radius = Math.min(px, py);
+		// Draw the background 
+		canvas.drawCircle(px, py, radius, circlePaint);
+
+		// Rotate our perspective so that the ÔtopÕ is 
+		// facing the current bearing. 
+		canvas.save(); 
+		canvas.rotate((float) -bearing, px, py);
+
+		int textWidth = (int)textPaint.measureText("W"); 
+		int cardinalX = px-textWidth/2; 
+		int cardinalY = py-radius+textHeight;
+
+		// Draw the marker every 15 degrees and text every 45. 
+		for (int i = 0; i < 24; i++) {
+			// Draw a marker. 
+			canvas.drawLine(px, py-radius, px, py-radius+10, markerPaint);
+			canvas.save(); 
+			canvas.translate(0, textHeight);
+			// Draw the cardinal points 
+			if (i % 6 == 0) {
+				String dirString = null;
+				switch (i) {
+				case 0 : {
+					dirString = northString; 
+					int arrowY = 2*textHeight; 
+					canvas.drawLine(px, arrowY, px-5, 3*textHeight, markerPaint);
+					canvas.drawLine(px, arrowY, px+5, 3*textHeight, markerPaint);
+					break;
+				}
+				case 6: dirString = eastString; break;
+				case 12: dirString = southString; break;
+				case 18: dirString = westString; break;
+				}
+				canvas.drawText(dirString, cardinalX, cardinalY, textPaint);
+			}
+			else if (i % 3 == 0) { 
+				// Draw the text every alternate 45deg 
+				String angle = String.valueOf(i*15); 
+				float angleTextWidth = textPaint.measureText(angle);
+
+				int angleTextX = (int)(px-angleTextWidth/2); 
+				int angleTextY = py-radius+textHeight; 
+				canvas.drawText(angle, angleTextX, angleTextY, textPaint);
+			}
+			canvas.restore();
+			canvas.rotate(15, px, py);
+		}
+		canvas.restore();		
+	}
+}
diff --git a/androidgcs/src/org/openpilot/androidgcs/HomePage.java b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
index 478c7cdca..7d03e1b04 100644
--- a/androidgcs/src/org/openpilot/androidgcs/HomePage.java
+++ b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
@@ -12,12 +12,21 @@ public class HomePage extends ObjectManagerActivity {
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);		
 		setContentView(R.layout.gcs_home);		
+		
 		Button objectBrowser = (Button) findViewById(R.id.launch_object_browser);
 		objectBrowser.setOnClickListener(new OnClickListener() {
 			public void onClick(View arg0) {
 				startActivity(new Intent(HomePage.this, ObjectBrowser.class));	
 			}			
 		});
+		
+		Button pfd = (Button) findViewById(R.id.launch_pfd);
+		pfd.setOnClickListener(new OnClickListener() {
+			public void onClick(View arg0) {
+				startActivity(new Intent(HomePage.this, PFD.class));	
+			}			
+		});
+
 	}
 
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/PFD.java b/androidgcs/src/org/openpilot/androidgcs/PFD.java
new file mode 100644
index 000000000..e0d1b9f24
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/PFD.java
@@ -0,0 +1,51 @@
+package org.openpilot.androidgcs;
+
+import java.util.Observable;
+import java.util.Observer;
+
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObject;
+
+import android.os.Bundle;
+
+public class PFD extends ObjectManagerActivity {
+
+	double heading;
+	double roll;
+	double pitch;
+
+	Runnable update = new Runnable() {
+		public void run() {
+			CompassView compass = (CompassView) findViewById(R.id.compass_view);
+			compass.setBearing((int) heading);
+			compass.invalidate();
+
+			AttitudeView attitude = (AttitudeView) findViewById(R.id.attitude_view);
+			attitude.setRoll(roll / 180 * Math.PI);
+			attitude.setPitch(pitch / 180 * Math.PI);
+			attitude.invalidate();
+		}		
+	};
+
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		setContentView(R.layout.pfd);
+	}	
+
+	@Override
+	void onOPConnected() {
+
+		UAVObject obj = objMngr.getObject("AttitudeActual");
+		if(obj != null)
+			obj.addUpdatedObserver(new Observer() {				
+				public void update(Observable observable, Object data) {
+					UAVDataObject obj = (UAVDataObject) data;
+					heading = obj.getField("Yaw").getDouble();
+					pitch = obj.getField("Pitch").getDouble();
+					roll = obj.getField("Roll").getDouble();
+					runOnUiThread(update);
+				}
+			});
+	}				
+}

From 0950d0386b4dcde192eaef54e8a69f2e43488ff4 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 22 Mar 2011 12:59:17 -0500
Subject: [PATCH 236/543] Make fake telemetry show rotating attitude.

---
 .../org/openpilot/androidgcs/OPTelemetryService.java  | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index 5af7c7d60..43cc13b04 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -200,8 +200,19 @@ public class OPTelemetryService extends Service {
 
 			//toastMessage("Started fake telemetry thread");
 			UAVDataObject systemStats = (UAVDataObject) objMngr.getObject("SystemStats");
+			UAVDataObject attitudeActual = (UAVDataObject) objMngr.getObject("AttitudeActual");
+			double roll = 0;
+			double pitch = 0; 
+			double yaw = 0;
 			while( !terminate ) {
+				attitudeActual.getField("Roll").setDouble(roll);
+				attitudeActual.getField("Pitch").setDouble(pitch);
+				attitudeActual.getField("Yaw").setDouble(yaw);
+				roll = (roll + 10) % 180;
+				pitch = (pitch + 10) % 180;
+				yaw = (yaw + 10) % 360;
 				systemStats.updated();
+				attitudeActual.updated();
 				try {
 					Thread.sleep(1000);
 				} catch (InterruptedException e) {

From c8c7323ab7902377f576a14635cb06b73ad17829 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 22 Mar 2011 13:14:11 -0500
Subject: [PATCH 237/543] Make auto starting work.  For now removed support for
 standalone service but easy to add back.

---
 .../androidgcs/OPTelemetryService.java        | 43 ++++++++++++-------
 1 file changed, 27 insertions(+), 16 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index 43cc13b04..67ee56d4e 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -68,10 +68,10 @@ public class OPTelemetryService extends Service {
 		public void handleMessage(Message msg) {
 			switch(msg.arg1) {
 			case MSG_START:
-				Toast.makeText(OPTelemetryService.this, "HERE", Toast.LENGTH_SHORT);
-				System.out.println("HERE");
 				stopSelf(msg.arg2);
-			case MSG_CONNECT:				
+				break;
+			case MSG_CONNECT:	
+				Toast.makeText(getApplicationContext(), "Attempting connection", Toast.LENGTH_SHORT).show();
 				terminate = false;
 				SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
 				int connection_type = Integer.decode(prefs.getString("connection_type", ""));
@@ -90,6 +90,7 @@ public class OPTelemetryService extends Service {
 				activeTelem.start();
 				break;
 			case MSG_DISCONNECT:
+				Toast.makeText(getApplicationContext(), "Disconnct", Toast.LENGTH_SHORT).show();
 				terminate = true;
 				try {
 					activeTelem.join();
@@ -101,6 +102,8 @@ public class OPTelemetryService extends Service {
 				Intent intent = new Intent();
 				intent.setAction(INTENT_ACTION_DISCONNECTED);
 				sendBroadcast(intent,null);
+				
+				stopSelf();
 
 				break;
 			case MSG_TOAST:
@@ -113,9 +116,9 @@ public class OPTelemetryService extends Service {
 		}
 	};
 
-	@Override
-	public void onCreate() {
-		// Low priority thread for message handling with service
+	public void startup() {
+		Toast.makeText(getApplicationContext(), "Telemetry service starting", Toast.LENGTH_SHORT).show();
+		
 		HandlerThread thread = new HandlerThread("TelemetryServiceHandler",
 				Process.THREAD_PRIORITY_BACKGROUND);
 		thread.start();
@@ -123,20 +126,27 @@ public class OPTelemetryService extends Service {
 		// Get the HandlerThread's Looper and use it for our Handler 
 		mServiceLooper = thread.getLooper();
 		mServiceHandler = new ServiceHandler(mServiceLooper);
+	
+		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
+		if(prefs.getBoolean("autoconnect", false)) {
+			Toast.makeText(getApplicationContext(), "Should auto connect", Toast.LENGTH_SHORT);
+			Message msg = mServiceHandler.obtainMessage();
+			msg.arg1 = MSG_CONNECT;
+			msg.arg2 = 0;
+			mServiceHandler.sendMessage(msg);
+		}				
+
+	}
+	
+	@Override
+	public void onCreate() {
+		startup();
 	}
 
 	@Override
 	public int onStartCommand(Intent intent, int flags, int startId) {
-		Toast.makeText(this, "Telemetry service starting", Toast.LENGTH_SHORT).show();
-
-		System.out.println("Start");
-		// For each start request, send a message to start a job and deliver the
-		// start ID so we know which request we're stopping when we finish the job
-		Message msg = mServiceHandler.obtainMessage();
-		msg.arg1 = MSG_START;
-		msg.arg2 = startId;
-		mServiceHandler.sendMessage(msg);
-
+		// Currently only using as bound service
+		
 		// If we get killed, after returning from here, restart
 		return START_STICKY;
 	}
@@ -156,6 +166,7 @@ public class OPTelemetryService extends Service {
 			return (TelemTask) activeTelem;
 		}
 		public void openConnection() {
+			Toast.makeText(getApplicationContext(), "Requested open connection", Toast.LENGTH_SHORT);
 			Message msg = mServiceHandler.obtainMessage();
 			msg.arg1 = MSG_CONNECT;
 			mServiceHandler.sendMessage(msg);

From 2139954e49d83beadc4d49be95875c6bda5aae95 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 22 Mar 2011 21:39:44 -0500
Subject: [PATCH 238/543] Added location feature and made fake stream create
 movement

---
 androidgcs/AndroidManifest.xml                |  18 +-
 androidgcs/default.properties                 |   2 +-
 androidgcs/res/layout/gcs_home.xml            |   1 +
 androidgcs/res/layout/map_layout.xml          |  10 +
 androidgcs/res/values/strings.xml             |  37 ++-
 .../org/openpilot/androidgcs/HomePage.java    |   6 +
 .../androidgcs/OPTelemetryService.java        |  27 ++
 .../org/openpilot/androidgcs/UAVLocation.java | 273 ++++++++++++++++++
 8 files changed, 351 insertions(+), 23 deletions(-)
 create mode 100644 androidgcs/res/layout/map_layout.xml
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/UAVLocation.java

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 1942146c4..c18dc0cb1 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -4,10 +4,14 @@
 	android:versionName="1.0">
 	<uses-sdk android:minSdkVersion="7" />
 
+	<uses-permission android:name="android.permission.INTERNET" />
+
 	<uses-permission android:name="android.permission.BLUETOOTH" />
 	<uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
 
 	<application android:icon="@drawable/icon" android:label="@string/app_name">
+		<!-- for map overlay -->
+		<uses-library android:name="com.google.android.maps" />
 
 		<!-- Object browser - main activity at the moment -->
 		<activity android:name="HomePage" android:label="@string/app_name">
@@ -16,13 +20,15 @@
 				<category android:name="android.intent.category.LAUNCHER" />
 			</intent-filter>
 		</activity>
-		
-		
+
+
 		<activity android:name="ObjectBrowser" android:label="@string/object_browser_name" />
- 		<activity android:name="PFD" android:label="PFD"/>
- 		<activity android:name="Preferences" android:label="@string/preference_title"/>
- 		<activity android:name="ObjectEditor" android:label="ObjectEditor" android:theme="@android:style/Theme.Dialog"/>
- 		
+		<activity android:name="PFD" android:label="PFD" />
+		<activity android:name="Preferences" android:label="@string/preference_title" />
+		<activity android:name="UAVLocation" android:label="@string/location_name" />
+		<activity android:name="ObjectEditor" android:label="ObjectEditor"
+			android:theme="@android:style/Theme.Dialog" />
+
 		<receiver android:name="TelemetryWidget">
 			<intent-filter>
 				<action android:name="android.appwidget.action.APPWIDGET_UPDATE" />
diff --git a/androidgcs/default.properties b/androidgcs/default.properties
index 66db0d159..420db56e3 100644
--- a/androidgcs/default.properties
+++ b/androidgcs/default.properties
@@ -8,4 +8,4 @@
 # project structure.
 
 # Project target.
-target=android-10
+target=Google Inc.:Google APIs:8
diff --git a/androidgcs/res/layout/gcs_home.xml b/androidgcs/res/layout/gcs_home.xml
index 1a5a81cd7..e07f5b003 100644
--- a/androidgcs/res/layout/gcs_home.xml
+++ b/androidgcs/res/layout/gcs_home.xml
@@ -11,4 +11,5 @@
     	android:id="@+id/launch_object_browser" 
     	android:drawableLeft="@drawable/browser_icon" android:layout_centerHorizontal="true"/>
     <Button android:layout_width="wrap_content" android:layout_height="wrap_content" android:text="@string/pfd_name" android:id="@+id/launch_pfd" android:drawableLeft="@drawable/browser_icon" android:layout_below="@+id/launch_object_browser" android:layout_alignLeft="@+id/launch_object_browser" android:layout_alignRight="@+id/launch_object_browser"></Button>
+    <Button android:layout_width="wrap_content" android:layout_height="wrap_content" android:text="@string/location_name" android:id="@+id/launch_location" android:drawableLeft="@drawable/browser_icon" android:layout_below="@+id/launch_pfd" android:layout_alignLeft="@+id/launch_object_browser" android:layout_alignRight="@+id/launch_object_browser"></Button>
 </RelativeLayout>
diff --git a/androidgcs/res/layout/map_layout.xml b/androidgcs/res/layout/map_layout.xml
new file mode 100644
index 000000000..64c64b16e
--- /dev/null
+++ b/androidgcs/res/layout/map_layout.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+	android:orientation="vertical" android:layout_width="fill_parent"
+	android:layout_height="fill_parent">
+	<com.google.android.maps.MapView
+		android:id="@+id/map_view" android:layout_width="fill_parent"
+		android:layout_height="fill_parent" android:enabled="true"
+		android:clickable="true" android:apiKey="0wrDHCybTiyzQZNBmbMVW9UU-8kzQfF7Ar1KhNw" />
+</LinearLayout>
+		
\ No newline at end of file
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index 3b3a38d02..7cef563e7 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -1,19 +1,24 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
-    <string name="app_name">OpenPilot GCS Home</string>
-    <string name="object_browser_name">OpenPilot Object Browser</string>
-    <string name="pfd_name">OpenPilot PFD</string>
-    <string name="menu_item_settings">Settings</string>
-    <string name="menu_item_connect">Connect</string>
-    <string name="menu_item_disconnect">Disconnect</string>
-    <string name="preference_title">Settings</string>
-    <string name="preference_checkbox_autoconnect">Automatically Connect</string>
-    <string name="preference_checkbox_connection_type">Connection Type</string>
-    <string name="preference_checkbox_bluetooth">Bluetooth</string>
-    <string name="preference_connection_method_summary">Select the connection method</string>
-    <string name="compass_name">Compass</string> 
-    <string name="cardinal_north">N</string> 
-    <string name="cardinal_east">E</string> 
-    <string name="cardinal_south">S</string> 
-    <string name="cardinal_west">W</string>    
+	<string name="app_name">OpenPilot GCS Home</string>
+	<string name="object_browser_name">OpenPilot Object Browser</string>
+	<string name="pfd_name">OpenPilot PFD</string>
+	<string name="location_name">OpenPilot Location</string>
+	
+	<string name="menu_item_settings">Settings</string>
+	<string name="menu_item_connect">Connect</string>
+	<string name="menu_item_disconnect">Disconnect</string>
+	
+	<string name="preference_title">Settings</string>
+	<string name="preference_checkbox_autoconnect">Automatically Connect</string>
+	<string name="preference_checkbox_connection_type">Connection Type</string>
+	<string name="preference_checkbox_bluetooth">Bluetooth</string>
+	<string name="preference_connection_method_summary">Select the connection method</string>
+	
+	<string name="compass_name">Compass</string>
+	<string name="cardinal_north">N</string>
+	<string name="cardinal_east">E</string>
+	<string name="cardinal_south">S</string>
+	<string name="cardinal_west">W</string>
+	<string name="connected">Connected</string>
 </resources>
diff --git a/androidgcs/src/org/openpilot/androidgcs/HomePage.java b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
index 7d03e1b04..cf9664d14 100644
--- a/androidgcs/src/org/openpilot/androidgcs/HomePage.java
+++ b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
@@ -27,6 +27,12 @@ public class HomePage extends ObjectManagerActivity {
 			}			
 		});
 
+		Button location = (Button) findViewById(R.id.launch_location);
+		location.setOnClickListener(new OnClickListener() {
+			public void onClick(View arg0) {
+				startActivity(new Intent(HomePage.this, UAVLocation.class));	
+			}			
+		});
 	}
 
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index 67ee56d4e..c2914f34a 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -212,18 +212,45 @@ public class OPTelemetryService extends Service {
 			//toastMessage("Started fake telemetry thread");
 			UAVDataObject systemStats = (UAVDataObject) objMngr.getObject("SystemStats");
 			UAVDataObject attitudeActual = (UAVDataObject) objMngr.getObject("AttitudeActual");
+			UAVDataObject homeLocation = (UAVDataObject) objMngr.getObject("HomeLocation");
+			UAVDataObject positionActual = (UAVDataObject) objMngr.getObject("PositionActual");
+
+			homeLocation.getField("Latitude").setDouble(379420315);
+			homeLocation.getField("Longitude").setDouble(-88330078);
+			homeLocation.getField("ECEF").setDouble(497665694,0);
+			homeLocation.getField("ECEF").setDouble(-77336320,1);
+			homeLocation.getField("ECEF").setDouble(390037169,2);
+			homeLocation.getField("RNE").setDouble(-0.60757166,0);
+			homeLocation.getField("RNE").setDouble(0.09441550,1);
+			homeLocation.getField("RNE").setDouble(0.78863323,2);
+			homeLocation.getField("RNE").setDouble(0.15355512,3);
+			homeLocation.getField("RNE").setDouble(0.98814011,4);
+			homeLocation.getField("RNE").setDouble(0,5);
+			homeLocation.getField("RNE").setDouble(-0.77928013,6);
+			homeLocation.getField("RNE").setDouble(0.12109867,7);
+			homeLocation.getField("RNE").setDouble(-0.61486387,8);
+			homeLocation.getField("Be").setDouble(26702.78710938,0);
+			homeLocation.getField("Be").setDouble(-1468.33605957,1);
+			homeLocation.getField("Be").setDouble(34181.78515625,2);
+			
+			
 			double roll = 0;
 			double pitch = 0; 
 			double yaw = 0;
+			double north = 0;
+			double east = 0;
 			while( !terminate ) {
 				attitudeActual.getField("Roll").setDouble(roll);
 				attitudeActual.getField("Pitch").setDouble(pitch);
 				attitudeActual.getField("Yaw").setDouble(yaw);
+				positionActual.getField("North").setDouble(north += 100);
+				positionActual.getField("East").setDouble(east += 100);
 				roll = (roll + 10) % 180;
 				pitch = (pitch + 10) % 180;
 				yaw = (yaw + 10) % 360;
 				systemStats.updated();
 				attitudeActual.updated();
+				positionActual.updated();
 				try {
 					Thread.sleep(1000);
 				} catch (InterruptedException e) {
diff --git a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
new file mode 100644
index 000000000..72085c1d6
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
@@ -0,0 +1,273 @@
+package org.openpilot.androidgcs;
+
+import java.util.List;
+import java.util.Observable;
+import java.util.Observer;
+
+import org.openpilot.androidgcs.OPTelemetryService.LocalBinder;
+import org.openpilot.androidgcs.OPTelemetryService.TelemTask;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVObjectManager;
+
+import com.google.android.maps.GeoPoint;
+import com.google.android.maps.MapActivity; 
+import com.google.android.maps.MapController; 
+import com.google.android.maps.MapView; 
+import com.google.android.maps.Overlay;
+import com.google.android.maps.Projection;
+
+import android.content.BroadcastReceiver;
+import android.content.ComponentName;
+import android.content.Context;
+import android.content.Intent;
+import android.content.IntentFilter;
+import android.content.ServiceConnection;
+import android.graphics.Canvas;
+import android.graphics.Paint;
+import android.graphics.Point;
+import android.graphics.RectF;
+import android.os.Bundle;
+import android.os.IBinder;
+import android.util.Log;
+import android.view.Menu;
+import android.view.MenuInflater;
+import android.view.MenuItem;
+
+public class UAVLocation extends MapActivity 
+{ 
+	private final String TAG = "UAVLocation";
+	private static int LOGLEVEL = 0;
+//	private static boolean WARN = LOGLEVEL > 1;
+	private static boolean DEBUG = LOGLEVEL > 0;
+
+	private MapView mapView; 
+	private MapController mapController;
+
+	UAVObjectManager objMngr;
+    boolean mBound = false;
+    boolean mConnected = false;
+    LocalBinder binder;
+
+    GeoPoint homeLocation;
+    GeoPoint uavLocation;
+
+    @Override public void onCreate(Bundle icicle) {
+		super.onCreate(icicle); 
+		setContentView(R.layout.map_layout); 
+		mapView = (MapView)findViewById(R.id.map_view);
+		mapController = mapView.getController();
+
+		mapView.displayZoomControls(true);
+		Double lat = 37.422006*1E6; 
+		Double lng = -122.084095*1E6; 
+		homeLocation = new GeoPoint(lat.intValue(), lng.intValue());
+		uavLocation = homeLocation;
+		mapController.setCenter(homeLocation); 
+		mapController.setZoom(18);
+		
+		List<Overlay> overlays = mapView.getOverlays();
+		UAVOverlay myOverlay = new UAVOverlay(); 
+		overlays.add(myOverlay); 
+		mapView.postInvalidate();
+
+		// ObjectManager related stuff (can't inherit standard class)
+		BroadcastReceiver connectedReceiver = new BroadcastReceiver() {
+			@Override
+			public void onReceive(Context context, Intent intent) {
+				Log.d(TAG, "Received intent");
+				TelemTask task;
+				if(intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_CONNECTED) == 0) {
+					
+					if(binder  == null)
+						return;
+					if((task = binder.getTelemTask(0)) == null)
+						return;
+					objMngr = task.getObjectManager();
+					mConnected = true;
+					onOPConnected();
+					Log.d(TAG, "Connected()");
+				} else if (intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_DISCONNECTED) == 0) {
+					objMngr = null;
+					mConnected = false;
+					onOPDisconnected();
+					Log.d(TAG, "Disonnected()");
+				}
+			}			
+		};
+		
+		IntentFilter filter = new IntentFilter();
+		filter.addCategory(OPTelemetryService.INTENT_CATEGORY_GCS);
+		filter.addAction(OPTelemetryService.INTENT_ACTION_CONNECTED);
+		filter.addAction(OPTelemetryService.INTENT_ACTION_DISCONNECTED);
+		registerReceiver(connectedReceiver, filter);
+	}
+
+	//@Override 
+	protected boolean isRouteDisplayed() {
+		// IMPORTANT: This method must return true if your Activity // is displaying driving directions. Otherwise return false. 
+		return false;
+	}
+
+	public class UAVOverlay extends Overlay {
+		@Override 
+		public void draw(Canvas canvas, MapView mapView, boolean shadow) {
+			
+			Projection projection = mapView.getProjection();
+			
+			if (shadow == false) { 
+				Point myPoint = new Point(); 
+				projection.toPixels(uavLocation, myPoint);
+				
+				//// Draw UAV
+				// Create and setup your paint brush 
+				Paint paint = new Paint(); 
+				paint.setARGB(250, 255, 0, 0); 
+				paint.setAntiAlias(true); 
+				paint.setFakeBoldText(true);
+				
+				// Create the circle 
+				int rad = 5; 
+				RectF oval = new RectF(myPoint.x-rad, myPoint.y-rad, myPoint.x+rad, myPoint.y+rad);
+				
+				// Draw on the canvas 
+				canvas.drawOval(oval, paint); 
+				canvas.drawText("UAV", myPoint.x+rad, myPoint.y, paint);								
+
+				//// Draw Home
+				myPoint = new Point();
+				projection.toPixels(homeLocation, myPoint);
+
+				// Create and setup your paint brush 
+				paint.setARGB(250, 0, 0, 0); 
+				paint.setAntiAlias(true); 
+				paint.setFakeBoldText(true);
+				
+				// Create the circle 
+				rad = 5; 
+				oval = new RectF(myPoint.x-rad, myPoint.y-rad, myPoint.x+rad, myPoint.y+rad);
+				
+				// Draw on the canvas 
+				canvas.drawOval(oval, paint); 
+				canvas.drawText("Home", myPoint.x+rad, myPoint.y, paint);								
+
+			} 
+		}
+
+		@Override
+		public boolean onTap(GeoPoint point, MapView mapView1) {
+			// Return true if screen tap is handled by this overlay
+			return false; 
+		}
+	}
+	
+	void onOPConnected() {
+		UAVObject obj = objMngr.getObject("HomeLocation");
+		if(obj != null)
+			obj.addUpdatedObserver(new Observer() {
+				public void update(Observable observable, Object data) {
+					UAVDataObject obj = (UAVDataObject) data;
+					Double lat = obj.getField("Latitude").getDouble() / 10;
+					Double lon = obj.getField("Longitude").getDouble() / 10;
+					homeLocation = new GeoPoint(lat.intValue(), lon.intValue());
+					runOnUiThread(new Runnable() {
+						public void run() {
+							mapController.setCenter(homeLocation);							
+						}						
+					});
+					System.out.println("HomeLocation: " + homeLocation.toString());
+				}				
+			});
+		// Hacky - trigger an update
+		obj.updated();
+		
+		obj = objMngr.getObject("PositionActual");
+		if(obj != null)
+			obj.addUpdatedObserver(new Observer() {
+				public void update(Observable observable, Object data) {
+					UAVDataObject obj = (UAVDataObject) data;
+					Double north = obj.getField("North").getDouble();
+					Double east = obj.getField("East").getDouble();
+					// TODO: Correct convertion from NED to LLA.  This is erroneous conversion from cm to deg
+					uavLocation = new GeoPoint((int) (homeLocation.getLatitudeE6() + north / 100 * 1e6 / 78847),
+							(int) (homeLocation.getLongitudeE6() + east / 100 * 1e6 / 78847));
+					runOnUiThread(new Runnable() {
+						public void run() {
+							mapView.invalidate();
+						}
+					});
+				}				
+			});
+
+	}
+	
+	void onOPDisconnected() {
+		
+	}
+	
+	@Override
+	public boolean onOptionsItemSelected(MenuItem item) {
+		switch(item.getItemId()) {
+		case R.id.menu_connect:
+			binder.openConnection();
+			return true;
+		case R.id.menu_disconnect:
+			binder.stopConnection();
+			return true;
+		case R.id.menu_settings:
+			startActivity(new Intent(this, Preferences.class));
+			return true;
+		default:
+			return super.onOptionsItemSelected(item);
+		}
+
+	}
+
+	@Override
+	public boolean onCreateOptionsMenu(Menu menu) {
+		MenuInflater inflater = getMenuInflater();
+		inflater.inflate(R.menu.options_menu, menu);
+		return true;
+	}
+
+	@Override
+	public void onStart() {
+		super.onStart();
+		Intent intent = new Intent(this, OPTelemetryService.class);
+		bindService(intent, mConnection, Context.BIND_AUTO_CREATE);
+	}
+	
+	public void onBind() {
+		
+	}
+
+	/** Defines callbacks for service binding, passed to bindService() */
+	private ServiceConnection mConnection = new ServiceConnection() {
+		public void onServiceConnected(ComponentName arg0, IBinder service) {
+			// We've bound to LocalService, cast the IBinder and attempt to open a connection			
+			if (DEBUG) Log.d(TAG,"Service bound");
+			mBound = true;
+			binder = (LocalBinder) service;
+			
+			if(binder.isConnected()) {
+				TelemTask task;
+				if((task = binder.getTelemTask(0)) != null) {
+					objMngr = task.getObjectManager();
+					mConnected = true;
+					onOPConnected();
+				}
+			
+			}
+		}
+
+		public void onServiceDisconnected(ComponentName name) {
+			mBound = false;
+			binder = null;
+			mConnected = false;
+			objMngr = null;
+			objMngr = null;
+			mConnected = false;
+			onOPDisconnected();
+		}
+	};
+}

From dadcb3939621c19ce14c681486bb0541346a7155 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 22 Mar 2011 21:59:36 -0500
Subject: [PATCH 239/543] Few tweaks and suppress some warnings

---
 androidgcs/default.properties                 |  2 +-
 androidgcs/res/xml/preferences.xml            | 23 ++++++++++--------
 .../openpilot/androidgcs/TelemetryWidget.java | 24 ++++++++++++++++++-
 .../uavobjects/UAVObjectsInitialize.java      |  2 +-
 4 files changed, 38 insertions(+), 13 deletions(-)

diff --git a/androidgcs/default.properties b/androidgcs/default.properties
index 420db56e3..728f51f97 100644
--- a/androidgcs/default.properties
+++ b/androidgcs/default.properties
@@ -8,4 +8,4 @@
 # project structure.
 
 # Project target.
-target=Google Inc.:Google APIs:8
+target=Google Inc.:Google APIs:11
diff --git a/androidgcs/res/xml/preferences.xml b/androidgcs/res/xml/preferences.xml
index d731f59dd..24fd43b5e 100644
--- a/androidgcs/res/xml/preferences.xml
+++ b/androidgcs/res/xml/preferences.xml
@@ -1,12 +1,15 @@
 <?xml version="1.0" encoding="utf-8"?>
-<PreferenceScreen
-  xmlns:android="http://schemas.android.com/apk/res/android">
-    <CheckBoxPreference android:title="@string/preference_checkbox_autoconnect" android:key="autoconnect" />
-    <ListPreference 
-    	android:title="@string/preference_checkbox_connection_type" 
-    	android:key="connection_type"
-		android:summary="@string/preference_connection_method_summary"
-		android:defaultValue="None"
-		android:entries="@array/connectTypeArray"
-		android:entryValues="@array/connectTypeValues" />
+<PreferenceScreen xmlns:android="http://schemas.android.com/apk/res/android">
+	<PreferenceCategory android:title="Connection Settings">
+		<CheckBoxPreference android:title="@string/preference_checkbox_autoconnect"
+			android:key="autoconnect" />
+		<ListPreference android:title="@string/preference_checkbox_connection_type"
+			android:key="connection_type" android:summary="@string/preference_connection_method_summary"
+			android:defaultValue="None" android:entries="@array/connectTypeArray"
+			android:entryValues="@array/connectTypeValues" />
+		<EditTextPreference android:name="ip_address"
+			android:summary="Enter a TCP/IP address here"
+			android:defaultValue="192.168.0.1" android:title="IP address:"
+			android:key="editTextPref" />
+	</PreferenceCategory>
 </PreferenceScreen>
diff --git a/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java b/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java
index d316526ef..51afdf568 100644
--- a/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java
+++ b/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java
@@ -2,11 +2,34 @@ package org.openpilot.androidgcs;
 
 import android.appwidget.AppWidgetManager;
 import android.appwidget.AppWidgetProvider;
+import android.content.ComponentName;
 import android.content.Context;
+import android.content.Intent;
 import android.widget.RemoteViews;
 
 public class TelemetryWidget extends AppWidgetProvider {
 	
+	@Override
+	public void onReceive(Context context, Intent intent) {
+		if(intent.getAction().equals(OPTelemetryService.INTENT_ACTION_CONNECTED)) {
+			changeStatus(context, true);
+		}
+		if(intent.getAction().equals(OPTelemetryService.INTENT_ACTION_DISCONNECTED)) {
+			changeStatus(context, false);
+		}		
+        
+		super.onReceive(context, intent);
+	}
+	
+	public void changeStatus(Context context, boolean status) {
+		RemoteViews updateViews =  new RemoteViews(context.getPackageName(), R.layout.telemetry_widget);
+		updateViews.setTextViewText(R.id.telemetryWidgetStatus, "Connection status: " + status);
+		ComponentName thisWidget = new ComponentName(context, TelemetryWidget.class);
+        AppWidgetManager manager = AppWidgetManager.getInstance(context);
+        manager.updateAppWidget(thisWidget, updateViews);
+
+	}
+
 	public void onUpdate(Context context, AppWidgetManager appWidgetManager, int[] appWidgetIds) {
         final int N = appWidgetIds.length;
 
@@ -16,7 +39,6 @@ public class TelemetryWidget extends AppWidgetProvider {
 
             // Get the layout for the App Widget and attach an on-click listener to the button
             RemoteViews views = new RemoteViews(context.getPackageName(), R.layout.telemetry_widget);
-            //views.setOnClickPendingIntent(R.id.button, pendingIntent);
 
             // Tell the AppWidgetManager to perform an update on the current App Widget
             appWidgetManager.updateAppWidget(appWidgetId, views);
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
index 4eca6ea82..d1d47aebb 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
@@ -28,7 +28,7 @@
 
 package org.openpilot.uavtalk.uavobjects;
 
-import org.openpilot.uavtalk.uavobjects.*;
+//import org.openpilot.uavtalk.uavobjects.*;
 import org.openpilot.uavtalk.UAVObjectManager;
 
 public class UAVObjectsInitialize {

From b654d68ee64d6a353340f46c989821b4bcf23ec5 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 23 Mar 2011 11:37:20 -0500
Subject: [PATCH 240/543] Cleaner editor interface

---
 androidgcs/default.properties                 |   2 +-
 androidgcs/res/layout/object_browser.xml      |   3 +-
 androidgcs/res/layout/object_edit.xml         |   6 +-
 androidgcs/res/layout/object_editor.xml       |   6 +
 androidgcs/res/values/strings.xml             |   3 +
 .../androidgcs/OPTelemetryService.java        |   5 +-
 .../openpilot/androidgcs/ObjectBrowser.java   |   3 +
 .../openpilot/androidgcs/ObjectEditView.java  | 114 ++++++++++++++++++
 .../openpilot/androidgcs/ObjectEditor.java    |  12 +-
 9 files changed, 138 insertions(+), 16 deletions(-)
 create mode 100644 androidgcs/res/layout/object_editor.xml
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java

diff --git a/androidgcs/default.properties b/androidgcs/default.properties
index 728f51f97..fd1cedd24 100644
--- a/androidgcs/default.properties
+++ b/androidgcs/default.properties
@@ -8,4 +8,4 @@
 # project structure.
 
 # Project target.
-target=Google Inc.:Google APIs:11
+target=Google Inc.:Google APIs:10
diff --git a/androidgcs/res/layout/object_browser.xml b/androidgcs/res/layout/object_browser.xml
index 880e276ff..9c7456915 100644
--- a/androidgcs/res/layout/object_browser.xml
+++ b/androidgcs/res/layout/object_browser.xml
@@ -2,5 +2,6 @@
 <RelativeLayout   xmlns:android="http://schemas.android.com/apk/res/android"
   android:layout_width="match_parent"
   android:layout_height="match_parent">
-    <ListView android:layout_width="match_parent" android:layout_height="wrap_content" android:id="@+id/object_list"></ListView>
+    <Spinner android:layout_alignParentTop="true" android:layout_height="wrap_content" android:layout_width="match_parent" android:id="@+id/object_list_filter"></Spinner>
+    <ListView android:id="@+id/object_list" android:layout_height="wrap_content" android:layout_width="match_parent" android:layout_below="@+id/spinner1" android:layout_alignLeft="@+id/spinner1" android:layout_alignRight="@+id/spinner1"></ListView>
 </RelativeLayout>
diff --git a/androidgcs/res/layout/object_edit.xml b/androidgcs/res/layout/object_edit.xml
index 62a482be9..c161caa4c 100644
--- a/androidgcs/res/layout/object_edit.xml
+++ b/androidgcs/res/layout/object_edit.xml
@@ -3,7 +3,7 @@
   xmlns:android="http://schemas.android.com/apk/res/android"
   android:layout_width="match_parent"
   android:layout_height="match_parent">
-    <TextView android:layout_height="wrap_content" android:text="ObjectEditor: " android:id="@+id/object_edit_title" android:layout_alignParentTop="true" android:layout_width="wrap_content" android:layout_centerHorizontal="true" android:textStyle="bold"></TextView>
-    <TextView android:text="" android:id="@+id/object_edit_name" android:layout_toRightOf="@+id/object_edit_title" android:layout_alignTop="@+id/textView1" android:layout_alignBottom="@+id/textView1" android:layout_height="wrap_content" android:layout_width="50dip"></TextView>
-    <LinearLayout android:id="@+id/object_edit_fields" android:layout_height="match_parent" android:layout_width="match_parent" android:layout_alignParentBottom="true" android:orientation="vertical"></LinearLayout>
+	<org.openpilot.androidgcs.ObjectEditView android:layout_height="wrap_content" android:text="ObjectEditor: " android:id="@+id/object_edit_view" android:layout_alignParentTop="true" android:layout_width="wrap_content" android:layout_centerHorizontal="true" android:textStyle="bold"></org.openpilot.androidgcs.ObjectEditView>
+	<Button android:layout_height="wrap_content" android:layout_width="wrap_content" android:layout_alignParentBottom="true" android:id="@+id/object_edit_send_button" android:text="@string/send_button"></Button>
+	<Button android:layout_height="wrap_content" android:layout_width="wrap_content" android:id="@+id/object_edit_save_button" android:text="@string/save_button" android:layout_toRightOf="@+id/object_edit_send_button" android:layout_alignTop="@+id/object_edit_send_button" android:layout_alignBottom="@+id/object_edit_send_button"></Button>
 </RelativeLayout>
diff --git a/androidgcs/res/layout/object_editor.xml b/androidgcs/res/layout/object_editor.xml
new file mode 100644
index 000000000..d93b1a097
--- /dev/null
+++ b/androidgcs/res/layout/object_editor.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout
+  xmlns:android="http://schemas.android.com/apk/res/android"
+  android:layout_width="match_parent"
+  android:layout_height="match_parent">
+</LinearLayout>
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index 7cef563e7..6d69e4126 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -21,4 +21,7 @@
 	<string name="cardinal_south">S</string>
 	<string name="cardinal_west">W</string>
 	<string name="connected">Connected</string>
+	<string name="update_button">Update</string>
+	<string name="save_button">Save</string>
+	<string name="send_button">Send</string>
 </resources>
diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index c2914f34a..ce90f5a48 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -74,7 +74,8 @@ public class OPTelemetryService extends Service {
 				Toast.makeText(getApplicationContext(), "Attempting connection", Toast.LENGTH_SHORT).show();
 				terminate = false;
 				SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
-				int connection_type = Integer.decode(prefs.getString("connection_type", ""));
+				//int connection_type = Integer.decode(prefs.getString("connection_type", ""));
+				int connection_type = 1;
 				switch(connection_type) {
 				case 0: // No connection
 					return;
@@ -128,7 +129,7 @@ public class OPTelemetryService extends Service {
 		mServiceHandler = new ServiceHandler(mServiceLooper);
 	
 		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
-		if(prefs.getBoolean("autoconnect", false)) {
+		if(prefs.getBoolean("autoconnect", false) || true) {
 			Toast.makeText(getApplicationContext(), "Should auto connect", Toast.LENGTH_SHORT);
 			Message msg = mServiceHandler.obtainMessage();
 			msg.arg1 = MSG_CONNECT;
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index df2d114a4..a6ed177a2 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -17,6 +17,7 @@ import android.view.View;
 import android.widget.AdapterView;
 import android.widget.ArrayAdapter;
 import android.widget.ListView;
+import android.widget.Spinner;
 import android.widget.Toast;
 import android.widget.AdapterView.OnItemClickListener;
 
@@ -46,6 +47,8 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 		setContentView(R.layout.object_browser);		
 		prefs = PreferenceManager.getDefaultSharedPreferences(this);
 		prefs.registerOnSharedPreferenceChangeListener(this);
+		
+		Spinner objectFilter = (Spinner) findViewById(R.id.object_list_filter);
 	}
 
 	@Override
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java b/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
new file mode 100644
index 000000000..7b81ff18c
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
@@ -0,0 +1,114 @@
+package org.openpilot.androidgcs;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectField;
+
+import android.content.Context;
+import android.util.AttributeSet;
+import android.view.View;
+import android.widget.EditText;
+import android.widget.LinearLayout;
+import android.widget.TextView;
+
+public class ObjectEditView extends LinearLayout {
+
+	TextView objectName;
+	List<View> fields;
+
+	public ObjectEditView(Context context) {
+		super(context);		
+		initObjectEditView();
+	}
+
+	public ObjectEditView(Context context, AttributeSet ats, int defaultStyle) { 
+		super(context, ats);
+		initObjectEditView();
+	}
+
+	public ObjectEditView(Context context, AttributeSet ats) { 
+		super(context, ats);
+		initObjectEditView();
+	}
+
+	public void initObjectEditView() {
+		// Set orientation of layout to vertical 
+		setOrientation(LinearLayout.VERTICAL);
+
+		objectName = new TextView(getContext());
+		objectName.setText("");
+		objectName.setTextSize(14);
+
+		// Lay them out in the compound control. 
+		int lHeight = LayoutParams.WRAP_CONTENT; 
+		int lWidth = LayoutParams.FILL_PARENT;
+		addView(objectName, new LinearLayout.LayoutParams(lWidth, lHeight));
+
+		fields = new ArrayList<View>();
+	}
+
+	public void setName(String name) {
+		objectName.setText(name);
+	}
+
+	public void addField(UAVObjectField field) {
+		if(field.getNumElements() == 1) {
+			FieldValue fieldView = new FieldValue(getContext());
+			fieldView.setName(field.getName());
+			if(field.isNumeric()) {
+				fieldView.setValue(new Double(field.getDouble()).toString());
+			} else {
+				fieldView.setValue(field.getValue().toString());
+			}
+			fields.add(fieldView);
+			addView(fieldView, new LinearLayout.LayoutParams(LayoutParams.WRAP_CONTENT, LayoutParams.FILL_PARENT));
+		} 
+		else {
+			ListIterator<String> names = field.getElementNames().listIterator();
+			int i = 0;
+			while(names.hasNext()) {
+				FieldValue fieldView = new FieldValue(getContext());
+				fieldView.setName(field.getName() + "-" + names.next());
+				if(field.isNumeric()) {
+					fieldView.setValue(new Double(field.getDouble(i)).toString());
+				} else {
+					fieldView.setValue(field.getValue(i).toString());
+				}
+				i++;
+				fields.add(fieldView);
+				addView(fieldView, new LinearLayout.LayoutParams(LayoutParams.WRAP_CONTENT, LayoutParams.FILL_PARENT));
+
+			}
+		}
+	}
+
+	public class FieldValue extends LinearLayout {
+
+		TextView fieldName;
+		EditText fieldValue;
+
+		public FieldValue(Context context) {
+			super(context);
+			setOrientation(LinearLayout.HORIZONTAL);
+
+			fieldName = new TextView(getContext());
+			fieldValue = new EditText(getContext());
+
+			// Lay them out in the compound control.
+			addView(fieldName, new LinearLayout.LayoutParams(LayoutParams.WRAP_CONTENT, LayoutParams.FILL_PARENT));
+			fieldValue.setWidth(300);
+			addView(fieldValue, new LinearLayout.LayoutParams(LayoutParams.WRAP_CONTENT, LayoutParams.WRAP_CONTENT));
+		}
+
+		public void setName(String name) {
+			fieldName.setText(name);
+		}
+
+		public void setValue(String value) {
+			fieldValue.setText(value);
+		}		
+	}
+
+}
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java b/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
index 33d0e2f8e..afbddb5e5 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
@@ -7,8 +7,6 @@ import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectField;
 
 import android.os.Bundle;
-import android.widget.LinearLayout;
-import android.widget.TextView;
 import android.widget.Toast;
 
 public class ObjectEditor extends ObjectManagerActivity {
@@ -35,17 +33,13 @@ public class ObjectEditor extends ObjectManagerActivity {
 		UAVObject obj = objMngr.getObject(objectID, instID);
 		Toast.makeText(getApplicationContext(), obj.toString(), Toast.LENGTH_SHORT);
 		
-		TextView objectName = (TextView) findViewById(R.id.object_edit_name);
-		objectName.setText(obj.getName());
+		ObjectEditView editView = (ObjectEditView) findViewById(R.id.object_edit_view);
+		editView.setName(obj.getName());
 		
-		LinearLayout fieldViewList = (LinearLayout) findViewById(R.id.object_edit_fields);
 		List<UAVObjectField> fields = obj.getFields();
 		ListIterator<UAVObjectField> li = fields.listIterator();
 		while(li.hasNext()) {
-			UAVObjectField field = li.next();
-			TextView fieldName = new TextView(this);
-			fieldName.setText(field.getName());
-			fieldViewList.addView(fieldName);
+			editView.addField(li.next());
 		}
 	}
 

From 723bcddc110c252cc5024ed8fbc59910cccf472b Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 4 Feb 2012 17:07:27 -0600
Subject: [PATCH 241/543] Update the project and checked in the meta data. 
 Hopefully this will make it run more easily in future.

---
 androidgcs/.classpath                         |   8 +-
 androidgcs/.metadata/.lock                    |   0
 androidgcs/.metadata/.log                     |  83 ++++
 .../.metadata/.mylyn/repositories.xml.zip     | Bin 0 -> 403 bytes
 androidgcs/.metadata/.mylyn/tasks.xml.zip     | Bin 0 -> 250 bytes
 .../.plugins/org.eclipse.cdt.core/.log        |   1 +
 .../.root/.indexes/history.version            |   1 +
 .../.root/.indexes/properties.index           | Bin 0 -> 57 bytes
 .../.root/.indexes/properties.version         |   1 +
 .../org.eclipse.core.resources/.root/2.tree   | Bin 0 -> 149 bytes
 .../.safetable/org.eclipse.core.resources     | Bin 0 -> 614 bytes
 .../.settings/org.eclipse.cdt.ui.prefs        |   5 +
 .../org.eclipse.core.resources.prefs          |   3 +
 .../org.eclipse.epp.usagedata.recording.prefs |   3 +
 .../.settings/org.eclipse.jdt.ui.prefs        |  15 +
 .../org.eclipse.mylyn.context.core.prefs      |   3 +
 .../.settings/org.eclipse.team.cvs.ui.prefs   |   3 +
 .../.settings/org.eclipse.team.ui.prefs       |   3 +
 .../.settings/org.eclipse.ui.editors.prefs    |   3 +
 .../.settings/org.eclipse.ui.ide.prefs        |   5 +
 .../.settings/org.eclipse.ui.prefs            |   3 +
 .../.settings/org.eclipse.ui.workbench.prefs  |   3 +
 .../upload0.csv                               | 251 +++++++++++++
 .../usagedata.csv                             |  83 ++++
 .../org.eclipse.jdt.core/nonChainingJarsCache | Bin 0 -> 4 bytes
 .../variablesAndContainers.dat                | Bin 0 -> 96 bytes
 .../org.eclipse.jdt.ui/OpenTypeHistory.xml    |   2 +
 .../QualifiedTypeNameHistory.xml              |   2 +
 .../org.eclipse.jdt.ui/dialog_settings.xml    |  10 +
 .../org.eclipse.ui.ide/dialog_settings.xml    |   9 +
 .../org.eclipse.ui.intro/dialog_settings.xml  |   4 +
 .../dialog_settings.xml                       |   5 +
 .../org.eclipse.ui.workbench/workbench.xml    | 355 ++++++++++++++++++
 .../org.eclipse.ui.workbench/workingsets.xml  |   4 +
 androidgcs/.metadata/version.ini              |   1 +
 .../.settings/org.eclipse.jdt.core.prefs      |  11 +-
 androidgcs/lint.xml                           |   3 +
 ...{default.properties => project.properties} |   4 +-
 38 files changed, 879 insertions(+), 8 deletions(-)
 create mode 100644 androidgcs/.metadata/.lock
 create mode 100644 androidgcs/.metadata/.log
 create mode 100644 androidgcs/.metadata/.mylyn/repositories.xml.zip
 create mode 100644 androidgcs/.metadata/.mylyn/tasks.xml.zip
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.cdt.core/.log
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/history.version
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.index
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.version
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.resources/.root/2.tree
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.ui.prefs
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.core.resources.prefs
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.epp.usagedata.recording.prefs
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.jdt.ui.prefs
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.mylyn.context.core.prefs
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.team.cvs.ui.prefs
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.team.ui.prefs
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.editors.prefs
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.ide.prefs
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.prefs
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.workbench.prefs
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.epp.usagedata.recording/upload0.csv
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.epp.usagedata.recording/usagedata.csv
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.jdt.core/nonChainingJarsCache
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.jdt.core/variablesAndContainers.dat
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.jdt.ui/OpenTypeHistory.xml
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.jdt.ui/QualifiedTypeNameHistory.xml
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.jdt.ui/dialog_settings.xml
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.ui.ide/dialog_settings.xml
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.ui.intro/dialog_settings.xml
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.ui.workbench/dialog_settings.xml
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.ui.workbench/workbench.xml
 create mode 100644 androidgcs/.metadata/.plugins/org.eclipse.ui.workbench/workingsets.xml
 create mode 100644 androidgcs/.metadata/version.ini
 create mode 100644 androidgcs/lint.xml
 rename androidgcs/{default.properties => project.properties} (72%)

diff --git a/androidgcs/.classpath b/androidgcs/.classpath
index 6f3f456df..eb33e4360 100644
--- a/androidgcs/.classpath
+++ b/androidgcs/.classpath
@@ -1,9 +1,9 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
+	<classpathentry kind="src" path="gen"/>
 	<classpathentry kind="src" path="src"/>
 	<classpathentry kind="src" path="tests"/>
-	<classpathentry kind="src" path="gen"/>
-	<classpathentry kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
-	<classpathentry kind="con" path="org.eclipse.jdt.junit.JUNIT_CONTAINER/4"/>
-	<classpathentry kind="output" path="bin"/>
+	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
+	<classpathentry exported="true" kind="con" path="org.eclipse.jdt.junit.JUNIT_CONTAINER/4"/>
+	<classpathentry kind="output" path="bin/classes"/>
 </classpath>
diff --git a/androidgcs/.metadata/.lock b/androidgcs/.metadata/.lock
new file mode 100644
index 000000000..e69de29bb
diff --git a/androidgcs/.metadata/.log b/androidgcs/.metadata/.log
new file mode 100644
index 000000000..8955f7bbc
--- /dev/null
+++ b/androidgcs/.metadata/.log
@@ -0,0 +1,83 @@
+!SESSION 2012-02-04 14:21:36.086 -----------------------------------------------
+eclipse.buildId=unknown
+java.version=1.6.0_29
+java.vendor=Apple Inc.
+BootLoader constants: OS=macosx, ARCH=x86_64, WS=cocoa, NL=en_US
+Framework arguments:  -product org.eclipse.epp.package.cpp.product -product org.eclipse.epp.package.cpp.product -product org.eclipse.epp.package.cpp.product -keyring /Users/jcotton81/.eclipse_keyring -showlocation
+Command-line arguments:  -os macosx -ws cocoa -arch x86_64 -product org.eclipse.epp.package.cpp.product -product org.eclipse.epp.package.cpp.product -data /Users/jcotton81/Documents/Programming/OpenPilot/androidgcs -product org.eclipse.epp.package.cpp.product -keyring /Users/jcotton81/.eclipse_keyring -showlocation
+
+!ENTRY org.eclipse.core.net 1 0 2012-02-04 14:21:41.864
+!MESSAGE System property http.nonProxyHosts has been set to local|*.local|169.254/16|*.169.254/16 by an external source. This value will be overwritten using the values from the preferences
+
+!ENTRY org.eclipse.ui.intro.universal 4 0 2012-02-04 14:21:44.892
+!MESSAGE /Users/jcotton81/Documents/Programming/eclipse/Eclipse.app/Contents/MacOS/introData.xml (No such file or directory)
+!STACK 0
+java.io.FileNotFoundException: /Users/jcotton81/Documents/Programming/eclipse/Eclipse.app/Contents/MacOS/introData.xml (No such file or directory)
+	at java.io.FileInputStream.open(Native Method)
+	at java.io.FileInputStream.<init>(FileInputStream.java:120)
+	at java.io.FileInputStream.<init>(FileInputStream.java:79)
+	at sun.net.www.protocol.file.FileURLConnection.connect(FileURLConnection.java:70)
+	at sun.net.www.protocol.file.FileURLConnection.getInputStream(FileURLConnection.java:161)
+	at com.sun.org.apache.xerces.internal.impl.XMLEntityManager.setupCurrentEntity(XMLEntityManager.java:653)
+	at com.sun.org.apache.xerces.internal.impl.XMLVersionDetector.determineDocVersion(XMLVersionDetector.java:186)
+	at com.sun.org.apache.xerces.internal.parsers.XML11Configuration.parse(XML11Configuration.java:772)
+	at com.sun.org.apache.xerces.internal.parsers.XML11Configuration.parse(XML11Configuration.java:737)
+	at com.sun.org.apache.xerces.internal.parsers.XMLParser.parse(XMLParser.java:119)
+	at com.sun.org.apache.xerces.internal.parsers.DOMParser.parse(DOMParser.java:235)
+	at com.sun.org.apache.xerces.internal.jaxp.DocumentBuilderImpl.parse(DocumentBuilderImpl.java:284)
+	at javax.xml.parsers.DocumentBuilder.parse(DocumentBuilder.java:180)
+	at org.eclipse.ui.internal.intro.universal.IntroData.parse(IntroData.java:159)
+	at org.eclipse.ui.internal.intro.universal.IntroData.initialize(IntroData.java:63)
+	at org.eclipse.ui.internal.intro.universal.IntroData.<init>(IntroData.java:47)
+	at org.eclipse.ui.internal.intro.universal.CustomizationContentsArea.loadData(CustomizationContentsArea.java:624)
+	at org.eclipse.ui.internal.intro.universal.CustomizationContentsArea.addPages(CustomizationContentsArea.java:489)
+	at org.eclipse.ui.internal.intro.universal.CustomizationContentsArea.createContents(CustomizationContentsArea.java:453)
+	at org.eclipse.ui.internal.intro.universal.CustomizationDialog.createDialogArea(CustomizationDialog.java:44)
+	at org.eclipse.jface.dialogs.Dialog.createContents(Dialog.java:760)
+	at org.eclipse.jface.window.Window.create(Window.java:431)
+	at org.eclipse.jface.dialogs.Dialog.create(Dialog.java:1089)
+	at org.eclipse.jface.window.Window.open(Window.java:790)
+	at org.eclipse.ui.internal.intro.universal.CustomizeAction.run(CustomizeAction.java:35)
+	at org.eclipse.ui.internal.intro.universal.CustomizeAction.run(CustomizeAction.java:29)
+	at org.eclipse.jface.action.Action.runWithEvent(Action.java:498)
+	at org.eclipse.jface.action.ActionContributionItem.handleWidgetSelection(ActionContributionItem.java:584)
+	at org.eclipse.jface.action.ActionContributionItem.access$2(ActionContributionItem.java:501)
+	at org.eclipse.jface.action.ActionContributionItem$6.handleEvent(ActionContributionItem.java:452)
+	at org.eclipse.swt.widgets.EventTable.sendEvent(EventTable.java:84)
+	at org.eclipse.swt.widgets.Display.sendEvent(Display.java:3543)
+	at org.eclipse.swt.widgets.Widget.sendEvent(Widget.java:1250)
+	at org.eclipse.swt.widgets.Widget.sendEvent(Widget.java:1273)
+	at org.eclipse.swt.widgets.Widget.sendEvent(Widget.java:1258)
+	at org.eclipse.swt.widgets.Widget.notifyListeners(Widget.java:1079)
+	at org.eclipse.swt.widgets.Display.runDeferredEvents(Display.java:3441)
+	at org.eclipse.swt.widgets.Display.readAndDispatch(Display.java:3100)
+	at org.eclipse.ui.internal.Workbench.runEventLoop(Workbench.java:2405)
+	at org.eclipse.ui.internal.Workbench.runUI(Workbench.java:2369)
+	at org.eclipse.ui.internal.Workbench.access$4(Workbench.java:2221)
+	at org.eclipse.ui.internal.Workbench$5.run(Workbench.java:500)
+	at org.eclipse.core.databinding.observable.Realm.runWithDefault(Realm.java:332)
+	at org.eclipse.ui.internal.Workbench.createAndRunWorkbench(Workbench.java:493)
+	at org.eclipse.ui.PlatformUI.createAndRunWorkbench(PlatformUI.java:149)
+	at org.eclipse.ui.internal.ide.application.IDEApplication.start(IDEApplication.java:113)
+	at org.eclipse.equinox.internal.app.EclipseAppHandle.run(EclipseAppHandle.java:194)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.runApplication(EclipseAppLauncher.java:110)
+	at org.eclipse.core.runtime.internal.adaptor.EclipseAppLauncher.start(EclipseAppLauncher.java:79)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:368)
+	at org.eclipse.core.runtime.adaptor.EclipseStarter.run(EclipseStarter.java:179)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:39)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:25)
+	at java.lang.reflect.Method.invoke(Method.java:597)
+	at org.eclipse.equinox.launcher.Main.invokeFramework(Main.java:559)
+	at org.eclipse.equinox.launcher.Main.basicRun(Main.java:514)
+	at org.eclipse.equinox.launcher.Main.run(Main.java:1311)
+!SESSION 2012-02-04 15:23:30.048 -----------------------------------------------
+eclipse.buildId=unknown
+java.version=1.6.0_29
+java.vendor=Apple Inc.
+BootLoader constants: OS=macosx, ARCH=x86_64, WS=cocoa, NL=en_US
+Framework arguments:  -product org.eclipse.epp.package.cpp.product -product org.eclipse.epp.package.cpp.product -product org.eclipse.epp.package.cpp.product -product org.eclipse.epp.package.cpp.product -product org.eclipse.epp.package.cpp.product -product org.eclipse.epp.package.cpp.product -keyring /Users/jcotton81/.eclipse_keyring -showlocation
+Command-line arguments:  -os macosx -ws cocoa -arch x86_64 -product org.eclipse.epp.package.cpp.product -product org.eclipse.epp.package.cpp.product -product org.eclipse.epp.package.cpp.product -product org.eclipse.epp.package.cpp.product -product org.eclipse.epp.package.cpp.product -data /Users/jcotton81/Documents/Programming/OpenPilot/androidgcs -product org.eclipse.epp.package.cpp.product -keyring /Users/jcotton81/.eclipse_keyring -showlocation
+
+!ENTRY org.eclipse.core.net 1 0 2012-02-04 15:23:34.575
+!MESSAGE System property http.nonProxyHosts has been set to local|*.local|169.254/16|*.169.254/16 by an external source. This value will be overwritten using the values from the preferences
diff --git a/androidgcs/.metadata/.mylyn/repositories.xml.zip b/androidgcs/.metadata/.mylyn/repositories.xml.zip
new file mode 100644
index 0000000000000000000000000000000000000000..e4df3bd3582f499f1a60b5def214b8ff52af6617
GIT binary patch
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new file mode 100644
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diff --git a/androidgcs/.metadata/.plugins/org.eclipse.cdt.core/.log b/androidgcs/.metadata/.plugins/org.eclipse.cdt.core/.log
new file mode 100644
index 000000000..bce672614
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.cdt.core/.log
@@ -0,0 +1 @@
+*** SESSION Feb 04, 2012 14:21:39.72 -------------------------------------------
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/history.version b/androidgcs/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/history.version
new file mode 100644
index 000000000..25cb955ba
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/history.version
@@ -0,0 +1 @@
+
\ No newline at end of file
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.index b/androidgcs/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.index
new file mode 100644
index 0000000000000000000000000000000000000000..9c245ea2cfab3511d0f8b7802966a5b2bb67b287
GIT binary patch
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diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.version b/androidgcs/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.version
new file mode 100644
index 000000000..6b2aaa764
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.version
@@ -0,0 +1 @@
+

\ No newline at end of file
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.resources/.root/2.tree b/androidgcs/.metadata/.plugins/org.eclipse.core.resources/.root/2.tree
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diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources b/androidgcs/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources
new file mode 100644
index 0000000000000000000000000000000000000000..f783b188fb03e942944121a16ffc8983afa430df
GIT binary patch
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diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.ui.prefs b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.ui.prefs
new file mode 100644
index 000000000..3f144b036
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.ui.prefs
@@ -0,0 +1,5 @@
+#Sat Feb 04 15:21:25 CST 2012
+spelling_locale_initialized=true
+useAnnotationsPrefPage=true
+eclipse.preferences.version=1
+useQuickDiffPrefPage=true
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.core.resources.prefs b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.core.resources.prefs
new file mode 100644
index 000000000..360fc96b9
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.core.resources.prefs
@@ -0,0 +1,3 @@
+#Sat Feb 04 15:21:25 CST 2012
+version=1
+eclipse.preferences.version=1
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.epp.usagedata.recording.prefs b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.epp.usagedata.recording.prefs
new file mode 100644
index 000000000..87706c344
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.epp.usagedata.recording.prefs
@@ -0,0 +1,3 @@
+#Sat Feb 04 14:21:44 CST 2012
+org.eclipse.epp.usagedata.recording.last-upload=1328386904231
+eclipse.preferences.version=1
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.jdt.ui.prefs b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.jdt.ui.prefs
new file mode 100644
index 000000000..bdcfb11b5
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.jdt.ui.prefs
@@ -0,0 +1,15 @@
+#Sat Feb 04 15:21:25 CST 2012
+useQuickDiffPrefPage=true
+proposalOrderMigrated=true
+tabWidthPropagated=true
+content_assist_proposals_background=255,255,255
+org.eclipse.jdt.ui.javadoclocations.migrated=true
+useAnnotationsPrefPage=true
+org.eclipse.jface.textfont=1|Monaco|11.0|0|COCOA|1|;
+org.eclipse.jdt.internal.ui.navigator.layout=2
+org.eclipse.jdt.ui.editor.tab.width=
+org.eclipse.jdt.ui.formatterprofiles.version=11
+spelling_locale_initialized=true
+eclipse.preferences.version=1
+content_assist_proposals_foreground=0,0,0
+fontPropagated=true
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.mylyn.context.core.prefs b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.mylyn.context.core.prefs
new file mode 100644
index 000000000..7ea301b2d
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.mylyn.context.core.prefs
@@ -0,0 +1,3 @@
+#Sat Feb 04 14:21:42 CST 2012
+eclipse.preferences.version=1
+mylyn.attention.migrated=true
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.team.cvs.ui.prefs b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.team.cvs.ui.prefs
new file mode 100644
index 000000000..62dee9f90
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.team.cvs.ui.prefs
@@ -0,0 +1,3 @@
+#Sat Feb 04 15:21:25 CST 2012
+pref_first_startup=false
+eclipse.preferences.version=1
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.team.ui.prefs b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.team.ui.prefs
new file mode 100644
index 000000000..06b301613
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.team.ui.prefs
@@ -0,0 +1,3 @@
+#Sat Feb 04 15:21:25 CST 2012
+eclipse.preferences.version=1
+org.eclipse.team.ui.first_time=false
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.editors.prefs b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.editors.prefs
new file mode 100644
index 000000000..90e1e2da9
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.editors.prefs
@@ -0,0 +1,3 @@
+#Sat Feb 04 15:21:25 CST 2012
+eclipse.preferences.version=1
+overviewRuler_migration=migrated_3.1
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.ide.prefs b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.ide.prefs
new file mode 100644
index 000000000..b945f2889
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.ide.prefs
@@ -0,0 +1,5 @@
+#Sat Feb 04 15:21:25 CST 2012
+eclipse.preferences.version=1
+tipsAndTricks=true
+platformState=1328386704250
+PROBLEMS_FILTERS_MIGRATE=true
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.prefs b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.prefs
new file mode 100644
index 000000000..a97c1c1ab
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.prefs
@@ -0,0 +1,3 @@
+#Sat Feb 04 15:21:25 CST 2012
+eclipse.preferences.version=1
+showIntro=false
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.workbench.prefs b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.workbench.prefs
new file mode 100644
index 000000000..005c5e9bc
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.workbench.prefs
@@ -0,0 +1,3 @@
+#Sat Feb 04 14:21:42 CST 2012
+eclipse.preferences.version=1
+ENABLED_DECORATORS=com.android.ide.eclipse.adt.project.FolderDecorator\:true,org.eclipse.cdt.ui.indexedFiles\:false,org.eclipse.jdt.ui.override.decorator\:true,org.eclipse.jdt.ui.interface.decorator\:false,org.eclipse.jdt.ui.buildpath.decorator\:true,org.eclipse.mylyn.context.ui.decorator.interest\:true,org.eclipse.mylyn.tasks.ui.decorators.task\:true,org.eclipse.mylyn.team.ui.changeset.decorator\:true,org.eclipse.team.cvs.ui.decorator\:true,org.eclipse.ui.LinkedResourceDecorator\:true,org.eclipse.ui.ContentTypeDecorator\:true,
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.epp.usagedata.recording/upload0.csv b/androidgcs/.metadata/.plugins/org.eclipse.epp.usagedata.recording/upload0.csv
new file mode 100644
index 000000000..bc6540615
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.epp.usagedata.recording/upload0.csv
@@ -0,0 +1,251 @@
+what,kind,bundleId,bundleVersion,description,time
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+started,bundle,org.eclipse.equinox.simpleconfigurator,1.0.101.R35x_v20090807-1100,"org.eclipse.equinox.simpleconfigurator",1328386903142
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diff --git a/androidgcs/.metadata/.plugins/org.eclipse.epp.usagedata.recording/usagedata.csv b/androidgcs/.metadata/.plugins/org.eclipse.epp.usagedata.recording/usagedata.csv
new file mode 100644
index 000000000..510c72478
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.epp.usagedata.recording/usagedata.csv
@@ -0,0 +1,83 @@
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diff --git a/androidgcs/.metadata/.plugins/org.eclipse.jdt.core/nonChainingJarsCache b/androidgcs/.metadata/.plugins/org.eclipse.jdt.core/nonChainingJarsCache
new file mode 100644
index 0000000000000000000000000000000000000000..593f4708db84ac8fd0f5cc47c634f38c013fe9e4
GIT binary patch
literal 4
LcmZQzU|;|M00aO5

literal 0
HcmV?d00001

diff --git a/androidgcs/.metadata/.plugins/org.eclipse.jdt.core/variablesAndContainers.dat b/androidgcs/.metadata/.plugins/org.eclipse.jdt.core/variablesAndContainers.dat
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diff --git a/androidgcs/.metadata/.plugins/org.eclipse.jdt.ui/OpenTypeHistory.xml b/androidgcs/.metadata/.plugins/org.eclipse.jdt.ui/OpenTypeHistory.xml
new file mode 100644
index 000000000..a4ee3cbc9
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.jdt.ui/OpenTypeHistory.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<typeInfoHistroy/>
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.jdt.ui/QualifiedTypeNameHistory.xml b/androidgcs/.metadata/.plugins/org.eclipse.jdt.ui/QualifiedTypeNameHistory.xml
new file mode 100644
index 000000000..9e390f501
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.jdt.ui/QualifiedTypeNameHistory.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<qualifiedTypeNameHistroy/>
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.jdt.ui/dialog_settings.xml b/androidgcs/.metadata/.plugins/org.eclipse.jdt.ui/dialog_settings.xml
new file mode 100644
index 000000000..8bc608925
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.jdt.ui/dialog_settings.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<section name="Workbench">
+	<section name="org.eclipse.jdt.internal.ui.packageview.PackageExplorerPart">
+		<item value="true" key="group_libraries"/>
+		<item value="false" key="linkWithEditor"/>
+		<item value="2" key="layout"/>
+		<item value="1" key="rootMode"/>
+		<item value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot;?&gt;&#x0A;&lt;packageExplorer group_libraries=&quot;1&quot; layout=&quot;2&quot; linkWithEditor=&quot;0&quot; rootMode=&quot;1&quot; workingSetName=&quot;&quot;&gt;&#x0A;&lt;customFilters userDefinedPatternsEnabled=&quot;false&quot;&gt;&#x0A;&lt;xmlDefinedFilters&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.LibraryFilter&quot; isEnabled=&quot;false&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.LocalTypesFilter&quot; isEnabled=&quot;false&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.StaticsFilter&quot; isEnabled=&quot;false&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.ClosedProjectsFilter&quot; isEnabled=&quot;false&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.NonSharedProjectsFilter&quot; isEnabled=&quot;false&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.NonJavaElementFilter&quot; isEnabled=&quot;false&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.ContainedLibraryFilter&quot; isEnabled=&quot;false&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.CuAndClassFileFilter&quot; isEnabled=&quot;false&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.NonJavaProjectsFilter&quot; isEnabled=&quot;false&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.internal.ui.PackageExplorer.EmptyInnerPackageFilter&quot; isEnabled=&quot;true&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.PackageDeclarationFilter&quot; isEnabled=&quot;true&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.internal.ui.PackageExplorer.EmptyPackageFilter&quot; isEnabled=&quot;false&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.ImportDeclarationFilter&quot; isEnabled=&quot;true&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.FieldsFilter&quot; isEnabled=&quot;false&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.internal.ui.PackageExplorer.HideInnerClassFilesFilter&quot; isEnabled=&quot;true&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.NonPublicFilter&quot; isEnabled=&quot;false&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer_patternFilterId_.*&quot; isEnabled=&quot;true&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.EmptyLibraryContainerFilter&quot; isEnabled=&quot;true&quot;/&gt;&#x0A;&lt;child filterId=&quot;org.eclipse.jdt.ui.PackageExplorer.SyntheticMembersFilter&quot; isEnabled=&quot;true&quot;/&gt;&#x0A;&lt;/xmlDefinedFilters&gt;&#x0A;&lt;/customFilters&gt;&#x0A;&lt;/packageExplorer&gt;" key="memento"/>
+	</section>
+</section>
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.ui.ide/dialog_settings.xml b/androidgcs/.metadata/.plugins/org.eclipse.ui.ide/dialog_settings.xml
new file mode 100644
index 000000000..ab9bf177c
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.ui.ide/dialog_settings.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<section name="Workbench">
+	<section name="ExternalProjectImportWizard">
+		<item value="false" key="WizardProjectsImportPage.STORE_ARCHIVE_SELECTED"/>
+		<item value="false" key="WizardProjectsImportPage.STORE_COPY_PROJECT_ID"/>
+	</section>
+	<section name="NewWizardAction">
+	</section>
+</section>
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.ui.intro/dialog_settings.xml b/androidgcs/.metadata/.plugins/org.eclipse.ui.intro/dialog_settings.xml
new file mode 100644
index 000000000..f118f0213
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.ui.intro/dialog_settings.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<section name="Workbench">
+	<item value="1024" key="introLaunchBar.location"/>
+</section>
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.ui.workbench/dialog_settings.xml b/androidgcs/.metadata/.plugins/org.eclipse.ui.workbench/dialog_settings.xml
new file mode 100644
index 000000000..5b583c4be
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.ui.workbench/dialog_settings.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<section name="Workbench">
+	<section name="ImportExportAction">
+	</section>
+</section>
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.ui.workbench/workbench.xml b/androidgcs/.metadata/.plugins/org.eclipse.ui.workbench/workbench.xml
new file mode 100644
index 000000000..931fd0157
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.ui.workbench/workbench.xml
@@ -0,0 +1,355 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<workbench progressCount="20" version="2.0">
+<workbenchAdvisor/>
+<window height="768" width="1024" x="270" y="82">
+<fastViewData fastViewLocation="1024"/>
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+<coolItem id="org.eclipse.ui.workbench.help" itemType="typeToolBarContribution" x="-1" y="-1"/>
+</coolbarLayout>
+<page aggregateWorkingSetId="Aggregate for window 1328386901227" focus="true" label="Workspace - Java">
+<editors>
+<editorArea activeWorkbook="DefaultEditorWorkbook">
+<info part="DefaultEditorWorkbook">
+<folder appearance="1" expanded="2">
+<presentation id="org.eclipse.ui.presentations.WorkbenchPresentationFactory"/>
+</folder>
+</info>
+</editorArea>
+</editors>
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+<viewState CommonNavigator.LINKING_ENABLED="0" CommonNavigator.LINKING_ENABLED.delayed="0" org.eclipse.cdt.ui.cview.groupincludes="false" org.eclipse.cdt.ui.editor.CUChildren="true" org.eclipse.ui.navigator.resources.workingSets.showTopLevelWorkingSets="0"/>
+</view>
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+<viewState PRIMARY_SORT_FIELD="org.eclipse.ui.ide.severityAndDescriptionField" categoryGroup="org.eclipse.ui.ide.severity" markerContentGenerator="org.eclipse.ui.ide.problemsGenerator" partName="Problems">
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+<visible IMemento.internal.id="org.eclipse.ui.ide.severityAndDescriptionField"/>
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+</viewState>
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+<new_wizard_action id="org.eclipse.jdt.ui.wizards.JavaProjectWizard"/>
+<new_wizard_action id="org.eclipse.jdt.ui.wizards.NewPackageCreationWizard"/>
+<new_wizard_action id="org.eclipse.jdt.ui.wizards.NewClassCreationWizard"/>
+<new_wizard_action id="org.eclipse.jdt.ui.wizards.NewInterfaceCreationWizard"/>
+<new_wizard_action id="org.eclipse.jdt.ui.wizards.NewEnumCreationWizard"/>
+<new_wizard_action id="org.eclipse.jdt.ui.wizards.NewAnnotationCreationWizard"/>
+<new_wizard_action id="org.eclipse.jdt.ui.wizards.NewSourceFolderCreationWizard"/>
+<new_wizard_action id="org.eclipse.jdt.ui.wizards.NewSnippetFileCreationWizard"/>
+<new_wizard_action id="org.eclipse.jdt.ui.wizards.NewJavaWorkingSetWizard"/>
+<new_wizard_action id="org.eclipse.ui.wizards.new.folder"/>
+<new_wizard_action id="org.eclipse.ui.wizards.new.file"/>
+<new_wizard_action id="org.eclipse.ui.editors.wizards.UntitledTextFileWizard"/>
+<new_wizard_action id="com.android.ide.eclipse.adt.project.NewProjectWizard"/>
+<new_wizard_action id="com.android.ide.eclipse.editors.wizards.NewXmlFileWizard"/>
+<new_wizard_action id="org.eclipse.jdt.junit.wizards.NewTestCaseCreationWizard"/>
+<new_wizard_action id="org.eclipse.mylyn.tasks.ui.wizards.new.repository.task"/>
+<perspective_action id="com.android.ide.eclipse.ddms.Perspective"/>
+<perspective_action id="com.android.ide.eclipse.hierarchyviewer.PixelPerfectPespective"/>
+<perspective_action id="com.android.ide.eclipse.hierarchyviewer.TreeViewPerspective"/>
+<perspective_action id="org.eclipse.debug.ui.DebugPerspective"/>
+<perspective_action id="org.eclipse.jdt.ui.JavaBrowsingPerspective"/>
+<hide_toolbar_item_id id="org.eclipse.ui.edit.text.toggleShowSelectedElementOnly"/>
+<view id="org.eclipse.jdt.ui.PackageExplorer"/>
+<view id="org.eclipse.jdt.ui.TypeHierarchy"/>
+<view id="org.eclipse.ui.views.ProblemView"/>
+<view id="org.eclipse.jdt.ui.JavadocView"/>
+<view id="org.eclipse.jdt.ui.SourceView"/>
+<view id="org.eclipse.ui.views.ContentOutline"/>
+<view id="org.eclipse.mylyn.tasks.ui.views.tasks"/>
+<fastViewBars/>
+<layout>
+<mainWindow>
+<info folder="true" part="left">
+<folder activePageID="org.eclipse.jdt.ui.PackageExplorer" appearance="2" expanded="2">
+<page content="org.eclipse.jdt.ui.PackageExplorer" label="Package Explorer"/>
+<page content="org.eclipse.jdt.ui.TypeHierarchy" label="Hierarchy"/>
+<page content="org.eclipse.ui.views.ResourceNavigator" label="LabelNotFound"/>
+<page content="org.eclipse.ui.navigator.ProjectExplorer" label="LabelNotFound"/>
+<page content="org.eclipse.jdt.junit.ResultView" label="LabelNotFound"/>
+<presentation id="org.eclipse.ui.presentations.WorkbenchPresentationFactory">
+<part id="0"/>
+<part id="1"/>
+</presentation>
+</folder>
+</info>
+<info folder="true" part="stickyFolderRight" ratio="0.75" ratioLeft="762" ratioRight="254" relationship="2" relative="left">
+<folder appearance="2" expanded="2">
+<page content="org.eclipse.help.ui.HelpView" label="LabelNotFound"/>
+<page content="org.eclipse.ui.internal.introview" label="LabelNotFound"/>
+<page content="org.eclipse.ui.cheatsheets.views.CheatSheetView" label="LabelNotFound"/>
+</folder>
+</info>
+<info part="org.eclipse.ui.editorss" ratio="0.25" ratioLeft="254" ratioRight="762" relationship="2" relative="left"/>
+<info folder="true" part="bottom" ratio="0.74963397" ratioLeft="512" ratioRight="171" relationship="4" relative="org.eclipse.ui.editorss">
+<folder activePageID="org.eclipse.ui.views.ProblemView" appearance="2" expanded="2">
+<page content="org.eclipse.ui.views.ProblemView" label="Problems"/>
+<page content="org.eclipse.jdt.ui.JavadocView" label="Javadoc"/>
+<page content="org.eclipse.jdt.ui.SourceView" label="Declaration"/>
+<page content="org.eclipse.search.ui.views.SearchView" label="LabelNotFound"/>
+<page content="org.eclipse.ui.console.ConsoleView" label="LabelNotFound"/>
+<page content="org.eclipse.ui.views.BookmarkView" label="LabelNotFound"/>
+<page content="org.eclipse.ui.views.ProgressView" label="LabelNotFound"/>
+<presentation id="org.eclipse.ui.presentations.WorkbenchPresentationFactory">
+<part id="0"/>
+<part id="1"/>
+<part id="2"/>
+</presentation>
+</folder>
+</info>
+<info folder="true" part="org.eclipse.ui.internal.ViewStack@2b6ea258" ratio="0.7493438" ratioLeft="571" ratioRight="191" relationship="2" relative="org.eclipse.ui.editorss">
+<folder activePageID="org.eclipse.mylyn.tasks.ui.views.tasks" appearance="2" expanded="2">
+<page content="org.eclipse.mylyn.tasks.ui.views.tasks" label="Task List"/>
+<presentation id="org.eclipse.ui.presentations.WorkbenchPresentationFactory">
+<part id="0"/>
+</presentation>
+</folder>
+</info>
+<info folder="true" part="right" ratio="0.5" ratioLeft="256" ratioRight="256" relationship="4" relative="org.eclipse.ui.internal.ViewStack@2b6ea258">
+<folder activePageID="org.eclipse.ui.views.ContentOutline" appearance="2" expanded="2">
+<page content="org.eclipse.ui.views.ContentOutline" label="Outline"/>
+<page content="org.eclipse.ui.texteditor.TemplatesView" label="LabelNotFound"/>
+<page content="org.eclipse.ant.ui.views.AntView" label="LabelNotFound"/>
+<presentation id="org.eclipse.ui.presentations.WorkbenchPresentationFactory">
+<part id="0"/>
+</presentation>
+</folder>
+</info>
+</mainWindow>
+</layout>
+</perspective>
+</perspectives>
+<workingSets/>
+<navigationHistory/>
+<input factoryID="org.eclipse.ui.internal.model.ResourceFactory" path="/" type="8"/>
+</page>
+<workbenchWindowAdvisor/>
+<actionBarAdvisor/>
+<trimLayout>
+<trimArea IMemento.internal.id="128">
+<trimItem IMemento.internal.id="org.eclipse.ui.internal.WorkbenchWindow.topBar"/>
+</trimArea>
+<trimArea IMemento.internal.id="1024">
+<trimItem IMemento.internal.id="org.eclise.ui.internal.FastViewBar"/>
+<trimItem IMemento.internal.id="org.eclipse.jface.action.StatusLineManager"/>
+<trimItem IMemento.internal.id="org.eclipse.ui.internal.progress.ProgressRegion"/>
+</trimArea>
+</trimLayout>
+</window>
+<mruList/>
+</workbench>
\ No newline at end of file
diff --git a/androidgcs/.metadata/.plugins/org.eclipse.ui.workbench/workingsets.xml b/androidgcs/.metadata/.plugins/org.eclipse.ui.workbench/workingsets.xml
new file mode 100644
index 000000000..8daaf65a1
--- /dev/null
+++ b/androidgcs/.metadata/.plugins/org.eclipse.ui.workbench/workingsets.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<workingSetManager>
+<workingSet aggregate="true" factoryID="org.eclipse.ui.internal.WorkingSetFactory" id="1328386901229_0" label="Window Working Set" name="Aggregate for window 1328386901227"/>
+</workingSetManager>
\ No newline at end of file
diff --git a/androidgcs/.metadata/version.ini b/androidgcs/.metadata/version.ini
new file mode 100644
index 000000000..c51ff745b
--- /dev/null
+++ b/androidgcs/.metadata/version.ini
@@ -0,0 +1 @@
+org.eclipse.core.runtime=1
\ No newline at end of file
diff --git a/androidgcs/.settings/org.eclipse.jdt.core.prefs b/androidgcs/.settings/org.eclipse.jdt.core.prefs
index f3fe4d6d6..a149e8e84 100644
--- a/androidgcs/.settings/org.eclipse.jdt.core.prefs
+++ b/androidgcs/.settings/org.eclipse.jdt.core.prefs
@@ -1,5 +1,12 @@
-#Tue Mar 01 01:16:25 CST 2011
+#Sat Feb 04 16:05:48 CST 2012
 eclipse.preferences.version=1
+org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
 org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.5
-org.eclipse.jdt.core.compiler.compliance=1.5
+org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve
+org.eclipse.jdt.core.compiler.compliance=1.6
+org.eclipse.jdt.core.compiler.debug.lineNumber=generate
+org.eclipse.jdt.core.compiler.debug.localVariable=generate
+org.eclipse.jdt.core.compiler.debug.sourceFile=generate
+org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
+org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.source=1.5
diff --git a/androidgcs/lint.xml b/androidgcs/lint.xml
new file mode 100644
index 000000000..ee0eead5b
--- /dev/null
+++ b/androidgcs/lint.xml
@@ -0,0 +1,3 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<lint>
+</lint>
\ No newline at end of file
diff --git a/androidgcs/default.properties b/androidgcs/project.properties
similarity index 72%
rename from androidgcs/default.properties
rename to androidgcs/project.properties
index fd1cedd24..5d85d779c 100644
--- a/androidgcs/default.properties
+++ b/androidgcs/project.properties
@@ -4,8 +4,8 @@
 # This file must be checked in Version Control Systems.
 #
 # To customize properties used by the Ant build system use,
-# "build.properties", and override values to adapt the script to your
+# "ant.properties", and override values to adapt the script to your
 # project structure.
 
 # Project target.
-target=Google Inc.:Google APIs:10
+target=Google Inc.:Google APIs:13

From e1ba3d2e6311182491d3667c5cd456421ad9ef6a Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 4 Feb 2012 18:30:04 -0600
Subject: [PATCH 242/543] Update the UAVObjects to the version on next.  At
 some point a make script should generate these and copy from
 build/uavobjects-synth/java to this directory automatically.

Also make sure java objects use CamelCase
---
 .../uavtalk/uavobjects/AHRSCalibration.java   |  51 +-
 .../uavtalk/uavobjects/AHRSSettings.java      |  32 +-
 .../uavtalk/uavobjects/AccessoryDesired.java  | 139 +++++
 .../uavtalk/uavobjects/ActuatorCommand.java   |  12 +-
 .../uavtalk/uavobjects/ActuatorDesired.java   |   2 +-
 .../uavtalk/uavobjects/ActuatorSettings.java  | 496 ++++++++++--------
 .../uavtalk/uavobjects/AhrsStatus.java        |  10 +-
 .../uavtalk/uavobjects/AttitudeActual.java    |   4 +-
 .../uavtalk/uavobjects/AttitudeRaw.java       |  24 +-
 .../uavtalk/uavobjects/AttitudeSettings.java  |  68 ++-
 .../uavtalk/uavobjects/BaroAltitude.java      |   2 +-
 .../uavtalk/uavobjects/CameraDesired.java     | 147 ++++++
 .../uavobjects/CameraStabSettings.java        | 205 ++++++++
 ...emetrySettings.java => FaultSettings.java} |  45 +-
 .../uavtalk/uavobjects/FirmwareIAPObj.java    |  97 +---
 .../uavobjects/FlightBatterySettings.java     | 177 +++++++
 .../uavobjects/FlightBatteryState.java        |   2 +-
 .../uavtalk/uavobjects/FlightPlanControl.java |   2 +-
 .../uavobjects/FlightPlanSettings.java        |   2 +-
 .../uavtalk/uavobjects/FlightPlanStatus.java  |  35 +-
 .../uavtalk/uavobjects/FlightStatus.java      | 155 ++++++
 .../uavobjects/FlightTelemetryStats.java      |  20 +-
 .../uavtalk/uavobjects/GCSReceiver.java       | 144 +++++
 .../uavtalk/uavobjects/GCSTelemetryStats.java |  20 +-
 .../uavtalk/uavobjects/GPSPosition.java       |  28 +-
 .../uavtalk/uavobjects/GPSSatellites.java     |  48 +-
 .../openpilot/uavtalk/uavobjects/GPSTime.java |  10 +-
 .../uavtalk/uavobjects/GuidanceSettings.java  |  76 +--
 .../uavtalk/uavobjects/HomeLocation.java      |  23 +-
 .../uavtalk/uavobjects/HwSettings.java        | 291 ++++++++++
 .../uavtalk/uavobjects/I2CStats.java          |  34 +-
 .../uavobjects/ManualControlCommand.java      |  55 +-
 .../uavobjects/ManualControlSettings.java     | 313 +++++------
 .../uavtalk/uavobjects/MixerSettings.java     | 161 +++++-
 .../uavtalk/uavobjects/MixerStatus.java       |   2 +-
 .../uavtalk/uavobjects/NedAccel.java          |   2 +-
 .../uavtalk/uavobjects/ObjectPersistence.java |  23 +-
 .../uavtalk/uavobjects/PositionActual.java    |   2 +-
 .../uavtalk/uavobjects/PositionDesired.java   |   2 +-
 .../uavtalk/uavobjects/RateDesired.java       |   2 +-
 ...erySettings.java => ReceiverActivity.java} |  74 ++-
 .../uavtalk/uavobjects/SonarAltitude.java     |   2 +-
 .../uavobjects/StabilizationDesired.java      |   4 +-
 .../uavobjects/StabilizationSettings.java     | 119 +++--
 .../uavtalk/uavobjects/SystemAlarms.java      |   8 +-
 .../uavtalk/uavobjects/SystemSettings.java    |   9 +-
 .../uavtalk/uavobjects/SystemStats.java       |   6 +-
 .../uavtalk/uavobjects/TaskInfo.java          |  24 +-
 .../uavobjects/UAVObjectsInitialize.java      |  13 +-
 .../uavtalk/uavobjects/VelocityActual.java    |   2 +-
 .../uavtalk/uavobjects/VelocityDesired.java   |   2 +-
 .../uavtalk/uavobjects/WatchdogStatus.java    |   2 +-
 .../java/uavobjectgeneratorjava.cpp           |   2 +-
 53 files changed, 2363 insertions(+), 867 deletions(-)
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
 rename androidgcs/src/org/openpilot/uavtalk/uavobjects/{TelemetrySettings.java => FaultSettings.java} (74%)
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
 rename androidgcs/src/org/openpilot/uavtalk/uavobjects/{BatterySettings.java => ReceiverActivity.java} (61%)

diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java
index 922582398..47d42991e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java
@@ -51,30 +51,29 @@ public class AHRSCalibration extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> measure_varElemNames = new ArrayList<String>();
-		measure_varElemNames.add("0");
-		List<String> measure_varEnumOptions = new ArrayList<String>();
-		measure_varEnumOptions.add("SET");
-		measure_varEnumOptions.add("MEASURE");
-		fields.add( new UAVObjectField("measure_var", "", UAVObjectField.FieldType.ENUM, measure_varElemNames, measure_varEnumOptions) );
-
 		List<String> accel_biasElemNames = new ArrayList<String>();
 		accel_biasElemNames.add("X");
 		accel_biasElemNames.add("Y");
 		accel_biasElemNames.add("Z");
-		fields.add( new UAVObjectField("accel_bias", "m/s^2", UAVObjectField.FieldType.FLOAT32, accel_biasElemNames, null) );
+		fields.add( new UAVObjectField("accel_bias", "m/s", UAVObjectField.FieldType.FLOAT32, accel_biasElemNames, null) );
 
 		List<String> accel_scaleElemNames = new ArrayList<String>();
 		accel_scaleElemNames.add("X");
 		accel_scaleElemNames.add("Y");
 		accel_scaleElemNames.add("Z");
-		fields.add( new UAVObjectField("accel_scale", "(m/s^2)/lsb", UAVObjectField.FieldType.FLOAT32, accel_scaleElemNames, null) );
+		fields.add( new UAVObjectField("accel_scale", "(m/s)/lsb", UAVObjectField.FieldType.FLOAT32, accel_scaleElemNames, null) );
+
+		List<String> accel_orthoElemNames = new ArrayList<String>();
+		accel_orthoElemNames.add("XY");
+		accel_orthoElemNames.add("XZ");
+		accel_orthoElemNames.add("YZ");
+		fields.add( new UAVObjectField("accel_ortho", "scale", UAVObjectField.FieldType.FLOAT32, accel_orthoElemNames, null) );
 
 		List<String> accel_varElemNames = new ArrayList<String>();
 		accel_varElemNames.add("X");
 		accel_varElemNames.add("Y");
 		accel_varElemNames.add("Z");
-		fields.add( new UAVObjectField("accel_var", "(m/s^2)^2", UAVObjectField.FieldType.FLOAT32, accel_varElemNames, null) );
+		fields.add( new UAVObjectField("accel_var", "(m/s)^2", UAVObjectField.FieldType.FLOAT32, accel_varElemNames, null) );
 
 		List<String> gyro_biasElemNames = new ArrayList<String>();
 		gyro_biasElemNames.add("X");
@@ -126,6 +125,13 @@ public class AHRSCalibration extends UAVDataObject {
 		pos_varElemNames.add("0");
 		fields.add( new UAVObjectField("pos_var", "m^2", UAVObjectField.FieldType.FLOAT32, pos_varElemNames, null) );
 
+		List<String> measure_varElemNames = new ArrayList<String>();
+		measure_varElemNames.add("0");
+		List<String> measure_varEnumOptions = new ArrayList<String>();
+		measure_varEnumOptions.add("SET");
+		measure_varEnumOptions.add("MEASURE");
+		fields.add( new UAVObjectField("measure_var", "", UAVObjectField.FieldType.ENUM, measure_varElemNames, measure_varEnumOptions) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -171,19 +177,21 @@ public class AHRSCalibration extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("measure_var").setValue("SET");
 		getField("accel_bias").setValue(-73.5,0);
 		getField("accel_bias").setValue(-73.5,1);
 		getField("accel_bias").setValue(73.5,2);
 		getField("accel_scale").setValue(0.0359,0);
 		getField("accel_scale").setValue(0.0359,1);
-		getField("accel_scale").setValue(-0.0359,2);
+		getField("accel_scale").setValue(0.0359,2);
+		getField("accel_ortho").setValue(0,0);
+		getField("accel_ortho").setValue(0,1);
+		getField("accel_ortho").setValue(0,2);
 		getField("accel_var").setValue(0.0005,0);
 		getField("accel_var").setValue(0.0005,1);
 		getField("accel_var").setValue(0.0005,2);
-		getField("gyro_bias").setValue(23,0);
-		getField("gyro_bias").setValue(-23,1);
-		getField("gyro_bias").setValue(23,2);
+		getField("gyro_bias").setValue(28,0);
+		getField("gyro_bias").setValue(-28,1);
+		getField("gyro_bias").setValue(28,2);
 		getField("gyro_scale").setValue(-0.017,0);
 		getField("gyro_scale").setValue(0.017,1);
 		getField("gyro_scale").setValue(-0.017,2);
@@ -196,14 +204,15 @@ public class AHRSCalibration extends UAVDataObject {
 		getField("mag_bias").setValue(0,0);
 		getField("mag_bias").setValue(0,1);
 		getField("mag_bias").setValue(0,2);
-		getField("mag_scale").setValue(-2,0);
-		getField("mag_scale").setValue(-2,1);
-		getField("mag_scale").setValue(-2,2);
+		getField("mag_scale").setValue(1,0);
+		getField("mag_scale").setValue(1,1);
+		getField("mag_scale").setValue(1,2);
 		getField("mag_var").setValue(50,0);
 		getField("mag_var").setValue(50,1);
 		getField("mag_var").setValue(50,2);
-		getField("vel_var").setValue(0.4);
-		getField("pos_var").setValue(0.4);
+		getField("vel_var").setValue(10);
+		getField("pos_var").setValue(0.04);
+		getField("measure_var").setValue("SET");
 
 	}
 
@@ -232,7 +241,7 @@ public class AHRSCalibration extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x30101BB2;
+	protected static final int OBJID = 0xFD0EDFC4;
 	protected static final String NAME = "AHRSCalibration";
 	protected static String DESCRIPTION = "Contains the calibration settings for the @ref AHRSCommsModule";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java
index c49c04778..032dae775 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java
@@ -51,6 +51,18 @@ public class AHRSSettings extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
+		List<String> YawBiasElemNames = new ArrayList<String>();
+		YawBiasElemNames.add("0");
+		fields.add( new UAVObjectField("YawBias", "", UAVObjectField.FieldType.FLOAT32, YawBiasElemNames, null) );
+
+		List<String> PitchBiasElemNames = new ArrayList<String>();
+		PitchBiasElemNames.add("0");
+		fields.add( new UAVObjectField("PitchBias", "", UAVObjectField.FieldType.FLOAT32, PitchBiasElemNames, null) );
+
+		List<String> RollBiasElemNames = new ArrayList<String>();
+		RollBiasElemNames.add("0");
+		fields.add( new UAVObjectField("RollBias", "", UAVObjectField.FieldType.FLOAT32, RollBiasElemNames, null) );
+
 		List<String> AlgorithmElemNames = new ArrayList<String>();
 		AlgorithmElemNames.add("0");
 		List<String> AlgorithmEnumOptions = new ArrayList<String>();
@@ -75,18 +87,6 @@ public class AHRSSettings extends UAVDataObject {
 		BiasCorrectedRawEnumOptions.add("FALSE");
 		fields.add( new UAVObjectField("BiasCorrectedRaw", "", UAVObjectField.FieldType.ENUM, BiasCorrectedRawElemNames, BiasCorrectedRawEnumOptions) );
 
-		List<String> YawBiasElemNames = new ArrayList<String>();
-		YawBiasElemNames.add("0");
-		fields.add( new UAVObjectField("YawBias", "", UAVObjectField.FieldType.FLOAT32, YawBiasElemNames, null) );
-
-		List<String> PitchBiasElemNames = new ArrayList<String>();
-		PitchBiasElemNames.add("0");
-		fields.add( new UAVObjectField("PitchBias", "", UAVObjectField.FieldType.FLOAT32, PitchBiasElemNames, null) );
-
-		List<String> RollBiasElemNames = new ArrayList<String>();
-		RollBiasElemNames.add("0");
-		fields.add( new UAVObjectField("RollBias", "", UAVObjectField.FieldType.FLOAT32, RollBiasElemNames, null) );
-
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -132,13 +132,13 @@ public class AHRSSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
+		getField("YawBias").setValue(0);
+		getField("PitchBias").setValue(0);
+		getField("RollBias").setValue(0);
 		getField("Algorithm").setValue("INSGPS_INDOOR_NOMAG");
 		getField("Downsampling").setValue(20);
 		getField("UpdatePeriod").setValue(1);
 		getField("BiasCorrectedRaw").setValue("TRUE");
-		getField("YawBias").setValue(0);
-		getField("PitchBias").setValue(0);
-		getField("RollBias").setValue(0);
 
 	}
 
@@ -167,7 +167,7 @@ public class AHRSSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xDEFC5548;
+	protected static final int OBJID = 0xF8591ED8;
 	protected static final String NAME = "AHRSSettings";
 	protected static String DESCRIPTION = "Settings for the @ref AHRSCommsModule to control the algorithm and what is updated";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
new file mode 100644
index 000000000..13c63dfdd
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
@@ -0,0 +1,139 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Desired Auxillary actuator settings.  Comes from @ref ManualControlModule.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Desired Auxillary actuator settings.  Comes from @ref ManualControlModule.
+
+generated from accessorydesired.xml
+ **/
+public class AccessoryDesired extends UAVDataObject {
+
+	public AccessoryDesired() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> AccessoryValElemNames = new ArrayList<String>();
+		AccessoryValElemNames.add("0");
+		fields.add( new UAVObjectField("AccessoryVal", "", UAVObjectField.FieldType.FLOAT32, AccessoryValElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			AccessoryDesired obj = new AccessoryDesired();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public AccessoryDesired GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (AccessoryDesired)(objMngr.getObject(AccessoryDesired.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xC409985A;
+	protected static final String NAME = "AccessoryDesired";
+	protected static String DESCRIPTION = "Desired Auxillary actuator settings.  Comes from @ref ManualControlModule.";
+	protected static final boolean ISSINGLEINST = 0 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
index a5d6230ac..08f2ebefe 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
@@ -60,16 +60,18 @@ public class ActuatorCommand extends UAVDataObject {
 		ChannelElemNames.add("5");
 		ChannelElemNames.add("6");
 		ChannelElemNames.add("7");
+		ChannelElemNames.add("8");
+		ChannelElemNames.add("9");
 		fields.add( new UAVObjectField("Channel", "us", UAVObjectField.FieldType.INT16, ChannelElemNames, null) );
 
-		List<String> UpdateTimeElemNames = new ArrayList<String>();
-		UpdateTimeElemNames.add("0");
-		fields.add( new UAVObjectField("UpdateTime", "ms", UAVObjectField.FieldType.UINT8, UpdateTimeElemNames, null) );
-
 		List<String> MaxUpdateTimeElemNames = new ArrayList<String>();
 		MaxUpdateTimeElemNames.add("0");
 		fields.add( new UAVObjectField("MaxUpdateTime", "ms", UAVObjectField.FieldType.UINT16, MaxUpdateTimeElemNames, null) );
 
+		List<String> UpdateTimeElemNames = new ArrayList<String>();
+		UpdateTimeElemNames.add("0");
+		fields.add( new UAVObjectField("UpdateTime", "ms", UAVObjectField.FieldType.UINT8, UpdateTimeElemNames, null) );
+
 		List<String> NumFailedUpdatesElemNames = new ArrayList<String>();
 		NumFailedUpdatesElemNames.add("0");
 		fields.add( new UAVObjectField("NumFailedUpdates", "", UAVObjectField.FieldType.UINT8, NumFailedUpdatesElemNames, null) );
@@ -147,7 +149,7 @@ public class ActuatorCommand extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xE8E077D8;
+	protected static final int OBJID = 0x5324CB8;
 	protected static final String NAME = "ActuatorCommand";
 	protected static String DESCRIPTION = "Contains the pulse duration sent to each of the channels.  Set by @ref ActuatorModule";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
index b81ca29da..03ff1985c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
@@ -148,7 +148,7 @@ public class ActuatorDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xD4516782;
+	protected static final int OBJID = 0xCA4BC4A4;
 	protected static final String NAME = "ActuatorDesired";
 	protected static String DESCRIPTION = "Desired raw, pitch and yaw actuator settings.  Comes from either @ref StabilizationModule or @ref ManualControlModule depending on FlightMode.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
index 542b433d1..71b0bb49f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
@@ -51,202 +51,6 @@ public class ActuatorSettings extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> FixedWingRoll1ElemNames = new ArrayList<String>();
-		FixedWingRoll1ElemNames.add("0");
-		List<String> FixedWingRoll1EnumOptions = new ArrayList<String>();
-		FixedWingRoll1EnumOptions.add("Channel1");
-		FixedWingRoll1EnumOptions.add("Channel2");
-		FixedWingRoll1EnumOptions.add("Channel3");
-		FixedWingRoll1EnumOptions.add("Channel4");
-		FixedWingRoll1EnumOptions.add("Channel5");
-		FixedWingRoll1EnumOptions.add("Channel6");
-		FixedWingRoll1EnumOptions.add("Channel7");
-		FixedWingRoll1EnumOptions.add("Channel8");
-		FixedWingRoll1EnumOptions.add("None");
-		fields.add( new UAVObjectField("FixedWingRoll1", "channel", UAVObjectField.FieldType.ENUM, FixedWingRoll1ElemNames, FixedWingRoll1EnumOptions) );
-
-		List<String> FixedWingRoll2ElemNames = new ArrayList<String>();
-		FixedWingRoll2ElemNames.add("0");
-		List<String> FixedWingRoll2EnumOptions = new ArrayList<String>();
-		FixedWingRoll2EnumOptions.add("Channel1");
-		FixedWingRoll2EnumOptions.add("Channel2");
-		FixedWingRoll2EnumOptions.add("Channel3");
-		FixedWingRoll2EnumOptions.add("Channel4");
-		FixedWingRoll2EnumOptions.add("Channel5");
-		FixedWingRoll2EnumOptions.add("Channel6");
-		FixedWingRoll2EnumOptions.add("Channel7");
-		FixedWingRoll2EnumOptions.add("Channel8");
-		FixedWingRoll2EnumOptions.add("None");
-		fields.add( new UAVObjectField("FixedWingRoll2", "channel", UAVObjectField.FieldType.ENUM, FixedWingRoll2ElemNames, FixedWingRoll2EnumOptions) );
-
-		List<String> FixedWingPitch1ElemNames = new ArrayList<String>();
-		FixedWingPitch1ElemNames.add("0");
-		List<String> FixedWingPitch1EnumOptions = new ArrayList<String>();
-		FixedWingPitch1EnumOptions.add("Channel1");
-		FixedWingPitch1EnumOptions.add("Channel2");
-		FixedWingPitch1EnumOptions.add("Channel3");
-		FixedWingPitch1EnumOptions.add("Channel4");
-		FixedWingPitch1EnumOptions.add("Channel5");
-		FixedWingPitch1EnumOptions.add("Channel6");
-		FixedWingPitch1EnumOptions.add("Channel7");
-		FixedWingPitch1EnumOptions.add("Channel8");
-		FixedWingPitch1EnumOptions.add("None");
-		fields.add( new UAVObjectField("FixedWingPitch1", "channel", UAVObjectField.FieldType.ENUM, FixedWingPitch1ElemNames, FixedWingPitch1EnumOptions) );
-
-		List<String> FixedWingPitch2ElemNames = new ArrayList<String>();
-		FixedWingPitch2ElemNames.add("0");
-		List<String> FixedWingPitch2EnumOptions = new ArrayList<String>();
-		FixedWingPitch2EnumOptions.add("Channel1");
-		FixedWingPitch2EnumOptions.add("Channel2");
-		FixedWingPitch2EnumOptions.add("Channel3");
-		FixedWingPitch2EnumOptions.add("Channel4");
-		FixedWingPitch2EnumOptions.add("Channel5");
-		FixedWingPitch2EnumOptions.add("Channel6");
-		FixedWingPitch2EnumOptions.add("Channel7");
-		FixedWingPitch2EnumOptions.add("Channel8");
-		FixedWingPitch2EnumOptions.add("None");
-		fields.add( new UAVObjectField("FixedWingPitch2", "channel", UAVObjectField.FieldType.ENUM, FixedWingPitch2ElemNames, FixedWingPitch2EnumOptions) );
-
-		List<String> FixedWingYawElemNames = new ArrayList<String>();
-		FixedWingYawElemNames.add("0");
-		List<String> FixedWingYawEnumOptions = new ArrayList<String>();
-		FixedWingYawEnumOptions.add("Channel1");
-		FixedWingYawEnumOptions.add("Channel2");
-		FixedWingYawEnumOptions.add("Channel3");
-		FixedWingYawEnumOptions.add("Channel4");
-		FixedWingYawEnumOptions.add("Channel5");
-		FixedWingYawEnumOptions.add("Channel6");
-		FixedWingYawEnumOptions.add("Channel7");
-		FixedWingYawEnumOptions.add("Channel8");
-		FixedWingYawEnumOptions.add("None");
-		fields.add( new UAVObjectField("FixedWingYaw", "channel", UAVObjectField.FieldType.ENUM, FixedWingYawElemNames, FixedWingYawEnumOptions) );
-
-		List<String> FixedWingThrottleElemNames = new ArrayList<String>();
-		FixedWingThrottleElemNames.add("0");
-		List<String> FixedWingThrottleEnumOptions = new ArrayList<String>();
-		FixedWingThrottleEnumOptions.add("Channel1");
-		FixedWingThrottleEnumOptions.add("Channel2");
-		FixedWingThrottleEnumOptions.add("Channel3");
-		FixedWingThrottleEnumOptions.add("Channel4");
-		FixedWingThrottleEnumOptions.add("Channel5");
-		FixedWingThrottleEnumOptions.add("Channel6");
-		FixedWingThrottleEnumOptions.add("Channel7");
-		FixedWingThrottleEnumOptions.add("Channel8");
-		FixedWingThrottleEnumOptions.add("None");
-		fields.add( new UAVObjectField("FixedWingThrottle", "channel", UAVObjectField.FieldType.ENUM, FixedWingThrottleElemNames, FixedWingThrottleEnumOptions) );
-
-		List<String> VTOLMotorNElemNames = new ArrayList<String>();
-		VTOLMotorNElemNames.add("0");
-		List<String> VTOLMotorNEnumOptions = new ArrayList<String>();
-		VTOLMotorNEnumOptions.add("Channel1");
-		VTOLMotorNEnumOptions.add("Channel2");
-		VTOLMotorNEnumOptions.add("Channel3");
-		VTOLMotorNEnumOptions.add("Channel4");
-		VTOLMotorNEnumOptions.add("Channel5");
-		VTOLMotorNEnumOptions.add("Channel6");
-		VTOLMotorNEnumOptions.add("Channel7");
-		VTOLMotorNEnumOptions.add("Channel8");
-		VTOLMotorNEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorN", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorNElemNames, VTOLMotorNEnumOptions) );
-
-		List<String> VTOLMotorNEElemNames = new ArrayList<String>();
-		VTOLMotorNEElemNames.add("0");
-		List<String> VTOLMotorNEEnumOptions = new ArrayList<String>();
-		VTOLMotorNEEnumOptions.add("Channel1");
-		VTOLMotorNEEnumOptions.add("Channel2");
-		VTOLMotorNEEnumOptions.add("Channel3");
-		VTOLMotorNEEnumOptions.add("Channel4");
-		VTOLMotorNEEnumOptions.add("Channel5");
-		VTOLMotorNEEnumOptions.add("Channel6");
-		VTOLMotorNEEnumOptions.add("Channel7");
-		VTOLMotorNEEnumOptions.add("Channel8");
-		VTOLMotorNEEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorNE", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorNEElemNames, VTOLMotorNEEnumOptions) );
-
-		List<String> VTOLMotorEElemNames = new ArrayList<String>();
-		VTOLMotorEElemNames.add("0");
-		List<String> VTOLMotorEEnumOptions = new ArrayList<String>();
-		VTOLMotorEEnumOptions.add("Channel1");
-		VTOLMotorEEnumOptions.add("Channel2");
-		VTOLMotorEEnumOptions.add("Channel3");
-		VTOLMotorEEnumOptions.add("Channel4");
-		VTOLMotorEEnumOptions.add("Channel5");
-		VTOLMotorEEnumOptions.add("Channel6");
-		VTOLMotorEEnumOptions.add("Channel7");
-		VTOLMotorEEnumOptions.add("Channel8");
-		VTOLMotorEEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorE", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorEElemNames, VTOLMotorEEnumOptions) );
-
-		List<String> VTOLMotorSEElemNames = new ArrayList<String>();
-		VTOLMotorSEElemNames.add("0");
-		List<String> VTOLMotorSEEnumOptions = new ArrayList<String>();
-		VTOLMotorSEEnumOptions.add("Channel1");
-		VTOLMotorSEEnumOptions.add("Channel2");
-		VTOLMotorSEEnumOptions.add("Channel3");
-		VTOLMotorSEEnumOptions.add("Channel4");
-		VTOLMotorSEEnumOptions.add("Channel5");
-		VTOLMotorSEEnumOptions.add("Channel6");
-		VTOLMotorSEEnumOptions.add("Channel7");
-		VTOLMotorSEEnumOptions.add("Channel8");
-		VTOLMotorSEEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorSE", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorSEElemNames, VTOLMotorSEEnumOptions) );
-
-		List<String> VTOLMotorSElemNames = new ArrayList<String>();
-		VTOLMotorSElemNames.add("0");
-		List<String> VTOLMotorSEnumOptions = new ArrayList<String>();
-		VTOLMotorSEnumOptions.add("Channel1");
-		VTOLMotorSEnumOptions.add("Channel2");
-		VTOLMotorSEnumOptions.add("Channel3");
-		VTOLMotorSEnumOptions.add("Channel4");
-		VTOLMotorSEnumOptions.add("Channel5");
-		VTOLMotorSEnumOptions.add("Channel6");
-		VTOLMotorSEnumOptions.add("Channel7");
-		VTOLMotorSEnumOptions.add("Channel8");
-		VTOLMotorSEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorS", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorSElemNames, VTOLMotorSEnumOptions) );
-
-		List<String> VTOLMotorSWElemNames = new ArrayList<String>();
-		VTOLMotorSWElemNames.add("0");
-		List<String> VTOLMotorSWEnumOptions = new ArrayList<String>();
-		VTOLMotorSWEnumOptions.add("Channel1");
-		VTOLMotorSWEnumOptions.add("Channel2");
-		VTOLMotorSWEnumOptions.add("Channel3");
-		VTOLMotorSWEnumOptions.add("Channel4");
-		VTOLMotorSWEnumOptions.add("Channel5");
-		VTOLMotorSWEnumOptions.add("Channel6");
-		VTOLMotorSWEnumOptions.add("Channel7");
-		VTOLMotorSWEnumOptions.add("Channel8");
-		VTOLMotorSWEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorSW", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorSWElemNames, VTOLMotorSWEnumOptions) );
-
-		List<String> VTOLMotorWElemNames = new ArrayList<String>();
-		VTOLMotorWElemNames.add("0");
-		List<String> VTOLMotorWEnumOptions = new ArrayList<String>();
-		VTOLMotorWEnumOptions.add("Channel1");
-		VTOLMotorWEnumOptions.add("Channel2");
-		VTOLMotorWEnumOptions.add("Channel3");
-		VTOLMotorWEnumOptions.add("Channel4");
-		VTOLMotorWEnumOptions.add("Channel5");
-		VTOLMotorWEnumOptions.add("Channel6");
-		VTOLMotorWEnumOptions.add("Channel7");
-		VTOLMotorWEnumOptions.add("Channel8");
-		VTOLMotorWEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorW", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorWElemNames, VTOLMotorWEnumOptions) );
-
-		List<String> VTOLMotorNWElemNames = new ArrayList<String>();
-		VTOLMotorNWElemNames.add("0");
-		List<String> VTOLMotorNWEnumOptions = new ArrayList<String>();
-		VTOLMotorNWEnumOptions.add("Channel1");
-		VTOLMotorNWEnumOptions.add("Channel2");
-		VTOLMotorNWEnumOptions.add("Channel3");
-		VTOLMotorNWEnumOptions.add("Channel4");
-		VTOLMotorNWEnumOptions.add("Channel5");
-		VTOLMotorNWEnumOptions.add("Channel6");
-		VTOLMotorNWEnumOptions.add("Channel7");
-		VTOLMotorNWEnumOptions.add("Channel8");
-		VTOLMotorNWEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorNW", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorNWElemNames, VTOLMotorNWEnumOptions) );
-
 		List<String> ChannelUpdateFreqElemNames = new ArrayList<String>();
 		ChannelUpdateFreqElemNames.add("0");
 		ChannelUpdateFreqElemNames.add("1");
@@ -263,6 +67,8 @@ public class ActuatorSettings extends UAVDataObject {
 		ChannelMaxElemNames.add("5");
 		ChannelMaxElemNames.add("6");
 		ChannelMaxElemNames.add("7");
+		ChannelMaxElemNames.add("8");
+		ChannelMaxElemNames.add("9");
 		fields.add( new UAVObjectField("ChannelMax", "us", UAVObjectField.FieldType.INT16, ChannelMaxElemNames, null) );
 
 		List<String> ChannelNeutralElemNames = new ArrayList<String>();
@@ -274,6 +80,8 @@ public class ActuatorSettings extends UAVDataObject {
 		ChannelNeutralElemNames.add("5");
 		ChannelNeutralElemNames.add("6");
 		ChannelNeutralElemNames.add("7");
+		ChannelNeutralElemNames.add("8");
+		ChannelNeutralElemNames.add("9");
 		fields.add( new UAVObjectField("ChannelNeutral", "us", UAVObjectField.FieldType.INT16, ChannelNeutralElemNames, null) );
 
 		List<String> ChannelMinElemNames = new ArrayList<String>();
@@ -285,8 +93,250 @@ public class ActuatorSettings extends UAVDataObject {
 		ChannelMinElemNames.add("5");
 		ChannelMinElemNames.add("6");
 		ChannelMinElemNames.add("7");
+		ChannelMinElemNames.add("8");
+		ChannelMinElemNames.add("9");
 		fields.add( new UAVObjectField("ChannelMin", "us", UAVObjectField.FieldType.INT16, ChannelMinElemNames, null) );
 
+		List<String> FixedWingRoll1ElemNames = new ArrayList<String>();
+		FixedWingRoll1ElemNames.add("0");
+		List<String> FixedWingRoll1EnumOptions = new ArrayList<String>();
+		FixedWingRoll1EnumOptions.add("Channel1");
+		FixedWingRoll1EnumOptions.add("Channel2");
+		FixedWingRoll1EnumOptions.add("Channel3");
+		FixedWingRoll1EnumOptions.add("Channel4");
+		FixedWingRoll1EnumOptions.add("Channel5");
+		FixedWingRoll1EnumOptions.add("Channel6");
+		FixedWingRoll1EnumOptions.add("Channel7");
+		FixedWingRoll1EnumOptions.add("Channel8");
+		FixedWingRoll1EnumOptions.add("Channel9");
+		FixedWingRoll1EnumOptions.add("Channel10");
+		FixedWingRoll1EnumOptions.add("None");
+		fields.add( new UAVObjectField("FixedWingRoll1", "channel", UAVObjectField.FieldType.ENUM, FixedWingRoll1ElemNames, FixedWingRoll1EnumOptions) );
+
+		List<String> FixedWingRoll2ElemNames = new ArrayList<String>();
+		FixedWingRoll2ElemNames.add("0");
+		List<String> FixedWingRoll2EnumOptions = new ArrayList<String>();
+		FixedWingRoll2EnumOptions.add("Channel1");
+		FixedWingRoll2EnumOptions.add("Channel2");
+		FixedWingRoll2EnumOptions.add("Channel3");
+		FixedWingRoll2EnumOptions.add("Channel4");
+		FixedWingRoll2EnumOptions.add("Channel5");
+		FixedWingRoll2EnumOptions.add("Channel6");
+		FixedWingRoll2EnumOptions.add("Channel7");
+		FixedWingRoll2EnumOptions.add("Channel8");
+		FixedWingRoll2EnumOptions.add("Channel9");
+		FixedWingRoll2EnumOptions.add("Channel10");
+		FixedWingRoll2EnumOptions.add("None");
+		fields.add( new UAVObjectField("FixedWingRoll2", "channel", UAVObjectField.FieldType.ENUM, FixedWingRoll2ElemNames, FixedWingRoll2EnumOptions) );
+
+		List<String> FixedWingPitch1ElemNames = new ArrayList<String>();
+		FixedWingPitch1ElemNames.add("0");
+		List<String> FixedWingPitch1EnumOptions = new ArrayList<String>();
+		FixedWingPitch1EnumOptions.add("Channel1");
+		FixedWingPitch1EnumOptions.add("Channel2");
+		FixedWingPitch1EnumOptions.add("Channel3");
+		FixedWingPitch1EnumOptions.add("Channel4");
+		FixedWingPitch1EnumOptions.add("Channel5");
+		FixedWingPitch1EnumOptions.add("Channel6");
+		FixedWingPitch1EnumOptions.add("Channel7");
+		FixedWingPitch1EnumOptions.add("Channel8");
+		FixedWingPitch1EnumOptions.add("Channel9");
+		FixedWingPitch1EnumOptions.add("Channel10");
+		FixedWingPitch1EnumOptions.add("None");
+		fields.add( new UAVObjectField("FixedWingPitch1", "channel", UAVObjectField.FieldType.ENUM, FixedWingPitch1ElemNames, FixedWingPitch1EnumOptions) );
+
+		List<String> FixedWingPitch2ElemNames = new ArrayList<String>();
+		FixedWingPitch2ElemNames.add("0");
+		List<String> FixedWingPitch2EnumOptions = new ArrayList<String>();
+		FixedWingPitch2EnumOptions.add("Channel1");
+		FixedWingPitch2EnumOptions.add("Channel2");
+		FixedWingPitch2EnumOptions.add("Channel3");
+		FixedWingPitch2EnumOptions.add("Channel4");
+		FixedWingPitch2EnumOptions.add("Channel5");
+		FixedWingPitch2EnumOptions.add("Channel6");
+		FixedWingPitch2EnumOptions.add("Channel7");
+		FixedWingPitch2EnumOptions.add("Channel8");
+		FixedWingPitch2EnumOptions.add("Channel9");
+		FixedWingPitch2EnumOptions.add("Channel10");
+		FixedWingPitch2EnumOptions.add("None");
+		fields.add( new UAVObjectField("FixedWingPitch2", "channel", UAVObjectField.FieldType.ENUM, FixedWingPitch2ElemNames, FixedWingPitch2EnumOptions) );
+
+		List<String> FixedWingYaw1ElemNames = new ArrayList<String>();
+		FixedWingYaw1ElemNames.add("0");
+		List<String> FixedWingYaw1EnumOptions = new ArrayList<String>();
+		FixedWingYaw1EnumOptions.add("Channel1");
+		FixedWingYaw1EnumOptions.add("Channel2");
+		FixedWingYaw1EnumOptions.add("Channel3");
+		FixedWingYaw1EnumOptions.add("Channel4");
+		FixedWingYaw1EnumOptions.add("Channel5");
+		FixedWingYaw1EnumOptions.add("Channel6");
+		FixedWingYaw1EnumOptions.add("Channel7");
+		FixedWingYaw1EnumOptions.add("Channel8");
+		FixedWingYaw1EnumOptions.add("Channel9");
+		FixedWingYaw1EnumOptions.add("Channel10");
+		FixedWingYaw1EnumOptions.add("None");
+		fields.add( new UAVObjectField("FixedWingYaw1", "channel", UAVObjectField.FieldType.ENUM, FixedWingYaw1ElemNames, FixedWingYaw1EnumOptions) );
+
+		List<String> FixedWingYaw2ElemNames = new ArrayList<String>();
+		FixedWingYaw2ElemNames.add("0");
+		List<String> FixedWingYaw2EnumOptions = new ArrayList<String>();
+		FixedWingYaw2EnumOptions.add("Channel1");
+		FixedWingYaw2EnumOptions.add("Channel2");
+		FixedWingYaw2EnumOptions.add("Channel3");
+		FixedWingYaw2EnumOptions.add("Channel4");
+		FixedWingYaw2EnumOptions.add("Channel5");
+		FixedWingYaw2EnumOptions.add("Channel6");
+		FixedWingYaw2EnumOptions.add("Channel7");
+		FixedWingYaw2EnumOptions.add("Channel8");
+		FixedWingYaw2EnumOptions.add("Channel9");
+		FixedWingYaw2EnumOptions.add("Channel10");
+		FixedWingYaw2EnumOptions.add("None");
+		fields.add( new UAVObjectField("FixedWingYaw2", "channel", UAVObjectField.FieldType.ENUM, FixedWingYaw2ElemNames, FixedWingYaw2EnumOptions) );
+
+		List<String> FixedWingThrottleElemNames = new ArrayList<String>();
+		FixedWingThrottleElemNames.add("0");
+		List<String> FixedWingThrottleEnumOptions = new ArrayList<String>();
+		FixedWingThrottleEnumOptions.add("Channel1");
+		FixedWingThrottleEnumOptions.add("Channel2");
+		FixedWingThrottleEnumOptions.add("Channel3");
+		FixedWingThrottleEnumOptions.add("Channel4");
+		FixedWingThrottleEnumOptions.add("Channel5");
+		FixedWingThrottleEnumOptions.add("Channel6");
+		FixedWingThrottleEnumOptions.add("Channel7");
+		FixedWingThrottleEnumOptions.add("Channel8");
+		FixedWingThrottleEnumOptions.add("Channel9");
+		FixedWingThrottleEnumOptions.add("Channel10");
+		FixedWingThrottleEnumOptions.add("None");
+		fields.add( new UAVObjectField("FixedWingThrottle", "channel", UAVObjectField.FieldType.ENUM, FixedWingThrottleElemNames, FixedWingThrottleEnumOptions) );
+
+		List<String> VTOLMotorNElemNames = new ArrayList<String>();
+		VTOLMotorNElemNames.add("0");
+		List<String> VTOLMotorNEnumOptions = new ArrayList<String>();
+		VTOLMotorNEnumOptions.add("Channel1");
+		VTOLMotorNEnumOptions.add("Channel2");
+		VTOLMotorNEnumOptions.add("Channel3");
+		VTOLMotorNEnumOptions.add("Channel4");
+		VTOLMotorNEnumOptions.add("Channel5");
+		VTOLMotorNEnumOptions.add("Channel6");
+		VTOLMotorNEnumOptions.add("Channel7");
+		VTOLMotorNEnumOptions.add("Channel8");
+		VTOLMotorNEnumOptions.add("Channel9");
+		VTOLMotorNEnumOptions.add("Channel10");
+		VTOLMotorNEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorN", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorNElemNames, VTOLMotorNEnumOptions) );
+
+		List<String> VTOLMotorNEElemNames = new ArrayList<String>();
+		VTOLMotorNEElemNames.add("0");
+		List<String> VTOLMotorNEEnumOptions = new ArrayList<String>();
+		VTOLMotorNEEnumOptions.add("Channel1");
+		VTOLMotorNEEnumOptions.add("Channel2");
+		VTOLMotorNEEnumOptions.add("Channel3");
+		VTOLMotorNEEnumOptions.add("Channel4");
+		VTOLMotorNEEnumOptions.add("Channel5");
+		VTOLMotorNEEnumOptions.add("Channel6");
+		VTOLMotorNEEnumOptions.add("Channel7");
+		VTOLMotorNEEnumOptions.add("Channel8");
+		VTOLMotorNEEnumOptions.add("Channel9");
+		VTOLMotorNEEnumOptions.add("Channel10");
+		VTOLMotorNEEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorNE", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorNEElemNames, VTOLMotorNEEnumOptions) );
+
+		List<String> VTOLMotorEElemNames = new ArrayList<String>();
+		VTOLMotorEElemNames.add("0");
+		List<String> VTOLMotorEEnumOptions = new ArrayList<String>();
+		VTOLMotorEEnumOptions.add("Channel1");
+		VTOLMotorEEnumOptions.add("Channel2");
+		VTOLMotorEEnumOptions.add("Channel3");
+		VTOLMotorEEnumOptions.add("Channel4");
+		VTOLMotorEEnumOptions.add("Channel5");
+		VTOLMotorEEnumOptions.add("Channel6");
+		VTOLMotorEEnumOptions.add("Channel7");
+		VTOLMotorEEnumOptions.add("Channel8");
+		VTOLMotorEEnumOptions.add("Channel9");
+		VTOLMotorEEnumOptions.add("Channel10");
+		VTOLMotorEEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorE", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorEElemNames, VTOLMotorEEnumOptions) );
+
+		List<String> VTOLMotorSEElemNames = new ArrayList<String>();
+		VTOLMotorSEElemNames.add("0");
+		List<String> VTOLMotorSEEnumOptions = new ArrayList<String>();
+		VTOLMotorSEEnumOptions.add("Channel1");
+		VTOLMotorSEEnumOptions.add("Channel2");
+		VTOLMotorSEEnumOptions.add("Channel3");
+		VTOLMotorSEEnumOptions.add("Channel4");
+		VTOLMotorSEEnumOptions.add("Channel5");
+		VTOLMotorSEEnumOptions.add("Channel6");
+		VTOLMotorSEEnumOptions.add("Channel7");
+		VTOLMotorSEEnumOptions.add("Channel8");
+		VTOLMotorSEEnumOptions.add("Channel9");
+		VTOLMotorSEEnumOptions.add("Channel10");
+		VTOLMotorSEEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorSE", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorSEElemNames, VTOLMotorSEEnumOptions) );
+
+		List<String> VTOLMotorSElemNames = new ArrayList<String>();
+		VTOLMotorSElemNames.add("0");
+		List<String> VTOLMotorSEnumOptions = new ArrayList<String>();
+		VTOLMotorSEnumOptions.add("Channel1");
+		VTOLMotorSEnumOptions.add("Channel2");
+		VTOLMotorSEnumOptions.add("Channel3");
+		VTOLMotorSEnumOptions.add("Channel4");
+		VTOLMotorSEnumOptions.add("Channel5");
+		VTOLMotorSEnumOptions.add("Channel6");
+		VTOLMotorSEnumOptions.add("Channel7");
+		VTOLMotorSEnumOptions.add("Channel8");
+		VTOLMotorSEnumOptions.add("Channel9");
+		VTOLMotorSEnumOptions.add("Channel10");
+		VTOLMotorSEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorS", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorSElemNames, VTOLMotorSEnumOptions) );
+
+		List<String> VTOLMotorSWElemNames = new ArrayList<String>();
+		VTOLMotorSWElemNames.add("0");
+		List<String> VTOLMotorSWEnumOptions = new ArrayList<String>();
+		VTOLMotorSWEnumOptions.add("Channel1");
+		VTOLMotorSWEnumOptions.add("Channel2");
+		VTOLMotorSWEnumOptions.add("Channel3");
+		VTOLMotorSWEnumOptions.add("Channel4");
+		VTOLMotorSWEnumOptions.add("Channel5");
+		VTOLMotorSWEnumOptions.add("Channel6");
+		VTOLMotorSWEnumOptions.add("Channel7");
+		VTOLMotorSWEnumOptions.add("Channel8");
+		VTOLMotorSWEnumOptions.add("Channel9");
+		VTOLMotorSWEnumOptions.add("Channel10");
+		VTOLMotorSWEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorSW", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorSWElemNames, VTOLMotorSWEnumOptions) );
+
+		List<String> VTOLMotorWElemNames = new ArrayList<String>();
+		VTOLMotorWElemNames.add("0");
+		List<String> VTOLMotorWEnumOptions = new ArrayList<String>();
+		VTOLMotorWEnumOptions.add("Channel1");
+		VTOLMotorWEnumOptions.add("Channel2");
+		VTOLMotorWEnumOptions.add("Channel3");
+		VTOLMotorWEnumOptions.add("Channel4");
+		VTOLMotorWEnumOptions.add("Channel5");
+		VTOLMotorWEnumOptions.add("Channel6");
+		VTOLMotorWEnumOptions.add("Channel7");
+		VTOLMotorWEnumOptions.add("Channel8");
+		VTOLMotorWEnumOptions.add("Channel9");
+		VTOLMotorWEnumOptions.add("Channel10");
+		VTOLMotorWEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorW", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorWElemNames, VTOLMotorWEnumOptions) );
+
+		List<String> VTOLMotorNWElemNames = new ArrayList<String>();
+		VTOLMotorNWElemNames.add("0");
+		List<String> VTOLMotorNWEnumOptions = new ArrayList<String>();
+		VTOLMotorNWEnumOptions.add("Channel1");
+		VTOLMotorNWEnumOptions.add("Channel2");
+		VTOLMotorNWEnumOptions.add("Channel3");
+		VTOLMotorNWEnumOptions.add("Channel4");
+		VTOLMotorNWEnumOptions.add("Channel5");
+		VTOLMotorNWEnumOptions.add("Channel6");
+		VTOLMotorNWEnumOptions.add("Channel7");
+		VTOLMotorNWEnumOptions.add("Channel8");
+		VTOLMotorNWEnumOptions.add("Channel9");
+		VTOLMotorNWEnumOptions.add("Channel10");
+		VTOLMotorNWEnumOptions.add("None");
+		fields.add( new UAVObjectField("VTOLMotorNW", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorNWElemNames, VTOLMotorNWEnumOptions) );
+
 		List<String> ChannelTypeElemNames = new ArrayList<String>();
 		ChannelTypeElemNames.add("0");
 		ChannelTypeElemNames.add("1");
@@ -296,10 +346,13 @@ public class ActuatorSettings extends UAVDataObject {
 		ChannelTypeElemNames.add("5");
 		ChannelTypeElemNames.add("6");
 		ChannelTypeElemNames.add("7");
+		ChannelTypeElemNames.add("8");
+		ChannelTypeElemNames.add("9");
 		List<String> ChannelTypeEnumOptions = new ArrayList<String>();
 		ChannelTypeEnumOptions.add("PWM");
 		ChannelTypeEnumOptions.add("MK");
 		ChannelTypeEnumOptions.add("ASTEC4");
+		ChannelTypeEnumOptions.add("PWM Alarm Buzzer");
 		fields.add( new UAVObjectField("ChannelType", "", UAVObjectField.FieldType.ENUM, ChannelTypeElemNames, ChannelTypeEnumOptions) );
 
 		List<String> ChannelAddrElemNames = new ArrayList<String>();
@@ -311,8 +364,17 @@ public class ActuatorSettings extends UAVDataObject {
 		ChannelAddrElemNames.add("5");
 		ChannelAddrElemNames.add("6");
 		ChannelAddrElemNames.add("7");
+		ChannelAddrElemNames.add("8");
+		ChannelAddrElemNames.add("9");
 		fields.add( new UAVObjectField("ChannelAddr", "", UAVObjectField.FieldType.UINT8, ChannelAddrElemNames, null) );
 
+		List<String> MotorsSpinWhileArmedElemNames = new ArrayList<String>();
+		MotorsSpinWhileArmedElemNames.add("0");
+		List<String> MotorsSpinWhileArmedEnumOptions = new ArrayList<String>();
+		MotorsSpinWhileArmedEnumOptions.add("FALSE");
+		MotorsSpinWhileArmedEnumOptions.add("TRUE");
+		fields.add( new UAVObjectField("MotorsSpinWhileArmed", "", UAVObjectField.FieldType.ENUM, MotorsSpinWhileArmedElemNames, MotorsSpinWhileArmedEnumOptions) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -358,20 +420,6 @@ public class ActuatorSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("FixedWingRoll1").setValue("None");
-		getField("FixedWingRoll2").setValue("None");
-		getField("FixedWingPitch1").setValue("None");
-		getField("FixedWingPitch2").setValue("None");
-		getField("FixedWingYaw").setValue("None");
-		getField("FixedWingThrottle").setValue("None");
-		getField("VTOLMotorN").setValue("None");
-		getField("VTOLMotorNE").setValue("None");
-		getField("VTOLMotorE").setValue("None");
-		getField("VTOLMotorSE").setValue("None");
-		getField("VTOLMotorS").setValue("None");
-		getField("VTOLMotorSW").setValue("None");
-		getField("VTOLMotorW").setValue("None");
-		getField("VTOLMotorNW").setValue("None");
 		getField("ChannelUpdateFreq").setValue(50,0);
 		getField("ChannelUpdateFreq").setValue(50,1);
 		getField("ChannelUpdateFreq").setValue(50,2);
@@ -384,6 +432,8 @@ public class ActuatorSettings extends UAVDataObject {
 		getField("ChannelMax").setValue(1000,5);
 		getField("ChannelMax").setValue(1000,6);
 		getField("ChannelMax").setValue(1000,7);
+		getField("ChannelMax").setValue(1000,8);
+		getField("ChannelMax").setValue(1000,9);
 		getField("ChannelNeutral").setValue(1000,0);
 		getField("ChannelNeutral").setValue(1000,1);
 		getField("ChannelNeutral").setValue(1000,2);
@@ -392,6 +442,8 @@ public class ActuatorSettings extends UAVDataObject {
 		getField("ChannelNeutral").setValue(1000,5);
 		getField("ChannelNeutral").setValue(1000,6);
 		getField("ChannelNeutral").setValue(1000,7);
+		getField("ChannelNeutral").setValue(1000,8);
+		getField("ChannelNeutral").setValue(1000,9);
 		getField("ChannelMin").setValue(1000,0);
 		getField("ChannelMin").setValue(1000,1);
 		getField("ChannelMin").setValue(1000,2);
@@ -400,6 +452,23 @@ public class ActuatorSettings extends UAVDataObject {
 		getField("ChannelMin").setValue(1000,5);
 		getField("ChannelMin").setValue(1000,6);
 		getField("ChannelMin").setValue(1000,7);
+		getField("ChannelMin").setValue(1000,8);
+		getField("ChannelMin").setValue(1000,9);
+		getField("FixedWingRoll1").setValue("None");
+		getField("FixedWingRoll2").setValue("None");
+		getField("FixedWingPitch1").setValue("None");
+		getField("FixedWingPitch2").setValue("None");
+		getField("FixedWingYaw1").setValue("None");
+		getField("FixedWingYaw2").setValue("None");
+		getField("FixedWingThrottle").setValue("None");
+		getField("VTOLMotorN").setValue("None");
+		getField("VTOLMotorNE").setValue("None");
+		getField("VTOLMotorE").setValue("None");
+		getField("VTOLMotorSE").setValue("None");
+		getField("VTOLMotorS").setValue("None");
+		getField("VTOLMotorSW").setValue("None");
+		getField("VTOLMotorW").setValue("None");
+		getField("VTOLMotorNW").setValue("None");
 		getField("ChannelType").setValue("PWM",0);
 		getField("ChannelType").setValue("PWM",1);
 		getField("ChannelType").setValue("PWM",2);
@@ -408,6 +477,8 @@ public class ActuatorSettings extends UAVDataObject {
 		getField("ChannelType").setValue("PWM",5);
 		getField("ChannelType").setValue("PWM",6);
 		getField("ChannelType").setValue("PWM",7);
+		getField("ChannelType").setValue("PWM",8);
+		getField("ChannelType").setValue("PWM",9);
 		getField("ChannelAddr").setValue(0,0);
 		getField("ChannelAddr").setValue(1,1);
 		getField("ChannelAddr").setValue(2,2);
@@ -416,6 +487,9 @@ public class ActuatorSettings extends UAVDataObject {
 		getField("ChannelAddr").setValue(5,5);
 		getField("ChannelAddr").setValue(6,6);
 		getField("ChannelAddr").setValue(7,7);
+		getField("ChannelAddr").setValue(8,8);
+		getField("ChannelAddr").setValue(9,9);
+		getField("MotorsSpinWhileArmed").setValue("FALSE");
 
 	}
 
@@ -444,7 +518,7 @@ public class ActuatorSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x1BF864C2;
+	protected static final int OBJID = 0xF2875746;
 	protected static final String NAME = "ActuatorSettings";
 	protected static String DESCRIPTION = "Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AhrsStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AhrsStatus.java
index 3ee8304ae..82e447a70 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AhrsStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AhrsStatus.java
@@ -51,6 +51,10 @@ public class AhrsStatus extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
+		List<String> RunningTimeElemNames = new ArrayList<String>();
+		RunningTimeElemNames.add("0");
+		fields.add( new UAVObjectField("RunningTime", "ms", UAVObjectField.FieldType.UINT32, RunningTimeElemNames, null) );
+
 		List<String> SerialNumberElemNames = new ArrayList<String>();
 		SerialNumberElemNames.add("0");
 		SerialNumberElemNames.add("1");
@@ -66,10 +70,6 @@ public class AhrsStatus extends UAVDataObject {
 		CPULoadElemNames.add("0");
 		fields.add( new UAVObjectField("CPULoad", "count", UAVObjectField.FieldType.UINT8, CPULoadElemNames, null) );
 
-		List<String> RunningTimeElemNames = new ArrayList<String>();
-		RunningTimeElemNames.add("0");
-		fields.add( new UAVObjectField("RunningTime", "ms", UAVObjectField.FieldType.UINT32, RunningTimeElemNames, null) );
-
 		List<String> IdleTimePerCyleElemNames = new ArrayList<String>();
 		IdleTimePerCyleElemNames.add("0");
 		fields.add( new UAVObjectField("IdleTimePerCyle", "10x ms", UAVObjectField.FieldType.UINT8, IdleTimePerCyleElemNames, null) );
@@ -190,7 +190,7 @@ public class AhrsStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x37A5F7A2;
+	protected static final int OBJID = 0x706D1AB8;
 	protected static final String NAME = "AhrsStatus";
 	protected static String DESCRIPTION = "Status for the @ref AHRSCommsModule, including communication errors";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
index 714c18571..7c9272cad 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
@@ -110,7 +110,7 @@ public class AttitudeActual extends UAVDataObject {
 		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
 		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
 		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 500;
+		metadata.flightTelemetryUpdatePeriod = 100;
 
 		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
 		metadata.loggingUpdatePeriod = 0;
@@ -152,7 +152,7 @@ public class AttitudeActual extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xFC5B8CF4;
+	protected static final int OBJID = 0x33DAD5E6;
 	protected static final String NAME = "AttitudeActual";
 	protected static String DESCRIPTION = "The updated Attitude estimation from @ref AHRSCommsModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeRaw.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeRaw.java
index d28302b6a..b8c3aacb4 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeRaw.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeRaw.java
@@ -51,29 +51,29 @@ public class AttitudeRaw extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> magnetometersElemNames = new ArrayList<String>();
-		magnetometersElemNames.add("X");
-		magnetometersElemNames.add("Y");
-		magnetometersElemNames.add("Z");
-		fields.add( new UAVObjectField("magnetometers", "mGa", UAVObjectField.FieldType.INT16, magnetometersElemNames, null) );
-
 		List<String> gyrosElemNames = new ArrayList<String>();
 		gyrosElemNames.add("X");
 		gyrosElemNames.add("Y");
 		gyrosElemNames.add("Z");
 		fields.add( new UAVObjectField("gyros", "deg/s", UAVObjectField.FieldType.FLOAT32, gyrosElemNames, null) );
 
-		List<String> gyrotempElemNames = new ArrayList<String>();
-		gyrotempElemNames.add("XY");
-		gyrotempElemNames.add("Z");
-		fields.add( new UAVObjectField("gyrotemp", "raw", UAVObjectField.FieldType.UINT16, gyrotempElemNames, null) );
-
 		List<String> accelsElemNames = new ArrayList<String>();
 		accelsElemNames.add("X");
 		accelsElemNames.add("Y");
 		accelsElemNames.add("Z");
 		fields.add( new UAVObjectField("accels", "m/s^2", UAVObjectField.FieldType.FLOAT32, accelsElemNames, null) );
 
+		List<String> magnetometersElemNames = new ArrayList<String>();
+		magnetometersElemNames.add("X");
+		magnetometersElemNames.add("Y");
+		magnetometersElemNames.add("Z");
+		fields.add( new UAVObjectField("magnetometers", "mGa", UAVObjectField.FieldType.INT16, magnetometersElemNames, null) );
+
+		List<String> gyrotempElemNames = new ArrayList<String>();
+		gyrotempElemNames.add("XY");
+		gyrotempElemNames.add("Z");
+		fields.add( new UAVObjectField("gyrotemp", "raw", UAVObjectField.FieldType.UINT16, gyrotempElemNames, null) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -147,7 +147,7 @@ public class AttitudeRaw extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x37747DE6;
+	protected static final int OBJID = 0xDB722974;
 	protected static final String NAME = "AttitudeRaw";
 	protected static String DESCRIPTION = "The raw attitude sensor data from @ref AHRSCommsModule.  Not always updated.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
index 482fc12ce..3034a99ad 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
@@ -51,12 +51,6 @@ public class AttitudeSettings extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> AccelBiasElemNames = new ArrayList<String>();
-		AccelBiasElemNames.add("X");
-		AccelBiasElemNames.add("Y");
-		AccelBiasElemNames.add("Z");
-		fields.add( new UAVObjectField("AccelBias", "lsb", UAVObjectField.FieldType.INT16, AccelBiasElemNames, null) );
-
 		List<String> GyroGainElemNames = new ArrayList<String>();
 		GyroGainElemNames.add("0");
 		fields.add( new UAVObjectField("GyroGain", "(rad/s)/lsb", UAVObjectField.FieldType.FLOAT32, GyroGainElemNames, null) );
@@ -69,6 +63,50 @@ public class AttitudeSettings extends UAVDataObject {
 		AccelKiElemNames.add("0");
 		fields.add( new UAVObjectField("AccelKi", "channel", UAVObjectField.FieldType.FLOAT32, AccelKiElemNames, null) );
 
+		List<String> YawBiasRateElemNames = new ArrayList<String>();
+		YawBiasRateElemNames.add("0");
+		fields.add( new UAVObjectField("YawBiasRate", "channel", UAVObjectField.FieldType.FLOAT32, YawBiasRateElemNames, null) );
+
+		List<String> AccelBiasElemNames = new ArrayList<String>();
+		AccelBiasElemNames.add("X");
+		AccelBiasElemNames.add("Y");
+		AccelBiasElemNames.add("Z");
+		fields.add( new UAVObjectField("AccelBias", "lsb", UAVObjectField.FieldType.INT16, AccelBiasElemNames, null) );
+
+		List<String> GyroBiasElemNames = new ArrayList<String>();
+		GyroBiasElemNames.add("X");
+		GyroBiasElemNames.add("Y");
+		GyroBiasElemNames.add("Z");
+		fields.add( new UAVObjectField("GyroBias", "deg/s * 100", UAVObjectField.FieldType.INT16, GyroBiasElemNames, null) );
+
+		List<String> BoardRotationElemNames = new ArrayList<String>();
+		BoardRotationElemNames.add("Roll");
+		BoardRotationElemNames.add("Pitch");
+		BoardRotationElemNames.add("Yaw");
+		fields.add( new UAVObjectField("BoardRotation", "deg", UAVObjectField.FieldType.INT16, BoardRotationElemNames, null) );
+
+		List<String> ZeroDuringArmingElemNames = new ArrayList<String>();
+		ZeroDuringArmingElemNames.add("0");
+		List<String> ZeroDuringArmingEnumOptions = new ArrayList<String>();
+		ZeroDuringArmingEnumOptions.add("FALSE");
+		ZeroDuringArmingEnumOptions.add("TRUE");
+		fields.add( new UAVObjectField("ZeroDuringArming", "channel", UAVObjectField.FieldType.ENUM, ZeroDuringArmingElemNames, ZeroDuringArmingEnumOptions) );
+
+		List<String> BiasCorrectGyroElemNames = new ArrayList<String>();
+		BiasCorrectGyroElemNames.add("0");
+		List<String> BiasCorrectGyroEnumOptions = new ArrayList<String>();
+		BiasCorrectGyroEnumOptions.add("FALSE");
+		BiasCorrectGyroEnumOptions.add("TRUE");
+		fields.add( new UAVObjectField("BiasCorrectGyro", "channel", UAVObjectField.FieldType.ENUM, BiasCorrectGyroElemNames, BiasCorrectGyroEnumOptions) );
+
+		List<String> TrimFlightElemNames = new ArrayList<String>();
+		TrimFlightElemNames.add("0");
+		List<String> TrimFlightEnumOptions = new ArrayList<String>();
+		TrimFlightEnumOptions.add("NORMAL");
+		TrimFlightEnumOptions.add("START");
+		TrimFlightEnumOptions.add("LOAD");
+		fields.add( new UAVObjectField("TrimFlight", "channel", UAVObjectField.FieldType.ENUM, TrimFlightElemNames, TrimFlightEnumOptions) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -114,12 +152,22 @@ public class AttitudeSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
+		getField("GyroGain").setValue(0.42);
+		getField("AccelKp").setValue(0.05);
+		getField("AccelKi").setValue(0.0001);
+		getField("YawBiasRate").setValue(1e-06);
 		getField("AccelBias").setValue(0,0);
 		getField("AccelBias").setValue(0,1);
 		getField("AccelBias").setValue(0,2);
-		getField("GyroGain").setValue(0.42);
-		getField("AccelKp").setValue(0.01);
-		getField("AccelKi").setValue(0.0001);
+		getField("GyroBias").setValue(0,0);
+		getField("GyroBias").setValue(0,1);
+		getField("GyroBias").setValue(0,2);
+		getField("BoardRotation").setValue(0,0);
+		getField("BoardRotation").setValue(0,1);
+		getField("BoardRotation").setValue(0,2);
+		getField("ZeroDuringArming").setValue("TRUE");
+		getField("BiasCorrectGyro").setValue("TRUE");
+		getField("TrimFlight").setValue("NORMAL");
 
 	}
 
@@ -148,7 +196,7 @@ public class AttitudeSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x327BF29A;
+	protected static final int OBJID = 0xC307BC4A;
 	protected static final String NAME = "AttitudeSettings";
 	protected static String DESCRIPTION = "Settings for the @ref Attitude module used on CopterControl";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
index a2c2c7e3d..ecde53985 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
@@ -136,7 +136,7 @@ public class BaroAltitude extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xED4424F6;
+	protected static final int OBJID = 0x99622E6A;
 	protected static final String NAME = "BaroAltitude";
 	protected static String DESCRIPTION = "The raw data from the barometric sensor with pressure, temperature and altitude estimate.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
new file mode 100644
index 000000000..7a36ec1ea
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
@@ -0,0 +1,147 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Desired camera outputs.  Comes from @ref CameraStabilization module.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Desired camera outputs.  Comes from @ref CameraStabilization module.
+
+generated from cameradesired.xml
+ **/
+public class CameraDesired extends UAVDataObject {
+
+	public CameraDesired() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> RollElemNames = new ArrayList<String>();
+		RollElemNames.add("0");
+		fields.add( new UAVObjectField("Roll", "", UAVObjectField.FieldType.FLOAT32, RollElemNames, null) );
+
+		List<String> PitchElemNames = new ArrayList<String>();
+		PitchElemNames.add("0");
+		fields.add( new UAVObjectField("Pitch", "", UAVObjectField.FieldType.FLOAT32, PitchElemNames, null) );
+
+		List<String> YawElemNames = new ArrayList<String>();
+		YawElemNames.add("0");
+		fields.add( new UAVObjectField("Yaw", "", UAVObjectField.FieldType.FLOAT32, YawElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
+		metadata.flightTelemetryUpdatePeriod = 1000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			CameraDesired obj = new CameraDesired();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public CameraDesired GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (CameraDesired)(objMngr.getObject(CameraDesired.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x531F544E;
+	protected static final String NAME = "CameraDesired";
+	protected static String DESCRIPTION = "Desired camera outputs.  Comes from @ref CameraStabilization module.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
new file mode 100644
index 000000000..a8e03df32
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
@@ -0,0 +1,205 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the @ref CameraStab mmodule
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the @ref CameraStab mmodule
+
+generated from camerastabsettings.xml
+ **/
+public class CameraStabSettings extends UAVDataObject {
+
+	public CameraStabSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> MaxAxisLockRateElemNames = new ArrayList<String>();
+		MaxAxisLockRateElemNames.add("0");
+		fields.add( new UAVObjectField("MaxAxisLockRate", "deg/s", UAVObjectField.FieldType.FLOAT32, MaxAxisLockRateElemNames, null) );
+
+		List<String> ResponseTimeElemNames = new ArrayList<String>();
+		ResponseTimeElemNames.add("Roll");
+		ResponseTimeElemNames.add("Pitch");
+		ResponseTimeElemNames.add("Yaw");
+		fields.add( new UAVObjectField("ResponseTime", "ms", UAVObjectField.FieldType.UINT16, ResponseTimeElemNames, null) );
+
+		List<String> InputElemNames = new ArrayList<String>();
+		InputElemNames.add("Roll");
+		InputElemNames.add("Pitch");
+		InputElemNames.add("Yaw");
+		List<String> InputEnumOptions = new ArrayList<String>();
+		InputEnumOptions.add("Accessory0");
+		InputEnumOptions.add("Accessory1");
+		InputEnumOptions.add("Accessory2");
+		InputEnumOptions.add("Accessory3");
+		InputEnumOptions.add("Accessory4");
+		InputEnumOptions.add("Accessory5");
+		InputEnumOptions.add("None");
+		fields.add( new UAVObjectField("Input", "channel", UAVObjectField.FieldType.ENUM, InputElemNames, InputEnumOptions) );
+
+		List<String> InputRangeElemNames = new ArrayList<String>();
+		InputRangeElemNames.add("Roll");
+		InputRangeElemNames.add("Pitch");
+		InputRangeElemNames.add("Yaw");
+		fields.add( new UAVObjectField("InputRange", "deg", UAVObjectField.FieldType.UINT8, InputRangeElemNames, null) );
+
+		List<String> InputRateElemNames = new ArrayList<String>();
+		InputRateElemNames.add("Roll");
+		InputRateElemNames.add("Pitch");
+		InputRateElemNames.add("Yaw");
+		fields.add( new UAVObjectField("InputRate", "deg/s", UAVObjectField.FieldType.UINT8, InputRateElemNames, null) );
+
+		List<String> StabilizationModeElemNames = new ArrayList<String>();
+		StabilizationModeElemNames.add("Roll");
+		StabilizationModeElemNames.add("Pitch");
+		StabilizationModeElemNames.add("Yaw");
+		List<String> StabilizationModeEnumOptions = new ArrayList<String>();
+		StabilizationModeEnumOptions.add("Attitude");
+		StabilizationModeEnumOptions.add("AxisLock");
+		fields.add( new UAVObjectField("StabilizationMode", "", UAVObjectField.FieldType.ENUM, StabilizationModeElemNames, StabilizationModeEnumOptions) );
+
+		List<String> OutputRangeElemNames = new ArrayList<String>();
+		OutputRangeElemNames.add("Roll");
+		OutputRangeElemNames.add("Pitch");
+		OutputRangeElemNames.add("Yaw");
+		fields.add( new UAVObjectField("OutputRange", "deg", UAVObjectField.FieldType.UINT8, OutputRangeElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("MaxAxisLockRate").setValue(1);
+		getField("ResponseTime").setValue(150,0);
+		getField("ResponseTime").setValue(150,1);
+		getField("ResponseTime").setValue(150,2);
+		getField("Input").setValue("None",0);
+		getField("Input").setValue("None",1);
+		getField("Input").setValue("None",2);
+		getField("InputRange").setValue(20,0);
+		getField("InputRange").setValue(20,1);
+		getField("InputRange").setValue(20,2);
+		getField("InputRate").setValue(50,0);
+		getField("InputRate").setValue(50,1);
+		getField("InputRate").setValue(50,2);
+		getField("StabilizationMode").setValue("Attitude",0);
+		getField("StabilizationMode").setValue("Attitude",1);
+		getField("StabilizationMode").setValue("Attitude",2);
+		getField("OutputRange").setValue(20,0);
+		getField("OutputRange").setValue(20,1);
+		getField("OutputRange").setValue(20,2);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			CameraStabSettings obj = new CameraStabSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public CameraStabSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (CameraStabSettings)(objMngr.getObject(CameraStabSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x3B95DDBA;
+	protected static final String NAME = "CameraStabSettings";
+	protected static String DESCRIPTION = "Settings for the @ref CameraStab mmodule";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TelemetrySettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
similarity index 74%
rename from androidgcs/src/org/openpilot/uavtalk/uavobjects/TelemetrySettings.java
rename to androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
index 675f9b592..b22b8185e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TelemetrySettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
@@ -5,7 +5,7 @@
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Template for an uavobject in java
  *             This is a autogenerated file!! Do not modify and expect a result.
- *             Select baud rate of telemetry.  Warning - this must match your modem.
+ *             Allows testers to simulate various fault scenarios.
  *
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -39,29 +39,28 @@ import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObjectField;
 
 /**
-Select baud rate of telemetry.  Warning - this must match your modem.
+Allows testers to simulate various fault scenarios.
 
-generated from telemetrysettings.xml
+generated from faultsettings.xml
  **/
-public class TelemetrySettings extends UAVDataObject {
+public class FaultSettings extends UAVDataObject {
 
-	public TelemetrySettings() {
+	public FaultSettings() {
 		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
 		
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> SpeedElemNames = new ArrayList<String>();
-		SpeedElemNames.add("0");
-		List<String> SpeedEnumOptions = new ArrayList<String>();
-		SpeedEnumOptions.add("2400");
-		SpeedEnumOptions.add("4800");
-		SpeedEnumOptions.add("9600");
-		SpeedEnumOptions.add("19200");
-		SpeedEnumOptions.add("38400");
-		SpeedEnumOptions.add("57600");
-		SpeedEnumOptions.add("115200");
-		fields.add( new UAVObjectField("Speed", "", UAVObjectField.FieldType.ENUM, SpeedElemNames, SpeedEnumOptions) );
+		List<String> ActivateFaultElemNames = new ArrayList<String>();
+		ActivateFaultElemNames.add("0");
+		List<String> ActivateFaultEnumOptions = new ArrayList<String>();
+		ActivateFaultEnumOptions.add("NoFault");
+		ActivateFaultEnumOptions.add("ModuleInitAssert");
+		ActivateFaultEnumOptions.add("InitOutOfMemory");
+		ActivateFaultEnumOptions.add("InitBusError");
+		ActivateFaultEnumOptions.add("RunawayTask");
+		ActivateFaultEnumOptions.add("TaskOutOfMemory");
+		fields.add( new UAVObjectField("ActivateFault", "fault", UAVObjectField.FieldType.ENUM, ActivateFaultElemNames, ActivateFaultEnumOptions) );
 
 
 		// Compute the number of bytes for this object
@@ -108,7 +107,7 @@ public class TelemetrySettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("Speed").setValue("57600");
+		getField("ActivateFault").setValue("NoFault");
 
 	}
 
@@ -120,7 +119,7 @@ public class TelemetrySettings extends UAVDataObject {
 	public UAVDataObject clone(int instID) {
 		// TODO: Need to get specific instance to clone
 		try {
-			TelemetrySettings obj = new TelemetrySettings();
+			FaultSettings obj = new FaultSettings();
 			obj.initialize(instID, this.getMetaObject());
 			return obj;
 		} catch  (Exception e) {
@@ -131,15 +130,15 @@ public class TelemetrySettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public TelemetrySettings GetInstance(UAVObjectManager objMngr, int instID)
+	public FaultSettings GetInstance(UAVObjectManager objMngr, int instID)
 	{
-	    return (TelemetrySettings)(objMngr.getObject(TelemetrySettings.OBJID, instID));
+	    return (FaultSettings)(objMngr.getObject(FaultSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xA608C526;
-	protected static final String NAME = "TelemetrySettings";
-	protected static String DESCRIPTION = "Select baud rate of telemetry.  Warning - this must match your modem.";
+	protected static final int OBJID = 0x2778BA3C;
+	protected static final String NAME = "FaultSettings";
+	protected static String DESCRIPTION = "Allows testers to simulate various fault scenarios.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
 	protected static final boolean ISSETTINGS = 1 == 1;
 	protected static int NUMBYTES = 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
index 493d6cd64..71c681bd2 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
@@ -5,7 +5,7 @@
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Template for an uavobject in java
  *             This is a autogenerated file!! Do not modify and expect a result.
- *             Firmware IAP
+ *             Queries board for SN, model, revision, and sends reset command
  *
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -39,7 +39,7 @@ import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObjectField;
 
 /**
-Firmware IAP
+Queries board for SN, model, revision, and sends reset command
 
 generated from firmwareiapobj.xml
  **/
@@ -51,10 +51,18 @@ public class FirmwareIAPObj extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
+		List<String> crcElemNames = new ArrayList<String>();
+		crcElemNames.add("0");
+		fields.add( new UAVObjectField("crc", "", UAVObjectField.FieldType.UINT32, crcElemNames, null) );
+
 		List<String> CommandElemNames = new ArrayList<String>();
 		CommandElemNames.add("0");
 		fields.add( new UAVObjectField("Command", "", UAVObjectField.FieldType.UINT16, CommandElemNames, null) );
 
+		List<String> BoardRevisionElemNames = new ArrayList<String>();
+		BoardRevisionElemNames.add("0");
+		fields.add( new UAVObjectField("BoardRevision", "", UAVObjectField.FieldType.UINT16, BoardRevisionElemNames, null) );
+
 		List<String> DescriptionElemNames = new ArrayList<String>();
 		DescriptionElemNames.add("0");
 		DescriptionElemNames.add("1");
@@ -96,71 +104,22 @@ public class FirmwareIAPObj extends UAVDataObject {
 		DescriptionElemNames.add("37");
 		DescriptionElemNames.add("38");
 		DescriptionElemNames.add("39");
-		DescriptionElemNames.add("40");
-		DescriptionElemNames.add("41");
-		DescriptionElemNames.add("42");
-		DescriptionElemNames.add("43");
-		DescriptionElemNames.add("44");
-		DescriptionElemNames.add("45");
-		DescriptionElemNames.add("46");
-		DescriptionElemNames.add("47");
-		DescriptionElemNames.add("48");
-		DescriptionElemNames.add("49");
-		DescriptionElemNames.add("50");
-		DescriptionElemNames.add("51");
-		DescriptionElemNames.add("52");
-		DescriptionElemNames.add("53");
-		DescriptionElemNames.add("54");
-		DescriptionElemNames.add("55");
-		DescriptionElemNames.add("56");
-		DescriptionElemNames.add("57");
-		DescriptionElemNames.add("58");
-		DescriptionElemNames.add("59");
-		DescriptionElemNames.add("60");
-		DescriptionElemNames.add("61");
-		DescriptionElemNames.add("62");
-		DescriptionElemNames.add("63");
-		DescriptionElemNames.add("64");
-		DescriptionElemNames.add("65");
-		DescriptionElemNames.add("66");
-		DescriptionElemNames.add("67");
-		DescriptionElemNames.add("68");
-		DescriptionElemNames.add("69");
-		DescriptionElemNames.add("70");
-		DescriptionElemNames.add("71");
-		DescriptionElemNames.add("72");
-		DescriptionElemNames.add("73");
-		DescriptionElemNames.add("74");
-		DescriptionElemNames.add("75");
-		DescriptionElemNames.add("76");
-		DescriptionElemNames.add("77");
-		DescriptionElemNames.add("78");
-		DescriptionElemNames.add("79");
-		DescriptionElemNames.add("80");
-		DescriptionElemNames.add("81");
-		DescriptionElemNames.add("82");
-		DescriptionElemNames.add("83");
-		DescriptionElemNames.add("84");
-		DescriptionElemNames.add("85");
-		DescriptionElemNames.add("86");
-		DescriptionElemNames.add("87");
-		DescriptionElemNames.add("88");
-		DescriptionElemNames.add("89");
-		DescriptionElemNames.add("90");
-		DescriptionElemNames.add("91");
-		DescriptionElemNames.add("92");
-		DescriptionElemNames.add("93");
-		DescriptionElemNames.add("94");
-		DescriptionElemNames.add("95");
-		DescriptionElemNames.add("96");
-		DescriptionElemNames.add("97");
-		DescriptionElemNames.add("98");
-		DescriptionElemNames.add("99");
 		fields.add( new UAVObjectField("Description", "", UAVObjectField.FieldType.UINT8, DescriptionElemNames, null) );
 
-		List<String> BoardRevisionElemNames = new ArrayList<String>();
-		BoardRevisionElemNames.add("0");
-		fields.add( new UAVObjectField("BoardRevision", "", UAVObjectField.FieldType.UINT16, BoardRevisionElemNames, null) );
+		List<String> CPUSerialElemNames = new ArrayList<String>();
+		CPUSerialElemNames.add("0");
+		CPUSerialElemNames.add("1");
+		CPUSerialElemNames.add("2");
+		CPUSerialElemNames.add("3");
+		CPUSerialElemNames.add("4");
+		CPUSerialElemNames.add("5");
+		CPUSerialElemNames.add("6");
+		CPUSerialElemNames.add("7");
+		CPUSerialElemNames.add("8");
+		CPUSerialElemNames.add("9");
+		CPUSerialElemNames.add("10");
+		CPUSerialElemNames.add("11");
+		fields.add( new UAVObjectField("CPUSerial", "", UAVObjectField.FieldType.UINT8, CPUSerialElemNames, null) );
 
 		List<String> BoardTypeElemNames = new ArrayList<String>();
 		BoardTypeElemNames.add("0");
@@ -170,10 +129,6 @@ public class FirmwareIAPObj extends UAVDataObject {
 		ArmResetElemNames.add("0");
 		fields.add( new UAVObjectField("ArmReset", "", UAVObjectField.FieldType.UINT8, ArmResetElemNames, null) );
 
-		List<String> crcElemNames = new ArrayList<String>();
-		crcElemNames.add("0");
-		fields.add( new UAVObjectField("crc", "", UAVObjectField.FieldType.UINT32, crcElemNames, null) );
-
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -247,9 +202,9 @@ public class FirmwareIAPObj extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x1A8ECC2;
+	protected static final int OBJID = 0x3CCDFB68;
 	protected static final String NAME = "FirmwareIAPObj";
-	protected static String DESCRIPTION = "Firmware IAP";
+	protected static String DESCRIPTION = "Queries board for SN, model, revision, and sends reset command";
 	protected static final boolean ISSINGLEINST = 1 == 1;
 	protected static final boolean ISSETTINGS = 0 == 1;
 	protected static int NUMBYTES = 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
new file mode 100644
index 000000000..a3bc23eb3
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
@@ -0,0 +1,177 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Flight Battery configuration.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Flight Battery configuration.
+
+generated from flightbatterysettings.xml
+ **/
+public class FlightBatterySettings extends UAVDataObject {
+
+	public FlightBatterySettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> CapacityElemNames = new ArrayList<String>();
+		CapacityElemNames.add("0");
+		fields.add( new UAVObjectField("Capacity", "mAh", UAVObjectField.FieldType.UINT32, CapacityElemNames, null) );
+
+		List<String> VoltageThresholdsElemNames = new ArrayList<String>();
+		VoltageThresholdsElemNames.add("Warning");
+		VoltageThresholdsElemNames.add("Alarm");
+		fields.add( new UAVObjectField("VoltageThresholds", "V", UAVObjectField.FieldType.FLOAT32, VoltageThresholdsElemNames, null) );
+
+		List<String> SensorCalibrationsElemNames = new ArrayList<String>();
+		SensorCalibrationsElemNames.add("VoltageFactor");
+		SensorCalibrationsElemNames.add("CurrentFactor");
+		fields.add( new UAVObjectField("SensorCalibrations", "", UAVObjectField.FieldType.FLOAT32, SensorCalibrationsElemNames, null) );
+
+		List<String> TypeElemNames = new ArrayList<String>();
+		TypeElemNames.add("0");
+		List<String> TypeEnumOptions = new ArrayList<String>();
+		TypeEnumOptions.add("LiPo");
+		TypeEnumOptions.add("A123");
+		TypeEnumOptions.add("LiCo");
+		TypeEnumOptions.add("LiFeSO4");
+		TypeEnumOptions.add("None");
+		fields.add( new UAVObjectField("Type", "", UAVObjectField.FieldType.ENUM, TypeElemNames, TypeEnumOptions) );
+
+		List<String> NbCellsElemNames = new ArrayList<String>();
+		NbCellsElemNames.add("0");
+		fields.add( new UAVObjectField("NbCells", "", UAVObjectField.FieldType.UINT8, NbCellsElemNames, null) );
+
+		List<String> SensorTypeElemNames = new ArrayList<String>();
+		SensorTypeElemNames.add("0");
+		List<String> SensorTypeEnumOptions = new ArrayList<String>();
+		SensorTypeEnumOptions.add("None");
+		fields.add( new UAVObjectField("SensorType", "", UAVObjectField.FieldType.ENUM, SensorTypeElemNames, SensorTypeEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("Capacity").setValue(2200);
+		getField("VoltageThresholds").setValue(9.8,0);
+		getField("VoltageThresholds").setValue(9.2,1);
+		getField("SensorCalibrations").setValue(1,0);
+		getField("SensorCalibrations").setValue(1,1);
+		getField("Type").setValue("LiPo");
+		getField("NbCells").setValue(3);
+		getField("SensorType").setValue("None");
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			FlightBatterySettings obj = new FlightBatterySettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public FlightBatterySettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (FlightBatterySettings)(objMngr.getObject(FlightBatterySettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xF172BB18;
+	protected static final String NAME = "FlightBatterySettings";
+	protected static String DESCRIPTION = "Flight Battery configuration.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
index d9fba1de5..82fcfae47 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
@@ -154,7 +154,7 @@ public class FlightBatteryState extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x791A50E;
+	protected static final int OBJID = 0x8C0D756;
 	protected static final String NAME = "FlightBatteryState";
 	protected static String DESCRIPTION = "Battery status information.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
index fdc5bfcb0..dbe959f96 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
@@ -133,7 +133,7 @@ public class FlightPlanControl extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x6B4FE6DA;
+	protected static final int OBJID = 0x53E3F180;
 	protected static final String NAME = "FlightPlanControl";
 	protected static String DESCRIPTION = "Control the flight plan script";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
index 383e4aff0..6fc39a26e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
@@ -129,7 +129,7 @@ public class FlightPlanSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x85368422;
+	protected static final int OBJID = 0x92E9FF76;
 	protected static final String NAME = "FlightPlanSettings";
 	protected static String DESCRIPTION = "Settings for the flight plan module, control the execution of the script";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
index 2303514c0..7b78bce71 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
@@ -51,6 +51,19 @@ public class FlightPlanStatus extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
+		List<String> ErrorFileIDElemNames = new ArrayList<String>();
+		ErrorFileIDElemNames.add("0");
+		fields.add( new UAVObjectField("ErrorFileID", "", UAVObjectField.FieldType.UINT32, ErrorFileIDElemNames, null) );
+
+		List<String> ErrorLineNumElemNames = new ArrayList<String>();
+		ErrorLineNumElemNames.add("0");
+		fields.add( new UAVObjectField("ErrorLineNum", "", UAVObjectField.FieldType.UINT32, ErrorLineNumElemNames, null) );
+
+		List<String> DebugElemNames = new ArrayList<String>();
+		DebugElemNames.add("0");
+		DebugElemNames.add("1");
+		fields.add( new UAVObjectField("Debug", "", UAVObjectField.FieldType.FLOAT32, DebugElemNames, null) );
+
 		List<String> StatusElemNames = new ArrayList<String>();
 		StatusElemNames.add("0");
 		List<String> StatusEnumOptions = new ArrayList<String>();
@@ -83,22 +96,6 @@ public class FlightPlanStatus extends UAVDataObject {
 		ErrorTypeEnumOptions.add("UnknownError");
 		fields.add( new UAVObjectField("ErrorType", "", UAVObjectField.FieldType.ENUM, ErrorTypeElemNames, ErrorTypeEnumOptions) );
 
-		List<String> ErrorFileIDElemNames = new ArrayList<String>();
-		ErrorFileIDElemNames.add("0");
-		fields.add( new UAVObjectField("ErrorFileID", "", UAVObjectField.FieldType.UINT32, ErrorFileIDElemNames, null) );
-
-		List<String> ErrorLineNumElemNames = new ArrayList<String>();
-		ErrorLineNumElemNames.add("0");
-		fields.add( new UAVObjectField("ErrorLineNum", "", UAVObjectField.FieldType.UINT32, ErrorLineNumElemNames, null) );
-
-		List<String> Debug1ElemNames = new ArrayList<String>();
-		Debug1ElemNames.add("0");
-		fields.add( new UAVObjectField("Debug1", "", UAVObjectField.FieldType.FLOAT32, Debug1ElemNames, null) );
-
-		List<String> Debug2ElemNames = new ArrayList<String>();
-		Debug2ElemNames.add("0");
-		fields.add( new UAVObjectField("Debug2", "", UAVObjectField.FieldType.FLOAT32, Debug2ElemNames, null) );
-
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -144,10 +141,10 @@ public class FlightPlanStatus extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
+		getField("Debug").setValue(0,0);
+		getField("Debug").setValue(0,1);
 		getField("Status").setValue("Stopped");
 		getField("ErrorType").setValue("None");
-		getField("Debug1").setValue(0);
-		getField("Debug2").setValue(0);
 
 	}
 
@@ -176,7 +173,7 @@ public class FlightPlanStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x9FC14812;
+	protected static final int OBJID = 0x2206EE46;
 	protected static final String NAME = "FlightPlanStatus";
 	protected static String DESCRIPTION = "Status of the flight plan script";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
new file mode 100644
index 000000000..d775b21e7
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
@@ -0,0 +1,155 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Contains major flight status information for other modules.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Contains major flight status information for other modules.
+
+generated from flightstatus.xml
+ **/
+public class FlightStatus extends UAVDataObject {
+
+	public FlightStatus() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> ArmedElemNames = new ArrayList<String>();
+		ArmedElemNames.add("0");
+		List<String> ArmedEnumOptions = new ArrayList<String>();
+		ArmedEnumOptions.add("Disarmed");
+		ArmedEnumOptions.add("Arming");
+		ArmedEnumOptions.add("Armed");
+		fields.add( new UAVObjectField("Armed", "", UAVObjectField.FieldType.ENUM, ArmedElemNames, ArmedEnumOptions) );
+
+		List<String> FlightModeElemNames = new ArrayList<String>();
+		FlightModeElemNames.add("0");
+		List<String> FlightModeEnumOptions = new ArrayList<String>();
+		FlightModeEnumOptions.add("Manual");
+		FlightModeEnumOptions.add("Stabilized1");
+		FlightModeEnumOptions.add("Stabilized2");
+		FlightModeEnumOptions.add("Stabilized3");
+		FlightModeEnumOptions.add("VelocityControl");
+		FlightModeEnumOptions.add("PositionHold");
+		fields.add( new UAVObjectField("FlightMode", "", UAVObjectField.FieldType.ENUM, FlightModeElemNames, FlightModeEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 5000;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("Armed").setValue("Disarmed");
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			FlightStatus obj = new FlightStatus();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public FlightStatus GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (FlightStatus)(objMngr.getObject(FlightStatus.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x743DB13C;
+	protected static final String NAME = "FlightStatus";
+	protected static String DESCRIPTION = "Contains major flight status information for other modules.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
index b58fe6d46..403ea1d5e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
@@ -51,15 +51,6 @@ public class FlightTelemetryStats extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> StatusElemNames = new ArrayList<String>();
-		StatusElemNames.add("0");
-		List<String> StatusEnumOptions = new ArrayList<String>();
-		StatusEnumOptions.add("Disconnected");
-		StatusEnumOptions.add("HandshakeReq");
-		StatusEnumOptions.add("HandshakeAck");
-		StatusEnumOptions.add("Connected");
-		fields.add( new UAVObjectField("Status", "", UAVObjectField.FieldType.ENUM, StatusElemNames, StatusEnumOptions) );
-
 		List<String> TxDataRateElemNames = new ArrayList<String>();
 		TxDataRateElemNames.add("0");
 		fields.add( new UAVObjectField("TxDataRate", "bytes/sec", UAVObjectField.FieldType.FLOAT32, TxDataRateElemNames, null) );
@@ -80,6 +71,15 @@ public class FlightTelemetryStats extends UAVDataObject {
 		TxRetriesElemNames.add("0");
 		fields.add( new UAVObjectField("TxRetries", "count", UAVObjectField.FieldType.UINT32, TxRetriesElemNames, null) );
 
+		List<String> StatusElemNames = new ArrayList<String>();
+		StatusElemNames.add("0");
+		List<String> StatusEnumOptions = new ArrayList<String>();
+		StatusEnumOptions.add("Disconnected");
+		StatusEnumOptions.add("HandshakeReq");
+		StatusEnumOptions.add("HandshakeAck");
+		StatusEnumOptions.add("Connected");
+		fields.add( new UAVObjectField("Status", "", UAVObjectField.FieldType.ENUM, StatusElemNames, StatusEnumOptions) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -153,7 +153,7 @@ public class FlightTelemetryStats extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x660C265E;
+	protected static final int OBJID = 0x2F7E2902;
 	protected static final String NAME = "FlightTelemetryStats";
 	protected static String DESCRIPTION = "Maintains the telemetry statistics from the OpenPilot flight computer.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
new file mode 100644
index 000000000..3cb3811ae
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
@@ -0,0 +1,144 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             A receiver channel group carried over the telemetry link.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+A receiver channel group carried over the telemetry link.
+
+generated from gcsreceiver.xml
+ **/
+public class GCSReceiver extends UAVDataObject {
+
+	public GCSReceiver() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> ChannelElemNames = new ArrayList<String>();
+		ChannelElemNames.add("0");
+		ChannelElemNames.add("1");
+		ChannelElemNames.add("2");
+		ChannelElemNames.add("3");
+		ChannelElemNames.add("4");
+		ChannelElemNames.add("5");
+		fields.add( new UAVObjectField("Channel", "us", UAVObjectField.FieldType.UINT16, ChannelElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READONLY;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			GCSReceiver obj = new GCSReceiver();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public GCSReceiver GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (GCSReceiver)(objMngr.getObject(GCSReceiver.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xCC7E2BBC;
+	protected static final String NAME = "GCSReceiver";
+	protected static String DESCRIPTION = "A receiver channel group carried over the telemetry link.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
index 0f304d45d..b32f551ce 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
@@ -51,15 +51,6 @@ public class GCSTelemetryStats extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> StatusElemNames = new ArrayList<String>();
-		StatusElemNames.add("0");
-		List<String> StatusEnumOptions = new ArrayList<String>();
-		StatusEnumOptions.add("Disconnected");
-		StatusEnumOptions.add("HandshakeReq");
-		StatusEnumOptions.add("HandshakeAck");
-		StatusEnumOptions.add("Connected");
-		fields.add( new UAVObjectField("Status", "", UAVObjectField.FieldType.ENUM, StatusElemNames, StatusEnumOptions) );
-
 		List<String> TxDataRateElemNames = new ArrayList<String>();
 		TxDataRateElemNames.add("0");
 		fields.add( new UAVObjectField("TxDataRate", "bytes/sec", UAVObjectField.FieldType.FLOAT32, TxDataRateElemNames, null) );
@@ -80,6 +71,15 @@ public class GCSTelemetryStats extends UAVDataObject {
 		TxRetriesElemNames.add("0");
 		fields.add( new UAVObjectField("TxRetries", "count", UAVObjectField.FieldType.UINT32, TxRetriesElemNames, null) );
 
+		List<String> StatusElemNames = new ArrayList<String>();
+		StatusElemNames.add("0");
+		List<String> StatusEnumOptions = new ArrayList<String>();
+		StatusEnumOptions.add("Disconnected");
+		StatusEnumOptions.add("HandshakeReq");
+		StatusEnumOptions.add("HandshakeAck");
+		StatusEnumOptions.add("Connected");
+		fields.add( new UAVObjectField("Status", "", UAVObjectField.FieldType.ENUM, StatusElemNames, StatusEnumOptions) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -153,7 +153,7 @@ public class GCSTelemetryStats extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x771E1046;
+	protected static final int OBJID = 0xABC72744;
 	protected static final String NAME = "GCSTelemetryStats";
 	protected static String DESCRIPTION = "The telemetry statistics from the ground computer";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
index 889091e0e..5f4e20b46 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
@@ -51,15 +51,6 @@ public class GPSPosition extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> StatusElemNames = new ArrayList<String>();
-		StatusElemNames.add("0");
-		List<String> StatusEnumOptions = new ArrayList<String>();
-		StatusEnumOptions.add("NoGPS");
-		StatusEnumOptions.add("NoFix");
-		StatusEnumOptions.add("Fix2D");
-		StatusEnumOptions.add("Fix3D");
-		fields.add( new UAVObjectField("Status", "", UAVObjectField.FieldType.ENUM, StatusElemNames, StatusEnumOptions) );
-
 		List<String> LatitudeElemNames = new ArrayList<String>();
 		LatitudeElemNames.add("0");
 		fields.add( new UAVObjectField("Latitude", "degrees x 10^-7", UAVObjectField.FieldType.INT32, LatitudeElemNames, null) );
@@ -84,10 +75,6 @@ public class GPSPosition extends UAVDataObject {
 		GroundspeedElemNames.add("0");
 		fields.add( new UAVObjectField("Groundspeed", "m/s", UAVObjectField.FieldType.FLOAT32, GroundspeedElemNames, null) );
 
-		List<String> SatellitesElemNames = new ArrayList<String>();
-		SatellitesElemNames.add("0");
-		fields.add( new UAVObjectField("Satellites", "", UAVObjectField.FieldType.INT8, SatellitesElemNames, null) );
-
 		List<String> PDOPElemNames = new ArrayList<String>();
 		PDOPElemNames.add("0");
 		fields.add( new UAVObjectField("PDOP", "", UAVObjectField.FieldType.FLOAT32, PDOPElemNames, null) );
@@ -100,6 +87,19 @@ public class GPSPosition extends UAVDataObject {
 		VDOPElemNames.add("0");
 		fields.add( new UAVObjectField("VDOP", "", UAVObjectField.FieldType.FLOAT32, VDOPElemNames, null) );
 
+		List<String> StatusElemNames = new ArrayList<String>();
+		StatusElemNames.add("0");
+		List<String> StatusEnumOptions = new ArrayList<String>();
+		StatusEnumOptions.add("NoGPS");
+		StatusEnumOptions.add("NoFix");
+		StatusEnumOptions.add("Fix2D");
+		StatusEnumOptions.add("Fix3D");
+		fields.add( new UAVObjectField("Status", "", UAVObjectField.FieldType.ENUM, StatusElemNames, StatusEnumOptions) );
+
+		List<String> SatellitesElemNames = new ArrayList<String>();
+		SatellitesElemNames.add("0");
+		fields.add( new UAVObjectField("Satellites", "", UAVObjectField.FieldType.INT8, SatellitesElemNames, null) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -173,7 +173,7 @@ public class GPSPosition extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xB5495042;
+	protected static final int OBJID = 0xE2A323B6;
 	protected static final String NAME = "GPSPosition";
 	protected static String DESCRIPTION = "Raw GPS data from @ref GPSModule.  Should only be used by @ref AHRSCommsModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
index fa1100207..bb331132d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
@@ -51,29 +51,6 @@ public class GPSSatellites extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> SatsInViewElemNames = new ArrayList<String>();
-		SatsInViewElemNames.add("0");
-		fields.add( new UAVObjectField("SatsInView", "", UAVObjectField.FieldType.INT8, SatsInViewElemNames, null) );
-
-		List<String> PRNElemNames = new ArrayList<String>();
-		PRNElemNames.add("0");
-		PRNElemNames.add("1");
-		PRNElemNames.add("2");
-		PRNElemNames.add("3");
-		PRNElemNames.add("4");
-		PRNElemNames.add("5");
-		PRNElemNames.add("6");
-		PRNElemNames.add("7");
-		PRNElemNames.add("8");
-		PRNElemNames.add("9");
-		PRNElemNames.add("10");
-		PRNElemNames.add("11");
-		PRNElemNames.add("12");
-		PRNElemNames.add("13");
-		PRNElemNames.add("14");
-		PRNElemNames.add("15");
-		fields.add( new UAVObjectField("PRN", "", UAVObjectField.FieldType.INT8, PRNElemNames, null) );
-
 		List<String> ElevationElemNames = new ArrayList<String>();
 		ElevationElemNames.add("0");
 		ElevationElemNames.add("1");
@@ -112,6 +89,29 @@ public class GPSSatellites extends UAVDataObject {
 		AzimuthElemNames.add("15");
 		fields.add( new UAVObjectField("Azimuth", "degrees", UAVObjectField.FieldType.FLOAT32, AzimuthElemNames, null) );
 
+		List<String> SatsInViewElemNames = new ArrayList<String>();
+		SatsInViewElemNames.add("0");
+		fields.add( new UAVObjectField("SatsInView", "", UAVObjectField.FieldType.INT8, SatsInViewElemNames, null) );
+
+		List<String> PRNElemNames = new ArrayList<String>();
+		PRNElemNames.add("0");
+		PRNElemNames.add("1");
+		PRNElemNames.add("2");
+		PRNElemNames.add("3");
+		PRNElemNames.add("4");
+		PRNElemNames.add("5");
+		PRNElemNames.add("6");
+		PRNElemNames.add("7");
+		PRNElemNames.add("8");
+		PRNElemNames.add("9");
+		PRNElemNames.add("10");
+		PRNElemNames.add("11");
+		PRNElemNames.add("12");
+		PRNElemNames.add("13");
+		PRNElemNames.add("14");
+		PRNElemNames.add("15");
+		fields.add( new UAVObjectField("PRN", "", UAVObjectField.FieldType.INT8, PRNElemNames, null) );
+
 		List<String> SNRElemNames = new ArrayList<String>();
 		SNRElemNames.add("0");
 		SNRElemNames.add("1");
@@ -204,7 +204,7 @@ public class GPSSatellites extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xD62FA3AE;
+	protected static final int OBJID = 0x920D998;
 	protected static final String NAME = "GPSSatellites";
 	protected static String DESCRIPTION = "Contains information about the GPS satellites in view from @ref GPSModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
index 5ff55cc2e..5aa4df7bf 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
@@ -51,6 +51,10 @@ public class GPSTime extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
+		List<String> YearElemNames = new ArrayList<String>();
+		YearElemNames.add("0");
+		fields.add( new UAVObjectField("Year", "", UAVObjectField.FieldType.INT16, YearElemNames, null) );
+
 		List<String> MonthElemNames = new ArrayList<String>();
 		MonthElemNames.add("0");
 		fields.add( new UAVObjectField("Month", "", UAVObjectField.FieldType.INT8, MonthElemNames, null) );
@@ -59,10 +63,6 @@ public class GPSTime extends UAVDataObject {
 		DayElemNames.add("0");
 		fields.add( new UAVObjectField("Day", "", UAVObjectField.FieldType.INT8, DayElemNames, null) );
 
-		List<String> YearElemNames = new ArrayList<String>();
-		YearElemNames.add("0");
-		fields.add( new UAVObjectField("Year", "", UAVObjectField.FieldType.INT16, YearElemNames, null) );
-
 		List<String> HourElemNames = new ArrayList<String>();
 		HourElemNames.add("0");
 		fields.add( new UAVObjectField("Hour", "", UAVObjectField.FieldType.INT8, HourElemNames, null) );
@@ -148,7 +148,7 @@ public class GPSTime extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x56FFF0A2;
+	protected static final int OBJID = 0xD4478084;
 	protected static final String NAME = "GPSTime";
 	protected static String DESCRIPTION = "Contains the GPS time from @ref GPSModule.  Required to compute the world magnetic model correctly when setting the home location.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
index 2fe8bb437..205384efe 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
@@ -51,29 +51,24 @@ public class GuidanceSettings extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> GuidanceModeElemNames = new ArrayList<String>();
-		GuidanceModeElemNames.add("0");
-		List<String> GuidanceModeEnumOptions = new ArrayList<String>();
-		GuidanceModeEnumOptions.add("DUAL_LOOP");
-		GuidanceModeEnumOptions.add("VELOCITY_CONTROL");
-		fields.add( new UAVObjectField("GuidanceMode", "", UAVObjectField.FieldType.ENUM, GuidanceModeElemNames, GuidanceModeEnumOptions) );
-
-		List<String> HorizontalPElemNames = new ArrayList<String>();
-		HorizontalPElemNames.add("Kp");
-		HorizontalPElemNames.add("Max");
-		fields.add( new UAVObjectField("HorizontalP", "", UAVObjectField.FieldType.FLOAT32, HorizontalPElemNames, null) );
+		List<String> HorizontalPosPIElemNames = new ArrayList<String>();
+		HorizontalPosPIElemNames.add("Kp");
+		HorizontalPosPIElemNames.add("Ki");
+		HorizontalPosPIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("HorizontalPosPI", "(cm/s)/cm", UAVObjectField.FieldType.FLOAT32, HorizontalPosPIElemNames, null) );
 
 		List<String> HorizontalVelPIDElemNames = new ArrayList<String>();
 		HorizontalVelPIDElemNames.add("Kp");
 		HorizontalVelPIDElemNames.add("Ki");
 		HorizontalVelPIDElemNames.add("Kd");
 		HorizontalVelPIDElemNames.add("ILimit");
-		fields.add( new UAVObjectField("HorizontalVelPID", "", UAVObjectField.FieldType.FLOAT32, HorizontalVelPIDElemNames, null) );
+		fields.add( new UAVObjectField("HorizontalVelPID", "deg/(cm/s)", UAVObjectField.FieldType.FLOAT32, HorizontalVelPIDElemNames, null) );
 
-		List<String> VerticalPElemNames = new ArrayList<String>();
-		VerticalPElemNames.add("Kp");
-		VerticalPElemNames.add("Max");
-		fields.add( new UAVObjectField("VerticalP", "", UAVObjectField.FieldType.FLOAT32, VerticalPElemNames, null) );
+		List<String> VerticalPosPIElemNames = new ArrayList<String>();
+		VerticalPosPIElemNames.add("Kp");
+		VerticalPosPIElemNames.add("Ki");
+		VerticalPosPIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("VerticalPosPI", "", UAVObjectField.FieldType.FLOAT32, VerticalPosPIElemNames, null) );
 
 		List<String> VerticalVelPIDElemNames = new ArrayList<String>();
 		VerticalVelPIDElemNames.add("Kp");
@@ -82,13 +77,6 @@ public class GuidanceSettings extends UAVDataObject {
 		VerticalVelPIDElemNames.add("ILimit");
 		fields.add( new UAVObjectField("VerticalVelPID", "", UAVObjectField.FieldType.FLOAT32, VerticalVelPIDElemNames, null) );
 
-		List<String> ThrottleControlElemNames = new ArrayList<String>();
-		ThrottleControlElemNames.add("0");
-		List<String> ThrottleControlEnumOptions = new ArrayList<String>();
-		ThrottleControlEnumOptions.add("FALSE");
-		ThrottleControlEnumOptions.add("TRUE");
-		fields.add( new UAVObjectField("ThrottleControl", "", UAVObjectField.FieldType.ENUM, ThrottleControlElemNames, ThrottleControlEnumOptions) );
-
 		List<String> MaxRollPitchElemNames = new ArrayList<String>();
 		MaxRollPitchElemNames.add("0");
 		fields.add( new UAVObjectField("MaxRollPitch", "deg", UAVObjectField.FieldType.FLOAT32, MaxRollPitchElemNames, null) );
@@ -97,6 +85,28 @@ public class GuidanceSettings extends UAVDataObject {
 		UpdatePeriodElemNames.add("0");
 		fields.add( new UAVObjectField("UpdatePeriod", "", UAVObjectField.FieldType.INT32, UpdatePeriodElemNames, null) );
 
+		List<String> HorizontalVelMaxElemNames = new ArrayList<String>();
+		HorizontalVelMaxElemNames.add("0");
+		fields.add( new UAVObjectField("HorizontalVelMax", "cm/s", UAVObjectField.FieldType.UINT16, HorizontalVelMaxElemNames, null) );
+
+		List<String> VerticalVelMaxElemNames = new ArrayList<String>();
+		VerticalVelMaxElemNames.add("0");
+		fields.add( new UAVObjectField("VerticalVelMax", "cm/s", UAVObjectField.FieldType.UINT16, VerticalVelMaxElemNames, null) );
+
+		List<String> GuidanceModeElemNames = new ArrayList<String>();
+		GuidanceModeElemNames.add("0");
+		List<String> GuidanceModeEnumOptions = new ArrayList<String>();
+		GuidanceModeEnumOptions.add("DUAL_LOOP");
+		GuidanceModeEnumOptions.add("VELOCITY_CONTROL");
+		fields.add( new UAVObjectField("GuidanceMode", "", UAVObjectField.FieldType.ENUM, GuidanceModeElemNames, GuidanceModeEnumOptions) );
+
+		List<String> ThrottleControlElemNames = new ArrayList<String>();
+		ThrottleControlElemNames.add("0");
+		List<String> ThrottleControlEnumOptions = new ArrayList<String>();
+		ThrottleControlEnumOptions.add("FALSE");
+		ThrottleControlEnumOptions.add("TRUE");
+		fields.add( new UAVObjectField("ThrottleControl", "", UAVObjectField.FieldType.ENUM, ThrottleControlElemNames, ThrottleControlEnumOptions) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -142,22 +152,26 @@ public class GuidanceSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("GuidanceMode").setValue("DUAL_LOOP");
-		getField("HorizontalP").setValue(0.2,0);
-		getField("HorizontalP").setValue(150,1);
-		getField("HorizontalVelPID").setValue(0.1,0);
+		getField("HorizontalPosPI").setValue(0.1,0);
+		getField("HorizontalPosPI").setValue(0.001,1);
+		getField("HorizontalPosPI").setValue(300,2);
+		getField("HorizontalVelPID").setValue(0.05,0);
 		getField("HorizontalVelPID").setValue(0.002,1);
 		getField("HorizontalVelPID").setValue(0,2);
 		getField("HorizontalVelPID").setValue(1000,3);
-		getField("VerticalP").setValue(0.1,0);
-		getField("VerticalP").setValue(200,1);
+		getField("VerticalPosPI").setValue(0.1,0);
+		getField("VerticalPosPI").setValue(0.001,1);
+		getField("VerticalPosPI").setValue(200,2);
 		getField("VerticalVelPID").setValue(0.1,0);
 		getField("VerticalVelPID").setValue(0,1);
 		getField("VerticalVelPID").setValue(0,2);
 		getField("VerticalVelPID").setValue(0,3);
-		getField("ThrottleControl").setValue("FALSE");
 		getField("MaxRollPitch").setValue(10);
 		getField("UpdatePeriod").setValue(100);
+		getField("HorizontalVelMax").setValue(300);
+		getField("VerticalVelMax").setValue(150);
+		getField("GuidanceMode").setValue("DUAL_LOOP");
+		getField("ThrottleControl").setValue("FALSE");
 
 	}
 
@@ -186,7 +200,7 @@ public class GuidanceSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x74740AA2;
+	protected static final int OBJID = 0x6EA79FB4;
 	protected static final String NAME = "GuidanceSettings";
 	protected static String DESCRIPTION = "Settings for the @ref GuidanceModule";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
index 5941c069c..68abb3633 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
@@ -51,13 +51,6 @@ public class HomeLocation extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> SetElemNames = new ArrayList<String>();
-		SetElemNames.add("0");
-		List<String> SetEnumOptions = new ArrayList<String>();
-		SetEnumOptions.add("FALSE");
-		SetEnumOptions.add("TRUE");
-		fields.add( new UAVObjectField("Set", "", UAVObjectField.FieldType.ENUM, SetElemNames, SetEnumOptions) );
-
 		List<String> LatitudeElemNames = new ArrayList<String>();
 		LatitudeElemNames.add("0");
 		fields.add( new UAVObjectField("Latitude", "deg * 10e6", UAVObjectField.FieldType.INT32, LatitudeElemNames, null) );
@@ -94,6 +87,17 @@ public class HomeLocation extends UAVDataObject {
 		BeElemNames.add("2");
 		fields.add( new UAVObjectField("Be", "", UAVObjectField.FieldType.FLOAT32, BeElemNames, null) );
 
+		List<String> g_eElemNames = new ArrayList<String>();
+		g_eElemNames.add("0");
+		fields.add( new UAVObjectField("g_e", "m/s^2", UAVObjectField.FieldType.FLOAT32, g_eElemNames, null) );
+
+		List<String> SetElemNames = new ArrayList<String>();
+		SetElemNames.add("0");
+		List<String> SetEnumOptions = new ArrayList<String>();
+		SetEnumOptions.add("FALSE");
+		SetEnumOptions.add("TRUE");
+		fields.add( new UAVObjectField("Set", "", UAVObjectField.FieldType.ENUM, SetElemNames, SetEnumOptions) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -139,7 +143,6 @@ public class HomeLocation extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("Set").setValue("FALSE");
 		getField("Latitude").setValue(0);
 		getField("Longitude").setValue(0);
 		getField("Altitude").setValue(0);
@@ -158,6 +161,8 @@ public class HomeLocation extends UAVDataObject {
 		getField("Be").setValue(0,0);
 		getField("Be").setValue(0,1);
 		getField("Be").setValue(0,2);
+		getField("g_e").setValue(9.81);
+		getField("Set").setValue("FALSE");
 
 	}
 
@@ -186,7 +191,7 @@ public class HomeLocation extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xD6008ED2;
+	protected static final int OBJID = 0x5BB3AEFC;
 	protected static final String NAME = "HomeLocation";
 	protected static String DESCRIPTION = "HomeLocation setting which contains the constants to tranlate from longitutde and latitude to NED reference frame.  Automatically set by @ref GPSModule after acquiring a 3D lock.  Used by @ref AHRSCommsModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
new file mode 100644
index 000000000..83b7ae7b6
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
@@ -0,0 +1,291 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Selection of optional hardware configurations.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Selection of optional hardware configurations.
+
+generated from hwsettings.xml
+ **/
+public class HwSettings extends UAVDataObject {
+
+	public HwSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> CC_RcvrPortElemNames = new ArrayList<String>();
+		CC_RcvrPortElemNames.add("0");
+		List<String> CC_RcvrPortEnumOptions = new ArrayList<String>();
+		CC_RcvrPortEnumOptions.add("Disabled");
+		CC_RcvrPortEnumOptions.add("PWM");
+		CC_RcvrPortEnumOptions.add("PPM");
+		CC_RcvrPortEnumOptions.add("PPM+Outputs");
+		CC_RcvrPortEnumOptions.add("Outputs");
+		fields.add( new UAVObjectField("CC_RcvrPort", "function", UAVObjectField.FieldType.ENUM, CC_RcvrPortElemNames, CC_RcvrPortEnumOptions) );
+
+		List<String> CC_MainPortElemNames = new ArrayList<String>();
+		CC_MainPortElemNames.add("0");
+		List<String> CC_MainPortEnumOptions = new ArrayList<String>();
+		CC_MainPortEnumOptions.add("Disabled");
+		CC_MainPortEnumOptions.add("Telemetry");
+		CC_MainPortEnumOptions.add("GPS");
+		CC_MainPortEnumOptions.add("S.Bus");
+		CC_MainPortEnumOptions.add("DSM2");
+		CC_MainPortEnumOptions.add("DSMX (10bit)");
+		CC_MainPortEnumOptions.add("DSMX (11bit)");
+		CC_MainPortEnumOptions.add("ComAux");
+		CC_MainPortEnumOptions.add("ComBridge");
+		fields.add( new UAVObjectField("CC_MainPort", "function", UAVObjectField.FieldType.ENUM, CC_MainPortElemNames, CC_MainPortEnumOptions) );
+
+		List<String> CC_FlexiPortElemNames = new ArrayList<String>();
+		CC_FlexiPortElemNames.add("0");
+		List<String> CC_FlexiPortEnumOptions = new ArrayList<String>();
+		CC_FlexiPortEnumOptions.add("Disabled");
+		CC_FlexiPortEnumOptions.add("Telemetry");
+		CC_FlexiPortEnumOptions.add("GPS");
+		CC_FlexiPortEnumOptions.add("I2C");
+		CC_FlexiPortEnumOptions.add("DSM2");
+		CC_FlexiPortEnumOptions.add("DSMX (10bit)");
+		CC_FlexiPortEnumOptions.add("DSMX (11bit)");
+		CC_FlexiPortEnumOptions.add("ComAux");
+		CC_FlexiPortEnumOptions.add("ComBridge");
+		fields.add( new UAVObjectField("CC_FlexiPort", "function", UAVObjectField.FieldType.ENUM, CC_FlexiPortElemNames, CC_FlexiPortEnumOptions) );
+
+		List<String> OP_RcvrPortElemNames = new ArrayList<String>();
+		OP_RcvrPortElemNames.add("0");
+		List<String> OP_RcvrPortEnumOptions = new ArrayList<String>();
+		OP_RcvrPortEnumOptions.add("Disabled");
+		OP_RcvrPortEnumOptions.add("PWM");
+		OP_RcvrPortEnumOptions.add("PPM");
+		OP_RcvrPortEnumOptions.add("DSM2");
+		OP_RcvrPortEnumOptions.add("DSMX (10bit)");
+		OP_RcvrPortEnumOptions.add("DSMX (11bit)");
+		OP_RcvrPortEnumOptions.add("Debug");
+		fields.add( new UAVObjectField("OP_RcvrPort", "function", UAVObjectField.FieldType.ENUM, OP_RcvrPortElemNames, OP_RcvrPortEnumOptions) );
+
+		List<String> OP_MainPortElemNames = new ArrayList<String>();
+		OP_MainPortElemNames.add("0");
+		List<String> OP_MainPortEnumOptions = new ArrayList<String>();
+		OP_MainPortEnumOptions.add("Disabled");
+		OP_MainPortEnumOptions.add("Telemetry");
+		fields.add( new UAVObjectField("OP_MainPort", "function", UAVObjectField.FieldType.ENUM, OP_MainPortElemNames, OP_MainPortEnumOptions) );
+
+		List<String> OP_FlexiPortElemNames = new ArrayList<String>();
+		OP_FlexiPortElemNames.add("0");
+		List<String> OP_FlexiPortEnumOptions = new ArrayList<String>();
+		OP_FlexiPortEnumOptions.add("Disabled");
+		OP_FlexiPortEnumOptions.add("GPS");
+		fields.add( new UAVObjectField("OP_FlexiPort", "function", UAVObjectField.FieldType.ENUM, OP_FlexiPortElemNames, OP_FlexiPortEnumOptions) );
+
+		List<String> TelemetrySpeedElemNames = new ArrayList<String>();
+		TelemetrySpeedElemNames.add("0");
+		List<String> TelemetrySpeedEnumOptions = new ArrayList<String>();
+		TelemetrySpeedEnumOptions.add("2400");
+		TelemetrySpeedEnumOptions.add("4800");
+		TelemetrySpeedEnumOptions.add("9600");
+		TelemetrySpeedEnumOptions.add("19200");
+		TelemetrySpeedEnumOptions.add("38400");
+		TelemetrySpeedEnumOptions.add("57600");
+		TelemetrySpeedEnumOptions.add("115200");
+		fields.add( new UAVObjectField("TelemetrySpeed", "bps", UAVObjectField.FieldType.ENUM, TelemetrySpeedElemNames, TelemetrySpeedEnumOptions) );
+
+		List<String> GPSSpeedElemNames = new ArrayList<String>();
+		GPSSpeedElemNames.add("0");
+		List<String> GPSSpeedEnumOptions = new ArrayList<String>();
+		GPSSpeedEnumOptions.add("2400");
+		GPSSpeedEnumOptions.add("4800");
+		GPSSpeedEnumOptions.add("9600");
+		GPSSpeedEnumOptions.add("19200");
+		GPSSpeedEnumOptions.add("38400");
+		GPSSpeedEnumOptions.add("57600");
+		GPSSpeedEnumOptions.add("115200");
+		fields.add( new UAVObjectField("GPSSpeed", "bps", UAVObjectField.FieldType.ENUM, GPSSpeedElemNames, GPSSpeedEnumOptions) );
+
+		List<String> ComUsbBridgeSpeedElemNames = new ArrayList<String>();
+		ComUsbBridgeSpeedElemNames.add("0");
+		List<String> ComUsbBridgeSpeedEnumOptions = new ArrayList<String>();
+		ComUsbBridgeSpeedEnumOptions.add("2400");
+		ComUsbBridgeSpeedEnumOptions.add("4800");
+		ComUsbBridgeSpeedEnumOptions.add("9600");
+		ComUsbBridgeSpeedEnumOptions.add("19200");
+		ComUsbBridgeSpeedEnumOptions.add("38400");
+		ComUsbBridgeSpeedEnumOptions.add("57600");
+		ComUsbBridgeSpeedEnumOptions.add("115200");
+		fields.add( new UAVObjectField("ComUsbBridgeSpeed", "bps", UAVObjectField.FieldType.ENUM, ComUsbBridgeSpeedElemNames, ComUsbBridgeSpeedEnumOptions) );
+
+		List<String> USB_DeviceTypeElemNames = new ArrayList<String>();
+		USB_DeviceTypeElemNames.add("0");
+		List<String> USB_DeviceTypeEnumOptions = new ArrayList<String>();
+		USB_DeviceTypeEnumOptions.add("HID-only");
+		USB_DeviceTypeEnumOptions.add("HID+VCP");
+		USB_DeviceTypeEnumOptions.add("VCP-only");
+		fields.add( new UAVObjectField("USB_DeviceType", "descriptor", UAVObjectField.FieldType.ENUM, USB_DeviceTypeElemNames, USB_DeviceTypeEnumOptions) );
+
+		List<String> USB_HIDPortElemNames = new ArrayList<String>();
+		USB_HIDPortElemNames.add("0");
+		List<String> USB_HIDPortEnumOptions = new ArrayList<String>();
+		USB_HIDPortEnumOptions.add("USBTelemetry");
+		USB_HIDPortEnumOptions.add("Disabled");
+		fields.add( new UAVObjectField("USB_HIDPort", "function", UAVObjectField.FieldType.ENUM, USB_HIDPortElemNames, USB_HIDPortEnumOptions) );
+
+		List<String> USB_VCPPortElemNames = new ArrayList<String>();
+		USB_VCPPortElemNames.add("0");
+		List<String> USB_VCPPortEnumOptions = new ArrayList<String>();
+		USB_VCPPortEnumOptions.add("USBTelemetry");
+		USB_VCPPortEnumOptions.add("ComBridge");
+		USB_VCPPortEnumOptions.add("Disabled");
+		fields.add( new UAVObjectField("USB_VCPPort", "function", UAVObjectField.FieldType.ENUM, USB_VCPPortElemNames, USB_VCPPortEnumOptions) );
+
+		List<String> OptionalModulesElemNames = new ArrayList<String>();
+		OptionalModulesElemNames.add("CameraStab");
+		OptionalModulesElemNames.add("GPS");
+		OptionalModulesElemNames.add("ComUsbBridge");
+		OptionalModulesElemNames.add("Fault");
+		OptionalModulesElemNames.add("Altitude");
+		List<String> OptionalModulesEnumOptions = new ArrayList<String>();
+		OptionalModulesEnumOptions.add("Disabled");
+		OptionalModulesEnumOptions.add("Enabled");
+		fields.add( new UAVObjectField("OptionalModules", "", UAVObjectField.FieldType.ENUM, OptionalModulesElemNames, OptionalModulesEnumOptions) );
+
+		List<String> DSMxBindElemNames = new ArrayList<String>();
+		DSMxBindElemNames.add("0");
+		fields.add( new UAVObjectField("DSMxBind", "", UAVObjectField.FieldType.UINT8, DSMxBindElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsTelemetryUpdatePeriod = 0;
+
+		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
+
+		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
+		metadata.loggingUpdatePeriod = 0;
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("CC_RcvrPort").setValue("PWM");
+		getField("CC_MainPort").setValue("Disabled");
+		getField("CC_FlexiPort").setValue("Disabled");
+		getField("OP_RcvrPort").setValue("PWM");
+		getField("OP_MainPort").setValue("Telemetry");
+		getField("OP_FlexiPort").setValue("GPS");
+		getField("TelemetrySpeed").setValue("57600");
+		getField("GPSSpeed").setValue("57600");
+		getField("ComUsbBridgeSpeed").setValue("57600");
+		getField("USB_DeviceType").setValue("HID-only");
+		getField("USB_HIDPort").setValue("USBTelemetry");
+		getField("USB_VCPPort").setValue("Disabled");
+		getField("OptionalModules").setValue("Disabled",0);
+		getField("OptionalModules").setValue("Disabled",1);
+		getField("OptionalModules").setValue("Disabled",2);
+		getField("OptionalModules").setValue("Disabled",3);
+		getField("OptionalModules").setValue("Disabled",4);
+		getField("DSMxBind").setValue(0);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			HwSettings obj = new HwSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public HwSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (HwSettings)(objMngr.getObject(HwSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x2EE6575A;
+	protected static final String NAME = "HwSettings";
+	protected static String DESCRIPTION = "Selection of optional hardware configurations.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
index fc68e2902..abd8f41f6 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
@@ -51,6 +51,22 @@ public class I2CStats extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
+		List<String> evirq_logElemNames = new ArrayList<String>();
+		evirq_logElemNames.add("0");
+		evirq_logElemNames.add("1");
+		evirq_logElemNames.add("2");
+		evirq_logElemNames.add("3");
+		evirq_logElemNames.add("4");
+		fields.add( new UAVObjectField("evirq_log", "", UAVObjectField.FieldType.UINT32, evirq_logElemNames, null) );
+
+		List<String> erirq_logElemNames = new ArrayList<String>();
+		erirq_logElemNames.add("0");
+		erirq_logElemNames.add("1");
+		erirq_logElemNames.add("2");
+		erirq_logElemNames.add("3");
+		erirq_logElemNames.add("4");
+		fields.add( new UAVObjectField("erirq_log", "", UAVObjectField.FieldType.UINT32, erirq_logElemNames, null) );
+
 		List<String> event_errorsElemNames = new ArrayList<String>();
 		event_errorsElemNames.add("0");
 		fields.add( new UAVObjectField("event_errors", "", UAVObjectField.FieldType.UINT8, event_errorsElemNames, null) );
@@ -79,22 +95,6 @@ public class I2CStats extends UAVDataObject {
 		last_error_typeEnumOptions.add("INTERRUPT");
 		fields.add( new UAVObjectField("last_error_type", "", UAVObjectField.FieldType.ENUM, last_error_typeElemNames, last_error_typeEnumOptions) );
 
-		List<String> evirq_logElemNames = new ArrayList<String>();
-		evirq_logElemNames.add("0");
-		evirq_logElemNames.add("1");
-		evirq_logElemNames.add("2");
-		evirq_logElemNames.add("3");
-		evirq_logElemNames.add("4");
-		fields.add( new UAVObjectField("evirq_log", "", UAVObjectField.FieldType.UINT32, evirq_logElemNames, null) );
-
-		List<String> erirq_logElemNames = new ArrayList<String>();
-		erirq_logElemNames.add("0");
-		erirq_logElemNames.add("1");
-		erirq_logElemNames.add("2");
-		erirq_logElemNames.add("3");
-		erirq_logElemNames.add("4");
-		fields.add( new UAVObjectField("erirq_log", "", UAVObjectField.FieldType.UINT32, erirq_logElemNames, null) );
-
 		List<String> event_logElemNames = new ArrayList<String>();
 		event_logElemNames.add("0");
 		event_logElemNames.add("1");
@@ -227,7 +227,7 @@ public class I2CStats extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x23CE9E9C;
+	protected static final int OBJID = 0xB714823E;
 	protected static final String NAME = "I2CStats";
 	protected static String DESCRIPTION = "Tracks statistics on the I2C bus.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
index 636f30946..6ac5a1b2c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
@@ -51,19 +51,9 @@ public class ManualControlCommand extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> ConnectedElemNames = new ArrayList<String>();
-		ConnectedElemNames.add("0");
-		List<String> ConnectedEnumOptions = new ArrayList<String>();
-		ConnectedEnumOptions.add("False");
-		ConnectedEnumOptions.add("True");
-		fields.add( new UAVObjectField("Connected", "", UAVObjectField.FieldType.ENUM, ConnectedElemNames, ConnectedEnumOptions) );
-
-		List<String> ArmedElemNames = new ArrayList<String>();
-		ArmedElemNames.add("0");
-		List<String> ArmedEnumOptions = new ArrayList<String>();
-		ArmedEnumOptions.add("False");
-		ArmedEnumOptions.add("True");
-		fields.add( new UAVObjectField("Armed", "", UAVObjectField.FieldType.ENUM, ArmedElemNames, ArmedEnumOptions) );
+		List<String> ThrottleElemNames = new ArrayList<String>();
+		ThrottleElemNames.add("0");
+		fields.add( new UAVObjectField("Throttle", "%", UAVObjectField.FieldType.FLOAT32, ThrottleElemNames, null) );
 
 		List<String> RollElemNames = new ArrayList<String>();
 		RollElemNames.add("0");
@@ -77,32 +67,9 @@ public class ManualControlCommand extends UAVDataObject {
 		YawElemNames.add("0");
 		fields.add( new UAVObjectField("Yaw", "%", UAVObjectField.FieldType.FLOAT32, YawElemNames, null) );
 
-		List<String> ThrottleElemNames = new ArrayList<String>();
-		ThrottleElemNames.add("0");
-		fields.add( new UAVObjectField("Throttle", "%", UAVObjectField.FieldType.FLOAT32, ThrottleElemNames, null) );
-
-		List<String> FlightModeElemNames = new ArrayList<String>();
-		FlightModeElemNames.add("0");
-		List<String> FlightModeEnumOptions = new ArrayList<String>();
-		FlightModeEnumOptions.add("Manual");
-		FlightModeEnumOptions.add("Stabilized1");
-		FlightModeEnumOptions.add("Stabilized2");
-		FlightModeEnumOptions.add("Stabilized3");
-		FlightModeEnumOptions.add("VelocityControl");
-		FlightModeEnumOptions.add("PositionHold");
-		fields.add( new UAVObjectField("FlightMode", "", UAVObjectField.FieldType.ENUM, FlightModeElemNames, FlightModeEnumOptions) );
-
-		List<String> Accessory1ElemNames = new ArrayList<String>();
-		Accessory1ElemNames.add("0");
-		fields.add( new UAVObjectField("Accessory1", "%", UAVObjectField.FieldType.FLOAT32, Accessory1ElemNames, null) );
-
-		List<String> Accessory2ElemNames = new ArrayList<String>();
-		Accessory2ElemNames.add("0");
-		fields.add( new UAVObjectField("Accessory2", "%", UAVObjectField.FieldType.FLOAT32, Accessory2ElemNames, null) );
-
-		List<String> Accessory3ElemNames = new ArrayList<String>();
-		Accessory3ElemNames.add("0");
-		fields.add( new UAVObjectField("Accessory3", "%", UAVObjectField.FieldType.FLOAT32, Accessory3ElemNames, null) );
+		List<String> CollectiveElemNames = new ArrayList<String>();
+		CollectiveElemNames.add("0");
+		fields.add( new UAVObjectField("Collective", "%", UAVObjectField.FieldType.FLOAT32, CollectiveElemNames, null) );
 
 		List<String> ChannelElemNames = new ArrayList<String>();
 		ChannelElemNames.add("0");
@@ -113,8 +80,16 @@ public class ManualControlCommand extends UAVDataObject {
 		ChannelElemNames.add("5");
 		ChannelElemNames.add("6");
 		ChannelElemNames.add("7");
+		ChannelElemNames.add("8");
 		fields.add( new UAVObjectField("Channel", "us", UAVObjectField.FieldType.UINT16, ChannelElemNames, null) );
 
+		List<String> ConnectedElemNames = new ArrayList<String>();
+		ConnectedElemNames.add("0");
+		List<String> ConnectedEnumOptions = new ArrayList<String>();
+		ConnectedEnumOptions.add("False");
+		ConnectedEnumOptions.add("True");
+		fields.add( new UAVObjectField("Connected", "", UAVObjectField.FieldType.ENUM, ConnectedElemNames, ConnectedEnumOptions) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -188,7 +163,7 @@ public class ManualControlCommand extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x926794;
+	protected static final int OBJID = 0x1E82C2D2;
 	protected static final String NAME = "ManualControlCommand";
 	protected static String DESCRIPTION = "The output from the @ref ManualControlModule which descodes the receiver inputs.  Overriden by GCS for fly-by-wire control.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
index 83697999a..bb846695d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
@@ -51,125 +51,77 @@ public class ManualControlSettings extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> InputModeElemNames = new ArrayList<String>();
-		InputModeElemNames.add("0");
-		List<String> InputModeEnumOptions = new ArrayList<String>();
-		InputModeEnumOptions.add("PWM");
-		InputModeEnumOptions.add("PPM");
-		InputModeEnumOptions.add("Spektrum");
-		fields.add( new UAVObjectField("InputMode", "", UAVObjectField.FieldType.ENUM, InputModeElemNames, InputModeEnumOptions) );
+		List<String> ChannelMinElemNames = new ArrayList<String>();
+		ChannelMinElemNames.add("Throttle");
+		ChannelMinElemNames.add("Roll");
+		ChannelMinElemNames.add("Pitch");
+		ChannelMinElemNames.add("Yaw");
+		ChannelMinElemNames.add("FlightMode");
+		ChannelMinElemNames.add("Collective");
+		ChannelMinElemNames.add("Accessory0");
+		ChannelMinElemNames.add("Accessory1");
+		ChannelMinElemNames.add("Accessory2");
+		fields.add( new UAVObjectField("ChannelMin", "us", UAVObjectField.FieldType.INT16, ChannelMinElemNames, null) );
 
-		List<String> RollElemNames = new ArrayList<String>();
-		RollElemNames.add("0");
-		List<String> RollEnumOptions = new ArrayList<String>();
-		RollEnumOptions.add("Channel1");
-		RollEnumOptions.add("Channel2");
-		RollEnumOptions.add("Channel3");
-		RollEnumOptions.add("Channel4");
-		RollEnumOptions.add("Channel5");
-		RollEnumOptions.add("Channel6");
-		RollEnumOptions.add("Channel7");
-		RollEnumOptions.add("Channel8");
-		RollEnumOptions.add("None");
-		fields.add( new UAVObjectField("Roll", "channel", UAVObjectField.FieldType.ENUM, RollElemNames, RollEnumOptions) );
+		List<String> ChannelNeutralElemNames = new ArrayList<String>();
+		ChannelNeutralElemNames.add("Throttle");
+		ChannelNeutralElemNames.add("Roll");
+		ChannelNeutralElemNames.add("Pitch");
+		ChannelNeutralElemNames.add("Yaw");
+		ChannelNeutralElemNames.add("FlightMode");
+		ChannelNeutralElemNames.add("Collective");
+		ChannelNeutralElemNames.add("Accessory0");
+		ChannelNeutralElemNames.add("Accessory1");
+		ChannelNeutralElemNames.add("Accessory2");
+		fields.add( new UAVObjectField("ChannelNeutral", "us", UAVObjectField.FieldType.INT16, ChannelNeutralElemNames, null) );
 
-		List<String> PitchElemNames = new ArrayList<String>();
-		PitchElemNames.add("0");
-		List<String> PitchEnumOptions = new ArrayList<String>();
-		PitchEnumOptions.add("Channel1");
-		PitchEnumOptions.add("Channel2");
-		PitchEnumOptions.add("Channel3");
-		PitchEnumOptions.add("Channel4");
-		PitchEnumOptions.add("Channel5");
-		PitchEnumOptions.add("Channel6");
-		PitchEnumOptions.add("Channel7");
-		PitchEnumOptions.add("Channel8");
-		PitchEnumOptions.add("None");
-		fields.add( new UAVObjectField("Pitch", "channel", UAVObjectField.FieldType.ENUM, PitchElemNames, PitchEnumOptions) );
+		List<String> ChannelMaxElemNames = new ArrayList<String>();
+		ChannelMaxElemNames.add("Throttle");
+		ChannelMaxElemNames.add("Roll");
+		ChannelMaxElemNames.add("Pitch");
+		ChannelMaxElemNames.add("Yaw");
+		ChannelMaxElemNames.add("FlightMode");
+		ChannelMaxElemNames.add("Collective");
+		ChannelMaxElemNames.add("Accessory0");
+		ChannelMaxElemNames.add("Accessory1");
+		ChannelMaxElemNames.add("Accessory2");
+		fields.add( new UAVObjectField("ChannelMax", "us", UAVObjectField.FieldType.INT16, ChannelMaxElemNames, null) );
 
-		List<String> YawElemNames = new ArrayList<String>();
-		YawElemNames.add("0");
-		List<String> YawEnumOptions = new ArrayList<String>();
-		YawEnumOptions.add("Channel1");
-		YawEnumOptions.add("Channel2");
-		YawEnumOptions.add("Channel3");
-		YawEnumOptions.add("Channel4");
-		YawEnumOptions.add("Channel5");
-		YawEnumOptions.add("Channel6");
-		YawEnumOptions.add("Channel7");
-		YawEnumOptions.add("Channel8");
-		YawEnumOptions.add("None");
-		fields.add( new UAVObjectField("Yaw", "channel", UAVObjectField.FieldType.ENUM, YawElemNames, YawEnumOptions) );
+		List<String> ArmedTimeoutElemNames = new ArrayList<String>();
+		ArmedTimeoutElemNames.add("0");
+		fields.add( new UAVObjectField("ArmedTimeout", "ms", UAVObjectField.FieldType.UINT16, ArmedTimeoutElemNames, null) );
 
-		List<String> ThrottleElemNames = new ArrayList<String>();
-		ThrottleElemNames.add("0");
-		List<String> ThrottleEnumOptions = new ArrayList<String>();
-		ThrottleEnumOptions.add("Channel1");
-		ThrottleEnumOptions.add("Channel2");
-		ThrottleEnumOptions.add("Channel3");
-		ThrottleEnumOptions.add("Channel4");
-		ThrottleEnumOptions.add("Channel5");
-		ThrottleEnumOptions.add("Channel6");
-		ThrottleEnumOptions.add("Channel7");
-		ThrottleEnumOptions.add("Channel8");
-		ThrottleEnumOptions.add("None");
-		fields.add( new UAVObjectField("Throttle", "channel", UAVObjectField.FieldType.ENUM, ThrottleElemNames, ThrottleEnumOptions) );
+		List<String> ChannelGroupsElemNames = new ArrayList<String>();
+		ChannelGroupsElemNames.add("Throttle");
+		ChannelGroupsElemNames.add("Roll");
+		ChannelGroupsElemNames.add("Pitch");
+		ChannelGroupsElemNames.add("Yaw");
+		ChannelGroupsElemNames.add("FlightMode");
+		ChannelGroupsElemNames.add("Collective");
+		ChannelGroupsElemNames.add("Accessory0");
+		ChannelGroupsElemNames.add("Accessory1");
+		ChannelGroupsElemNames.add("Accessory2");
+		List<String> ChannelGroupsEnumOptions = new ArrayList<String>();
+		ChannelGroupsEnumOptions.add("PWM");
+		ChannelGroupsEnumOptions.add("PPM");
+		ChannelGroupsEnumOptions.add("DSM (MainPort)");
+		ChannelGroupsEnumOptions.add("DSM (FlexiPort)");
+		ChannelGroupsEnumOptions.add("S.Bus");
+		ChannelGroupsEnumOptions.add("GCS");
+		ChannelGroupsEnumOptions.add("None");
+		fields.add( new UAVObjectField("ChannelGroups", "Channel Group", UAVObjectField.FieldType.ENUM, ChannelGroupsElemNames, ChannelGroupsEnumOptions) );
 
-		List<String> FlightModeElemNames = new ArrayList<String>();
-		FlightModeElemNames.add("0");
-		List<String> FlightModeEnumOptions = new ArrayList<String>();
-		FlightModeEnumOptions.add("Channel1");
-		FlightModeEnumOptions.add("Channel2");
-		FlightModeEnumOptions.add("Channel3");
-		FlightModeEnumOptions.add("Channel4");
-		FlightModeEnumOptions.add("Channel5");
-		FlightModeEnumOptions.add("Channel6");
-		FlightModeEnumOptions.add("Channel7");
-		FlightModeEnumOptions.add("Channel8");
-		FlightModeEnumOptions.add("None");
-		fields.add( new UAVObjectField("FlightMode", "channel", UAVObjectField.FieldType.ENUM, FlightModeElemNames, FlightModeEnumOptions) );
-
-		List<String> Accessory1ElemNames = new ArrayList<String>();
-		Accessory1ElemNames.add("0");
-		List<String> Accessory1EnumOptions = new ArrayList<String>();
-		Accessory1EnumOptions.add("Channel1");
-		Accessory1EnumOptions.add("Channel2");
-		Accessory1EnumOptions.add("Channel3");
-		Accessory1EnumOptions.add("Channel4");
-		Accessory1EnumOptions.add("Channel5");
-		Accessory1EnumOptions.add("Channel6");
-		Accessory1EnumOptions.add("Channel7");
-		Accessory1EnumOptions.add("Channel8");
-		Accessory1EnumOptions.add("None");
-		fields.add( new UAVObjectField("Accessory1", "channel", UAVObjectField.FieldType.ENUM, Accessory1ElemNames, Accessory1EnumOptions) );
-
-		List<String> Accessory2ElemNames = new ArrayList<String>();
-		Accessory2ElemNames.add("0");
-		List<String> Accessory2EnumOptions = new ArrayList<String>();
-		Accessory2EnumOptions.add("Channel1");
-		Accessory2EnumOptions.add("Channel2");
-		Accessory2EnumOptions.add("Channel3");
-		Accessory2EnumOptions.add("Channel4");
-		Accessory2EnumOptions.add("Channel5");
-		Accessory2EnumOptions.add("Channel6");
-		Accessory2EnumOptions.add("Channel7");
-		Accessory2EnumOptions.add("Channel8");
-		Accessory2EnumOptions.add("None");
-		fields.add( new UAVObjectField("Accessory2", "channel", UAVObjectField.FieldType.ENUM, Accessory2ElemNames, Accessory2EnumOptions) );
-
-		List<String> Accessory3ElemNames = new ArrayList<String>();
-		Accessory3ElemNames.add("0");
-		List<String> Accessory3EnumOptions = new ArrayList<String>();
-		Accessory3EnumOptions.add("Channel1");
-		Accessory3EnumOptions.add("Channel2");
-		Accessory3EnumOptions.add("Channel3");
-		Accessory3EnumOptions.add("Channel4");
-		Accessory3EnumOptions.add("Channel5");
-		Accessory3EnumOptions.add("Channel6");
-		Accessory3EnumOptions.add("Channel7");
-		Accessory3EnumOptions.add("Channel8");
-		Accessory3EnumOptions.add("None");
-		fields.add( new UAVObjectField("Accessory3", "channel", UAVObjectField.FieldType.ENUM, Accessory3ElemNames, Accessory3EnumOptions) );
+		List<String> ChannelNumberElemNames = new ArrayList<String>();
+		ChannelNumberElemNames.add("Throttle");
+		ChannelNumberElemNames.add("Roll");
+		ChannelNumberElemNames.add("Pitch");
+		ChannelNumberElemNames.add("Yaw");
+		ChannelNumberElemNames.add("FlightMode");
+		ChannelNumberElemNames.add("Collective");
+		ChannelNumberElemNames.add("Accessory0");
+		ChannelNumberElemNames.add("Accessory1");
+		ChannelNumberElemNames.add("Accessory2");
+		fields.add( new UAVObjectField("ChannelNumber", "channel", UAVObjectField.FieldType.UINT8, ChannelNumberElemNames, null) );
 
 		List<String> ArmingElemNames = new ArrayList<String>();
 		ArmingElemNames.add("0");
@@ -192,6 +144,8 @@ public class ManualControlSettings extends UAVDataObject {
 		Stabilization1SettingsEnumOptions.add("None");
 		Stabilization1SettingsEnumOptions.add("Rate");
 		Stabilization1SettingsEnumOptions.add("Attitude");
+		Stabilization1SettingsEnumOptions.add("AxisLock");
+		Stabilization1SettingsEnumOptions.add("WeakLeveling");
 		fields.add( new UAVObjectField("Stabilization1Settings", "", UAVObjectField.FieldType.ENUM, Stabilization1SettingsElemNames, Stabilization1SettingsEnumOptions) );
 
 		List<String> Stabilization2SettingsElemNames = new ArrayList<String>();
@@ -202,6 +156,8 @@ public class ManualControlSettings extends UAVDataObject {
 		Stabilization2SettingsEnumOptions.add("None");
 		Stabilization2SettingsEnumOptions.add("Rate");
 		Stabilization2SettingsEnumOptions.add("Attitude");
+		Stabilization2SettingsEnumOptions.add("AxisLock");
+		Stabilization2SettingsEnumOptions.add("WeakLeveling");
 		fields.add( new UAVObjectField("Stabilization2Settings", "", UAVObjectField.FieldType.ENUM, Stabilization2SettingsElemNames, Stabilization2SettingsEnumOptions) );
 
 		List<String> Stabilization3SettingsElemNames = new ArrayList<String>();
@@ -212,6 +168,8 @@ public class ManualControlSettings extends UAVDataObject {
 		Stabilization3SettingsEnumOptions.add("None");
 		Stabilization3SettingsEnumOptions.add("Rate");
 		Stabilization3SettingsEnumOptions.add("Attitude");
+		Stabilization3SettingsEnumOptions.add("AxisLock");
+		Stabilization3SettingsEnumOptions.add("WeakLeveling");
 		fields.add( new UAVObjectField("Stabilization3Settings", "", UAVObjectField.FieldType.ENUM, Stabilization3SettingsElemNames, Stabilization3SettingsEnumOptions) );
 
 		List<String> FlightModePositionElemNames = new ArrayList<String>();
@@ -227,43 +185,6 @@ public class ManualControlSettings extends UAVDataObject {
 		FlightModePositionEnumOptions.add("PositionHold");
 		fields.add( new UAVObjectField("FlightModePosition", "", UAVObjectField.FieldType.ENUM, FlightModePositionElemNames, FlightModePositionEnumOptions) );
 
-		List<String> ChannelMaxElemNames = new ArrayList<String>();
-		ChannelMaxElemNames.add("0");
-		ChannelMaxElemNames.add("1");
-		ChannelMaxElemNames.add("2");
-		ChannelMaxElemNames.add("3");
-		ChannelMaxElemNames.add("4");
-		ChannelMaxElemNames.add("5");
-		ChannelMaxElemNames.add("6");
-		ChannelMaxElemNames.add("7");
-		fields.add( new UAVObjectField("ChannelMax", "us", UAVObjectField.FieldType.INT16, ChannelMaxElemNames, null) );
-
-		List<String> ChannelNeutralElemNames = new ArrayList<String>();
-		ChannelNeutralElemNames.add("0");
-		ChannelNeutralElemNames.add("1");
-		ChannelNeutralElemNames.add("2");
-		ChannelNeutralElemNames.add("3");
-		ChannelNeutralElemNames.add("4");
-		ChannelNeutralElemNames.add("5");
-		ChannelNeutralElemNames.add("6");
-		ChannelNeutralElemNames.add("7");
-		fields.add( new UAVObjectField("ChannelNeutral", "us", UAVObjectField.FieldType.INT16, ChannelNeutralElemNames, null) );
-
-		List<String> ChannelMinElemNames = new ArrayList<String>();
-		ChannelMinElemNames.add("0");
-		ChannelMinElemNames.add("1");
-		ChannelMinElemNames.add("2");
-		ChannelMinElemNames.add("3");
-		ChannelMinElemNames.add("4");
-		ChannelMinElemNames.add("5");
-		ChannelMinElemNames.add("6");
-		ChannelMinElemNames.add("7");
-		fields.add( new UAVObjectField("ChannelMin", "us", UAVObjectField.FieldType.INT16, ChannelMinElemNames, null) );
-
-		List<String> ArmedTimeoutElemNames = new ArrayList<String>();
-		ArmedTimeoutElemNames.add("0");
-		fields.add( new UAVObjectField("ArmedTimeout", "ms", UAVObjectField.FieldType.UINT16, ArmedTimeoutElemNames, null) );
-
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -309,44 +230,6 @@ public class ManualControlSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("InputMode").setValue("PWM");
-		getField("Roll").setValue("Channel1");
-		getField("Pitch").setValue("Channel2");
-		getField("Yaw").setValue("Channel3");
-		getField("Throttle").setValue("Channel4");
-		getField("FlightMode").setValue("Channel5");
-		getField("Accessory1").setValue("None");
-		getField("Accessory2").setValue("None");
-		getField("Accessory3").setValue("None");
-		getField("Arming").setValue("Always Disarmed");
-		getField("Stabilization1Settings").setValue("Attitude",0);
-		getField("Stabilization1Settings").setValue("Attitude",1);
-		getField("Stabilization1Settings").setValue("Attitude",2);
-		getField("Stabilization2Settings").setValue("Attitude",0);
-		getField("Stabilization2Settings").setValue("Attitude",1);
-		getField("Stabilization2Settings").setValue("Attitude",2);
-		getField("Stabilization3Settings").setValue("Attitude",0);
-		getField("Stabilization3Settings").setValue("Attitude",1);
-		getField("Stabilization3Settings").setValue("Attitude",2);
-		getField("FlightModePosition").setValue("Manual",0);
-		getField("FlightModePosition").setValue("Manual",1);
-		getField("FlightModePosition").setValue("Manual",2);
-		getField("ChannelMax").setValue(2000,0);
-		getField("ChannelMax").setValue(2000,1);
-		getField("ChannelMax").setValue(2000,2);
-		getField("ChannelMax").setValue(2000,3);
-		getField("ChannelMax").setValue(2000,4);
-		getField("ChannelMax").setValue(2000,5);
-		getField("ChannelMax").setValue(2000,6);
-		getField("ChannelMax").setValue(2000,7);
-		getField("ChannelNeutral").setValue(1500,0);
-		getField("ChannelNeutral").setValue(1500,1);
-		getField("ChannelNeutral").setValue(1500,2);
-		getField("ChannelNeutral").setValue(1500,3);
-		getField("ChannelNeutral").setValue(1500,4);
-		getField("ChannelNeutral").setValue(1500,5);
-		getField("ChannelNeutral").setValue(1500,6);
-		getField("ChannelNeutral").setValue(1500,7);
 		getField("ChannelMin").setValue(1000,0);
 		getField("ChannelMin").setValue(1000,1);
 		getField("ChannelMin").setValue(1000,2);
@@ -355,7 +238,57 @@ public class ManualControlSettings extends UAVDataObject {
 		getField("ChannelMin").setValue(1000,5);
 		getField("ChannelMin").setValue(1000,6);
 		getField("ChannelMin").setValue(1000,7);
+		getField("ChannelMin").setValue(1000,8);
+		getField("ChannelNeutral").setValue(1500,0);
+		getField("ChannelNeutral").setValue(1500,1);
+		getField("ChannelNeutral").setValue(1500,2);
+		getField("ChannelNeutral").setValue(1500,3);
+		getField("ChannelNeutral").setValue(1500,4);
+		getField("ChannelNeutral").setValue(1500,5);
+		getField("ChannelNeutral").setValue(1500,6);
+		getField("ChannelNeutral").setValue(1500,7);
+		getField("ChannelNeutral").setValue(1500,8);
+		getField("ChannelMax").setValue(2000,0);
+		getField("ChannelMax").setValue(2000,1);
+		getField("ChannelMax").setValue(2000,2);
+		getField("ChannelMax").setValue(2000,3);
+		getField("ChannelMax").setValue(2000,4);
+		getField("ChannelMax").setValue(2000,5);
+		getField("ChannelMax").setValue(2000,6);
+		getField("ChannelMax").setValue(2000,7);
+		getField("ChannelMax").setValue(2000,8);
 		getField("ArmedTimeout").setValue(30000);
+		getField("ChannelGroups").setValue("None",0);
+		getField("ChannelGroups").setValue("None",1);
+		getField("ChannelGroups").setValue("None",2);
+		getField("ChannelGroups").setValue("None",3);
+		getField("ChannelGroups").setValue("None",4);
+		getField("ChannelGroups").setValue("None",5);
+		getField("ChannelGroups").setValue("None",6);
+		getField("ChannelGroups").setValue("None",7);
+		getField("ChannelGroups").setValue("None",8);
+		getField("ChannelNumber").setValue(0,0);
+		getField("ChannelNumber").setValue(0,1);
+		getField("ChannelNumber").setValue(0,2);
+		getField("ChannelNumber").setValue(0,3);
+		getField("ChannelNumber").setValue(0,4);
+		getField("ChannelNumber").setValue(0,5);
+		getField("ChannelNumber").setValue(0,6);
+		getField("ChannelNumber").setValue(0,7);
+		getField("ChannelNumber").setValue(0,8);
+		getField("Arming").setValue("Always Disarmed");
+		getField("Stabilization1Settings").setValue("Attitude",0);
+		getField("Stabilization1Settings").setValue("Attitude",1);
+		getField("Stabilization1Settings").setValue("Rate",2);
+		getField("Stabilization2Settings").setValue("Attitude",0);
+		getField("Stabilization2Settings").setValue("Attitude",1);
+		getField("Stabilization2Settings").setValue("Rate",2);
+		getField("Stabilization3Settings").setValue("Attitude",0);
+		getField("Stabilization3Settings").setValue("Attitude",1);
+		getField("Stabilization3Settings").setValue("Rate",2);
+		getField("FlightModePosition").setValue("Manual",0);
+		getField("FlightModePosition").setValue("Stabilized1",1);
+		getField("FlightModePosition").setValue("Stabilized2",2);
 
 	}
 
@@ -384,7 +317,7 @@ public class ManualControlSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x2B82102;
+	protected static final int OBJID = 0x24959BB0;
 	protected static final String NAME = "ManualControlSettings";
 	protected static String DESCRIPTION = "Settings to indicate how to decode receiver input by @ref ManualControlModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
index 9aa87d49e..76841d8ff 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
@@ -83,12 +83,37 @@ public class MixerSettings extends UAVDataObject {
 		ThrottleCurve2ElemNames.add("100");
 		fields.add( new UAVObjectField("ThrottleCurve2", "percent", UAVObjectField.FieldType.FLOAT32, ThrottleCurve2ElemNames, null) );
 
+		List<String> Curve2SourceElemNames = new ArrayList<String>();
+		Curve2SourceElemNames.add("0");
+		List<String> Curve2SourceEnumOptions = new ArrayList<String>();
+		Curve2SourceEnumOptions.add("Throttle");
+		Curve2SourceEnumOptions.add("Roll");
+		Curve2SourceEnumOptions.add("Pitch");
+		Curve2SourceEnumOptions.add("Yaw");
+		Curve2SourceEnumOptions.add("Collective");
+		Curve2SourceEnumOptions.add("Accessory0");
+		Curve2SourceEnumOptions.add("Accessory1");
+		Curve2SourceEnumOptions.add("Accessory2");
+		Curve2SourceEnumOptions.add("Accessory3");
+		Curve2SourceEnumOptions.add("Accessory4");
+		Curve2SourceEnumOptions.add("Accessory5");
+		fields.add( new UAVObjectField("Curve2Source", "", UAVObjectField.FieldType.ENUM, Curve2SourceElemNames, Curve2SourceEnumOptions) );
+
 		List<String> Mixer1TypeElemNames = new ArrayList<String>();
 		Mixer1TypeElemNames.add("0");
 		List<String> Mixer1TypeEnumOptions = new ArrayList<String>();
 		Mixer1TypeEnumOptions.add("Disabled");
 		Mixer1TypeEnumOptions.add("Motor");
 		Mixer1TypeEnumOptions.add("Servo");
+		Mixer1TypeEnumOptions.add("CameraRoll");
+		Mixer1TypeEnumOptions.add("CameraPitch");
+		Mixer1TypeEnumOptions.add("CameraYaw");
+		Mixer1TypeEnumOptions.add("Accessory0");
+		Mixer1TypeEnumOptions.add("Accessory1");
+		Mixer1TypeEnumOptions.add("Accessory2");
+		Mixer1TypeEnumOptions.add("Accessory3");
+		Mixer1TypeEnumOptions.add("Accessory4");
+		Mixer1TypeEnumOptions.add("Accessory5");
 		fields.add( new UAVObjectField("Mixer1Type", "", UAVObjectField.FieldType.ENUM, Mixer1TypeElemNames, Mixer1TypeEnumOptions) );
 
 		List<String> Mixer1VectorElemNames = new ArrayList<String>();
@@ -105,6 +130,15 @@ public class MixerSettings extends UAVDataObject {
 		Mixer2TypeEnumOptions.add("Disabled");
 		Mixer2TypeEnumOptions.add("Motor");
 		Mixer2TypeEnumOptions.add("Servo");
+		Mixer2TypeEnumOptions.add("CameraRoll");
+		Mixer2TypeEnumOptions.add("CameraPitch");
+		Mixer2TypeEnumOptions.add("CameraYaw");
+		Mixer2TypeEnumOptions.add("Accessory0");
+		Mixer2TypeEnumOptions.add("Accessory1");
+		Mixer2TypeEnumOptions.add("Accessory2");
+		Mixer2TypeEnumOptions.add("Accessory3");
+		Mixer2TypeEnumOptions.add("Accessory4");
+		Mixer2TypeEnumOptions.add("Accessory5");
 		fields.add( new UAVObjectField("Mixer2Type", "", UAVObjectField.FieldType.ENUM, Mixer2TypeElemNames, Mixer2TypeEnumOptions) );
 
 		List<String> Mixer2VectorElemNames = new ArrayList<String>();
@@ -121,6 +155,15 @@ public class MixerSettings extends UAVDataObject {
 		Mixer3TypeEnumOptions.add("Disabled");
 		Mixer3TypeEnumOptions.add("Motor");
 		Mixer3TypeEnumOptions.add("Servo");
+		Mixer3TypeEnumOptions.add("CameraRoll");
+		Mixer3TypeEnumOptions.add("CameraPitch");
+		Mixer3TypeEnumOptions.add("CameraYaw");
+		Mixer3TypeEnumOptions.add("Accessory0");
+		Mixer3TypeEnumOptions.add("Accessory1");
+		Mixer3TypeEnumOptions.add("Accessory2");
+		Mixer3TypeEnumOptions.add("Accessory3");
+		Mixer3TypeEnumOptions.add("Accessory4");
+		Mixer3TypeEnumOptions.add("Accessory5");
 		fields.add( new UAVObjectField("Mixer3Type", "", UAVObjectField.FieldType.ENUM, Mixer3TypeElemNames, Mixer3TypeEnumOptions) );
 
 		List<String> Mixer3VectorElemNames = new ArrayList<String>();
@@ -137,6 +180,15 @@ public class MixerSettings extends UAVDataObject {
 		Mixer4TypeEnumOptions.add("Disabled");
 		Mixer4TypeEnumOptions.add("Motor");
 		Mixer4TypeEnumOptions.add("Servo");
+		Mixer4TypeEnumOptions.add("CameraRoll");
+		Mixer4TypeEnumOptions.add("CameraPitch");
+		Mixer4TypeEnumOptions.add("CameraYaw");
+		Mixer4TypeEnumOptions.add("Accessory0");
+		Mixer4TypeEnumOptions.add("Accessory1");
+		Mixer4TypeEnumOptions.add("Accessory2");
+		Mixer4TypeEnumOptions.add("Accessory3");
+		Mixer4TypeEnumOptions.add("Accessory4");
+		Mixer4TypeEnumOptions.add("Accessory5");
 		fields.add( new UAVObjectField("Mixer4Type", "", UAVObjectField.FieldType.ENUM, Mixer4TypeElemNames, Mixer4TypeEnumOptions) );
 
 		List<String> Mixer4VectorElemNames = new ArrayList<String>();
@@ -153,6 +205,15 @@ public class MixerSettings extends UAVDataObject {
 		Mixer5TypeEnumOptions.add("Disabled");
 		Mixer5TypeEnumOptions.add("Motor");
 		Mixer5TypeEnumOptions.add("Servo");
+		Mixer5TypeEnumOptions.add("CameraRoll");
+		Mixer5TypeEnumOptions.add("CameraPitch");
+		Mixer5TypeEnumOptions.add("CameraYaw");
+		Mixer5TypeEnumOptions.add("Accessory0");
+		Mixer5TypeEnumOptions.add("Accessory1");
+		Mixer5TypeEnumOptions.add("Accessory2");
+		Mixer5TypeEnumOptions.add("Accessory3");
+		Mixer5TypeEnumOptions.add("Accessory4");
+		Mixer5TypeEnumOptions.add("Accessory5");
 		fields.add( new UAVObjectField("Mixer5Type", "", UAVObjectField.FieldType.ENUM, Mixer5TypeElemNames, Mixer5TypeEnumOptions) );
 
 		List<String> Mixer5VectorElemNames = new ArrayList<String>();
@@ -169,6 +230,15 @@ public class MixerSettings extends UAVDataObject {
 		Mixer6TypeEnumOptions.add("Disabled");
 		Mixer6TypeEnumOptions.add("Motor");
 		Mixer6TypeEnumOptions.add("Servo");
+		Mixer6TypeEnumOptions.add("CameraRoll");
+		Mixer6TypeEnumOptions.add("CameraPitch");
+		Mixer6TypeEnumOptions.add("CameraYaw");
+		Mixer6TypeEnumOptions.add("Accessory0");
+		Mixer6TypeEnumOptions.add("Accessory1");
+		Mixer6TypeEnumOptions.add("Accessory2");
+		Mixer6TypeEnumOptions.add("Accessory3");
+		Mixer6TypeEnumOptions.add("Accessory4");
+		Mixer6TypeEnumOptions.add("Accessory5");
 		fields.add( new UAVObjectField("Mixer6Type", "", UAVObjectField.FieldType.ENUM, Mixer6TypeElemNames, Mixer6TypeEnumOptions) );
 
 		List<String> Mixer6VectorElemNames = new ArrayList<String>();
@@ -185,6 +255,15 @@ public class MixerSettings extends UAVDataObject {
 		Mixer7TypeEnumOptions.add("Disabled");
 		Mixer7TypeEnumOptions.add("Motor");
 		Mixer7TypeEnumOptions.add("Servo");
+		Mixer7TypeEnumOptions.add("CameraRoll");
+		Mixer7TypeEnumOptions.add("CameraPitch");
+		Mixer7TypeEnumOptions.add("CameraYaw");
+		Mixer7TypeEnumOptions.add("Accessory0");
+		Mixer7TypeEnumOptions.add("Accessory1");
+		Mixer7TypeEnumOptions.add("Accessory2");
+		Mixer7TypeEnumOptions.add("Accessory3");
+		Mixer7TypeEnumOptions.add("Accessory4");
+		Mixer7TypeEnumOptions.add("Accessory5");
 		fields.add( new UAVObjectField("Mixer7Type", "", UAVObjectField.FieldType.ENUM, Mixer7TypeElemNames, Mixer7TypeEnumOptions) );
 
 		List<String> Mixer7VectorElemNames = new ArrayList<String>();
@@ -201,6 +280,15 @@ public class MixerSettings extends UAVDataObject {
 		Mixer8TypeEnumOptions.add("Disabled");
 		Mixer8TypeEnumOptions.add("Motor");
 		Mixer8TypeEnumOptions.add("Servo");
+		Mixer8TypeEnumOptions.add("CameraRoll");
+		Mixer8TypeEnumOptions.add("CameraPitch");
+		Mixer8TypeEnumOptions.add("CameraYaw");
+		Mixer8TypeEnumOptions.add("Accessory0");
+		Mixer8TypeEnumOptions.add("Accessory1");
+		Mixer8TypeEnumOptions.add("Accessory2");
+		Mixer8TypeEnumOptions.add("Accessory3");
+		Mixer8TypeEnumOptions.add("Accessory4");
+		Mixer8TypeEnumOptions.add("Accessory5");
 		fields.add( new UAVObjectField("Mixer8Type", "", UAVObjectField.FieldType.ENUM, Mixer8TypeElemNames, Mixer8TypeEnumOptions) );
 
 		List<String> Mixer8VectorElemNames = new ArrayList<String>();
@@ -211,6 +299,56 @@ public class MixerSettings extends UAVDataObject {
 		Mixer8VectorElemNames.add("Yaw");
 		fields.add( new UAVObjectField("Mixer8Vector", "", UAVObjectField.FieldType.INT8, Mixer8VectorElemNames, null) );
 
+		List<String> Mixer9TypeElemNames = new ArrayList<String>();
+		Mixer9TypeElemNames.add("0");
+		List<String> Mixer9TypeEnumOptions = new ArrayList<String>();
+		Mixer9TypeEnumOptions.add("Disabled");
+		Mixer9TypeEnumOptions.add("Motor");
+		Mixer9TypeEnumOptions.add("Servo");
+		Mixer9TypeEnumOptions.add("CameraRoll");
+		Mixer9TypeEnumOptions.add("CameraPitch");
+		Mixer9TypeEnumOptions.add("CameraYaw");
+		Mixer9TypeEnumOptions.add("Accessory0");
+		Mixer9TypeEnumOptions.add("Accessory1");
+		Mixer9TypeEnumOptions.add("Accessory2");
+		Mixer9TypeEnumOptions.add("Accessory3");
+		Mixer9TypeEnumOptions.add("Accessory4");
+		Mixer9TypeEnumOptions.add("Accessory5");
+		fields.add( new UAVObjectField("Mixer9Type", "", UAVObjectField.FieldType.ENUM, Mixer9TypeElemNames, Mixer9TypeEnumOptions) );
+
+		List<String> Mixer9VectorElemNames = new ArrayList<String>();
+		Mixer9VectorElemNames.add("ThrottleCurve1");
+		Mixer9VectorElemNames.add("ThrottleCurve2");
+		Mixer9VectorElemNames.add("Roll");
+		Mixer9VectorElemNames.add("Pitch");
+		Mixer9VectorElemNames.add("Yaw");
+		fields.add( new UAVObjectField("Mixer9Vector", "", UAVObjectField.FieldType.INT8, Mixer9VectorElemNames, null) );
+
+		List<String> Mixer10TypeElemNames = new ArrayList<String>();
+		Mixer10TypeElemNames.add("0");
+		List<String> Mixer10TypeEnumOptions = new ArrayList<String>();
+		Mixer10TypeEnumOptions.add("Disabled");
+		Mixer10TypeEnumOptions.add("Motor");
+		Mixer10TypeEnumOptions.add("Servo");
+		Mixer10TypeEnumOptions.add("CameraRoll");
+		Mixer10TypeEnumOptions.add("CameraPitch");
+		Mixer10TypeEnumOptions.add("CameraYaw");
+		Mixer10TypeEnumOptions.add("Accessory0");
+		Mixer10TypeEnumOptions.add("Accessory1");
+		Mixer10TypeEnumOptions.add("Accessory2");
+		Mixer10TypeEnumOptions.add("Accessory3");
+		Mixer10TypeEnumOptions.add("Accessory4");
+		Mixer10TypeEnumOptions.add("Accessory5");
+		fields.add( new UAVObjectField("Mixer10Type", "", UAVObjectField.FieldType.ENUM, Mixer10TypeElemNames, Mixer10TypeEnumOptions) );
+
+		List<String> Mixer10VectorElemNames = new ArrayList<String>();
+		Mixer10VectorElemNames.add("ThrottleCurve1");
+		Mixer10VectorElemNames.add("ThrottleCurve2");
+		Mixer10VectorElemNames.add("Roll");
+		Mixer10VectorElemNames.add("Pitch");
+		Mixer10VectorElemNames.add("Yaw");
+		fields.add( new UAVObjectField("Mixer10Vector", "", UAVObjectField.FieldType.INT8, Mixer10VectorElemNames, null) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -261,15 +399,16 @@ public class MixerSettings extends UAVDataObject {
 		getField("AccelTime").setValue(0);
 		getField("DecelTime").setValue(0);
 		getField("ThrottleCurve1").setValue(0,0);
-		getField("ThrottleCurve1").setValue(0.25,1);
-		getField("ThrottleCurve1").setValue(0.5,2);
-		getField("ThrottleCurve1").setValue(0.75,3);
-		getField("ThrottleCurve1").setValue(1,4);
+		getField("ThrottleCurve1").setValue(0,1);
+		getField("ThrottleCurve1").setValue(0,2);
+		getField("ThrottleCurve1").setValue(0,3);
+		getField("ThrottleCurve1").setValue(0,4);
 		getField("ThrottleCurve2").setValue(0,0);
 		getField("ThrottleCurve2").setValue(0.25,1);
 		getField("ThrottleCurve2").setValue(0.5,2);
 		getField("ThrottleCurve2").setValue(0.75,3);
 		getField("ThrottleCurve2").setValue(1,4);
+		getField("Curve2Source").setValue("Throttle");
 		getField("Mixer1Type").setValue("Disabled");
 		getField("Mixer1Vector").setValue(0,0);
 		getField("Mixer1Vector").setValue(0,1);
@@ -318,6 +457,18 @@ public class MixerSettings extends UAVDataObject {
 		getField("Mixer8Vector").setValue(0,2);
 		getField("Mixer8Vector").setValue(0,3);
 		getField("Mixer8Vector").setValue(0,4);
+		getField("Mixer9Type").setValue("Disabled");
+		getField("Mixer9Vector").setValue(0,0);
+		getField("Mixer9Vector").setValue(0,1);
+		getField("Mixer9Vector").setValue(0,2);
+		getField("Mixer9Vector").setValue(0,3);
+		getField("Mixer9Vector").setValue(0,4);
+		getField("Mixer10Type").setValue("Disabled");
+		getField("Mixer10Vector").setValue(0,0);
+		getField("Mixer10Vector").setValue(0,1);
+		getField("Mixer10Vector").setValue(0,2);
+		getField("Mixer10Vector").setValue(0,3);
+		getField("Mixer10Vector").setValue(0,4);
 
 	}
 
@@ -346,7 +497,7 @@ public class MixerSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x4FAE374E;
+	protected static final int OBJID = 0x5D16D6C4;
 	protected static final String NAME = "MixerSettings";
 	protected static String DESCRIPTION = "Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
index fbd405b40..106220a8c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
@@ -156,7 +156,7 @@ public class MixerStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xF6A33F10;
+	protected static final int OBJID = 0x11CFB4E6;
 	protected static final String NAME = "MixerStatus";
 	protected static String DESCRIPTION = "Status for the matrix mixer showing the output of each mixer after all scaling";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
index f16ddd199..3b09dd1f8 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
@@ -136,7 +136,7 @@ public class NedAccel extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x8E852CE8;
+	protected static final int OBJID = 0x7C7F5BC0;
 	protected static final String NAME = "NedAccel";
 	protected static String DESCRIPTION = "The projection of acceleration in the NED reference frame used by @ref Guidance.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
index 2a09c2b40..dccd85d36 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
@@ -51,12 +51,23 @@ public class ObjectPersistence extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
+		List<String> ObjectIDElemNames = new ArrayList<String>();
+		ObjectIDElemNames.add("0");
+		fields.add( new UAVObjectField("ObjectID", "", UAVObjectField.FieldType.UINT32, ObjectIDElemNames, null) );
+
+		List<String> InstanceIDElemNames = new ArrayList<String>();
+		InstanceIDElemNames.add("0");
+		fields.add( new UAVObjectField("InstanceID", "", UAVObjectField.FieldType.UINT32, InstanceIDElemNames, null) );
+
 		List<String> OperationElemNames = new ArrayList<String>();
 		OperationElemNames.add("0");
 		List<String> OperationEnumOptions = new ArrayList<String>();
+		OperationEnumOptions.add("NOP");
 		OperationEnumOptions.add("Load");
 		OperationEnumOptions.add("Save");
 		OperationEnumOptions.add("Delete");
+		OperationEnumOptions.add("FullErase");
+		OperationEnumOptions.add("Completed");
 		fields.add( new UAVObjectField("Operation", "", UAVObjectField.FieldType.ENUM, OperationElemNames, OperationEnumOptions) );
 
 		List<String> SelectionElemNames = new ArrayList<String>();
@@ -68,14 +79,6 @@ public class ObjectPersistence extends UAVDataObject {
 		SelectionEnumOptions.add("AllObjects");
 		fields.add( new UAVObjectField("Selection", "", UAVObjectField.FieldType.ENUM, SelectionElemNames, SelectionEnumOptions) );
 
-		List<String> ObjectIDElemNames = new ArrayList<String>();
-		ObjectIDElemNames.add("0");
-		fields.add( new UAVObjectField("ObjectID", "", UAVObjectField.FieldType.UINT32, ObjectIDElemNames, null) );
-
-		List<String> InstanceIDElemNames = new ArrayList<String>();
-		InstanceIDElemNames.add("0");
-		fields.add( new UAVObjectField("InstanceID", "", UAVObjectField.FieldType.UINT32, InstanceIDElemNames, null) );
-
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -106,7 +109,7 @@ public class ObjectPersistence extends UAVDataObject {
 
 		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
 		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
 		metadata.flightTelemetryUpdatePeriod = 0;
 
 		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
@@ -149,7 +152,7 @@ public class ObjectPersistence extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x22216832;
+	protected static final int OBJID = 0xF69AD8B8;
 	protected static final String NAME = "ObjectPersistence";
 	protected static String DESCRIPTION = "Someone who knows please enter this";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
index 444009f90..ac30ad4f5 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
@@ -136,7 +136,7 @@ public class PositionActual extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xE0739636;
+	protected static final int OBJID = 0xF9691DA4;
 	protected static final String NAME = "PositionActual";
 	protected static String DESCRIPTION = "Contains the current position relative to @ref HomeLocation";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java
index 5cf51df71..2ff5a5586 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java
@@ -136,7 +136,7 @@ public class PositionDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x2FC4E5BA;
+	protected static final int OBJID = 0x33C9EAB4;
 	protected static final String NAME = "PositionDesired";
 	protected static String DESCRIPTION = "The position the craft is trying t achieve.  Can come from GCS or @ref PathPlanner ";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
index 7164c0957..ddeacd8d4 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
@@ -136,7 +136,7 @@ public class RateDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xBA41B51C;
+	protected static final int OBJID = 0xCE8C826;
 	protected static final String NAME = "RateDesired";
 	protected static String DESCRIPTION = "Status for the matrix mixer showing the output of each mixer after all scaling";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BatterySettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
similarity index 61%
rename from androidgcs/src/org/openpilot/uavtalk/uavobjects/BatterySettings.java
rename to androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
index 6af673930..a40b27e38 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BatterySettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
@@ -5,7 +5,7 @@
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Template for an uavobject in java
  *             This is a autogenerated file!! Do not modify and expect a result.
- *             Battery configuration information.
+ *             Monitors which receiver channels have been active within the last second.
  *
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -39,40 +39,33 @@ import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObjectField;
 
 /**
-Battery configuration information.
+Monitors which receiver channels have been active within the last second.
 
-generated from batterysettings.xml
+generated from receiveractivity.xml
  **/
-public class BatterySettings extends UAVDataObject {
+public class ReceiverActivity extends UAVDataObject {
 
-	public BatterySettings() {
+	public ReceiverActivity() {
 		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
 		
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> BatteryVoltageElemNames = new ArrayList<String>();
-		BatteryVoltageElemNames.add("0");
-		fields.add( new UAVObjectField("BatteryVoltage", "V", UAVObjectField.FieldType.FLOAT32, BatteryVoltageElemNames, null) );
+		List<String> ActiveGroupElemNames = new ArrayList<String>();
+		ActiveGroupElemNames.add("0");
+		List<String> ActiveGroupEnumOptions = new ArrayList<String>();
+		ActiveGroupEnumOptions.add("PWM");
+		ActiveGroupEnumOptions.add("PPM");
+		ActiveGroupEnumOptions.add("DSM (MainPort)");
+		ActiveGroupEnumOptions.add("DSM (FlexiPort)");
+		ActiveGroupEnumOptions.add("S.Bus");
+		ActiveGroupEnumOptions.add("GCS");
+		ActiveGroupEnumOptions.add("None");
+		fields.add( new UAVObjectField("ActiveGroup", "Channel Group", UAVObjectField.FieldType.ENUM, ActiveGroupElemNames, ActiveGroupEnumOptions) );
 
-		List<String> BatteryCapacityElemNames = new ArrayList<String>();
-		BatteryCapacityElemNames.add("0");
-		fields.add( new UAVObjectField("BatteryCapacity", "mAh", UAVObjectField.FieldType.UINT32, BatteryCapacityElemNames, null) );
-
-		List<String> BatteryTypeElemNames = new ArrayList<String>();
-		BatteryTypeElemNames.add("0");
-		List<String> BatteryTypeEnumOptions = new ArrayList<String>();
-		BatteryTypeEnumOptions.add("LiPo");
-		BatteryTypeEnumOptions.add("A123");
-		BatteryTypeEnumOptions.add("LiCo");
-		BatteryTypeEnumOptions.add("LiFeSO4");
-		BatteryTypeEnumOptions.add("None");
-		fields.add( new UAVObjectField("BatteryType", "", UAVObjectField.FieldType.ENUM, BatteryTypeElemNames, BatteryTypeEnumOptions) );
-
-		List<String> CalibrationsElemNames = new ArrayList<String>();
-		CalibrationsElemNames.add("Voltage");
-		CalibrationsElemNames.add("Current");
-		fields.add( new UAVObjectField("Calibrations", "", UAVObjectField.FieldType.FLOAT32, CalibrationsElemNames, null) );
+		List<String> ActiveChannelElemNames = new ArrayList<String>();
+		ActiveChannelElemNames.add("0");
+		fields.add( new UAVObjectField("ActiveChannel", "channel", UAVObjectField.FieldType.UINT8, ActiveChannelElemNames, null) );
 
 
 		// Compute the number of bytes for this object
@@ -97,13 +90,13 @@ public class BatterySettings extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READONLY;
+		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
+		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
 		metadata.gcsTelemetryUpdatePeriod = 0;
 
 		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
+		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
 		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
 		metadata.flightTelemetryUpdatePeriod = 0;
 
@@ -119,11 +112,8 @@ public class BatterySettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("BatteryVoltage").setValue(11.1);
-		getField("BatteryCapacity").setValue(2200);
-		getField("BatteryType").setValue("LiPo");
-		getField("Calibrations").setValue(1,0);
-		getField("Calibrations").setValue(1,1);
+		getField("ActiveGroup").setValue("None");
+		getField("ActiveChannel").setValue(255);
 
 	}
 
@@ -135,7 +125,7 @@ public class BatterySettings extends UAVDataObject {
 	public UAVDataObject clone(int instID) {
 		// TODO: Need to get specific instance to clone
 		try {
-			BatterySettings obj = new BatterySettings();
+			ReceiverActivity obj = new ReceiverActivity();
 			obj.initialize(instID, this.getMetaObject());
 			return obj;
 		} catch  (Exception e) {
@@ -146,17 +136,17 @@ public class BatterySettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public BatterySettings GetInstance(UAVObjectManager objMngr, int instID)
+	public ReceiverActivity GetInstance(UAVObjectManager objMngr, int instID)
 	{
-	    return (BatterySettings)(objMngr.getObject(BatterySettings.OBJID, instID));
+	    return (ReceiverActivity)(objMngr.getObject(ReceiverActivity.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xA5FF1D9A;
-	protected static final String NAME = "BatterySettings";
-	protected static String DESCRIPTION = "Battery configuration information.";
+	protected static final int OBJID = 0x1E7C53DA;
+	protected static final String NAME = "ReceiverActivity";
+	protected static String DESCRIPTION = "Monitors which receiver channels have been active within the last second.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
index 4e9f0b8b8..18cf6f4d6 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
@@ -128,7 +128,7 @@ public class SonarAltitude extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x1FDD844C;
+	protected static final int OBJID = 0x6C5A0CBC;
 	protected static final String NAME = "SonarAltitude";
 	protected static String DESCRIPTION = "The raw data from the ultrasound sonar sensor with altitude estimate.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
index 8cba8a54c..32d2c735c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
@@ -75,6 +75,8 @@ public class StabilizationDesired extends UAVDataObject {
 		StabilizationModeEnumOptions.add("None");
 		StabilizationModeEnumOptions.add("Rate");
 		StabilizationModeEnumOptions.add("Attitude");
+		StabilizationModeEnumOptions.add("AxisLock");
+		StabilizationModeEnumOptions.add("WeakLeveling");
 		fields.add( new UAVObjectField("StabilizationMode", "", UAVObjectField.FieldType.ENUM, StabilizationModeElemNames, StabilizationModeEnumOptions) );
 
 
@@ -150,7 +152,7 @@ public class StabilizationDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x41AA9DC2;
+	protected static final int OBJID = 0xDB8FFC3C;
 	protected static final String NAME = "StabilizationDesired";
 	protected static String DESCRIPTION = "The desired attitude that @ref StabilizationModule will try and achieve if FlightMode is Stabilized.  Comes from @ref ManaulControlModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
index 74c480e1c..ab78bdc74 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
@@ -51,18 +51,6 @@ public class StabilizationSettings extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
-		List<String> RollMaxElemNames = new ArrayList<String>();
-		RollMaxElemNames.add("0");
-		fields.add( new UAVObjectField("RollMax", "degrees", UAVObjectField.FieldType.UINT8, RollMaxElemNames, null) );
-
-		List<String> PitchMaxElemNames = new ArrayList<String>();
-		PitchMaxElemNames.add("0");
-		fields.add( new UAVObjectField("PitchMax", "degrees", UAVObjectField.FieldType.UINT8, PitchMaxElemNames, null) );
-
-		List<String> YawMaxElemNames = new ArrayList<String>();
-		YawMaxElemNames.add("0");
-		fields.add( new UAVObjectField("YawMax", "degrees", UAVObjectField.FieldType.UINT8, YawMaxElemNames, null) );
-
 		List<String> ManualRateElemNames = new ArrayList<String>();
 		ManualRateElemNames.add("Roll");
 		ManualRateElemNames.add("Pitch");
@@ -75,23 +63,26 @@ public class StabilizationSettings extends UAVDataObject {
 		MaximumRateElemNames.add("Yaw");
 		fields.add( new UAVObjectField("MaximumRate", "degrees/sec", UAVObjectField.FieldType.FLOAT32, MaximumRateElemNames, null) );
 
-		List<String> RollRatePIElemNames = new ArrayList<String>();
-		RollRatePIElemNames.add("Kp");
-		RollRatePIElemNames.add("Ki");
-		RollRatePIElemNames.add("ILimit");
-		fields.add( new UAVObjectField("RollRatePI", "", UAVObjectField.FieldType.FLOAT32, RollRatePIElemNames, null) );
+		List<String> RollRatePIDElemNames = new ArrayList<String>();
+		RollRatePIDElemNames.add("Kp");
+		RollRatePIDElemNames.add("Ki");
+		RollRatePIDElemNames.add("Kd");
+		RollRatePIDElemNames.add("ILimit");
+		fields.add( new UAVObjectField("RollRatePID", "", UAVObjectField.FieldType.FLOAT32, RollRatePIDElemNames, null) );
 
-		List<String> PitchRatePIElemNames = new ArrayList<String>();
-		PitchRatePIElemNames.add("Kp");
-		PitchRatePIElemNames.add("Ki");
-		PitchRatePIElemNames.add("ILimit");
-		fields.add( new UAVObjectField("PitchRatePI", "", UAVObjectField.FieldType.FLOAT32, PitchRatePIElemNames, null) );
+		List<String> PitchRatePIDElemNames = new ArrayList<String>();
+		PitchRatePIDElemNames.add("Kp");
+		PitchRatePIDElemNames.add("Ki");
+		PitchRatePIDElemNames.add("Kd");
+		PitchRatePIDElemNames.add("ILimit");
+		fields.add( new UAVObjectField("PitchRatePID", "", UAVObjectField.FieldType.FLOAT32, PitchRatePIDElemNames, null) );
 
-		List<String> YawRatePIElemNames = new ArrayList<String>();
-		YawRatePIElemNames.add("Kp");
-		YawRatePIElemNames.add("Ki");
-		YawRatePIElemNames.add("ILimit");
-		fields.add( new UAVObjectField("YawRatePI", "", UAVObjectField.FieldType.FLOAT32, YawRatePIElemNames, null) );
+		List<String> YawRatePIDElemNames = new ArrayList<String>();
+		YawRatePIDElemNames.add("Kp");
+		YawRatePIDElemNames.add("Ki");
+		YawRatePIDElemNames.add("Kd");
+		YawRatePIDElemNames.add("ILimit");
+		fields.add( new UAVObjectField("YawRatePID", "", UAVObjectField.FieldType.FLOAT32, YawRatePIDElemNames, null) );
 
 		List<String> RollPIElemNames = new ArrayList<String>();
 		RollPIElemNames.add("Kp");
@@ -111,6 +102,45 @@ public class StabilizationSettings extends UAVDataObject {
 		YawPIElemNames.add("ILimit");
 		fields.add( new UAVObjectField("YawPI", "", UAVObjectField.FieldType.FLOAT32, YawPIElemNames, null) );
 
+		List<String> GyroTauElemNames = new ArrayList<String>();
+		GyroTauElemNames.add("0");
+		fields.add( new UAVObjectField("GyroTau", "", UAVObjectField.FieldType.FLOAT32, GyroTauElemNames, null) );
+
+		List<String> WeakLevelingKpElemNames = new ArrayList<String>();
+		WeakLevelingKpElemNames.add("0");
+		fields.add( new UAVObjectField("WeakLevelingKp", "(deg/s)/deg", UAVObjectField.FieldType.FLOAT32, WeakLevelingKpElemNames, null) );
+
+		List<String> RollMaxElemNames = new ArrayList<String>();
+		RollMaxElemNames.add("0");
+		fields.add( new UAVObjectField("RollMax", "degrees", UAVObjectField.FieldType.UINT8, RollMaxElemNames, null) );
+
+		List<String> PitchMaxElemNames = new ArrayList<String>();
+		PitchMaxElemNames.add("0");
+		fields.add( new UAVObjectField("PitchMax", "degrees", UAVObjectField.FieldType.UINT8, PitchMaxElemNames, null) );
+
+		List<String> YawMaxElemNames = new ArrayList<String>();
+		YawMaxElemNames.add("0");
+		fields.add( new UAVObjectField("YawMax", "degrees", UAVObjectField.FieldType.UINT8, YawMaxElemNames, null) );
+
+		List<String> MaxAxisLockElemNames = new ArrayList<String>();
+		MaxAxisLockElemNames.add("0");
+		fields.add( new UAVObjectField("MaxAxisLock", "deg", UAVObjectField.FieldType.UINT8, MaxAxisLockElemNames, null) );
+
+		List<String> MaxAxisLockRateElemNames = new ArrayList<String>();
+		MaxAxisLockRateElemNames.add("0");
+		fields.add( new UAVObjectField("MaxAxisLockRate", "deg/s", UAVObjectField.FieldType.UINT8, MaxAxisLockRateElemNames, null) );
+
+		List<String> MaxWeakLevelingRateElemNames = new ArrayList<String>();
+		MaxWeakLevelingRateElemNames.add("0");
+		fields.add( new UAVObjectField("MaxWeakLevelingRate", "deg/s", UAVObjectField.FieldType.UINT8, MaxWeakLevelingRateElemNames, null) );
+
+		List<String> LowThrottleZeroIntegralElemNames = new ArrayList<String>();
+		LowThrottleZeroIntegralElemNames.add("0");
+		List<String> LowThrottleZeroIntegralEnumOptions = new ArrayList<String>();
+		LowThrottleZeroIntegralEnumOptions.add("FALSE");
+		LowThrottleZeroIntegralEnumOptions.add("TRUE");
+		fields.add( new UAVObjectField("LowThrottleZeroIntegral", "", UAVObjectField.FieldType.ENUM, LowThrottleZeroIntegralElemNames, LowThrottleZeroIntegralEnumOptions) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -156,24 +186,24 @@ public class StabilizationSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("RollMax").setValue(35);
-		getField("PitchMax").setValue(35);
-		getField("YawMax").setValue(35);
 		getField("ManualRate").setValue(150,0);
 		getField("ManualRate").setValue(150,1);
 		getField("ManualRate").setValue(150,2);
 		getField("MaximumRate").setValue(300,0);
 		getField("MaximumRate").setValue(300,1);
 		getField("MaximumRate").setValue(300,2);
-		getField("RollRatePI").setValue(0.0015,0);
-		getField("RollRatePI").setValue(0,1);
-		getField("RollRatePI").setValue(0.3,2);
-		getField("PitchRatePI").setValue(0.0015,0);
-		getField("PitchRatePI").setValue(0,1);
-		getField("PitchRatePI").setValue(0.3,2);
-		getField("YawRatePI").setValue(0.003,0);
-		getField("YawRatePI").setValue(0,1);
-		getField("YawRatePI").setValue(0.3,2);
+		getField("RollRatePID").setValue(0.002,0);
+		getField("RollRatePID").setValue(0,1);
+		getField("RollRatePID").setValue(0,2);
+		getField("RollRatePID").setValue(0.3,3);
+		getField("PitchRatePID").setValue(0.002,0);
+		getField("PitchRatePID").setValue(0,1);
+		getField("PitchRatePID").setValue(0,2);
+		getField("PitchRatePID").setValue(0.3,3);
+		getField("YawRatePID").setValue(0.0035,0);
+		getField("YawRatePID").setValue(0.0035,1);
+		getField("YawRatePID").setValue(0,2);
+		getField("YawRatePID").setValue(0.3,3);
 		getField("RollPI").setValue(2,0);
 		getField("RollPI").setValue(0,1);
 		getField("RollPI").setValue(50,2);
@@ -183,6 +213,15 @@ public class StabilizationSettings extends UAVDataObject {
 		getField("YawPI").setValue(2,0);
 		getField("YawPI").setValue(0,1);
 		getField("YawPI").setValue(50,2);
+		getField("GyroTau").setValue(0.005);
+		getField("WeakLevelingKp").setValue(0.1);
+		getField("RollMax").setValue(55);
+		getField("PitchMax").setValue(55);
+		getField("YawMax").setValue(35);
+		getField("MaxAxisLock").setValue(15);
+		getField("MaxAxisLockRate").setValue(2);
+		getField("MaxWeakLevelingRate").setValue(5);
+		getField("LowThrottleZeroIntegral").setValue("TRUE");
 
 	}
 
@@ -211,7 +250,7 @@ public class StabilizationSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xE2147404;
+	protected static final int OBJID = 0x5F78C51E;
 	protected static final String NAME = "StabilizationSettings";
 	protected static String DESCRIPTION = "PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
index e9313472c..458dd9d10 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
@@ -68,6 +68,7 @@ public class SystemAlarms extends UAVDataObject {
 		AlarmElemNames.add("FlightTime");
 		AlarmElemNames.add("I2C");
 		AlarmElemNames.add("GPS");
+		AlarmElemNames.add("BootFault");
 		List<String> AlarmEnumOptions = new ArrayList<String>();
 		AlarmEnumOptions.add("Uninitialised");
 		AlarmEnumOptions.add("OK");
@@ -106,8 +107,8 @@ public class SystemAlarms extends UAVDataObject {
 
 		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
 		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 4000;
+		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		metadata.flightTelemetryUpdatePeriod = 0;
 
 		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
 		metadata.loggingUpdatePeriod = 1000;
@@ -137,6 +138,7 @@ public class SystemAlarms extends UAVDataObject {
 		getField("Alarm").setValue("Uninitialised",13);
 		getField("Alarm").setValue("Uninitialised",14);
 		getField("Alarm").setValue("Uninitialised",15);
+		getField("Alarm").setValue("Uninitialised",16);
 
 	}
 
@@ -165,7 +167,7 @@ public class SystemAlarms extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x89C3DCB2;
+	protected static final int OBJID = 0x737ADCF2;
 	protected static final String NAME = "SystemAlarms";
 	protected static String DESCRIPTION = "Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
index 99bceb6ba..e3c2cf0b0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
@@ -51,6 +51,11 @@ public class SystemSettings extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
+		List<String> GUIConfigDataElemNames = new ArrayList<String>();
+		GUIConfigDataElemNames.add("0");
+		GUIConfigDataElemNames.add("1");
+		fields.add( new UAVObjectField("GUIConfigData", "bits", UAVObjectField.FieldType.UINT32, GUIConfigDataElemNames, null) );
+
 		List<String> AirframeTypeElemNames = new ArrayList<String>();
 		AirframeTypeElemNames.add("0");
 		List<String> AirframeTypeEnumOptions = new ArrayList<String>();
@@ -117,6 +122,8 @@ public class SystemSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
+		getField("GUIConfigData").setValue(0,0);
+		getField("GUIConfigData").setValue(0,1);
 		getField("AirframeType").setValue("FixedWing");
 
 	}
@@ -146,7 +153,7 @@ public class SystemSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x3875CEE;
+	protected static final int OBJID = 0x30BD5D7C;
 	protected static final String NAME = "SystemSettings";
 	protected static String DESCRIPTION = "Select airframe type.  Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
index 7c34360e9..d1c51d43f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
@@ -59,6 +59,10 @@ public class SystemStats extends UAVDataObject {
 		HeapRemainingElemNames.add("0");
 		fields.add( new UAVObjectField("HeapRemaining", "bytes", UAVObjectField.FieldType.UINT16, HeapRemainingElemNames, null) );
 
+		List<String> IRQStackRemainingElemNames = new ArrayList<String>();
+		IRQStackRemainingElemNames.add("0");
+		fields.add( new UAVObjectField("IRQStackRemaining", "bytes", UAVObjectField.FieldType.UINT16, IRQStackRemainingElemNames, null) );
+
 		List<String> CPULoadElemNames = new ArrayList<String>();
 		CPULoadElemNames.add("0");
 		fields.add( new UAVObjectField("CPULoad", "%", UAVObjectField.FieldType.UINT8, CPULoadElemNames, null) );
@@ -140,7 +144,7 @@ public class SystemStats extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xAA26FFFA;
+	protected static final int OBJID = 0xD610A0F0;
 	protected static final String NAME = "SystemStats";
 	protected static String DESCRIPTION = "CPU and memory usage from OpenPilot computer. ";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
index 3ad065b5c..54825fafe 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
@@ -65,6 +65,8 @@ public class TaskInfo extends UAVDataObject {
 		StackRemainingElemNames.add("Stabilization");
 		StackRemainingElemNames.add("Guidance");
 		StackRemainingElemNames.add("FlightPlan");
+		StackRemainingElemNames.add("Com2UsbBridge");
+		StackRemainingElemNames.add("Usb2ComBridge");
 		fields.add( new UAVObjectField("StackRemaining", "bytes", UAVObjectField.FieldType.UINT16, StackRemainingElemNames, null) );
 
 		List<String> RunningElemNames = new ArrayList<String>();
@@ -81,11 +83,31 @@ public class TaskInfo extends UAVDataObject {
 		RunningElemNames.add("Stabilization");
 		RunningElemNames.add("Guidance");
 		RunningElemNames.add("FlightPlan");
+		RunningElemNames.add("Com2UsbBridge");
+		RunningElemNames.add("Usb2ComBridge");
 		List<String> RunningEnumOptions = new ArrayList<String>();
 		RunningEnumOptions.add("False");
 		RunningEnumOptions.add("True");
 		fields.add( new UAVObjectField("Running", "bool", UAVObjectField.FieldType.ENUM, RunningElemNames, RunningEnumOptions) );
 
+		List<String> RunningTimeElemNames = new ArrayList<String>();
+		RunningTimeElemNames.add("System");
+		RunningTimeElemNames.add("Actuator");
+		RunningTimeElemNames.add("Attitude");
+		RunningTimeElemNames.add("TelemetryTx");
+		RunningTimeElemNames.add("TelemetryTxPri");
+		RunningTimeElemNames.add("TelemetryRx");
+		RunningTimeElemNames.add("GPS");
+		RunningTimeElemNames.add("ManualControl");
+		RunningTimeElemNames.add("Altitude");
+		RunningTimeElemNames.add("AHRSComms");
+		RunningTimeElemNames.add("Stabilization");
+		RunningTimeElemNames.add("Guidance");
+		RunningTimeElemNames.add("FlightPlan");
+		RunningTimeElemNames.add("Com2UsbBridge");
+		RunningTimeElemNames.add("Usb2ComBridge");
+		fields.add( new UAVObjectField("RunningTime", "%", UAVObjectField.FieldType.UINT8, RunningTimeElemNames, null) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -159,7 +181,7 @@ public class TaskInfo extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x50F599F0;
+	protected static final int OBJID = 0xE34A7C32;
 	protected static final String NAME = "TaskInfo";
 	protected static String DESCRIPTION = "Task information";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
index d1d47aebb..c2cf64d49 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
@@ -28,13 +28,14 @@
 
 package org.openpilot.uavtalk.uavobjects;
 
-//import org.openpilot.uavtalk.uavobjects.*;
+import org.openpilot.uavtalk.uavobjects.*;
 import org.openpilot.uavtalk.UAVObjectManager;
 
 public class UAVObjectsInitialize {
 	
 	public static void register(UAVObjectManager objMngr) {
 		try {
+			objMngr.registerObject( new AccessoryDesired() );
 			objMngr.registerObject( new ActuatorCommand() );
 			objMngr.registerObject( new ActuatorDesired() );
 			objMngr.registerObject( new ActuatorSettings() );
@@ -45,19 +46,25 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new AttitudeRaw() );
 			objMngr.registerObject( new AttitudeSettings() );
 			objMngr.registerObject( new BaroAltitude() );
-			objMngr.registerObject( new BatterySettings() );
+			objMngr.registerObject( new CameraDesired() );
+			objMngr.registerObject( new CameraStabSettings() );
+			objMngr.registerObject( new FaultSettings() );
 			objMngr.registerObject( new FirmwareIAPObj() );
+			objMngr.registerObject( new FlightBatterySettings() );
 			objMngr.registerObject( new FlightBatteryState() );
 			objMngr.registerObject( new FlightPlanControl() );
 			objMngr.registerObject( new FlightPlanSettings() );
 			objMngr.registerObject( new FlightPlanStatus() );
+			objMngr.registerObject( new FlightStatus() );
 			objMngr.registerObject( new FlightTelemetryStats() );
+			objMngr.registerObject( new GCSReceiver() );
 			objMngr.registerObject( new GCSTelemetryStats() );
 			objMngr.registerObject( new GPSPosition() );
 			objMngr.registerObject( new GPSSatellites() );
 			objMngr.registerObject( new GPSTime() );
 			objMngr.registerObject( new GuidanceSettings() );
 			objMngr.registerObject( new HomeLocation() );
+			objMngr.registerObject( new HwSettings() );
 			objMngr.registerObject( new I2CStats() );
 			objMngr.registerObject( new ManualControlCommand() );
 			objMngr.registerObject( new ManualControlSettings() );
@@ -68,6 +75,7 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new PositionActual() );
 			objMngr.registerObject( new PositionDesired() );
 			objMngr.registerObject( new RateDesired() );
+			objMngr.registerObject( new ReceiverActivity() );
 			objMngr.registerObject( new SonarAltitude() );
 			objMngr.registerObject( new StabilizationDesired() );
 			objMngr.registerObject( new StabilizationSettings() );
@@ -75,7 +83,6 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new SystemSettings() );
 			objMngr.registerObject( new SystemStats() );
 			objMngr.registerObject( new TaskInfo() );
-			objMngr.registerObject( new TelemetrySettings() );
 			objMngr.registerObject( new VelocityActual() );
 			objMngr.registerObject( new VelocityDesired() );
 			objMngr.registerObject( new WatchdogStatus() );
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
index 649e6c122..97d038cfe 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
@@ -136,7 +136,7 @@ public class VelocityActual extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x48009C88;
+	protected static final int OBJID = 0x43007EB0;
 	protected static final String NAME = "VelocityActual";
 	protected static String DESCRIPTION = "Updated by @ref AHRSCommsModule and used within @ref GuidanceModule for velocity control";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
index 27f290898..f39fbd6de 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
@@ -136,7 +136,7 @@ public class VelocityDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x122F5E3A;
+	protected static final int OBJID = 0x25139D1A;
 	protected static final String NAME = "VelocityDesired";
 	protected static String DESCRIPTION = "Used within @ref GuidanceModule to communicate between the task computing the desired velocity and the PID loop to achieve it (running at different rates).";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
index 3adcad96b..acbdb43d1 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
@@ -132,7 +132,7 @@ public class WatchdogStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xD646E910;
+	protected static final int OBJID = 0xA207FA7C;
 	protected static final String NAME = "WatchdogStatus";
 	protected static String DESCRIPTION = "For monitoring the flags in the watchdog and especially the bootup flags";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp b/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
index e942b238f..dc593fd5f 100644
--- a/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
+++ b/ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
@@ -258,7 +258,7 @@ bool UAVObjectGeneratorJava::process_object(ObjectInfo* info)
     outCode.replace(QString("$(INITFIELDS)"), initfields);
 
     // Write the java code
-    bool res = writeFileIfDiffrent( javaOutputPath.absolutePath() + "/" + info->namelc + ".java", outCode );
+    bool res = writeFileIfDiffrent( javaOutputPath.absolutePath() + "/" + info->name + ".java", outCode );
     if (!res) {
         cout << "Error: Could not write gcs output files" << endl;
         return false;

From 92764ebc67b4240928dfeef5682442bb534c2ca6 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 5 Apr 2012 23:35:04 -0500
Subject: [PATCH 243/543] Small upgrades to teh android install

---
 androidgcs/.classpath                         |  1 +
 androidgcs/proguard.cfg                       |  2 +-
 androidgcs/res/layout/gcs_home.xml            | 50 ++++++++----
 .../androidgcs/OPTelemetryService.java        | 79 ++++++++++++++++++-
 4 files changed, 114 insertions(+), 18 deletions(-)

diff --git a/androidgcs/.classpath b/androidgcs/.classpath
index eb33e4360..c88f96260 100644
--- a/androidgcs/.classpath
+++ b/androidgcs/.classpath
@@ -5,5 +5,6 @@
 	<classpathentry kind="src" path="tests"/>
 	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.ANDROID_FRAMEWORK"/>
 	<classpathentry exported="true" kind="con" path="org.eclipse.jdt.junit.JUNIT_CONTAINER/4"/>
+	<classpathentry exported="true" kind="con" path="com.android.ide.eclipse.adt.LIBRARIES"/>
 	<classpathentry kind="output" path="bin/classes"/>
 </classpath>
diff --git a/androidgcs/proguard.cfg b/androidgcs/proguard.cfg
index 12dd0392c..ec78e7622 100644
--- a/androidgcs/proguard.cfg
+++ b/androidgcs/proguard.cfg
@@ -14,7 +14,7 @@
 -keep public class * extends android.preference.Preference
 -keep public class com.android.vending.licensing.ILicensingService
 
--keepclasseswithmembernames class * {
+-keepclasseswithmembers class * {
     native <methods>;
 }
 
diff --git a/androidgcs/res/layout/gcs_home.xml b/androidgcs/res/layout/gcs_home.xml
index e07f5b003..0ff427bcd 100644
--- a/androidgcs/res/layout/gcs_home.xml
+++ b/androidgcs/res/layout/gcs_home.xml
@@ -1,15 +1,37 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
-  xmlns:android="http://schemas.android.com/apk/res/android"
-  android:layout_width="match_parent"
-  android:layout_height="match_parent">
-    <Button 
-    	android:layout_alignParentTop="true" 
-    	android:layout_height="wrap_content" 
-    	android:text="@string/object_browser_name" 
-    	android:layout_width="wrap_content" 
-    	android:id="@+id/launch_object_browser" 
-    	android:drawableLeft="@drawable/browser_icon" android:layout_centerHorizontal="true"/>
-    <Button android:layout_width="wrap_content" android:layout_height="wrap_content" android:text="@string/pfd_name" android:id="@+id/launch_pfd" android:drawableLeft="@drawable/browser_icon" android:layout_below="@+id/launch_object_browser" android:layout_alignLeft="@+id/launch_object_browser" android:layout_alignRight="@+id/launch_object_browser"></Button>
-    <Button android:layout_width="wrap_content" android:layout_height="wrap_content" android:text="@string/location_name" android:id="@+id/launch_location" android:drawableLeft="@drawable/browser_icon" android:layout_below="@+id/launch_pfd" android:layout_alignLeft="@+id/launch_object_browser" android:layout_alignRight="@+id/launch_object_browser"></Button>
-</RelativeLayout>
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent" >
+
+    <Button
+        android:id="@+id/launch_object_browser"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignParentTop="true"
+        android:layout_centerHorizontal="true"
+        android:drawableLeft="@drawable/browser_icon"
+        android:text="@string/object_browser_name" />
+
+    <Button
+        android:id="@+id/launch_pfd"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignLeft="@+id/launch_object_browser"
+        android:layout_alignRight="@+id/launch_object_browser"
+        android:layout_below="@+id/launch_object_browser"
+        android:drawableLeft="@drawable/browser_icon"
+        android:text="@string/pfd_name" >
+    </Button>
+
+    <Button
+        android:id="@+id/launch_location"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignLeft="@+id/launch_object_browser"
+        android:layout_alignRight="@+id/launch_object_browser"
+        android:layout_below="@+id/launch_pfd"
+        android:drawableLeft="@drawable/browser_icon"
+        android:text="@string/location_name" >
+    </Button>
+
+</RelativeLayout>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index ce90f5a48..bc711560d 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -71,21 +71,25 @@ public class OPTelemetryService extends Service {
 				stopSelf(msg.arg2);
 				break;
 			case MSG_CONNECT:	
-				Toast.makeText(getApplicationContext(), "Attempting connection", Toast.LENGTH_SHORT).show();
 				terminate = false;
 				SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
-				//int connection_type = Integer.decode(prefs.getString("connection_type", ""));
-				int connection_type = 1;
+				int connection_type = Integer.decode(prefs.getString("connection_type", ""));
 				switch(connection_type) {
 				case 0: // No connection
 					return;
 				case 1:
+					Toast.makeText(getApplicationContext(), "Attempting fake connection", Toast.LENGTH_SHORT).show();
 					activeTelem = new FakeTelemetryThread();
 					break;
 				case 2:
+					Toast.makeText(getApplicationContext(), "Attempting BT connection", Toast.LENGTH_SHORT).show();
 					activeTelem = new BTTelemetryThread();
 					break;
 				case 3:
+					Toast.makeText(getApplicationContext(), "Attempting TCP connection", Toast.LENGTH_SHORT).show();
+					activeTelem = new TcpTelemetryThread();
+					break;
+				default:
 					throw new Error("Unsupported");
 				}
 				activeTelem.start();
@@ -329,6 +333,75 @@ public class OPTelemetryService extends Service {
 
 	};
 
+	private class TcpTelemetryThread extends Thread implements TelemTask { 
+
+		private UAVObjectManager objMngr;
+		private UAVTalk uavTalk;
+		private Telemetry tel;
+		private TelemetryMonitor mon;
+
+		public UAVObjectManager getObjectManager() { return objMngr; };
+
+		TcpTelemetryThread() {
+			objMngr = new UAVObjectManager();
+			UAVObjectsInitialize.register(objMngr);
+		}
+
+		public void run() {			
+			if (DEBUG) Log.d(TAG, "Telemetry Thread started");
+
+			Looper.prepare();						
+
+			TcpUAVTalk tcp = new TcpUAVTalk(OPTelemetryService.this);
+			for( int i = 0; i < 10; i++ ) {
+				if (DEBUG) Log.d(TAG, "Attempting network Connection");
+
+				tcp.connect(objMngr);
+
+				if (DEBUG) Log.d(TAG, "Done attempting connection");
+				if( tcp.getConnected() )
+					break;
+
+				try {
+					Thread.sleep(1000);
+				} catch (InterruptedException e) {
+					Log.e(TAG, "Thread interrupted while trying to connect");
+					e.printStackTrace();
+					return;
+				}
+			}
+			if( ! tcp.getConnected() ) {
+				return;
+			}
+
+
+			if (DEBUG) Log.d(TAG, "Connected via network");
+
+			uavTalk = tcp.getUavtalk();
+			tel = new Telemetry(uavTalk, objMngr);
+			mon = new TelemetryMonitor(objMngr,tel);
+			mon.addObserver(new Observer() {
+				public void update(Observable arg0, Object arg1) {
+					System.out.println("Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
+					if(mon.getConnected() /*&& mon.getObjectsUpdated()*/) {
+						Intent intent = new Intent();
+						intent.setAction(INTENT_ACTION_CONNECTED);
+						sendBroadcast(intent,null);					
+					}
+				}				
+			});
+
+
+			if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
+			while( !terminate ) {
+				if( !uavTalk.processInputStream() )
+					break;
+			}
+			if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
+		}
+
+	};
+
 	void postNotification(int id, String message) {
 		String ns = Context.NOTIFICATION_SERVICE;
 		NotificationManager mNManager = (NotificationManager) getSystemService(ns);

From c1c12ed57e1356e5f16a3452389d89fdcfa91746 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 May 2012 10:22:38 -0500
Subject: [PATCH 244/543] Add TCP UAVTalk interface for android

---
 .../org/openpilot/androidgcs/TcpUAVTalk.java  | 84 +++++++++++++++++++
 1 file changed, 84 insertions(+)
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java

diff --git a/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
new file mode 100644
index 000000000..ad503757e
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
@@ -0,0 +1,84 @@
+package org.openpilot.androidgcs;
+
+import java.io.IOException;
+import java.net.InetAddress;
+import java.net.Socket;
+import java.net.UnknownHostException;
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVTalk;
+
+import android.content.Context;
+import android.util.Log;
+
+public class TcpUAVTalk {
+	private final String TAG = "TcpUAVTalk";
+	public static int LOGLEVEL = 2;
+	public static boolean WARN = LOGLEVEL > 1;
+	public static boolean DEBUG = LOGLEVEL > 0;
+	
+	// Temporarily define fixed device name
+	public final static String IP_ADDRESS = "127.0.0.1";
+	public final static int PORT = 9001;
+	
+	private UAVTalk uavTalk;
+	private boolean connected; 
+	
+	public TcpUAVTalk(Context caller) {
+        if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + IP_ADDRESS);
+
+        connected = false;         
+    }
+	
+	public boolean connect(UAVObjectManager objMngr) {
+		if( getConnected() ) 
+			return true;
+		if( !openTelemetryTcp(objMngr) )
+			return false;
+		return true;		
+	}
+
+	public boolean getConnected() {
+		return connected;
+	}
+    	
+	public UAVTalk getUavtalk() {
+		return uavTalk;
+	}
+	
+ 
+	private boolean openTelemetryTcp(UAVObjectManager objMngr) {
+		Log.d(TAG, "Opening conncetion to " + IP_ADDRESS);
+		
+		InetAddress serverAddr = null;
+		try {
+			serverAddr = InetAddress.getByName(IP_ADDRESS);
+		} catch (UnknownHostException e1) {
+			// TODO Auto-generated catch block
+			e1.printStackTrace();
+			return false;
+		}
+		
+		Socket socket = null;
+		try {
+			socket = new Socket(serverAddr,PORT);
+		} catch (IOException e1) {
+			// TODO Auto-generated catch block
+			e1.printStackTrace();
+			return false;
+		}
+
+		connected = true;
+		
+		try {
+			uavTalk = new UAVTalk(socket.getInputStream(), socket.getOutputStream(), objMngr);
+		} catch (IOException e) {
+			Log.e(TAG,"Error starting UAVTalk");
+			// TODO Auto-generated catch block
+			//e.printStackTrace();
+			return false;
+		}
+				
+		return true;
+	}
+
+}

From 9d7c15fb7f625dd928e4a7b4fd1ea040436983cd Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 May 2012 11:59:50 -0500
Subject: [PATCH 245/543] Enable some debugging statements

---
 .../org/openpilot/androidgcs/TcpUAVTalk.java   |  4 ++--
 .../src/org/openpilot/uavtalk/Telemetry.java   |  2 +-
 .../openpilot/uavtalk/TelemetryMonitor.java    |  3 ++-
 .../src/org/openpilot/uavtalk/UAVTalk.java     | 18 +++++++++++-------
 4 files changed, 16 insertions(+), 11 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
index ad503757e..47074f968 100644
--- a/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
@@ -17,7 +17,7 @@ public class TcpUAVTalk {
 	public static boolean DEBUG = LOGLEVEL > 0;
 	
 	// Temporarily define fixed device name
-	public final static String IP_ADDRESS = "127.0.0.1";
+	public final static String IP_ADDRESS = "10.21.18.120";
 	public final static int PORT = 9001;
 	
 	private UAVTalk uavTalk;
@@ -47,7 +47,7 @@ public class TcpUAVTalk {
 	
  
 	private boolean openTelemetryTcp(UAVObjectManager objMngr) {
-		Log.d(TAG, "Opening conncetion to " + IP_ADDRESS);
+		Log.d(TAG, "Opening conncetion to " + IP_ADDRESS + " at address " + PORT);
 		
 		InetAddress serverAddr = null;
 		try {
diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 1395a5c08..11e6cb2ca 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -17,7 +17,7 @@ import android.util.Log;
 public class Telemetry {
 	
 	private final String TAG = "Telemetry";
-	public static int LOGLEVEL = 0;
+	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index daedcc85b..903b6b29f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -185,7 +185,8 @@ public class TelemetryMonitor extends Observable{
 	    // Force update if not yet connected
 	    gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
 	    flightStatsObj = objMngr.getObject("FlightTelemetryStats");
-	    
+	    if (DEBUG) Log.d(TAG,"GCS Status: " + gcsStatsObj.getField("Status").getValue());
+	    if (DEBUG) Log.d(TAG,"Flight Status: " + flightStatsObj.getField("Status").getValue());
 	    if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 ||
 	    		((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
 	    {
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 39c1f6ee7..5a3a9a1a5 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -12,7 +12,7 @@ import android.util.Log;
 public class UAVTalk extends Observable {
 
 	static final String TAG = "UAVTalk";
-	public static int LOGLEVEL = 0;
+	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
@@ -433,6 +433,7 @@ public class UAVTalk extends Observable {
 			rxCSPacket = rxbyte;
 
 			if (rxCS != rxCSPacket) { // packet error - faulty CRC
+				if (DEBUG) Log.d(TAG,"Bad crc");
 				stats.rxErrors++;
 				rxState = RxStateType.STATE_SYNC;
 				break;
@@ -441,11 +442,14 @@ public class UAVTalk extends Observable {
 			if (rxPacketLength != (packetSize + 1)) { // packet error -
 														// mismatched packet
 														// size
+				if (DEBUG) Log.d(TAG,"Bad size");
 				stats.rxErrors++;
 				rxState = RxStateType.STATE_SYNC;
 				break;
 			}
 
+			if (DEBUG) Log.d(TAG,"Received");
+
 			rxBuffer.position(0);
 			receiveObject(rxType, rxObjId, rxInstId, rxBuffer);
 			stats.rxObjectBytes += rxLength;
@@ -500,8 +504,8 @@ public class UAVTalk extends Observable {
 		case TYPE_OBJ_ACK:
 			// All instances, not allowed for OBJ_ACK messages
 			if (!allInstances) {
-				// System.out.println("Received object ack: " + objId + " " +
-				// objMngr.getObject(objId).getName());
+				 System.out.println("Received object ack: " + objId + " " +
+				 objMngr.getObject(objId).getName());
 				// Get object and update its data
 				obj = updateObject(objId, instId, data);
 				// Transmit ACK
@@ -517,8 +521,8 @@ public class UAVTalk extends Observable {
 		case TYPE_OBJ_REQ:
 			// Get object, if all instances are requested get instance 0 of the
 			// object
-			// System.out.println("Received object request: " + objId + " " +
-			// objMngr.getObject(objId).getName());
+			 System.out.println("Received object request: " + objId + " " +
+			 objMngr.getObject(objId).getName());
 			if (allInstances) {
 				obj = objMngr.getObject(objId);
 			} else {
@@ -534,8 +538,8 @@ public class UAVTalk extends Observable {
 		case TYPE_ACK:
 			// All instances, not allowed for ACK messages
 			if (!allInstances) {
-				// System.out.println("Received ack: " + objId + " " +
-				// objMngr.getObject(objId).getName());
+				System.out.println("Received ack: " + objId + " " +
+				 objMngr.getObject(objId).getName());
 				// Get object
 				obj = objMngr.getObject(objId, instId);
 				// Check if an ack is pending

From 097ae637bfa8f2dfe0fd64613c8ba9a6d2cf7eff Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 May 2012 12:06:36 -0500
Subject: [PATCH 246/543] Remove the TCHAIN_PREFIX flag from the OSX Makefile. 
 No clue how that got merged in.

---
 flight/Revolution/Makefile.osx | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/flight/Revolution/Makefile.osx b/flight/Revolution/Makefile.osx
index e2c8ea694..a38bced0d 100644
--- a/flight/Revolution/Makefile.osx
+++ b/flight/Revolution/Makefile.osx
@@ -40,9 +40,6 @@ USE_BOOTLOADER ?= NO
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= NO
 
-# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
-TCHAIN_PREFIX ?= /usr/local/android-ndk-r5/toolchains/arm-linux-androideabi-4.4.3/prebuilt/darwin-x86/bin/arm-linux-androideabi-
-
 # Remove command is different for Code Sourcery on Windows
 REMOVE_CMD ?= rm
 

From 2257bc59531981d37b2330da7b0168e153fef62a Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 May 2012 14:42:19 -0500
Subject: [PATCH 247/543] Fix an insidious bug in the Android UAVObjectField
 unpack method for enums that was exposed by shuffling field orders.  There
 goes 5 hours, FML.

---
 androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index 78ad70630..286859e63 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -226,9 +226,9 @@ public class UAVObjectField {
             }
             case ENUM:
             {
-        		List<Byte> l = (List<Byte>) data;
+        		List<Byte> l = (List<Byte>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		l.set(index, dataIn.get(index));
+            		l.set(index, dataIn.get());
             	}
                 break;
             }

From 902dbd9269799022bd59ca54f29a4507f9773a65 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 May 2012 14:49:57 -0500
Subject: [PATCH 248/543] Update objects and delete old UAVObjects

---
 .../uavtalk/uavobjects/AHRSCalibration.java   | 252 ------------------
 .../uavtalk/uavobjects/AHRSSettings.java      | 178 -------------
 .../uavtalk/uavobjects/AhrsStatus.java        | 201 --------------
 .../uavtalk/uavobjects/AttitudeRaw.java       | 158 -----------
 .../uavtalk/uavobjects/FlightStatus.java      |   4 +-
 .../uavtalk/uavobjects/GuidanceSettings.java  |   8 +-
 .../uavtalk/uavobjects/HomeLocation.java      |  32 +--
 .../uavtalk/uavobjects/HwSettings.java        |  98 +++++--
 .../uavobjects/ManualControlSettings.java     |   4 +-
 .../uavtalk/uavobjects/MixerStatus.java       |  10 +-
 .../uavtalk/uavobjects/NedAccel.java          |   6 +-
 .../uavtalk/uavobjects/PositionActual.java    |   8 +-
 .../uavtalk/uavobjects/PositionDesired.java   |   8 +-
 .../uavtalk/uavobjects/SystemAlarms.java      |   4 +-
 .../uavtalk/uavobjects/SystemStats.java       |  14 +-
 .../uavtalk/uavobjects/TaskInfo.java          |  17 +-
 .../uavobjects/UAVObjectsInitialize.java      |  18 +-
 .../uavtalk/uavobjects/VelocityActual.java    |   8 +-
 .../uavtalk/uavobjects/VelocityDesired.java   |   8 +-
 19 files changed, 153 insertions(+), 883 deletions(-)
 delete mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java
 delete mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java
 delete mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AhrsStatus.java
 delete mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeRaw.java

diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java
deleted file mode 100644
index 47d42991e..000000000
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSCalibration.java
+++ /dev/null
@@ -1,252 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       uavobjecttemplate.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Template for an uavobject in java
- *             This is a autogenerated file!! Do not modify and expect a result.
- *             Contains the calibration settings for the @ref AHRSCommsModule
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-package org.openpilot.uavtalk.uavobjects;
-
-import java.nio.ByteBuffer;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.ListIterator;
-
-import org.openpilot.uavtalk.UAVObjectManager;
-import org.openpilot.uavtalk.UAVObject;
-import org.openpilot.uavtalk.UAVDataObject;
-import org.openpilot.uavtalk.UAVObjectField;
-
-/**
-Contains the calibration settings for the @ref AHRSCommsModule
-
-generated from ahrscalibration.xml
- **/
-public class AHRSCalibration extends UAVDataObject {
-
-	public AHRSCalibration() {
-		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
-		
-		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
-		
-
-		List<String> accel_biasElemNames = new ArrayList<String>();
-		accel_biasElemNames.add("X");
-		accel_biasElemNames.add("Y");
-		accel_biasElemNames.add("Z");
-		fields.add( new UAVObjectField("accel_bias", "m/s", UAVObjectField.FieldType.FLOAT32, accel_biasElemNames, null) );
-
-		List<String> accel_scaleElemNames = new ArrayList<String>();
-		accel_scaleElemNames.add("X");
-		accel_scaleElemNames.add("Y");
-		accel_scaleElemNames.add("Z");
-		fields.add( new UAVObjectField("accel_scale", "(m/s)/lsb", UAVObjectField.FieldType.FLOAT32, accel_scaleElemNames, null) );
-
-		List<String> accel_orthoElemNames = new ArrayList<String>();
-		accel_orthoElemNames.add("XY");
-		accel_orthoElemNames.add("XZ");
-		accel_orthoElemNames.add("YZ");
-		fields.add( new UAVObjectField("accel_ortho", "scale", UAVObjectField.FieldType.FLOAT32, accel_orthoElemNames, null) );
-
-		List<String> accel_varElemNames = new ArrayList<String>();
-		accel_varElemNames.add("X");
-		accel_varElemNames.add("Y");
-		accel_varElemNames.add("Z");
-		fields.add( new UAVObjectField("accel_var", "(m/s)^2", UAVObjectField.FieldType.FLOAT32, accel_varElemNames, null) );
-
-		List<String> gyro_biasElemNames = new ArrayList<String>();
-		gyro_biasElemNames.add("X");
-		gyro_biasElemNames.add("Y");
-		gyro_biasElemNames.add("Z");
-		fields.add( new UAVObjectField("gyro_bias", "rad/s", UAVObjectField.FieldType.FLOAT32, gyro_biasElemNames, null) );
-
-		List<String> gyro_scaleElemNames = new ArrayList<String>();
-		gyro_scaleElemNames.add("X");
-		gyro_scaleElemNames.add("Y");
-		gyro_scaleElemNames.add("Z");
-		fields.add( new UAVObjectField("gyro_scale", "(rad/s)/lsb", UAVObjectField.FieldType.FLOAT32, gyro_scaleElemNames, null) );
-
-		List<String> gyro_varElemNames = new ArrayList<String>();
-		gyro_varElemNames.add("X");
-		gyro_varElemNames.add("Y");
-		gyro_varElemNames.add("Z");
-		fields.add( new UAVObjectField("gyro_var", "(rad/s)^2", UAVObjectField.FieldType.FLOAT32, gyro_varElemNames, null) );
-
-		List<String> gyro_tempcompfactorElemNames = new ArrayList<String>();
-		gyro_tempcompfactorElemNames.add("X");
-		gyro_tempcompfactorElemNames.add("Y");
-		gyro_tempcompfactorElemNames.add("Z");
-		fields.add( new UAVObjectField("gyro_tempcompfactor", "raw/raw", UAVObjectField.FieldType.FLOAT32, gyro_tempcompfactorElemNames, null) );
-
-		List<String> mag_biasElemNames = new ArrayList<String>();
-		mag_biasElemNames.add("X");
-		mag_biasElemNames.add("Y");
-		mag_biasElemNames.add("Z");
-		fields.add( new UAVObjectField("mag_bias", "mGau", UAVObjectField.FieldType.FLOAT32, mag_biasElemNames, null) );
-
-		List<String> mag_scaleElemNames = new ArrayList<String>();
-		mag_scaleElemNames.add("X");
-		mag_scaleElemNames.add("Y");
-		mag_scaleElemNames.add("Z");
-		fields.add( new UAVObjectField("mag_scale", "(mGau)/lsb", UAVObjectField.FieldType.FLOAT32, mag_scaleElemNames, null) );
-
-		List<String> mag_varElemNames = new ArrayList<String>();
-		mag_varElemNames.add("X");
-		mag_varElemNames.add("Y");
-		mag_varElemNames.add("Z");
-		fields.add( new UAVObjectField("mag_var", "mGau^2", UAVObjectField.FieldType.FLOAT32, mag_varElemNames, null) );
-
-		List<String> vel_varElemNames = new ArrayList<String>();
-		vel_varElemNames.add("0");
-		fields.add( new UAVObjectField("vel_var", "(m/s)^2", UAVObjectField.FieldType.FLOAT32, vel_varElemNames, null) );
-
-		List<String> pos_varElemNames = new ArrayList<String>();
-		pos_varElemNames.add("0");
-		fields.add( new UAVObjectField("pos_var", "m^2", UAVObjectField.FieldType.FLOAT32, pos_varElemNames, null) );
-
-		List<String> measure_varElemNames = new ArrayList<String>();
-		measure_varElemNames.add("0");
-		List<String> measure_varEnumOptions = new ArrayList<String>();
-		measure_varEnumOptions.add("SET");
-		measure_varEnumOptions.add("MEASURE");
-		fields.add( new UAVObjectField("measure_var", "", UAVObjectField.FieldType.ENUM, measure_varElemNames, measure_varEnumOptions) );
-
-
-		// Compute the number of bytes for this object
-		int numBytes = 0;
-		ListIterator<UAVObjectField> li = fields.listIterator();
-		while(li.hasNext()) {
-			numBytes += li.next().getNumBytes();
-		}
-		NUMBYTES = numBytes;
-
-		// Initialize object
-		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
-		// Set the default field values
-		setDefaultFieldValues();
-		// Set the object description
-		setDescription(DESCRIPTION);
-	}
-
-	/**
-	 * Create a Metadata object filled with default values for this object
-	 * @return Metadata object with default values
-	 */
-	public Metadata getDefaultMetadata() {
-		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
-		return metadata;
-	}
-
-	/**
-	 * Initialize object fields with the default values.
-	 * If a default value is not specified the object fields
-	 * will be initialized to zero.
-	 */
-	public void setDefaultFieldValues()
-	{
-		getField("accel_bias").setValue(-73.5,0);
-		getField("accel_bias").setValue(-73.5,1);
-		getField("accel_bias").setValue(73.5,2);
-		getField("accel_scale").setValue(0.0359,0);
-		getField("accel_scale").setValue(0.0359,1);
-		getField("accel_scale").setValue(0.0359,2);
-		getField("accel_ortho").setValue(0,0);
-		getField("accel_ortho").setValue(0,1);
-		getField("accel_ortho").setValue(0,2);
-		getField("accel_var").setValue(0.0005,0);
-		getField("accel_var").setValue(0.0005,1);
-		getField("accel_var").setValue(0.0005,2);
-		getField("gyro_bias").setValue(28,0);
-		getField("gyro_bias").setValue(-28,1);
-		getField("gyro_bias").setValue(28,2);
-		getField("gyro_scale").setValue(-0.017,0);
-		getField("gyro_scale").setValue(0.017,1);
-		getField("gyro_scale").setValue(-0.017,2);
-		getField("gyro_var").setValue(0.0001,0);
-		getField("gyro_var").setValue(0.0001,1);
-		getField("gyro_var").setValue(0.0001,2);
-		getField("gyro_tempcompfactor").setValue(0,0);
-		getField("gyro_tempcompfactor").setValue(0,1);
-		getField("gyro_tempcompfactor").setValue(0,2);
-		getField("mag_bias").setValue(0,0);
-		getField("mag_bias").setValue(0,1);
-		getField("mag_bias").setValue(0,2);
-		getField("mag_scale").setValue(1,0);
-		getField("mag_scale").setValue(1,1);
-		getField("mag_scale").setValue(1,2);
-		getField("mag_var").setValue(50,0);
-		getField("mag_var").setValue(50,1);
-		getField("mag_var").setValue(50,2);
-		getField("vel_var").setValue(10);
-		getField("pos_var").setValue(0.04);
-		getField("measure_var").setValue("SET");
-
-	}
-
-	/**
-	 * Create a clone of this object, a new instance ID must be specified.
-	 * Do not use this function directly to create new instances, the
-	 * UAVObjectManager should be used instead.
-	 */
-	public UAVDataObject clone(int instID) {
-		// TODO: Need to get specific instance to clone
-		try {
-			AHRSCalibration obj = new AHRSCalibration();
-			obj.initialize(instID, this.getMetaObject());
-			return obj;
-		} catch  (Exception e) {
-			return null;
-		}
-	}
-
-	/**
-	 * Static function to retrieve an instance of the object.
-	 */
-	public AHRSCalibration GetInstance(UAVObjectManager objMngr, int instID)
-	{
-	    return (AHRSCalibration)(objMngr.getObject(AHRSCalibration.OBJID, instID));
-	}
-
-	// Constants
-	protected static final int OBJID = 0xFD0EDFC4;
-	protected static final String NAME = "AHRSCalibration";
-	protected static String DESCRIPTION = "Contains the calibration settings for the @ref AHRSCommsModule";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
-	protected static int NUMBYTES = 0;
-
-
-}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java
deleted file mode 100644
index 032dae775..000000000
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AHRSSettings.java
+++ /dev/null
@@ -1,178 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       uavobjecttemplate.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Template for an uavobject in java
- *             This is a autogenerated file!! Do not modify and expect a result.
- *             Settings for the @ref AHRSCommsModule to control the algorithm and what is updated
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-package org.openpilot.uavtalk.uavobjects;
-
-import java.nio.ByteBuffer;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.ListIterator;
-
-import org.openpilot.uavtalk.UAVObjectManager;
-import org.openpilot.uavtalk.UAVObject;
-import org.openpilot.uavtalk.UAVDataObject;
-import org.openpilot.uavtalk.UAVObjectField;
-
-/**
-Settings for the @ref AHRSCommsModule to control the algorithm and what is updated
-
-generated from ahrssettings.xml
- **/
-public class AHRSSettings extends UAVDataObject {
-
-	public AHRSSettings() {
-		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
-		
-		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
-		
-
-		List<String> YawBiasElemNames = new ArrayList<String>();
-		YawBiasElemNames.add("0");
-		fields.add( new UAVObjectField("YawBias", "", UAVObjectField.FieldType.FLOAT32, YawBiasElemNames, null) );
-
-		List<String> PitchBiasElemNames = new ArrayList<String>();
-		PitchBiasElemNames.add("0");
-		fields.add( new UAVObjectField("PitchBias", "", UAVObjectField.FieldType.FLOAT32, PitchBiasElemNames, null) );
-
-		List<String> RollBiasElemNames = new ArrayList<String>();
-		RollBiasElemNames.add("0");
-		fields.add( new UAVObjectField("RollBias", "", UAVObjectField.FieldType.FLOAT32, RollBiasElemNames, null) );
-
-		List<String> AlgorithmElemNames = new ArrayList<String>();
-		AlgorithmElemNames.add("0");
-		List<String> AlgorithmEnumOptions = new ArrayList<String>();
-		AlgorithmEnumOptions.add("SIMPLE");
-		AlgorithmEnumOptions.add("INSGPS_INDOOR_NOMAG");
-		AlgorithmEnumOptions.add("INSGPS_INDOOR");
-		AlgorithmEnumOptions.add("INSGPS_OUTDOOR");
-		fields.add( new UAVObjectField("Algorithm", "", UAVObjectField.FieldType.ENUM, AlgorithmElemNames, AlgorithmEnumOptions) );
-
-		List<String> DownsamplingElemNames = new ArrayList<String>();
-		DownsamplingElemNames.add("0");
-		fields.add( new UAVObjectField("Downsampling", "", UAVObjectField.FieldType.UINT8, DownsamplingElemNames, null) );
-
-		List<String> UpdatePeriodElemNames = new ArrayList<String>();
-		UpdatePeriodElemNames.add("0");
-		fields.add( new UAVObjectField("UpdatePeriod", "ms", UAVObjectField.FieldType.UINT8, UpdatePeriodElemNames, null) );
-
-		List<String> BiasCorrectedRawElemNames = new ArrayList<String>();
-		BiasCorrectedRawElemNames.add("0");
-		List<String> BiasCorrectedRawEnumOptions = new ArrayList<String>();
-		BiasCorrectedRawEnumOptions.add("TRUE");
-		BiasCorrectedRawEnumOptions.add("FALSE");
-		fields.add( new UAVObjectField("BiasCorrectedRaw", "", UAVObjectField.FieldType.ENUM, BiasCorrectedRawElemNames, BiasCorrectedRawEnumOptions) );
-
-
-		// Compute the number of bytes for this object
-		int numBytes = 0;
-		ListIterator<UAVObjectField> li = fields.listIterator();
-		while(li.hasNext()) {
-			numBytes += li.next().getNumBytes();
-		}
-		NUMBYTES = numBytes;
-
-		// Initialize object
-		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
-		// Set the default field values
-		setDefaultFieldValues();
-		// Set the object description
-		setDescription(DESCRIPTION);
-	}
-
-	/**
-	 * Create a Metadata object filled with default values for this object
-	 * @return Metadata object with default values
-	 */
-	public Metadata getDefaultMetadata() {
-		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
-		return metadata;
-	}
-
-	/**
-	 * Initialize object fields with the default values.
-	 * If a default value is not specified the object fields
-	 * will be initialized to zero.
-	 */
-	public void setDefaultFieldValues()
-	{
-		getField("YawBias").setValue(0);
-		getField("PitchBias").setValue(0);
-		getField("RollBias").setValue(0);
-		getField("Algorithm").setValue("INSGPS_INDOOR_NOMAG");
-		getField("Downsampling").setValue(20);
-		getField("UpdatePeriod").setValue(1);
-		getField("BiasCorrectedRaw").setValue("TRUE");
-
-	}
-
-	/**
-	 * Create a clone of this object, a new instance ID must be specified.
-	 * Do not use this function directly to create new instances, the
-	 * UAVObjectManager should be used instead.
-	 */
-	public UAVDataObject clone(int instID) {
-		// TODO: Need to get specific instance to clone
-		try {
-			AHRSSettings obj = new AHRSSettings();
-			obj.initialize(instID, this.getMetaObject());
-			return obj;
-		} catch  (Exception e) {
-			return null;
-		}
-	}
-
-	/**
-	 * Static function to retrieve an instance of the object.
-	 */
-	public AHRSSettings GetInstance(UAVObjectManager objMngr, int instID)
-	{
-	    return (AHRSSettings)(objMngr.getObject(AHRSSettings.OBJID, instID));
-	}
-
-	// Constants
-	protected static final int OBJID = 0xF8591ED8;
-	protected static final String NAME = "AHRSSettings";
-	protected static String DESCRIPTION = "Settings for the @ref AHRSCommsModule to control the algorithm and what is updated";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
-	protected static int NUMBYTES = 0;
-
-
-}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AhrsStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AhrsStatus.java
deleted file mode 100644
index 82e447a70..000000000
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AhrsStatus.java
+++ /dev/null
@@ -1,201 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       uavobjecttemplate.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Template for an uavobject in java
- *             This is a autogenerated file!! Do not modify and expect a result.
- *             Status for the @ref AHRSCommsModule, including communication errors
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-package org.openpilot.uavtalk.uavobjects;
-
-import java.nio.ByteBuffer;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.ListIterator;
-
-import org.openpilot.uavtalk.UAVObjectManager;
-import org.openpilot.uavtalk.UAVObject;
-import org.openpilot.uavtalk.UAVDataObject;
-import org.openpilot.uavtalk.UAVObjectField;
-
-/**
-Status for the @ref AHRSCommsModule, including communication errors
-
-generated from ahrsstatus.xml
- **/
-public class AhrsStatus extends UAVDataObject {
-
-	public AhrsStatus() {
-		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
-		
-		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
-		
-
-		List<String> RunningTimeElemNames = new ArrayList<String>();
-		RunningTimeElemNames.add("0");
-		fields.add( new UAVObjectField("RunningTime", "ms", UAVObjectField.FieldType.UINT32, RunningTimeElemNames, null) );
-
-		List<String> SerialNumberElemNames = new ArrayList<String>();
-		SerialNumberElemNames.add("0");
-		SerialNumberElemNames.add("1");
-		SerialNumberElemNames.add("2");
-		SerialNumberElemNames.add("3");
-		SerialNumberElemNames.add("4");
-		SerialNumberElemNames.add("5");
-		SerialNumberElemNames.add("6");
-		SerialNumberElemNames.add("7");
-		fields.add( new UAVObjectField("SerialNumber", "", UAVObjectField.FieldType.UINT8, SerialNumberElemNames, null) );
-
-		List<String> CPULoadElemNames = new ArrayList<String>();
-		CPULoadElemNames.add("0");
-		fields.add( new UAVObjectField("CPULoad", "count", UAVObjectField.FieldType.UINT8, CPULoadElemNames, null) );
-
-		List<String> IdleTimePerCyleElemNames = new ArrayList<String>();
-		IdleTimePerCyleElemNames.add("0");
-		fields.add( new UAVObjectField("IdleTimePerCyle", "10x ms", UAVObjectField.FieldType.UINT8, IdleTimePerCyleElemNames, null) );
-
-		List<String> RunningTimePerCyleElemNames = new ArrayList<String>();
-		RunningTimePerCyleElemNames.add("0");
-		fields.add( new UAVObjectField("RunningTimePerCyle", "10x ms", UAVObjectField.FieldType.UINT8, RunningTimePerCyleElemNames, null) );
-
-		List<String> DroppedUpdatesElemNames = new ArrayList<String>();
-		DroppedUpdatesElemNames.add("0");
-		fields.add( new UAVObjectField("DroppedUpdates", "count", UAVObjectField.FieldType.UINT8, DroppedUpdatesElemNames, null) );
-
-		List<String> LinkRunningElemNames = new ArrayList<String>();
-		LinkRunningElemNames.add("0");
-		List<String> LinkRunningEnumOptions = new ArrayList<String>();
-		LinkRunningEnumOptions.add("FALSE");
-		LinkRunningEnumOptions.add("TRUE");
-		fields.add( new UAVObjectField("LinkRunning", "", UAVObjectField.FieldType.ENUM, LinkRunningElemNames, LinkRunningEnumOptions) );
-
-		List<String> AhrsKickstartsElemNames = new ArrayList<String>();
-		AhrsKickstartsElemNames.add("0");
-		fields.add( new UAVObjectField("AhrsKickstarts", "count", UAVObjectField.FieldType.UINT8, AhrsKickstartsElemNames, null) );
-
-		List<String> AhrsCrcErrorsElemNames = new ArrayList<String>();
-		AhrsCrcErrorsElemNames.add("0");
-		fields.add( new UAVObjectField("AhrsCrcErrors", "count", UAVObjectField.FieldType.UINT8, AhrsCrcErrorsElemNames, null) );
-
-		List<String> AhrsRetriesElemNames = new ArrayList<String>();
-		AhrsRetriesElemNames.add("0");
-		fields.add( new UAVObjectField("AhrsRetries", "count", UAVObjectField.FieldType.UINT8, AhrsRetriesElemNames, null) );
-
-		List<String> AhrsInvalidPacketsElemNames = new ArrayList<String>();
-		AhrsInvalidPacketsElemNames.add("0");
-		fields.add( new UAVObjectField("AhrsInvalidPackets", "count", UAVObjectField.FieldType.UINT8, AhrsInvalidPacketsElemNames, null) );
-
-		List<String> OpCrcErrorsElemNames = new ArrayList<String>();
-		OpCrcErrorsElemNames.add("0");
-		fields.add( new UAVObjectField("OpCrcErrors", "count", UAVObjectField.FieldType.UINT8, OpCrcErrorsElemNames, null) );
-
-		List<String> OpRetriesElemNames = new ArrayList<String>();
-		OpRetriesElemNames.add("0");
-		fields.add( new UAVObjectField("OpRetries", "count", UAVObjectField.FieldType.UINT8, OpRetriesElemNames, null) );
-
-		List<String> OpInvalidPacketsElemNames = new ArrayList<String>();
-		OpInvalidPacketsElemNames.add("0");
-		fields.add( new UAVObjectField("OpInvalidPackets", "count", UAVObjectField.FieldType.UINT8, OpInvalidPacketsElemNames, null) );
-
-
-		// Compute the number of bytes for this object
-		int numBytes = 0;
-		ListIterator<UAVObjectField> li = fields.listIterator();
-		while(li.hasNext()) {
-			numBytes += li.next().getNumBytes();
-		}
-		NUMBYTES = numBytes;
-
-		// Initialize object
-		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
-		// Set the default field values
-		setDefaultFieldValues();
-		// Set the object description
-		setDescription(DESCRIPTION);
-	}
-
-	/**
-	 * Create a Metadata object filled with default values for this object
-	 * @return Metadata object with default values
-	 */
-	public Metadata getDefaultMetadata() {
-		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 1000;
-		return metadata;
-	}
-
-	/**
-	 * Initialize object fields with the default values.
-	 * If a default value is not specified the object fields
-	 * will be initialized to zero.
-	 */
-	public void setDefaultFieldValues()
-	{
-
-	}
-
-	/**
-	 * Create a clone of this object, a new instance ID must be specified.
-	 * Do not use this function directly to create new instances, the
-	 * UAVObjectManager should be used instead.
-	 */
-	public UAVDataObject clone(int instID) {
-		// TODO: Need to get specific instance to clone
-		try {
-			AhrsStatus obj = new AhrsStatus();
-			obj.initialize(instID, this.getMetaObject());
-			return obj;
-		} catch  (Exception e) {
-			return null;
-		}
-	}
-
-	/**
-	 * Static function to retrieve an instance of the object.
-	 */
-	public AhrsStatus GetInstance(UAVObjectManager objMngr, int instID)
-	{
-	    return (AhrsStatus)(objMngr.getObject(AhrsStatus.OBJID, instID));
-	}
-
-	// Constants
-	protected static final int OBJID = 0x706D1AB8;
-	protected static final String NAME = "AhrsStatus";
-	protected static String DESCRIPTION = "Status for the @ref AHRSCommsModule, including communication errors";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
-	protected static int NUMBYTES = 0;
-
-
-}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeRaw.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeRaw.java
deleted file mode 100644
index b8c3aacb4..000000000
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeRaw.java
+++ /dev/null
@@ -1,158 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       uavobjecttemplate.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Template for an uavobject in java
- *             This is a autogenerated file!! Do not modify and expect a result.
- *             The raw attitude sensor data from @ref AHRSCommsModule.  Not always updated.
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-package org.openpilot.uavtalk.uavobjects;
-
-import java.nio.ByteBuffer;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.ListIterator;
-
-import org.openpilot.uavtalk.UAVObjectManager;
-import org.openpilot.uavtalk.UAVObject;
-import org.openpilot.uavtalk.UAVDataObject;
-import org.openpilot.uavtalk.UAVObjectField;
-
-/**
-The raw attitude sensor data from @ref AHRSCommsModule.  Not always updated.
-
-generated from attituderaw.xml
- **/
-public class AttitudeRaw extends UAVDataObject {
-
-	public AttitudeRaw() {
-		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
-		
-		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
-		
-
-		List<String> gyrosElemNames = new ArrayList<String>();
-		gyrosElemNames.add("X");
-		gyrosElemNames.add("Y");
-		gyrosElemNames.add("Z");
-		fields.add( new UAVObjectField("gyros", "deg/s", UAVObjectField.FieldType.FLOAT32, gyrosElemNames, null) );
-
-		List<String> accelsElemNames = new ArrayList<String>();
-		accelsElemNames.add("X");
-		accelsElemNames.add("Y");
-		accelsElemNames.add("Z");
-		fields.add( new UAVObjectField("accels", "m/s^2", UAVObjectField.FieldType.FLOAT32, accelsElemNames, null) );
-
-		List<String> magnetometersElemNames = new ArrayList<String>();
-		magnetometersElemNames.add("X");
-		magnetometersElemNames.add("Y");
-		magnetometersElemNames.add("Z");
-		fields.add( new UAVObjectField("magnetometers", "mGa", UAVObjectField.FieldType.INT16, magnetometersElemNames, null) );
-
-		List<String> gyrotempElemNames = new ArrayList<String>();
-		gyrotempElemNames.add("XY");
-		gyrotempElemNames.add("Z");
-		fields.add( new UAVObjectField("gyrotemp", "raw", UAVObjectField.FieldType.UINT16, gyrotempElemNames, null) );
-
-
-		// Compute the number of bytes for this object
-		int numBytes = 0;
-		ListIterator<UAVObjectField> li = fields.listIterator();
-		while(li.hasNext()) {
-			numBytes += li.next().getNumBytes();
-		}
-		NUMBYTES = numBytes;
-
-		// Initialize object
-		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
-		// Set the default field values
-		setDefaultFieldValues();
-		// Set the object description
-		setDescription(DESCRIPTION);
-	}
-
-	/**
-	 * Create a Metadata object filled with default values for this object
-	 * @return Metadata object with default values
-	 */
-	public Metadata getDefaultMetadata() {
-		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
-		return metadata;
-	}
-
-	/**
-	 * Initialize object fields with the default values.
-	 * If a default value is not specified the object fields
-	 * will be initialized to zero.
-	 */
-	public void setDefaultFieldValues()
-	{
-
-	}
-
-	/**
-	 * Create a clone of this object, a new instance ID must be specified.
-	 * Do not use this function directly to create new instances, the
-	 * UAVObjectManager should be used instead.
-	 */
-	public UAVDataObject clone(int instID) {
-		// TODO: Need to get specific instance to clone
-		try {
-			AttitudeRaw obj = new AttitudeRaw();
-			obj.initialize(instID, this.getMetaObject());
-			return obj;
-		} catch  (Exception e) {
-			return null;
-		}
-	}
-
-	/**
-	 * Static function to retrieve an instance of the object.
-	 */
-	public AttitudeRaw GetInstance(UAVObjectManager objMngr, int instID)
-	{
-	    return (AttitudeRaw)(objMngr.getObject(AttitudeRaw.OBJID, instID));
-	}
-
-	// Constants
-	protected static final int OBJID = 0xDB722974;
-	protected static final String NAME = "AttitudeRaw";
-	protected static String DESCRIPTION = "The raw attitude sensor data from @ref AHRSCommsModule.  Not always updated.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
-	protected static int NUMBYTES = 0;
-
-
-}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
index d775b21e7..ac3812aa6 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
@@ -66,8 +66,10 @@ public class FlightStatus extends UAVDataObject {
 		FlightModeEnumOptions.add("Stabilized1");
 		FlightModeEnumOptions.add("Stabilized2");
 		FlightModeEnumOptions.add("Stabilized3");
+		FlightModeEnumOptions.add("AltitudeHold");
 		FlightModeEnumOptions.add("VelocityControl");
 		FlightModeEnumOptions.add("PositionHold");
+		FlightModeEnumOptions.add("PathPlanner");
 		fields.add( new UAVObjectField("FlightMode", "", UAVObjectField.FieldType.ENUM, FlightModeElemNames, FlightModeEnumOptions) );
 
 
@@ -144,7 +146,7 @@ public class FlightStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x743DB13C;
+	protected static final int OBJID = 0x19B92D8;
 	protected static final String NAME = "FlightStatus";
 	protected static String DESCRIPTION = "Contains major flight status information for other modules.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
index 205384efe..5510a901d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
@@ -55,14 +55,14 @@ public class GuidanceSettings extends UAVDataObject {
 		HorizontalPosPIElemNames.add("Kp");
 		HorizontalPosPIElemNames.add("Ki");
 		HorizontalPosPIElemNames.add("ILimit");
-		fields.add( new UAVObjectField("HorizontalPosPI", "(cm/s)/cm", UAVObjectField.FieldType.FLOAT32, HorizontalPosPIElemNames, null) );
+		fields.add( new UAVObjectField("HorizontalPosPI", "(m/s)/m", UAVObjectField.FieldType.FLOAT32, HorizontalPosPIElemNames, null) );
 
 		List<String> HorizontalVelPIDElemNames = new ArrayList<String>();
 		HorizontalVelPIDElemNames.add("Kp");
 		HorizontalVelPIDElemNames.add("Ki");
 		HorizontalVelPIDElemNames.add("Kd");
 		HorizontalVelPIDElemNames.add("ILimit");
-		fields.add( new UAVObjectField("HorizontalVelPID", "deg/(cm/s)", UAVObjectField.FieldType.FLOAT32, HorizontalVelPIDElemNames, null) );
+		fields.add( new UAVObjectField("HorizontalVelPID", "deg/(m/s)", UAVObjectField.FieldType.FLOAT32, HorizontalVelPIDElemNames, null) );
 
 		List<String> VerticalPosPIElemNames = new ArrayList<String>();
 		VerticalPosPIElemNames.add("Kp");
@@ -87,11 +87,11 @@ public class GuidanceSettings extends UAVDataObject {
 
 		List<String> HorizontalVelMaxElemNames = new ArrayList<String>();
 		HorizontalVelMaxElemNames.add("0");
-		fields.add( new UAVObjectField("HorizontalVelMax", "cm/s", UAVObjectField.FieldType.UINT16, HorizontalVelMaxElemNames, null) );
+		fields.add( new UAVObjectField("HorizontalVelMax", "m/s", UAVObjectField.FieldType.UINT16, HorizontalVelMaxElemNames, null) );
 
 		List<String> VerticalVelMaxElemNames = new ArrayList<String>();
 		VerticalVelMaxElemNames.add("0");
-		fields.add( new UAVObjectField("VerticalVelMax", "cm/s", UAVObjectField.FieldType.UINT16, VerticalVelMaxElemNames, null) );
+		fields.add( new UAVObjectField("VerticalVelMax", "m/s", UAVObjectField.FieldType.UINT16, VerticalVelMaxElemNames, null) );
 
 		List<String> GuidanceModeElemNames = new ArrayList<String>();
 		GuidanceModeElemNames.add("0");
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
index 68abb3633..3f3b3d8dd 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
@@ -63,24 +63,6 @@ public class HomeLocation extends UAVDataObject {
 		AltitudeElemNames.add("0");
 		fields.add( new UAVObjectField("Altitude", "m over geoid", UAVObjectField.FieldType.FLOAT32, AltitudeElemNames, null) );
 
-		List<String> ECEFElemNames = new ArrayList<String>();
-		ECEFElemNames.add("0");
-		ECEFElemNames.add("1");
-		ECEFElemNames.add("2");
-		fields.add( new UAVObjectField("ECEF", "cm", UAVObjectField.FieldType.INT32, ECEFElemNames, null) );
-
-		List<String> RNEElemNames = new ArrayList<String>();
-		RNEElemNames.add("0");
-		RNEElemNames.add("1");
-		RNEElemNames.add("2");
-		RNEElemNames.add("3");
-		RNEElemNames.add("4");
-		RNEElemNames.add("5");
-		RNEElemNames.add("6");
-		RNEElemNames.add("7");
-		RNEElemNames.add("8");
-		fields.add( new UAVObjectField("RNE", "", UAVObjectField.FieldType.FLOAT32, RNEElemNames, null) );
-
 		List<String> BeElemNames = new ArrayList<String>();
 		BeElemNames.add("0");
 		BeElemNames.add("1");
@@ -146,18 +128,6 @@ public class HomeLocation extends UAVDataObject {
 		getField("Latitude").setValue(0);
 		getField("Longitude").setValue(0);
 		getField("Altitude").setValue(0);
-		getField("ECEF").setValue(0,0);
-		getField("ECEF").setValue(0,1);
-		getField("ECEF").setValue(0,2);
-		getField("RNE").setValue(0,0);
-		getField("RNE").setValue(0,1);
-		getField("RNE").setValue(0,2);
-		getField("RNE").setValue(0,3);
-		getField("RNE").setValue(0,4);
-		getField("RNE").setValue(0,5);
-		getField("RNE").setValue(0,6);
-		getField("RNE").setValue(0,7);
-		getField("RNE").setValue(0,8);
 		getField("Be").setValue(0,0);
 		getField("Be").setValue(0,1);
 		getField("Be").setValue(0,2);
@@ -191,7 +161,7 @@ public class HomeLocation extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x5BB3AEFC;
+	protected static final int OBJID = 0x6185DC6E;
 	protected static final String NAME = "HomeLocation";
 	protected static String DESCRIPTION = "HomeLocation setting which contains the constants to tranlate from longitutde and latitude to NED reference frame.  Automatically set by @ref GPSModule after acquiring a 3D lock.  Used by @ref AHRSCommsModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
index 83b7ae7b6..f56982e69 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
@@ -89,31 +89,70 @@ public class HwSettings extends UAVDataObject {
 		CC_FlexiPortEnumOptions.add("ComBridge");
 		fields.add( new UAVObjectField("CC_FlexiPort", "function", UAVObjectField.FieldType.ENUM, CC_FlexiPortElemNames, CC_FlexiPortEnumOptions) );
 
-		List<String> OP_RcvrPortElemNames = new ArrayList<String>();
-		OP_RcvrPortElemNames.add("0");
-		List<String> OP_RcvrPortEnumOptions = new ArrayList<String>();
-		OP_RcvrPortEnumOptions.add("Disabled");
-		OP_RcvrPortEnumOptions.add("PWM");
-		OP_RcvrPortEnumOptions.add("PPM");
-		OP_RcvrPortEnumOptions.add("DSM2");
-		OP_RcvrPortEnumOptions.add("DSMX (10bit)");
-		OP_RcvrPortEnumOptions.add("DSMX (11bit)");
-		OP_RcvrPortEnumOptions.add("Debug");
-		fields.add( new UAVObjectField("OP_RcvrPort", "function", UAVObjectField.FieldType.ENUM, OP_RcvrPortElemNames, OP_RcvrPortEnumOptions) );
+		List<String> RV_RcvrPortElemNames = new ArrayList<String>();
+		RV_RcvrPortElemNames.add("0");
+		List<String> RV_RcvrPortEnumOptions = new ArrayList<String>();
+		RV_RcvrPortEnumOptions.add("Disabled");
+		RV_RcvrPortEnumOptions.add("PWM");
+		RV_RcvrPortEnumOptions.add("PPM");
+		RV_RcvrPortEnumOptions.add("PPM+Outputs");
+		RV_RcvrPortEnumOptions.add("Outputs");
+		fields.add( new UAVObjectField("RV_RcvrPort", "function", UAVObjectField.FieldType.ENUM, RV_RcvrPortElemNames, RV_RcvrPortEnumOptions) );
 
-		List<String> OP_MainPortElemNames = new ArrayList<String>();
-		OP_MainPortElemNames.add("0");
-		List<String> OP_MainPortEnumOptions = new ArrayList<String>();
-		OP_MainPortEnumOptions.add("Disabled");
-		OP_MainPortEnumOptions.add("Telemetry");
-		fields.add( new UAVObjectField("OP_MainPort", "function", UAVObjectField.FieldType.ENUM, OP_MainPortElemNames, OP_MainPortEnumOptions) );
+		List<String> RV_AuxPortElemNames = new ArrayList<String>();
+		RV_AuxPortElemNames.add("0");
+		List<String> RV_AuxPortEnumOptions = new ArrayList<String>();
+		RV_AuxPortEnumOptions.add("Disabled");
+		RV_AuxPortEnumOptions.add("Telemetry");
+		RV_AuxPortEnumOptions.add("DSM2");
+		RV_AuxPortEnumOptions.add("DSMX (10bit)");
+		RV_AuxPortEnumOptions.add("DSMX (11bit)");
+		RV_AuxPortEnumOptions.add("ComAux");
+		RV_AuxPortEnumOptions.add("ComBridge");
+		fields.add( new UAVObjectField("RV_AuxPort", "function", UAVObjectField.FieldType.ENUM, RV_AuxPortElemNames, RV_AuxPortEnumOptions) );
 
-		List<String> OP_FlexiPortElemNames = new ArrayList<String>();
-		OP_FlexiPortElemNames.add("0");
-		List<String> OP_FlexiPortEnumOptions = new ArrayList<String>();
-		OP_FlexiPortEnumOptions.add("Disabled");
-		OP_FlexiPortEnumOptions.add("GPS");
-		fields.add( new UAVObjectField("OP_FlexiPort", "function", UAVObjectField.FieldType.ENUM, OP_FlexiPortElemNames, OP_FlexiPortEnumOptions) );
+		List<String> RV_AuxSBusPortElemNames = new ArrayList<String>();
+		RV_AuxSBusPortElemNames.add("0");
+		List<String> RV_AuxSBusPortEnumOptions = new ArrayList<String>();
+		RV_AuxSBusPortEnumOptions.add("Disabled");
+		RV_AuxSBusPortEnumOptions.add("S.Bus");
+		RV_AuxSBusPortEnumOptions.add("DSM2");
+		RV_AuxSBusPortEnumOptions.add("DSMX (10bit)");
+		RV_AuxSBusPortEnumOptions.add("DSMX (11bit)");
+		RV_AuxSBusPortEnumOptions.add("ComAux");
+		RV_AuxSBusPortEnumOptions.add("ComBridge");
+		fields.add( new UAVObjectField("RV_AuxSBusPort", "function", UAVObjectField.FieldType.ENUM, RV_AuxSBusPortElemNames, RV_AuxSBusPortEnumOptions) );
+
+		List<String> RV_FlexiPortElemNames = new ArrayList<String>();
+		RV_FlexiPortElemNames.add("0");
+		List<String> RV_FlexiPortEnumOptions = new ArrayList<String>();
+		RV_FlexiPortEnumOptions.add("Disabled");
+		RV_FlexiPortEnumOptions.add("I2C");
+		RV_FlexiPortEnumOptions.add("DSM2");
+		RV_FlexiPortEnumOptions.add("DSMX (10bit)");
+		RV_FlexiPortEnumOptions.add("DSMX (11bit)");
+		RV_FlexiPortEnumOptions.add("ComAux");
+		RV_FlexiPortEnumOptions.add("ComBridge");
+		fields.add( new UAVObjectField("RV_FlexiPort", "function", UAVObjectField.FieldType.ENUM, RV_FlexiPortElemNames, RV_FlexiPortEnumOptions) );
+
+		List<String> RV_TelemetryPortElemNames = new ArrayList<String>();
+		RV_TelemetryPortElemNames.add("0");
+		List<String> RV_TelemetryPortEnumOptions = new ArrayList<String>();
+		RV_TelemetryPortEnumOptions.add("Disabled");
+		RV_TelemetryPortEnumOptions.add("Telemetry");
+		RV_TelemetryPortEnumOptions.add("ComAux");
+		RV_TelemetryPortEnumOptions.add("ComBridge");
+		fields.add( new UAVObjectField("RV_TelemetryPort", "function", UAVObjectField.FieldType.ENUM, RV_TelemetryPortElemNames, RV_TelemetryPortEnumOptions) );
+
+		List<String> RV_GPSPortElemNames = new ArrayList<String>();
+		RV_GPSPortElemNames.add("0");
+		List<String> RV_GPSPortEnumOptions = new ArrayList<String>();
+		RV_GPSPortEnumOptions.add("Disabled");
+		RV_GPSPortEnumOptions.add("Telemetry");
+		RV_GPSPortEnumOptions.add("GPS");
+		RV_GPSPortEnumOptions.add("ComAux");
+		RV_GPSPortEnumOptions.add("ComBridge");
+		fields.add( new UAVObjectField("RV_GPSPort", "function", UAVObjectField.FieldType.ENUM, RV_GPSPortElemNames, RV_GPSPortEnumOptions) );
 
 		List<String> TelemetrySpeedElemNames = new ArrayList<String>();
 		TelemetrySpeedElemNames.add("0");
@@ -180,6 +219,7 @@ public class HwSettings extends UAVDataObject {
 		OptionalModulesElemNames.add("ComUsbBridge");
 		OptionalModulesElemNames.add("Fault");
 		OptionalModulesElemNames.add("Altitude");
+		OptionalModulesElemNames.add("TxPID");
 		List<String> OptionalModulesEnumOptions = new ArrayList<String>();
 		OptionalModulesEnumOptions.add("Disabled");
 		OptionalModulesEnumOptions.add("Enabled");
@@ -237,9 +277,12 @@ public class HwSettings extends UAVDataObject {
 		getField("CC_RcvrPort").setValue("PWM");
 		getField("CC_MainPort").setValue("Disabled");
 		getField("CC_FlexiPort").setValue("Disabled");
-		getField("OP_RcvrPort").setValue("PWM");
-		getField("OP_MainPort").setValue("Telemetry");
-		getField("OP_FlexiPort").setValue("GPS");
+		getField("RV_RcvrPort").setValue("PWM");
+		getField("RV_AuxPort").setValue("Disabled");
+		getField("RV_AuxSBusPort").setValue("Disabled");
+		getField("RV_FlexiPort").setValue("Disabled");
+		getField("RV_TelemetryPort").setValue("Telemetry");
+		getField("RV_GPSPort").setValue("GPS");
 		getField("TelemetrySpeed").setValue("57600");
 		getField("GPSSpeed").setValue("57600");
 		getField("ComUsbBridgeSpeed").setValue("57600");
@@ -251,6 +294,7 @@ public class HwSettings extends UAVDataObject {
 		getField("OptionalModules").setValue("Disabled",2);
 		getField("OptionalModules").setValue("Disabled",3);
 		getField("OptionalModules").setValue("Disabled",4);
+		getField("OptionalModules").setValue("Disabled",5);
 		getField("DSMxBind").setValue(0);
 
 	}
@@ -280,7 +324,7 @@ public class HwSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x2EE6575A;
+	protected static final int OBJID = 0x4730375C;
 	protected static final String NAME = "HwSettings";
 	protected static String DESCRIPTION = "Selection of optional hardware configurations.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
index bb846695d..c8f460bc4 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
@@ -181,8 +181,10 @@ public class ManualControlSettings extends UAVDataObject {
 		FlightModePositionEnumOptions.add("Stabilized1");
 		FlightModePositionEnumOptions.add("Stabilized2");
 		FlightModePositionEnumOptions.add("Stabilized3");
+		FlightModePositionEnumOptions.add("AltitudeHold");
 		FlightModePositionEnumOptions.add("VelocityControl");
 		FlightModePositionEnumOptions.add("PositionHold");
+		FlightModePositionEnumOptions.add("PathPlanner");
 		fields.add( new UAVObjectField("FlightModePosition", "", UAVObjectField.FieldType.ENUM, FlightModePositionElemNames, FlightModePositionEnumOptions) );
 
 
@@ -317,7 +319,7 @@ public class ManualControlSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x24959BB0;
+	protected static final int OBJID = 0x59C4551C;
 	protected static final String NAME = "ManualControlSettings";
 	protected static String DESCRIPTION = "Settings to indicate how to decode receiver input by @ref ManualControlModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
index 106220a8c..80e3b15bf 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
@@ -83,6 +83,14 @@ public class MixerStatus extends UAVDataObject {
 		Mixer8ElemNames.add("0");
 		fields.add( new UAVObjectField("Mixer8", "", UAVObjectField.FieldType.FLOAT32, Mixer8ElemNames, null) );
 
+		List<String> Mixer9ElemNames = new ArrayList<String>();
+		Mixer9ElemNames.add("0");
+		fields.add( new UAVObjectField("Mixer9", "", UAVObjectField.FieldType.FLOAT32, Mixer9ElemNames, null) );
+
+		List<String> Mixer10ElemNames = new ArrayList<String>();
+		Mixer10ElemNames.add("0");
+		fields.add( new UAVObjectField("Mixer10", "", UAVObjectField.FieldType.FLOAT32, Mixer10ElemNames, null) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -156,7 +164,7 @@ public class MixerStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x11CFB4E6;
+	protected static final int OBJID = 0x124E28A;
 	protected static final String NAME = "MixerStatus";
 	protected static String DESCRIPTION = "Status for the matrix mixer showing the output of each mixer after all scaling";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
index 3b09dd1f8..1629a19d2 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
@@ -53,15 +53,15 @@ public class NedAccel extends UAVDataObject {
 
 		List<String> NorthElemNames = new ArrayList<String>();
 		NorthElemNames.add("0");
-		fields.add( new UAVObjectField("North", "cm/s^2", UAVObjectField.FieldType.FLOAT32, NorthElemNames, null) );
+		fields.add( new UAVObjectField("North", "m/s^2", UAVObjectField.FieldType.FLOAT32, NorthElemNames, null) );
 
 		List<String> EastElemNames = new ArrayList<String>();
 		EastElemNames.add("0");
-		fields.add( new UAVObjectField("East", "cm/s^2", UAVObjectField.FieldType.FLOAT32, EastElemNames, null) );
+		fields.add( new UAVObjectField("East", "m/s^2", UAVObjectField.FieldType.FLOAT32, EastElemNames, null) );
 
 		List<String> DownElemNames = new ArrayList<String>();
 		DownElemNames.add("0");
-		fields.add( new UAVObjectField("Down", "cm/s^2", UAVObjectField.FieldType.FLOAT32, DownElemNames, null) );
+		fields.add( new UAVObjectField("Down", "m/s^2", UAVObjectField.FieldType.FLOAT32, DownElemNames, null) );
 
 
 		// Compute the number of bytes for this object
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
index ac30ad4f5..184098a16 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
@@ -53,15 +53,15 @@ public class PositionActual extends UAVDataObject {
 
 		List<String> NorthElemNames = new ArrayList<String>();
 		NorthElemNames.add("0");
-		fields.add( new UAVObjectField("North", "cm", UAVObjectField.FieldType.INT32, NorthElemNames, null) );
+		fields.add( new UAVObjectField("North", "m", UAVObjectField.FieldType.FLOAT32, NorthElemNames, null) );
 
 		List<String> EastElemNames = new ArrayList<String>();
 		EastElemNames.add("0");
-		fields.add( new UAVObjectField("East", "cm", UAVObjectField.FieldType.INT32, EastElemNames, null) );
+		fields.add( new UAVObjectField("East", "m", UAVObjectField.FieldType.FLOAT32, EastElemNames, null) );
 
 		List<String> DownElemNames = new ArrayList<String>();
 		DownElemNames.add("0");
-		fields.add( new UAVObjectField("Down", "cm", UAVObjectField.FieldType.INT32, DownElemNames, null) );
+		fields.add( new UAVObjectField("Down", "m", UAVObjectField.FieldType.FLOAT32, DownElemNames, null) );
 
 
 		// Compute the number of bytes for this object
@@ -136,7 +136,7 @@ public class PositionActual extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xF9691DA4;
+	protected static final int OBJID = 0xFA9E2D42;
 	protected static final String NAME = "PositionActual";
 	protected static String DESCRIPTION = "Contains the current position relative to @ref HomeLocation";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java
index 2ff5a5586..123ca58af 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java
@@ -53,15 +53,15 @@ public class PositionDesired extends UAVDataObject {
 
 		List<String> NorthElemNames = new ArrayList<String>();
 		NorthElemNames.add("0");
-		fields.add( new UAVObjectField("North", "cm", UAVObjectField.FieldType.INT32, NorthElemNames, null) );
+		fields.add( new UAVObjectField("North", "m", UAVObjectField.FieldType.FLOAT32, NorthElemNames, null) );
 
 		List<String> EastElemNames = new ArrayList<String>();
 		EastElemNames.add("0");
-		fields.add( new UAVObjectField("East", "cm", UAVObjectField.FieldType.INT32, EastElemNames, null) );
+		fields.add( new UAVObjectField("East", "m", UAVObjectField.FieldType.FLOAT32, EastElemNames, null) );
 
 		List<String> DownElemNames = new ArrayList<String>();
 		DownElemNames.add("0");
-		fields.add( new UAVObjectField("Down", "cm", UAVObjectField.FieldType.INT32, DownElemNames, null) );
+		fields.add( new UAVObjectField("Down", "m", UAVObjectField.FieldType.FLOAT32, DownElemNames, null) );
 
 
 		// Compute the number of bytes for this object
@@ -136,7 +136,7 @@ public class PositionDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x33C9EAB4;
+	protected static final int OBJID = 0x778DBE24;
 	protected static final String NAME = "PositionDesired";
 	protected static String DESCRIPTION = "The position the craft is trying t achieve.  Can come from GCS or @ref PathPlanner ";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
index 458dd9d10..bc4bf0625 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
@@ -61,6 +61,7 @@ public class SystemAlarms extends UAVDataObject {
 		AlarmElemNames.add("ManualControl");
 		AlarmElemNames.add("Actuator");
 		AlarmElemNames.add("Attitude");
+		AlarmElemNames.add("Sensors");
 		AlarmElemNames.add("Stabilization");
 		AlarmElemNames.add("Guidance");
 		AlarmElemNames.add("AHRSComms");
@@ -139,6 +140,7 @@ public class SystemAlarms extends UAVDataObject {
 		getField("Alarm").setValue("Uninitialised",14);
 		getField("Alarm").setValue("Uninitialised",15);
 		getField("Alarm").setValue("Uninitialised",16);
+		getField("Alarm").setValue("Uninitialised",17);
 
 	}
 
@@ -167,7 +169,7 @@ public class SystemAlarms extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x737ADCF2;
+	protected static final int OBJID = 0x9C7CBFE;
 	protected static final String NAME = "SystemAlarms";
 	protected static String DESCRIPTION = "Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
index d1c51d43f..26d01f2a0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
@@ -55,6 +55,18 @@ public class SystemStats extends UAVDataObject {
 		FlightTimeElemNames.add("0");
 		fields.add( new UAVObjectField("FlightTime", "ms", UAVObjectField.FieldType.UINT32, FlightTimeElemNames, null) );
 
+		List<String> EventSystemWarningIDElemNames = new ArrayList<String>();
+		EventSystemWarningIDElemNames.add("0");
+		fields.add( new UAVObjectField("EventSystemWarningID", "uavoid", UAVObjectField.FieldType.UINT32, EventSystemWarningIDElemNames, null) );
+
+		List<String> ObjectManagerCallbackIDElemNames = new ArrayList<String>();
+		ObjectManagerCallbackIDElemNames.add("0");
+		fields.add( new UAVObjectField("ObjectManagerCallbackID", "uavoid", UAVObjectField.FieldType.UINT32, ObjectManagerCallbackIDElemNames, null) );
+
+		List<String> ObjectManagerQueueIDElemNames = new ArrayList<String>();
+		ObjectManagerQueueIDElemNames.add("0");
+		fields.add( new UAVObjectField("ObjectManagerQueueID", "uavoid", UAVObjectField.FieldType.UINT32, ObjectManagerQueueIDElemNames, null) );
+
 		List<String> HeapRemainingElemNames = new ArrayList<String>();
 		HeapRemainingElemNames.add("0");
 		fields.add( new UAVObjectField("HeapRemaining", "bytes", UAVObjectField.FieldType.UINT16, HeapRemainingElemNames, null) );
@@ -144,7 +156,7 @@ public class SystemStats extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xD610A0F0;
+	protected static final int OBJID = 0x364D1406;
 	protected static final String NAME = "SystemStats";
 	protected static String DESCRIPTION = "CPU and memory usage from OpenPilot computer. ";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
index 54825fafe..eefcef6d9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
@@ -55,36 +55,42 @@ public class TaskInfo extends UAVDataObject {
 		StackRemainingElemNames.add("System");
 		StackRemainingElemNames.add("Actuator");
 		StackRemainingElemNames.add("Attitude");
+		StackRemainingElemNames.add("Sensors");
 		StackRemainingElemNames.add("TelemetryTx");
 		StackRemainingElemNames.add("TelemetryTxPri");
 		StackRemainingElemNames.add("TelemetryRx");
 		StackRemainingElemNames.add("GPS");
 		StackRemainingElemNames.add("ManualControl");
 		StackRemainingElemNames.add("Altitude");
-		StackRemainingElemNames.add("AHRSComms");
 		StackRemainingElemNames.add("Stabilization");
+		StackRemainingElemNames.add("AltitudeHold");
 		StackRemainingElemNames.add("Guidance");
 		StackRemainingElemNames.add("FlightPlan");
+		StackRemainingElemNames.add("PathPlanner");
 		StackRemainingElemNames.add("Com2UsbBridge");
 		StackRemainingElemNames.add("Usb2ComBridge");
+		StackRemainingElemNames.add("OveroSync");
 		fields.add( new UAVObjectField("StackRemaining", "bytes", UAVObjectField.FieldType.UINT16, StackRemainingElemNames, null) );
 
 		List<String> RunningElemNames = new ArrayList<String>();
 		RunningElemNames.add("System");
 		RunningElemNames.add("Actuator");
 		RunningElemNames.add("Attitude");
+		RunningElemNames.add("Sensors");
 		RunningElemNames.add("TelemetryTx");
 		RunningElemNames.add("TelemetryTxPri");
 		RunningElemNames.add("TelemetryRx");
 		RunningElemNames.add("GPS");
 		RunningElemNames.add("ManualControl");
 		RunningElemNames.add("Altitude");
-		RunningElemNames.add("AHRSComms");
 		RunningElemNames.add("Stabilization");
+		RunningElemNames.add("AltitudeHold");
 		RunningElemNames.add("Guidance");
 		RunningElemNames.add("FlightPlan");
+		RunningElemNames.add("PathPlanner");
 		RunningElemNames.add("Com2UsbBridge");
 		RunningElemNames.add("Usb2ComBridge");
+		RunningElemNames.add("OveroSync");
 		List<String> RunningEnumOptions = new ArrayList<String>();
 		RunningEnumOptions.add("False");
 		RunningEnumOptions.add("True");
@@ -94,18 +100,21 @@ public class TaskInfo extends UAVDataObject {
 		RunningTimeElemNames.add("System");
 		RunningTimeElemNames.add("Actuator");
 		RunningTimeElemNames.add("Attitude");
+		RunningTimeElemNames.add("Sensors");
 		RunningTimeElemNames.add("TelemetryTx");
 		RunningTimeElemNames.add("TelemetryTxPri");
 		RunningTimeElemNames.add("TelemetryRx");
 		RunningTimeElemNames.add("GPS");
 		RunningTimeElemNames.add("ManualControl");
 		RunningTimeElemNames.add("Altitude");
-		RunningTimeElemNames.add("AHRSComms");
 		RunningTimeElemNames.add("Stabilization");
+		RunningTimeElemNames.add("AltitudeHold");
 		RunningTimeElemNames.add("Guidance");
 		RunningTimeElemNames.add("FlightPlan");
+		RunningTimeElemNames.add("PathPlanner");
 		RunningTimeElemNames.add("Com2UsbBridge");
 		RunningTimeElemNames.add("Usb2ComBridge");
+		RunningTimeElemNames.add("OveroSync");
 		fields.add( new UAVObjectField("RunningTime", "%", UAVObjectField.FieldType.UINT8, RunningTimeElemNames, null) );
 
 
@@ -181,7 +190,7 @@ public class TaskInfo extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xE34A7C32;
+	protected static final int OBJID = 0x498F54BA;
 	protected static final String NAME = "TaskInfo";
 	protected static String DESCRIPTION = "Task information";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
index c2cf64d49..823643130 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
@@ -35,15 +35,15 @@ public class UAVObjectsInitialize {
 	
 	public static void register(UAVObjectManager objMngr) {
 		try {
+			objMngr.registerObject( new Accels() );
 			objMngr.registerObject( new AccessoryDesired() );
 			objMngr.registerObject( new ActuatorCommand() );
 			objMngr.registerObject( new ActuatorDesired() );
 			objMngr.registerObject( new ActuatorSettings() );
-			objMngr.registerObject( new AHRSCalibration() );
-			objMngr.registerObject( new AHRSSettings() );
-			objMngr.registerObject( new AhrsStatus() );
+			objMngr.registerObject( new AltHoldSmoothed() );
+			objMngr.registerObject( new AltitudeHoldDesired() );
+			objMngr.registerObject( new AltitudeHoldSettings() );
 			objMngr.registerObject( new AttitudeActual() );
-			objMngr.registerObject( new AttitudeRaw() );
 			objMngr.registerObject( new AttitudeSettings() );
 			objMngr.registerObject( new BaroAltitude() );
 			objMngr.registerObject( new CameraDesired() );
@@ -62,16 +62,23 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new GPSPosition() );
 			objMngr.registerObject( new GPSSatellites() );
 			objMngr.registerObject( new GPSTime() );
+			objMngr.registerObject( new GPSVelocity() );
+			objMngr.registerObject( new Gyros() );
+			objMngr.registerObject( new GyrosBias() );
 			objMngr.registerObject( new GuidanceSettings() );
 			objMngr.registerObject( new HomeLocation() );
 			objMngr.registerObject( new HwSettings() );
 			objMngr.registerObject( new I2CStats() );
+			objMngr.registerObject( new GPSPosition() );
+			objMngr.registerObject( new Magnetometer() );
 			objMngr.registerObject( new ManualControlCommand() );
 			objMngr.registerObject( new ManualControlSettings() );
 			objMngr.registerObject( new MixerSettings() );
 			objMngr.registerObject( new MixerStatus() );
+			objMngr.registerObject( new NEDPosition() );
 			objMngr.registerObject( new NedAccel() );
 			objMngr.registerObject( new ObjectPersistence() );
+			objMngr.registerObject( new PathDesired() );
 			objMngr.registerObject( new PositionActual() );
 			objMngr.registerObject( new PositionDesired() );
 			objMngr.registerObject( new RateDesired() );
@@ -82,10 +89,13 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new SystemAlarms() );
 			objMngr.registerObject( new SystemSettings() );
 			objMngr.registerObject( new SystemStats() );
+			objMngr.registerObject( new TxPIDSettings() );
 			objMngr.registerObject( new TaskInfo() );
 			objMngr.registerObject( new VelocityActual() );
 			objMngr.registerObject( new VelocityDesired() );
 			objMngr.registerObject( new WatchdogStatus() );
+			objMngr.registerObject( new Waypoint() );
+			objMngr.registerObject( new WaypointActive() );
 	
 		} catch (Exception e) {
 			e.printStackTrace();
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
index 97d038cfe..2a8cd3754 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
@@ -53,15 +53,15 @@ public class VelocityActual extends UAVDataObject {
 
 		List<String> NorthElemNames = new ArrayList<String>();
 		NorthElemNames.add("0");
-		fields.add( new UAVObjectField("North", "cm/s", UAVObjectField.FieldType.INT32, NorthElemNames, null) );
+		fields.add( new UAVObjectField("North", "m/s", UAVObjectField.FieldType.FLOAT32, NorthElemNames, null) );
 
 		List<String> EastElemNames = new ArrayList<String>();
 		EastElemNames.add("0");
-		fields.add( new UAVObjectField("East", "cm/s", UAVObjectField.FieldType.INT32, EastElemNames, null) );
+		fields.add( new UAVObjectField("East", "m/s", UAVObjectField.FieldType.FLOAT32, EastElemNames, null) );
 
 		List<String> DownElemNames = new ArrayList<String>();
 		DownElemNames.add("0");
-		fields.add( new UAVObjectField("Down", "cm/s", UAVObjectField.FieldType.INT32, DownElemNames, null) );
+		fields.add( new UAVObjectField("Down", "m/s", UAVObjectField.FieldType.FLOAT32, DownElemNames, null) );
 
 
 		// Compute the number of bytes for this object
@@ -136,7 +136,7 @@ public class VelocityActual extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x43007EB0;
+	protected static final int OBJID = 0x5A08F61A;
 	protected static final String NAME = "VelocityActual";
 	protected static String DESCRIPTION = "Updated by @ref AHRSCommsModule and used within @ref GuidanceModule for velocity control";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
index f39fbd6de..436ef6448 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
@@ -53,15 +53,15 @@ public class VelocityDesired extends UAVDataObject {
 
 		List<String> NorthElemNames = new ArrayList<String>();
 		NorthElemNames.add("0");
-		fields.add( new UAVObjectField("North", "cm/s", UAVObjectField.FieldType.INT32, NorthElemNames, null) );
+		fields.add( new UAVObjectField("North", "m/s", UAVObjectField.FieldType.FLOAT32, NorthElemNames, null) );
 
 		List<String> EastElemNames = new ArrayList<String>();
 		EastElemNames.add("0");
-		fields.add( new UAVObjectField("East", "cm/s", UAVObjectField.FieldType.INT32, EastElemNames, null) );
+		fields.add( new UAVObjectField("East", "m/s", UAVObjectField.FieldType.FLOAT32, EastElemNames, null) );
 
 		List<String> DownElemNames = new ArrayList<String>();
 		DownElemNames.add("0");
-		fields.add( new UAVObjectField("Down", "cm/s", UAVObjectField.FieldType.INT32, DownElemNames, null) );
+		fields.add( new UAVObjectField("Down", "m/s", UAVObjectField.FieldType.FLOAT32, DownElemNames, null) );
 
 
 		// Compute the number of bytes for this object
@@ -136,7 +136,7 @@ public class VelocityDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x25139D1A;
+	protected static final int OBJID = 0x9E946992;
 	protected static final String NAME = "VelocityDesired";
 	protected static String DESCRIPTION = "Used within @ref GuidanceModule to communicate between the task computing the desired velocity and the PID loop to achieve it (running at different rates).";
 	protected static final boolean ISSINGLEINST = 1 == 1;

From 0e6cffaaf68647f586f16ebccdf7b65004e585f9 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 May 2012 16:12:45 -0500
Subject: [PATCH 249/543] Update fake telemetry object

---
 .../org/openpilot/androidgcs/OPTelemetryService.java | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index bc711560d..074049d79 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -222,18 +222,6 @@ public class OPTelemetryService extends Service {
 
 			homeLocation.getField("Latitude").setDouble(379420315);
 			homeLocation.getField("Longitude").setDouble(-88330078);
-			homeLocation.getField("ECEF").setDouble(497665694,0);
-			homeLocation.getField("ECEF").setDouble(-77336320,1);
-			homeLocation.getField("ECEF").setDouble(390037169,2);
-			homeLocation.getField("RNE").setDouble(-0.60757166,0);
-			homeLocation.getField("RNE").setDouble(0.09441550,1);
-			homeLocation.getField("RNE").setDouble(0.78863323,2);
-			homeLocation.getField("RNE").setDouble(0.15355512,3);
-			homeLocation.getField("RNE").setDouble(0.98814011,4);
-			homeLocation.getField("RNE").setDouble(0,5);
-			homeLocation.getField("RNE").setDouble(-0.77928013,6);
-			homeLocation.getField("RNE").setDouble(0.12109867,7);
-			homeLocation.getField("RNE").setDouble(-0.61486387,8);
 			homeLocation.getField("Be").setDouble(26702.78710938,0);
 			homeLocation.getField("Be").setDouble(-1468.33605957,1);
 			homeLocation.getField("Be").setDouble(34181.78515625,2);

From cd89d97bbb99e5ca498a3720b6eadb188a3332dc Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 10 May 2012 16:38:49 -0500
Subject: [PATCH 250/543] Lower all the debugging levels again

---
 .../org/openpilot/androidgcs/OPTelemetryService.java   |  2 +-
 androidgcs/src/org/openpilot/uavtalk/Telemetry.java    |  2 +-
 .../src/org/openpilot/uavtalk/TelemetryMonitor.java    | 10 ++++++++--
 androidgcs/src/org/openpilot/uavtalk/UAVTalk.java      | 10 ++++------
 4 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index 074049d79..1a4b61eb8 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -33,7 +33,7 @@ public class OPTelemetryService extends Service {
 
 	// Logging settings
 	private final String TAG = "OPTelemetryService";
-	public static int LOGLEVEL = 2;
+	public static int LOGLEVEL = 0;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 11e6cb2ca..1395a5c08 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -17,7 +17,7 @@ import android.util.Log;
 public class Telemetry {
 	
 	private final String TAG = "Telemetry";
-	public static int LOGLEVEL = 2;
+	public static int LOGLEVEL = 0;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index 903b6b29f..87a0cdc70 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -13,7 +13,7 @@ import android.util.Log;
 public class TelemetryMonitor extends Observable{
 
 	private static final String TAG = "TelemetryMonitor";
-	public static int LOGLEVEL = 2;
+	public static int LOGLEVEL = 0;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
@@ -204,6 +204,8 @@ public class TelemetryMonitor extends Observable{
 	    Telemetry.TelemetryStats telStats = tel.getStats();
 	    tel.resetStats();
 
+	    if (DEBUG) Log.d(TAG, "processStatsUpdates() - stats reset");
+	    
 	    // Update stats object 
 	    gcsStatsObj.getField("RxDataRate").setDouble( (float)telStats.rxBytes / ((float)currentPeriod/1000.0) );
 	    gcsStatsObj.getField("TxDataRate").setDouble( (float)telStats.txBytes / ((float)currentPeriod/1000.0) );
@@ -214,6 +216,8 @@ public class TelemetryMonitor extends Observable{
 	    field = gcsStatsObj.getField("TxRetries");
 	    field.setDouble(field.getDouble() + telStats.txRetries);
 
+	    if (DEBUG) Log.d(TAG, "processStatsUpdates() - stats updated");
+	    
 	    // Check for a connection timeout
 	    boolean connectionTimeout;
 	    if ( telStats.rxObjects > 0 )
@@ -296,8 +300,10 @@ public class TelemetryMonitor extends Observable{
 	    	objects_updated = false;
 	        setChanged();
 	    }
+	    
+	    if (DEBUG) Log.d(TAG, "processStatsUpdates() - before notify");
         notifyObservers();
-
+        if (DEBUG) Log.d(TAG, "processStatsUpdates() - after notify");
 	}
 
 	private void setPeriod(int ms) {
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 5a3a9a1a5..9cdd11ccb 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -12,7 +12,7 @@ import android.util.Log;
 public class UAVTalk extends Observable {
 
 	static final String TAG = "UAVTalk";
-	public static int LOGLEVEL = 2;
+	public static int LOGLEVEL = 0;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
@@ -504,8 +504,7 @@ public class UAVTalk extends Observable {
 		case TYPE_OBJ_ACK:
 			// All instances, not allowed for OBJ_ACK messages
 			if (!allInstances) {
-				 System.out.println("Received object ack: " + objId + " " +
-				 objMngr.getObject(objId).getName());
+				 if (DEBUG) Log.d(TAG,"Received object ack: " + objId + " " + objMngr.getObject(objId).getName());
 				// Get object and update its data
 				obj = updateObject(objId, instId, data);
 				// Transmit ACK
@@ -521,7 +520,7 @@ public class UAVTalk extends Observable {
 		case TYPE_OBJ_REQ:
 			// Get object, if all instances are requested get instance 0 of the
 			// object
-			 System.out.println("Received object request: " + objId + " " +
+			if (DEBUG) Log.d(TAG,"Received object request: " + objId + " " +
 			 objMngr.getObject(objId).getName());
 			if (allInstances) {
 				obj = objMngr.getObject(objId);
@@ -538,8 +537,7 @@ public class UAVTalk extends Observable {
 		case TYPE_ACK:
 			// All instances, not allowed for ACK messages
 			if (!allInstances) {
-				System.out.println("Received ack: " + objId + " " +
-				 objMngr.getObject(objId).getName());
+				if (DEBUG) Log.d(TAG,"Received ack: " + objId + " " + objMngr.getObject(objId).getName());
 				// Get object
 				obj = objMngr.getObject(objId, instId);
 				// Check if an ack is pending

From c736488c3bd80a9e423261adc146ed284cc5ddbd Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 2 Aug 2012 11:04:35 -0500
Subject: [PATCH 251/543] First step to fixing metat data representation for
 android

---
 .../org/openpilot/uavtalk/UAVMetaObject.java  | 46 ++++--------
 .../src/org/openpilot/uavtalk/UAVObject.java  | 70 +++++++------------
 .../org/openpilot/uavtalk/UAVObjectField.java | 48 ++++++++++++-
 3 files changed, 85 insertions(+), 79 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
index 7aab176ef..c57b6c2fe 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
@@ -13,43 +13,25 @@ public class UAVMetaObject extends UAVObject {
 		
 		ownMetadata = new Metadata();
 
-		ownMetadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		ownMetadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		ownMetadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		ownMetadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		ownMetadata.flightTelemetryUpdatePeriod = 0;
-		ownMetadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		ownMetadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
+		ownMetadata.flags = 0; // TODO: Fix flags
 		ownMetadata.gcsTelemetryUpdatePeriod = 0;
-		ownMetadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
 		ownMetadata.loggingUpdatePeriod = 0;
 
-		// Setup fields
-		List<String> boolEnum = new ArrayList<String>();
-		boolEnum.add("False");
-		boolEnum.add("True");
 
-		List<String> updateModeEnum = new ArrayList<String>();
-		updateModeEnum.add("Periodic");
-		updateModeEnum.add("On Change");
-		updateModeEnum.add("Manual");
-		updateModeEnum.add("Never");
+		List<String> modesBitField = new ArrayList<String>();
+		modesBitField.add("FlightReadOnly");
+		modesBitField.add("GCSReadOnly");
+		modesBitField.add("FlightTelemetryAcked");
+		modesBitField.add("GCSTelemetryAcked");
+		modesBitField.add("FlightUpdatePeriodic");
+		modesBitField.add("FlightUpdateOnChange");
+		modesBitField.add("GCSUpdatePeriodic");
+		modesBitField.add("GCSUpdateOnChange");
 
-		List<String> accessModeEnum = new ArrayList<String>();	    
-		accessModeEnum.add("Read/Write");
-		accessModeEnum.add("Read Only");
-
-		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();    
-		fields.add( new UAVObjectField("Flight Access Mode", "", UAVObjectField.FieldType.ENUM, 1, accessModeEnum) );
-		fields.add( new UAVObjectField("GCS Access Mode", "", UAVObjectField.FieldType.ENUM, 1, accessModeEnum) );
-		fields.add( new UAVObjectField("Flight Telemetry Acked", "", UAVObjectField.FieldType.ENUM, 1, boolEnum) );
-		fields.add( new UAVObjectField("Flight Telemetry Update Mode", "", UAVObjectField.FieldType.ENUM, 1, updateModeEnum) );
-		fields.add( new UAVObjectField("Flight Telemetry Update Period", "", UAVObjectField.FieldType.UINT32, 1, null) );
-		fields.add( new UAVObjectField("GCS Telemetry Acked", "", UAVObjectField.FieldType.ENUM, 1, boolEnum) );
-		fields.add( new UAVObjectField("GCS Telemetry Update Mode", "", UAVObjectField.FieldType.ENUM, 1, updateModeEnum) );
-		fields.add( new UAVObjectField("GCS Telemetry Update Period", "", UAVObjectField.FieldType.UINT32, 1, null ) );
-		fields.add( new UAVObjectField("Logging Update Mode", "", UAVObjectField.FieldType.ENUM, 1, updateModeEnum) );
-		fields.add( new UAVObjectField("Logging Update Period", "", UAVObjectField.FieldType.UINT32, 1, null ) );
+		fields.add( new UAVObjectField("Modes", "", UAVObjectField.FieldType.BITFIELD, 1, modesBitField) );
+	    fields.add( new UAVObjectField("Flight Telemetry Update Period", "ms", UAVObjectField.FieldType.UINT16, 1, null) );
+	    fields.add( new UAVObjectField("GCS Telemetry Update Period", "ms", UAVObjectField.FieldType.UINT16, 1, null) );
+	    fields.add( new UAVObjectField("Logging Update Period", "ms", UAVObjectField.FieldType.UINT16, 1, null) );
 
 		int numBytes = 0;
 		ListIterator<UAVObjectField> li = fields.listIterator();
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index 940b076a5..20d4cb02a 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -120,17 +120,10 @@ public abstract class UAVObject {
 	 * Object update mode
 	 */
 	public enum UpdateMode {
-		UPDATEMODE_PERIODIC, /**
-		 * Automatically update object at periodic
-		 * intervals
-		 */
+		UPDATEMODE_MANUAL,   /** Manually update object, by calling the updated() function */
+		UPDATEMODE_PERIODIC, /** Automatically update object at periodic intervals */
 		UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
-		UPDATEMODE_MANUAL, /**
-		 * Manually update object, by calling the updated()
-		 * function
-		 */
-		UPDATEMODE_NEVER
-		/** Object is never updated */
+		UPDATEMODE_THROTTLED /** Object is updated on change, but not more often than the interval time */
 	};
 
 	/**
@@ -140,47 +133,32 @@ public abstract class UAVObject {
 		ACCESS_READWRITE, ACCESS_READONLY
 	};
 
-	/**
-	 * Access mode
-	 */
-	public enum Acked {
-		FALSE, TRUE
-	};
-
 	public final class Metadata {
-		public AccessMode flightAccess;
 		/**
-		 * Defines the access level for the local flight transactions (readonly
-		 * and readwrite)
+		 * Object metadata, each object has a meta object that holds its metadata. The metadata define
+		 * properties for each object and can be used by multiple modules (e.g. telemetry and logger)
+		 *
+		 * The object metadata flags are packed into a single 16 bit integer.
+		 * The bits in the flag field are defined as:
+		 *
+		 *   Bit(s)  Name                       Meaning
+		 *   ------  ----                       -------
+		 *      0    access                     Defines the access level for the local transactions (readonly=0 and readwrite=1)
+		 *      1    gcsAccess                  Defines the access level for the local GCS transactions (readonly=0 and readwrite=1), not used in the flight s/w
+		 *      2    telemetryAcked             Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
+		 *      3    gcsTelemetryAcked          Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
+		 *    4-5    telemetryUpdateMode        Update mode used by the telemetry module (UAVObjUpdateMode)
+		 *    6-7    gcsTelemetryUpdateMode     Update mode used by the GCS (UAVObjUpdateMode)
 		 */
-		public AccessMode gcsAccess;
-		/**
-		 * Defines the access level for the local GCS transactions (readonly and
-		 * readwrite)
-		 */
-		public Acked flightTelemetryAcked;
-		/**
-		 * Defines if an ack is required for the transactions of this object
-		 * (1:acked, 0:not acked)
-		 */
-		public UpdateMode flightTelemetryUpdateMode;
-		/** Update mode used by the autopilot (UpdateMode) */
+		public int flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
+
+		/** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
 		public int flightTelemetryUpdatePeriod;
-		/**
-		 * Update period used by the autopilot (only if telemetry mode is
-		 * PERIODIC)
-		 */
-		public Acked gcsTelemetryAcked;
-		/**
-		 * Defines if an ack is required for the transactions of this object
-		 * (1:acked, 0:not acked)
-		 */
-		public UpdateMode gcsTelemetryUpdateMode;
-		/** Update mode used by the GCS (UpdateMode) */
-		public int gcsTelemetryUpdatePeriod;
+		
+		/** Update period used by the GCS (only if telemetry mode is PERIODIC) */
+		public int gcsTelemetryUpdatePeriod;
+		
 		/** Update period used by the GCS (only if telemetry mode is PERIODIC) */
-		public UpdateMode loggingUpdateMode;
-		/** Update mode used by the logging module (UpdateMode) */
 		public int loggingUpdatePeriod;
 		/**
 		 * Update period used by the logging module (only if logging mode is
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index 286859e63..c2965f6cc 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -7,7 +7,7 @@ import java.util.List;
 
 public class UAVObjectField {
 	
-    public enum FieldType { INT8, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, STRING };
+    public enum FieldType { INT8, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, BITFIELD, STRING };
 
     public UAVObjectField(String name, String units, FieldType type, int numElements, List<String> options) {
         List<String> elementNames = new ArrayList<String>();
@@ -56,6 +56,8 @@ public class UAVObjectField {
                 return "float32";
             case ENUM:
                 return "enum";
+            case BITFIELD:
+            	return "bitfield";
             case STRING:
                 return "string";
             default:
@@ -144,6 +146,11 @@ public class UAVObjectField {
                 for (int index = 0; index < numElements; ++index)
                 	dataOut.put((Byte) l.get(index));
                 break;
+            case BITFIELD:
+            	for (int index = 0; index < numElements; ++index) {
+            		Integer val = (Integer) getValue(index);
+            		dataOut.put(val.byteValue());
+            	}
             case STRING:
             	// TODO: Implement strings
             	throw new Error("Strings not yet implemented");
@@ -224,6 +231,16 @@ public class UAVObjectField {
             	}
                 break;
             }
+            case BITFIELD:
+            {
+            	List<Short> l = (List<Short>) this.data;
+            	for (int index = 0 ; index < numElements; ++index) {
+            		int signedval = (int) dataIn.get();  // this sign extends it
+            		int unsignedval = signedval & 0xff;    // drop sign extension
+            		l.set(index, (short) unsignedval);
+            	}
+                break;
+            }
             case ENUM:
             {
         		List<Byte> l = (List<Byte>) this.data;
@@ -275,6 +292,9 @@ public class UAVObjectField {
 
                 return options.get(val);
             }
+            case BITFIELD:
+            	return ((List<Short>) data).get(index).intValue();
+
             case STRING:
             {
             	//throw new Exception("Shit I should do this");
@@ -354,6 +374,12 @@ public class UAVObjectField {
     			l.set(index, val);
     			break;
     		}
+    		case BITFIELD:
+    		{
+    			List<Short> l = (List<Short>) this.data;
+    			l.set(index, bound(data).shortValue());
+    			break;
+    		}
     		case STRING: 
     		{
     			//throw new Exception("Sorry I haven't implemented strings yet");
@@ -404,6 +430,8 @@ public class UAVObjectField {
                 return true;
             case ENUM:
                 return false;
+            case BITFIELD:
+                return true;
             case STRING:
                 return false;
             default:
@@ -430,6 +458,8 @@ public class UAVObjectField {
                 return false;
             case ENUM:
                 return true;
+            case BITFIELD:
+                return false;
             case STRING:
                 return true;
             default:
@@ -493,6 +523,12 @@ public class UAVObjectField {
             		((ArrayList<Float>) data).add((float) 0);
             	}
                 break;
+            case BITFIELD:
+            	((ArrayList<Short>) data).clear();
+            	for(int index = 0; index < numElements; ++index) {
+            		((ArrayList<Short>) data).add((short) 0);
+            	}
+                break;
             case ENUM:
             	((ArrayList<Byte>) data).clear();
             	for(int index = 0; index < numElements; ++index) {
@@ -549,6 +585,10 @@ public class UAVObjectField {
             	data = (Object) new ArrayList<Byte>(this.numElements);
                 numBytesPerElement = 1;
                 break;
+            case BITFIELD:
+            	data = (Object) new ArrayList<Short>(this.numElements);
+                numBytesPerElement = 1;
+                break;
             case STRING:
             	data = (Object) new ArrayList<String>(this.numElements);
                 numBytesPerElement = 1;
@@ -614,6 +654,12 @@ public class UAVObjectField {
     		if(num > 4294967295L)
     			return 4294967295L;
     		return num;
+    	case BITFIELD:
+    		if(num < 0)
+    			return (long) 0;
+    		if(num > 255)
+    			return (long) 255;
+    		return num;
     	}
     	
     	return num;

From 9960411ead0ae7176cef4b2c3b0e3cf3345908f1 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 2 Aug 2012 12:49:34 -0500
Subject: [PATCH 252/543] Finish porting the meta data changes from GCS and
 update all the UAVOs

---
 .../src/org/openpilot/uavtalk/Telemetry.java  |  29 +-
 .../openpilot/uavtalk/TelemetryMonitor.java   |  37 ++-
 .../src/org/openpilot/uavtalk/UAVObject.java  | 194 +++++++++++-
 .../org/openpilot/uavtalk/UAVObjectField.java |   2 +-
 .../uavtalk/uavobjects/AccessoryDesired.java  |  23 +-
 .../uavtalk/uavobjects/ActuatorCommand.java   |  23 +-
 .../uavtalk/uavobjects/ActuatorDesired.java   |  23 +-
 .../uavtalk/uavobjects/ActuatorSettings.java  | 280 +-----------------
 .../uavtalk/uavobjects/AttitudeActual.java    |  23 +-
 .../uavtalk/uavobjects/AttitudeSettings.java  |  23 +-
 .../uavtalk/uavobjects/BaroAltitude.java      |  23 +-
 .../uavtalk/uavobjects/CameraDesired.java     |  23 +-
 .../uavobjects/CameraStabSettings.java        |  23 +-
 .../uavtalk/uavobjects/FaultSettings.java     |  23 +-
 .../uavtalk/uavobjects/FirmwareIAPObj.java    |  23 +-
 .../uavobjects/FlightBatterySettings.java     |  36 ++-
 .../uavobjects/FlightBatteryState.java        |  30 +-
 .../uavtalk/uavobjects/FlightPlanControl.java |  23 +-
 .../uavobjects/FlightPlanSettings.java        |  23 +-
 .../uavtalk/uavobjects/FlightPlanStatus.java  |  23 +-
 .../uavtalk/uavobjects/FlightStatus.java      |  26 +-
 .../uavobjects/FlightTelemetryStats.java      |  23 +-
 .../uavtalk/uavobjects/GCSReceiver.java       |  27 +-
 .../uavtalk/uavobjects/GCSTelemetryStats.java |  23 +-
 .../uavtalk/uavobjects/GPSPosition.java       |  23 +-
 .../uavtalk/uavobjects/GPSSatellites.java     |  23 +-
 .../openpilot/uavtalk/uavobjects/GPSTime.java |  23 +-
 .../uavtalk/uavobjects/GuidanceSettings.java  | 211 -------------
 .../uavtalk/uavobjects/HomeLocation.java      |  23 +-
 .../uavtalk/uavobjects/HwSettings.java        |  44 +--
 .../uavtalk/uavobjects/I2CStats.java          |  23 +-
 .../uavobjects/ManualControlCommand.java      |  23 +-
 .../uavobjects/ManualControlSettings.java     |  48 ++-
 .../uavtalk/uavobjects/MixerSettings.java     |  23 +-
 .../uavtalk/uavobjects/MixerStatus.java       |  23 +-
 .../uavtalk/uavobjects/NedAccel.java          |  23 +-
 .../uavtalk/uavobjects/ObjectPersistence.java |  26 +-
 .../uavtalk/uavobjects/PositionActual.java    |  23 +-
 .../uavtalk/uavobjects/PositionDesired.java   | 147 ---------
 .../uavtalk/uavobjects/RateDesired.java       |  23 +-
 .../uavtalk/uavobjects/ReceiverActivity.java  |  23 +-
 .../uavtalk/uavobjects/SonarAltitude.java     |  23 +-
 .../uavobjects/StabilizationDesired.java      |  26 +-
 .../uavobjects/StabilizationSettings.java     |  78 ++++-
 .../uavtalk/uavobjects/SystemAlarms.java      |  29 +-
 .../uavtalk/uavobjects/SystemSettings.java    |  34 ++-
 .../uavtalk/uavobjects/SystemStats.java       |  23 +-
 .../uavtalk/uavobjects/TaskInfo.java          |  40 +--
 .../uavobjects/UAVObjectsInitialize.java      |  21 +-
 .../uavtalk/uavobjects/VelocityActual.java    |  23 +-
 .../uavtalk/uavobjects/VelocityDesired.java   |  23 +-
 .../uavtalk/uavobjects/WatchdogStatus.java    |  23 +-
 .../templates/uavobjecttemplate.java          |  23 +-
 53 files changed, 880 insertions(+), 1244 deletions(-)
 delete mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
 delete mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 1395a5c08..2ee5ab9a4 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -10,8 +10,6 @@ import java.util.Queue;
 import java.util.Timer;
 import java.util.TimerTask;
 
-import org.openpilot.uavtalk.UAVObject.Acked;
-
 import android.util.Log;
 
 public class Telemetry {
@@ -20,7 +18,7 @@ public class Telemetry {
 	public static int LOGLEVEL = 0;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
-
+	
     public class TelemetryStats {
         public int txBytes;
         public int rxBytes;
@@ -50,7 +48,7 @@ public class Telemetry {
         boolean allInstances;
         boolean objRequest;
         int retriesRemaining;
-        Acked acked;
+        boolean acked;
     } ;
     
     /**
@@ -249,7 +247,7 @@ public class Telemetry {
 
         // Setup object depending on update mode
         int eventMask;
-        if ( metadata.gcsTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_PERIODIC )
+        if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_PERIODIC )
         {
             // Set update period
             setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
@@ -260,7 +258,7 @@ public class Telemetry {
 
             connectToObjectInstances(obj, eventMask);
         }
-        else if ( metadata.gcsTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE )
+        else if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE )
         {
             // Set update period
             setUpdatePeriod(obj, 0);
@@ -271,7 +269,11 @@ public class Telemetry {
 
             connectToObjectInstances(obj, eventMask);
         }
-        else if ( metadata.gcsTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_MANUAL )
+        else if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_THROTTLED )
+        {
+        	// TODO
+        }
+        else if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_MANUAL )
         {
             // Set update period
             setUpdatePeriod(obj, 0);
@@ -282,13 +284,6 @@ public class Telemetry {
 
             connectToObjectInstances(obj, eventMask);
         }
-        else if ( metadata.gcsTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_NEVER )
-        {
-            // Set update period
-            setUpdatePeriod(obj, 0);
-            // Disconnect from object
-            connectToObjectInstances(obj, 0);
-        }
     }
 
     /**
@@ -360,10 +355,10 @@ public class Telemetry {
             }
             else
             {
-                utalk.sendObject(transInfo.obj, transInfo.acked == Acked.TRUE, transInfo.allInstances);
+                utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
             }
             // Start timer if a response is expected
-            if ( transInfo.objRequest || transInfo.acked == Acked.TRUE )
+            if ( transInfo.objRequest || transInfo.acked )
             {
             	transTimerSetPeriod(REQ_TIMEOUT_MS);
             }
@@ -476,7 +471,7 @@ public class Telemetry {
             transInfo.obj = objInfo.obj;
             transInfo.allInstances = objInfo.allInstances;
             transInfo.retriesRemaining = MAX_RETRIES;
-            transInfo.acked = metadata.gcsTelemetryAcked;
+            transInfo.acked = metadata.GetGcsTelemetryAcked();
             if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL )
             {
                 transInfo.objRequest = false;
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index 87a0cdc70..d1d7a9c44 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -76,27 +76,24 @@ public class TelemetryMonitor extends Observable{
 	    	List <UAVObject> instList = objListIterator.next();
 	        UAVObject obj = instList.get(0);
 	        UAVObject.Metadata mdata = obj.getMetadata();
-	        if ( mdata.gcsTelemetryUpdateMode != UAVObject.UpdateMode.UPDATEMODE_NEVER )
+	        if ( obj.isMetadata() )
 	        {
-	            if ( obj.isMetadata() )
-	            {
-	                queue.add(obj);
-	            }
-	            else /* Data object */
-	            {
-	            	UAVDataObject dobj = (UAVDataObject) obj;
-	                if ( dobj.isSettings() )
-	                {
-	                    queue.add(obj);
-	                }
-	                else
-	                {
-	                    if ( mdata.flightTelemetryUpdateMode == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE )
-	                    {
-	                        queue.add(obj);
-	                    }
-	                }
-	            }
+	        	queue.add(obj);
+	        }
+	        else /* Data object */
+	        {
+	        	UAVDataObject dobj = (UAVDataObject) obj;
+	        	if ( dobj.isSettings() )
+	        	{
+	        		queue.add(obj);
+	        	}
+	        	else
+	        	{
+	        		if ( mdata.GetFlightTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE )
+	        		{
+	        			queue.add(obj);
+	        		}
+	        	}
 	        }
 	    }
 	    // Start retrieving
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index 20d4cb02a..28c279040 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -133,7 +133,15 @@ public abstract class UAVObject {
 		ACCESS_READWRITE, ACCESS_READONLY
 	};
 
-	public final class Metadata {
+	public final static int UAVOBJ_ACCESS_SHIFT = 0;
+	public final static int UAVOBJ_GCS_ACCESS_SHIFT = 1;
+	public final static int UAVOBJ_TELEMETRY_ACKED_SHIFT = 2;
+	public final static int UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT = 3;
+	public final static int UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT = 4;
+	public final static int UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT = 6;
+	public final static int UAVOBJ_UPDATE_MODE_MASK = 0x3;
+
+	public final static class Metadata {
 		/**
 		 * Object metadata, each object has a meta object that holds its metadata. The metadata define
 		 * properties for each object and can be used by multiple modules (e.g. telemetry and logger)
@@ -164,6 +172,190 @@ public abstract class UAVObject {
 		 * Update period used by the logging module (only if logging mode is
 		 * PERIODIC)
 		 */
+
+		/**
+		 * @brief Helper method for metadata accessors
+		 * @param var The starting value
+		 * @param shift The offset of these bits
+		 * @param value The new value
+		 * @param mask The mask of these bits
+		 * @return
+		 */
+		private void SET_BITS(int shift, int value, int mask) {
+			this.flags = (this.flags & ~(mask << shift)) |	(value << shift);
+		}
+		
+		/**
+		 * Get the UAVObject metadata access member
+		 * \return the access type
+		 */
+		public AccessMode GetFlightAccess()
+		{
+			return AccessModeEnum((this.flags >> UAVOBJ_ACCESS_SHIFT) & 1);
+		}
+
+		/**
+		 * Set the UAVObject metadata access member
+		 * \param[in] mode The access mode
+		 */
+		public void SetFlightAccess(Metadata metadata, AccessMode mode)
+		{
+			// Need to convert java enums which have no numeric value to bits
+			SET_BITS(UAVOBJ_ACCESS_SHIFT, AccessModeNum(mode), 1);
+		}
+
+		/**
+		 * Get the UAVObject metadata GCS access member
+		 * \return the GCS access type
+		 */
+		public AccessMode GetGcsAccess()
+		{			
+			return AccessModeEnum((this.flags >> UAVOBJ_GCS_ACCESS_SHIFT) & 1);
+		}
+
+		/**
+		 * Set the UAVObject metadata GCS access member
+		 * \param[in] mode The access mode
+		 */
+		public void SetGcsAccess(Metadata metadata, AccessMode mode) {
+			// Need to convert java enums which have no numeric value to bits
+			SET_BITS(UAVOBJ_GCS_ACCESS_SHIFT, AccessModeNum(mode), 1);
+		}
+
+		/**
+		 * Get the UAVObject metadata telemetry acked member
+		 * \return the telemetry acked boolean
+		 */
+		public boolean GetFlightTelemetryAcked() {
+			return (((this.flags >> UAVOBJ_TELEMETRY_ACKED_SHIFT) & 1) == 1);
+		}
+
+		/**
+		 * Set the UAVObject metadata telemetry acked member
+		 * \param[in] val The telemetry acked boolean
+		 */
+		public void SetFlightTelemetryAcked(boolean val) {
+			SET_BITS(UAVOBJ_TELEMETRY_ACKED_SHIFT, val ? 1 : 0, 1);
+		}
+
+		/**
+		 * Get the UAVObject metadata GCS telemetry acked member
+		 * \return the telemetry acked boolean
+		 */
+		public boolean GetGcsTelemetryAcked() {
+			return ((this.flags >> UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT) & 1) == 1;
+		}
+
+		/**
+		 * Set the UAVObject metadata GCS telemetry acked member
+		 * \param[in] val The GCS telemetry acked boolean
+		 */
+		public void SetGcsTelemetryAcked(boolean val) {
+			SET_BITS(UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT, val ? 1 : 0, 1);
+		}
+
+		/**
+		 * Maps from the bitfield number to the symbolic java enumeration
+		 * @param num The value in the bitfield after shifting
+		 * @return The update mode
+		 */
+		public static AccessMode AccessModeEnum(int num) {
+			switch(num) {
+			case 0:
+				return AccessMode.ACCESS_READONLY;
+			case 1:
+				return AccessMode.ACCESS_READWRITE;
+			}
+			return AccessMode.ACCESS_READONLY;
+		}
+
+		/**
+		 * Maps from the java symbolic enumeration of update mode to the bitfield value
+		 * @param e The update mode
+		 * @return The numeric value to use on the wire
+		 */
+		public static int AccessModeNum(AccessMode e) {
+			switch(e) {
+			case ACCESS_READONLY:
+				return 0;
+			case ACCESS_READWRITE:
+				return 1;
+			}
+			return 0;
+		}
+
+		/**
+		 * Maps from the bitfield number to the symbolic java enumeration
+		 * @param num The value in the bitfield after shifting
+		 * @return The update mode
+		 */
+		public static UpdateMode UpdateModeEnum(int num) {
+			switch(num) {
+			case 0:
+				return UpdateMode.UPDATEMODE_MANUAL;
+			case 1:
+				return UpdateMode.UPDATEMODE_PERIODIC;
+			case 2:
+				return UpdateMode.UPDATEMODE_ONCHANGE;
+			default:
+				return UpdateMode.UPDATEMODE_THROTTLED;
+			}
+		}
+
+		/**
+		 * Maps from the java symbolic enumeration of update mode to the bitfield value
+		 * @param e The update mode
+		 * @return The numeric value to use on the wire
+		 */
+		public static int UpdateModeNum(UpdateMode e) {
+			switch(e) {
+			case UPDATEMODE_MANUAL:
+				return 0;
+			case UPDATEMODE_PERIODIC:
+				return 1;
+			case UPDATEMODE_ONCHANGE:
+				return 2;
+			case UPDATEMODE_THROTTLED:
+				return 3;
+			}
+			return 0;
+		}
+
+		/**
+		 * Get the UAVObject metadata telemetry update mode
+		 * \return the telemetry update mode
+		 */
+		public UpdateMode GetFlightTelemetryUpdateMode() {
+			return UpdateModeEnum((this.flags >> UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK);
+		}
+
+		/**
+		 * Set the UAVObject metadata telemetry update mode member
+		 * \param[in] metadata The metadata object
+		 * \param[in] val The telemetry update mode
+		 */
+		public void SetFlightTelemetryUpdateMode(UpdateMode val) {
+			SET_BITS(UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT, UpdateModeNum(val), UAVOBJ_UPDATE_MODE_MASK);
+		}
+
+		/**
+		 * Get the UAVObject metadata GCS telemetry update mode
+		 * \param[in] metadata The metadata object
+		 * \return the GCS telemetry update mode
+		 */
+		public UpdateMode GetGcsTelemetryUpdateMode() {
+			return UpdateModeEnum((this.flags >> UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK);
+		}
+
+		/**
+		 * Set the UAVObject metadata GCS telemetry update mode member
+		 * \param[in] metadata The metadata object
+		 * \param[in] val The GCS telemetry update mode
+		 */
+		public void SetGcsTelemetryUpdateMode(UpdateMode val) {
+			SET_BITS(UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT, UpdateModeNum(val), UAVOBJ_UPDATE_MODE_MASK);
+		}
+
 	};
 
 	public UAVObject(int objID, Boolean isSingleInst, String name) {
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index c2965f6cc..3ed221079 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -314,7 +314,7 @@ public class UAVObjectField {
     	// Get metadata
     	UAVObject.Metadata mdata = obj.getMetadata();
     	// Update value if the access mode permits
-    	if ( mdata.gcsAccess == UAVObject.AccessMode.ACCESS_READWRITE )
+    	if ( mdata.GetGcsAccess() == UAVObject.AccessMode.ACCESS_READWRITE )
     	{
     		switch (type)
     		{
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
index 13c63dfdd..4b7c875a7 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
@@ -78,18 +78,17 @@ public class AccessoryDesired extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
index 08f2ebefe..0120e0ce7 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
@@ -99,18 +99,17 @@ public class ActuatorCommand extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
index 03ff1985c..a00517906 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
@@ -98,18 +98,17 @@ public class ActuatorDesired extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
index 71b0bb49f..2257da346 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
@@ -97,246 +97,6 @@ public class ActuatorSettings extends UAVDataObject {
 		ChannelMinElemNames.add("9");
 		fields.add( new UAVObjectField("ChannelMin", "us", UAVObjectField.FieldType.INT16, ChannelMinElemNames, null) );
 
-		List<String> FixedWingRoll1ElemNames = new ArrayList<String>();
-		FixedWingRoll1ElemNames.add("0");
-		List<String> FixedWingRoll1EnumOptions = new ArrayList<String>();
-		FixedWingRoll1EnumOptions.add("Channel1");
-		FixedWingRoll1EnumOptions.add("Channel2");
-		FixedWingRoll1EnumOptions.add("Channel3");
-		FixedWingRoll1EnumOptions.add("Channel4");
-		FixedWingRoll1EnumOptions.add("Channel5");
-		FixedWingRoll1EnumOptions.add("Channel6");
-		FixedWingRoll1EnumOptions.add("Channel7");
-		FixedWingRoll1EnumOptions.add("Channel8");
-		FixedWingRoll1EnumOptions.add("Channel9");
-		FixedWingRoll1EnumOptions.add("Channel10");
-		FixedWingRoll1EnumOptions.add("None");
-		fields.add( new UAVObjectField("FixedWingRoll1", "channel", UAVObjectField.FieldType.ENUM, FixedWingRoll1ElemNames, FixedWingRoll1EnumOptions) );
-
-		List<String> FixedWingRoll2ElemNames = new ArrayList<String>();
-		FixedWingRoll2ElemNames.add("0");
-		List<String> FixedWingRoll2EnumOptions = new ArrayList<String>();
-		FixedWingRoll2EnumOptions.add("Channel1");
-		FixedWingRoll2EnumOptions.add("Channel2");
-		FixedWingRoll2EnumOptions.add("Channel3");
-		FixedWingRoll2EnumOptions.add("Channel4");
-		FixedWingRoll2EnumOptions.add("Channel5");
-		FixedWingRoll2EnumOptions.add("Channel6");
-		FixedWingRoll2EnumOptions.add("Channel7");
-		FixedWingRoll2EnumOptions.add("Channel8");
-		FixedWingRoll2EnumOptions.add("Channel9");
-		FixedWingRoll2EnumOptions.add("Channel10");
-		FixedWingRoll2EnumOptions.add("None");
-		fields.add( new UAVObjectField("FixedWingRoll2", "channel", UAVObjectField.FieldType.ENUM, FixedWingRoll2ElemNames, FixedWingRoll2EnumOptions) );
-
-		List<String> FixedWingPitch1ElemNames = new ArrayList<String>();
-		FixedWingPitch1ElemNames.add("0");
-		List<String> FixedWingPitch1EnumOptions = new ArrayList<String>();
-		FixedWingPitch1EnumOptions.add("Channel1");
-		FixedWingPitch1EnumOptions.add("Channel2");
-		FixedWingPitch1EnumOptions.add("Channel3");
-		FixedWingPitch1EnumOptions.add("Channel4");
-		FixedWingPitch1EnumOptions.add("Channel5");
-		FixedWingPitch1EnumOptions.add("Channel6");
-		FixedWingPitch1EnumOptions.add("Channel7");
-		FixedWingPitch1EnumOptions.add("Channel8");
-		FixedWingPitch1EnumOptions.add("Channel9");
-		FixedWingPitch1EnumOptions.add("Channel10");
-		FixedWingPitch1EnumOptions.add("None");
-		fields.add( new UAVObjectField("FixedWingPitch1", "channel", UAVObjectField.FieldType.ENUM, FixedWingPitch1ElemNames, FixedWingPitch1EnumOptions) );
-
-		List<String> FixedWingPitch2ElemNames = new ArrayList<String>();
-		FixedWingPitch2ElemNames.add("0");
-		List<String> FixedWingPitch2EnumOptions = new ArrayList<String>();
-		FixedWingPitch2EnumOptions.add("Channel1");
-		FixedWingPitch2EnumOptions.add("Channel2");
-		FixedWingPitch2EnumOptions.add("Channel3");
-		FixedWingPitch2EnumOptions.add("Channel4");
-		FixedWingPitch2EnumOptions.add("Channel5");
-		FixedWingPitch2EnumOptions.add("Channel6");
-		FixedWingPitch2EnumOptions.add("Channel7");
-		FixedWingPitch2EnumOptions.add("Channel8");
-		FixedWingPitch2EnumOptions.add("Channel9");
-		FixedWingPitch2EnumOptions.add("Channel10");
-		FixedWingPitch2EnumOptions.add("None");
-		fields.add( new UAVObjectField("FixedWingPitch2", "channel", UAVObjectField.FieldType.ENUM, FixedWingPitch2ElemNames, FixedWingPitch2EnumOptions) );
-
-		List<String> FixedWingYaw1ElemNames = new ArrayList<String>();
-		FixedWingYaw1ElemNames.add("0");
-		List<String> FixedWingYaw1EnumOptions = new ArrayList<String>();
-		FixedWingYaw1EnumOptions.add("Channel1");
-		FixedWingYaw1EnumOptions.add("Channel2");
-		FixedWingYaw1EnumOptions.add("Channel3");
-		FixedWingYaw1EnumOptions.add("Channel4");
-		FixedWingYaw1EnumOptions.add("Channel5");
-		FixedWingYaw1EnumOptions.add("Channel6");
-		FixedWingYaw1EnumOptions.add("Channel7");
-		FixedWingYaw1EnumOptions.add("Channel8");
-		FixedWingYaw1EnumOptions.add("Channel9");
-		FixedWingYaw1EnumOptions.add("Channel10");
-		FixedWingYaw1EnumOptions.add("None");
-		fields.add( new UAVObjectField("FixedWingYaw1", "channel", UAVObjectField.FieldType.ENUM, FixedWingYaw1ElemNames, FixedWingYaw1EnumOptions) );
-
-		List<String> FixedWingYaw2ElemNames = new ArrayList<String>();
-		FixedWingYaw2ElemNames.add("0");
-		List<String> FixedWingYaw2EnumOptions = new ArrayList<String>();
-		FixedWingYaw2EnumOptions.add("Channel1");
-		FixedWingYaw2EnumOptions.add("Channel2");
-		FixedWingYaw2EnumOptions.add("Channel3");
-		FixedWingYaw2EnumOptions.add("Channel4");
-		FixedWingYaw2EnumOptions.add("Channel5");
-		FixedWingYaw2EnumOptions.add("Channel6");
-		FixedWingYaw2EnumOptions.add("Channel7");
-		FixedWingYaw2EnumOptions.add("Channel8");
-		FixedWingYaw2EnumOptions.add("Channel9");
-		FixedWingYaw2EnumOptions.add("Channel10");
-		FixedWingYaw2EnumOptions.add("None");
-		fields.add( new UAVObjectField("FixedWingYaw2", "channel", UAVObjectField.FieldType.ENUM, FixedWingYaw2ElemNames, FixedWingYaw2EnumOptions) );
-
-		List<String> FixedWingThrottleElemNames = new ArrayList<String>();
-		FixedWingThrottleElemNames.add("0");
-		List<String> FixedWingThrottleEnumOptions = new ArrayList<String>();
-		FixedWingThrottleEnumOptions.add("Channel1");
-		FixedWingThrottleEnumOptions.add("Channel2");
-		FixedWingThrottleEnumOptions.add("Channel3");
-		FixedWingThrottleEnumOptions.add("Channel4");
-		FixedWingThrottleEnumOptions.add("Channel5");
-		FixedWingThrottleEnumOptions.add("Channel6");
-		FixedWingThrottleEnumOptions.add("Channel7");
-		FixedWingThrottleEnumOptions.add("Channel8");
-		FixedWingThrottleEnumOptions.add("Channel9");
-		FixedWingThrottleEnumOptions.add("Channel10");
-		FixedWingThrottleEnumOptions.add("None");
-		fields.add( new UAVObjectField("FixedWingThrottle", "channel", UAVObjectField.FieldType.ENUM, FixedWingThrottleElemNames, FixedWingThrottleEnumOptions) );
-
-		List<String> VTOLMotorNElemNames = new ArrayList<String>();
-		VTOLMotorNElemNames.add("0");
-		List<String> VTOLMotorNEnumOptions = new ArrayList<String>();
-		VTOLMotorNEnumOptions.add("Channel1");
-		VTOLMotorNEnumOptions.add("Channel2");
-		VTOLMotorNEnumOptions.add("Channel3");
-		VTOLMotorNEnumOptions.add("Channel4");
-		VTOLMotorNEnumOptions.add("Channel5");
-		VTOLMotorNEnumOptions.add("Channel6");
-		VTOLMotorNEnumOptions.add("Channel7");
-		VTOLMotorNEnumOptions.add("Channel8");
-		VTOLMotorNEnumOptions.add("Channel9");
-		VTOLMotorNEnumOptions.add("Channel10");
-		VTOLMotorNEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorN", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorNElemNames, VTOLMotorNEnumOptions) );
-
-		List<String> VTOLMotorNEElemNames = new ArrayList<String>();
-		VTOLMotorNEElemNames.add("0");
-		List<String> VTOLMotorNEEnumOptions = new ArrayList<String>();
-		VTOLMotorNEEnumOptions.add("Channel1");
-		VTOLMotorNEEnumOptions.add("Channel2");
-		VTOLMotorNEEnumOptions.add("Channel3");
-		VTOLMotorNEEnumOptions.add("Channel4");
-		VTOLMotorNEEnumOptions.add("Channel5");
-		VTOLMotorNEEnumOptions.add("Channel6");
-		VTOLMotorNEEnumOptions.add("Channel7");
-		VTOLMotorNEEnumOptions.add("Channel8");
-		VTOLMotorNEEnumOptions.add("Channel9");
-		VTOLMotorNEEnumOptions.add("Channel10");
-		VTOLMotorNEEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorNE", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorNEElemNames, VTOLMotorNEEnumOptions) );
-
-		List<String> VTOLMotorEElemNames = new ArrayList<String>();
-		VTOLMotorEElemNames.add("0");
-		List<String> VTOLMotorEEnumOptions = new ArrayList<String>();
-		VTOLMotorEEnumOptions.add("Channel1");
-		VTOLMotorEEnumOptions.add("Channel2");
-		VTOLMotorEEnumOptions.add("Channel3");
-		VTOLMotorEEnumOptions.add("Channel4");
-		VTOLMotorEEnumOptions.add("Channel5");
-		VTOLMotorEEnumOptions.add("Channel6");
-		VTOLMotorEEnumOptions.add("Channel7");
-		VTOLMotorEEnumOptions.add("Channel8");
-		VTOLMotorEEnumOptions.add("Channel9");
-		VTOLMotorEEnumOptions.add("Channel10");
-		VTOLMotorEEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorE", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorEElemNames, VTOLMotorEEnumOptions) );
-
-		List<String> VTOLMotorSEElemNames = new ArrayList<String>();
-		VTOLMotorSEElemNames.add("0");
-		List<String> VTOLMotorSEEnumOptions = new ArrayList<String>();
-		VTOLMotorSEEnumOptions.add("Channel1");
-		VTOLMotorSEEnumOptions.add("Channel2");
-		VTOLMotorSEEnumOptions.add("Channel3");
-		VTOLMotorSEEnumOptions.add("Channel4");
-		VTOLMotorSEEnumOptions.add("Channel5");
-		VTOLMotorSEEnumOptions.add("Channel6");
-		VTOLMotorSEEnumOptions.add("Channel7");
-		VTOLMotorSEEnumOptions.add("Channel8");
-		VTOLMotorSEEnumOptions.add("Channel9");
-		VTOLMotorSEEnumOptions.add("Channel10");
-		VTOLMotorSEEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorSE", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorSEElemNames, VTOLMotorSEEnumOptions) );
-
-		List<String> VTOLMotorSElemNames = new ArrayList<String>();
-		VTOLMotorSElemNames.add("0");
-		List<String> VTOLMotorSEnumOptions = new ArrayList<String>();
-		VTOLMotorSEnumOptions.add("Channel1");
-		VTOLMotorSEnumOptions.add("Channel2");
-		VTOLMotorSEnumOptions.add("Channel3");
-		VTOLMotorSEnumOptions.add("Channel4");
-		VTOLMotorSEnumOptions.add("Channel5");
-		VTOLMotorSEnumOptions.add("Channel6");
-		VTOLMotorSEnumOptions.add("Channel7");
-		VTOLMotorSEnumOptions.add("Channel8");
-		VTOLMotorSEnumOptions.add("Channel9");
-		VTOLMotorSEnumOptions.add("Channel10");
-		VTOLMotorSEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorS", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorSElemNames, VTOLMotorSEnumOptions) );
-
-		List<String> VTOLMotorSWElemNames = new ArrayList<String>();
-		VTOLMotorSWElemNames.add("0");
-		List<String> VTOLMotorSWEnumOptions = new ArrayList<String>();
-		VTOLMotorSWEnumOptions.add("Channel1");
-		VTOLMotorSWEnumOptions.add("Channel2");
-		VTOLMotorSWEnumOptions.add("Channel3");
-		VTOLMotorSWEnumOptions.add("Channel4");
-		VTOLMotorSWEnumOptions.add("Channel5");
-		VTOLMotorSWEnumOptions.add("Channel6");
-		VTOLMotorSWEnumOptions.add("Channel7");
-		VTOLMotorSWEnumOptions.add("Channel8");
-		VTOLMotorSWEnumOptions.add("Channel9");
-		VTOLMotorSWEnumOptions.add("Channel10");
-		VTOLMotorSWEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorSW", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorSWElemNames, VTOLMotorSWEnumOptions) );
-
-		List<String> VTOLMotorWElemNames = new ArrayList<String>();
-		VTOLMotorWElemNames.add("0");
-		List<String> VTOLMotorWEnumOptions = new ArrayList<String>();
-		VTOLMotorWEnumOptions.add("Channel1");
-		VTOLMotorWEnumOptions.add("Channel2");
-		VTOLMotorWEnumOptions.add("Channel3");
-		VTOLMotorWEnumOptions.add("Channel4");
-		VTOLMotorWEnumOptions.add("Channel5");
-		VTOLMotorWEnumOptions.add("Channel6");
-		VTOLMotorWEnumOptions.add("Channel7");
-		VTOLMotorWEnumOptions.add("Channel8");
-		VTOLMotorWEnumOptions.add("Channel9");
-		VTOLMotorWEnumOptions.add("Channel10");
-		VTOLMotorWEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorW", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorWElemNames, VTOLMotorWEnumOptions) );
-
-		List<String> VTOLMotorNWElemNames = new ArrayList<String>();
-		VTOLMotorNWElemNames.add("0");
-		List<String> VTOLMotorNWEnumOptions = new ArrayList<String>();
-		VTOLMotorNWEnumOptions.add("Channel1");
-		VTOLMotorNWEnumOptions.add("Channel2");
-		VTOLMotorNWEnumOptions.add("Channel3");
-		VTOLMotorNWEnumOptions.add("Channel4");
-		VTOLMotorNWEnumOptions.add("Channel5");
-		VTOLMotorNWEnumOptions.add("Channel6");
-		VTOLMotorNWEnumOptions.add("Channel7");
-		VTOLMotorNWEnumOptions.add("Channel8");
-		VTOLMotorNWEnumOptions.add("Channel9");
-		VTOLMotorNWEnumOptions.add("Channel10");
-		VTOLMotorNWEnumOptions.add("None");
-		fields.add( new UAVObjectField("VTOLMotorNW", "channel", UAVObjectField.FieldType.ENUM, VTOLMotorNWElemNames, VTOLMotorNWEnumOptions) );
-
 		List<String> ChannelTypeElemNames = new ArrayList<String>();
 		ChannelTypeElemNames.add("0");
 		ChannelTypeElemNames.add("1");
@@ -398,18 +158,17 @@ public class ActuatorSettings extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
@@ -454,21 +213,6 @@ public class ActuatorSettings extends UAVDataObject {
 		getField("ChannelMin").setValue(1000,7);
 		getField("ChannelMin").setValue(1000,8);
 		getField("ChannelMin").setValue(1000,9);
-		getField("FixedWingRoll1").setValue("None");
-		getField("FixedWingRoll2").setValue("None");
-		getField("FixedWingPitch1").setValue("None");
-		getField("FixedWingPitch2").setValue("None");
-		getField("FixedWingYaw1").setValue("None");
-		getField("FixedWingYaw2").setValue("None");
-		getField("FixedWingThrottle").setValue("None");
-		getField("VTOLMotorN").setValue("None");
-		getField("VTOLMotorNE").setValue("None");
-		getField("VTOLMotorE").setValue("None");
-		getField("VTOLMotorSE").setValue("None");
-		getField("VTOLMotorS").setValue("None");
-		getField("VTOLMotorSW").setValue("None");
-		getField("VTOLMotorW").setValue("None");
-		getField("VTOLMotorNW").setValue("None");
 		getField("ChannelType").setValue("PWM",0);
 		getField("ChannelType").setValue("PWM",1);
 		getField("ChannelType").setValue("PWM",2);
@@ -518,7 +262,7 @@ public class ActuatorSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xF2875746;
+	protected static final int OBJID = 0x7D555646;
 	protected static final String NAME = "ActuatorSettings";
 	protected static String DESCRIPTION = "Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
index 7c9272cad..b117e501a 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
@@ -102,18 +102,17 @@ public class AttitudeActual extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 100;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 100;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
index 3034a99ad..9bcce7bf3 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
@@ -130,18 +130,17 @@ public class AttitudeSettings extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
index ecde53985..cd649f84c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
@@ -86,18 +86,17 @@ public class BaroAltitude extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
index 7a36ec1ea..34c23e612 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
@@ -86,18 +86,17 @@ public class CameraDesired extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
index a8e03df32..0b2f3b3f5 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
@@ -125,18 +125,17 @@ public class CameraStabSettings extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
index b22b8185e..8da58f793 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
@@ -85,18 +85,17 @@ public class FaultSettings extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
index 71c681bd2..58fadcee5 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
@@ -152,18 +152,17 @@ public class FirmwareIAPObj extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
index a3bc23eb3..850f64103 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
@@ -80,9 +80,12 @@ public class FlightBatterySettings extends UAVDataObject {
 		fields.add( new UAVObjectField("NbCells", "", UAVObjectField.FieldType.UINT8, NbCellsElemNames, null) );
 
 		List<String> SensorTypeElemNames = new ArrayList<String>();
-		SensorTypeElemNames.add("0");
+		SensorTypeElemNames.add("BatteryCurrent");
+		SensorTypeElemNames.add("BatteryVoltage");
+		SensorTypeElemNames.add("BoardVoltage");
 		List<String> SensorTypeEnumOptions = new ArrayList<String>();
-		SensorTypeEnumOptions.add("None");
+		SensorTypeEnumOptions.add("Disabled");
+		SensorTypeEnumOptions.add("Enabled");
 		fields.add( new UAVObjectField("SensorType", "", UAVObjectField.FieldType.ENUM, SensorTypeElemNames, SensorTypeEnumOptions) );
 
 
@@ -108,18 +111,17 @@ public class FlightBatterySettings extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
@@ -137,7 +139,9 @@ public class FlightBatterySettings extends UAVDataObject {
 		getField("SensorCalibrations").setValue(1,1);
 		getField("Type").setValue("LiPo");
 		getField("NbCells").setValue(3);
-		getField("SensorType").setValue("None");
+		getField("SensorType").setValue("Disabled",0);
+		getField("SensorType").setValue("Disabled",1);
+		getField("SensorType").setValue("Disabled",2);
 
 	}
 
@@ -166,7 +170,7 @@ public class FlightBatterySettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xF172BB18;
+	protected static final int OBJID = 0x94AC6AD2;
 	protected static final String NAME = "FlightBatterySettings";
 	protected static String DESCRIPTION = "Flight Battery configuration.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
index 82fcfae47..d54648ad5 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
@@ -59,6 +59,10 @@ public class FlightBatteryState extends UAVDataObject {
 		CurrentElemNames.add("0");
 		fields.add( new UAVObjectField("Current", "A", UAVObjectField.FieldType.FLOAT32, CurrentElemNames, null) );
 
+		List<String> BoardSupplyVoltageElemNames = new ArrayList<String>();
+		BoardSupplyVoltageElemNames.add("0");
+		fields.add( new UAVObjectField("BoardSupplyVoltage", "V", UAVObjectField.FieldType.FLOAT32, BoardSupplyVoltageElemNames, null) );
+
 		List<String> PeakCurrentElemNames = new ArrayList<String>();
 		PeakCurrentElemNames.add("0");
 		fields.add( new UAVObjectField("PeakCurrent", "A", UAVObjectField.FieldType.FLOAT32, PeakCurrentElemNames, null) );
@@ -98,18 +102,17 @@ public class FlightBatteryState extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READONLY;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READONLY) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
@@ -122,6 +125,7 @@ public class FlightBatteryState extends UAVDataObject {
 	{
 		getField("Voltage").setValue(0);
 		getField("Current").setValue(0);
+		getField("BoardSupplyVoltage").setValue(0);
 		getField("PeakCurrent").setValue(0);
 		getField("AvgCurrent").setValue(0);
 		getField("ConsumedEnergy").setValue(0);
@@ -154,7 +158,7 @@ public class FlightBatteryState extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x8C0D756;
+	protected static final int OBJID = 0xD2083596;
 	protected static final String NAME = "FlightBatteryState";
 	protected static String DESCRIPTION = "Battery status information.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
index dbe959f96..cdea28a0f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
@@ -82,18 +82,17 @@ public class FlightPlanControl extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
index 6fc39a26e..184bbd1b7 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
@@ -78,18 +78,17 @@ public class FlightPlanSettings extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
index 7b78bce71..8aa152789 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
@@ -119,18 +119,17 @@ public class FlightPlanStatus extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 2000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 2000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
index ac3812aa6..38697e573 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
@@ -70,6 +70,7 @@ public class FlightStatus extends UAVDataObject {
 		FlightModeEnumOptions.add("VelocityControl");
 		FlightModeEnumOptions.add("PositionHold");
 		FlightModeEnumOptions.add("PathPlanner");
+		FlightModeEnumOptions.add("RTH");
 		fields.add( new UAVObjectField("FlightMode", "", UAVObjectField.FieldType.ENUM, FlightModeElemNames, FlightModeEnumOptions) );
 
 
@@ -95,18 +96,17 @@ public class FlightStatus extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 5000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 5000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
@@ -146,7 +146,7 @@ public class FlightStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x19B92D8;
+	protected static final int OBJID = 0x884FEF66;
 	protected static final String NAME = "FlightStatus";
 	protected static String DESCRIPTION = "Contains major flight status information for other modules.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
index 403ea1d5e..3a042f52e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
@@ -103,18 +103,17 @@ public class FlightTelemetryStats extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 5000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 5000;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 5000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 5000;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
index 3cb3811ae..05fa87efb 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
@@ -58,6 +58,8 @@ public class GCSReceiver extends UAVDataObject {
 		ChannelElemNames.add("3");
 		ChannelElemNames.add("4");
 		ChannelElemNames.add("5");
+		ChannelElemNames.add("6");
+		ChannelElemNames.add("7");
 		fields.add( new UAVObjectField("Channel", "us", UAVObjectField.FieldType.UINT16, ChannelElemNames, null) );
 
 
@@ -83,18 +85,17 @@ public class GCSReceiver extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READONLY;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
@@ -133,7 +134,7 @@ public class GCSReceiver extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xCC7E2BBC;
+	protected static final int OBJID = 0xCC7E1470;
 	protected static final String NAME = "GCSReceiver";
 	protected static String DESCRIPTION = "A receiver channel group carried over the telemetry link.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
index b32f551ce..754272c8c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
@@ -103,18 +103,17 @@ public class GCSTelemetryStats extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.gcsTelemetryUpdatePeriod = 5000;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 5000;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
index 5f4e20b46..c2c8544a9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
@@ -123,18 +123,17 @@ public class GPSPosition extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 1000;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
index bb331132d..0f5b0161a 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
@@ -154,18 +154,17 @@ public class GPSSatellites extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 10000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 30000;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 10000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 30000;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
index 5aa4df7bf..7095aa18e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
@@ -98,18 +98,17 @@ public class GPSTime extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 10000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 30000;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 10000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 30000;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
deleted file mode 100644
index 5510a901d..000000000
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
+++ /dev/null
@@ -1,211 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       uavobjecttemplate.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Template for an uavobject in java
- *             This is a autogenerated file!! Do not modify and expect a result.
- *             Settings for the @ref GuidanceModule
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-package org.openpilot.uavtalk.uavobjects;
-
-import java.nio.ByteBuffer;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.ListIterator;
-
-import org.openpilot.uavtalk.UAVObjectManager;
-import org.openpilot.uavtalk.UAVObject;
-import org.openpilot.uavtalk.UAVDataObject;
-import org.openpilot.uavtalk.UAVObjectField;
-
-/**
-Settings for the @ref GuidanceModule
-
-generated from guidancesettings.xml
- **/
-public class GuidanceSettings extends UAVDataObject {
-
-	public GuidanceSettings() {
-		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
-		
-		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
-		
-
-		List<String> HorizontalPosPIElemNames = new ArrayList<String>();
-		HorizontalPosPIElemNames.add("Kp");
-		HorizontalPosPIElemNames.add("Ki");
-		HorizontalPosPIElemNames.add("ILimit");
-		fields.add( new UAVObjectField("HorizontalPosPI", "(m/s)/m", UAVObjectField.FieldType.FLOAT32, HorizontalPosPIElemNames, null) );
-
-		List<String> HorizontalVelPIDElemNames = new ArrayList<String>();
-		HorizontalVelPIDElemNames.add("Kp");
-		HorizontalVelPIDElemNames.add("Ki");
-		HorizontalVelPIDElemNames.add("Kd");
-		HorizontalVelPIDElemNames.add("ILimit");
-		fields.add( new UAVObjectField("HorizontalVelPID", "deg/(m/s)", UAVObjectField.FieldType.FLOAT32, HorizontalVelPIDElemNames, null) );
-
-		List<String> VerticalPosPIElemNames = new ArrayList<String>();
-		VerticalPosPIElemNames.add("Kp");
-		VerticalPosPIElemNames.add("Ki");
-		VerticalPosPIElemNames.add("ILimit");
-		fields.add( new UAVObjectField("VerticalPosPI", "", UAVObjectField.FieldType.FLOAT32, VerticalPosPIElemNames, null) );
-
-		List<String> VerticalVelPIDElemNames = new ArrayList<String>();
-		VerticalVelPIDElemNames.add("Kp");
-		VerticalVelPIDElemNames.add("Ki");
-		VerticalVelPIDElemNames.add("Kd");
-		VerticalVelPIDElemNames.add("ILimit");
-		fields.add( new UAVObjectField("VerticalVelPID", "", UAVObjectField.FieldType.FLOAT32, VerticalVelPIDElemNames, null) );
-
-		List<String> MaxRollPitchElemNames = new ArrayList<String>();
-		MaxRollPitchElemNames.add("0");
-		fields.add( new UAVObjectField("MaxRollPitch", "deg", UAVObjectField.FieldType.FLOAT32, MaxRollPitchElemNames, null) );
-
-		List<String> UpdatePeriodElemNames = new ArrayList<String>();
-		UpdatePeriodElemNames.add("0");
-		fields.add( new UAVObjectField("UpdatePeriod", "", UAVObjectField.FieldType.INT32, UpdatePeriodElemNames, null) );
-
-		List<String> HorizontalVelMaxElemNames = new ArrayList<String>();
-		HorizontalVelMaxElemNames.add("0");
-		fields.add( new UAVObjectField("HorizontalVelMax", "m/s", UAVObjectField.FieldType.UINT16, HorizontalVelMaxElemNames, null) );
-
-		List<String> VerticalVelMaxElemNames = new ArrayList<String>();
-		VerticalVelMaxElemNames.add("0");
-		fields.add( new UAVObjectField("VerticalVelMax", "m/s", UAVObjectField.FieldType.UINT16, VerticalVelMaxElemNames, null) );
-
-		List<String> GuidanceModeElemNames = new ArrayList<String>();
-		GuidanceModeElemNames.add("0");
-		List<String> GuidanceModeEnumOptions = new ArrayList<String>();
-		GuidanceModeEnumOptions.add("DUAL_LOOP");
-		GuidanceModeEnumOptions.add("VELOCITY_CONTROL");
-		fields.add( new UAVObjectField("GuidanceMode", "", UAVObjectField.FieldType.ENUM, GuidanceModeElemNames, GuidanceModeEnumOptions) );
-
-		List<String> ThrottleControlElemNames = new ArrayList<String>();
-		ThrottleControlElemNames.add("0");
-		List<String> ThrottleControlEnumOptions = new ArrayList<String>();
-		ThrottleControlEnumOptions.add("FALSE");
-		ThrottleControlEnumOptions.add("TRUE");
-		fields.add( new UAVObjectField("ThrottleControl", "", UAVObjectField.FieldType.ENUM, ThrottleControlElemNames, ThrottleControlEnumOptions) );
-
-
-		// Compute the number of bytes for this object
-		int numBytes = 0;
-		ListIterator<UAVObjectField> li = fields.listIterator();
-		while(li.hasNext()) {
-			numBytes += li.next().getNumBytes();
-		}
-		NUMBYTES = numBytes;
-
-		// Initialize object
-		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
-		// Set the default field values
-		setDefaultFieldValues();
-		// Set the object description
-		setDescription(DESCRIPTION);
-	}
-
-	/**
-	 * Create a Metadata object filled with default values for this object
-	 * @return Metadata object with default values
-	 */
-	public Metadata getDefaultMetadata() {
-		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
-		return metadata;
-	}
-
-	/**
-	 * Initialize object fields with the default values.
-	 * If a default value is not specified the object fields
-	 * will be initialized to zero.
-	 */
-	public void setDefaultFieldValues()
-	{
-		getField("HorizontalPosPI").setValue(0.1,0);
-		getField("HorizontalPosPI").setValue(0.001,1);
-		getField("HorizontalPosPI").setValue(300,2);
-		getField("HorizontalVelPID").setValue(0.05,0);
-		getField("HorizontalVelPID").setValue(0.002,1);
-		getField("HorizontalVelPID").setValue(0,2);
-		getField("HorizontalVelPID").setValue(1000,3);
-		getField("VerticalPosPI").setValue(0.1,0);
-		getField("VerticalPosPI").setValue(0.001,1);
-		getField("VerticalPosPI").setValue(200,2);
-		getField("VerticalVelPID").setValue(0.1,0);
-		getField("VerticalVelPID").setValue(0,1);
-		getField("VerticalVelPID").setValue(0,2);
-		getField("VerticalVelPID").setValue(0,3);
-		getField("MaxRollPitch").setValue(10);
-		getField("UpdatePeriod").setValue(100);
-		getField("HorizontalVelMax").setValue(300);
-		getField("VerticalVelMax").setValue(150);
-		getField("GuidanceMode").setValue("DUAL_LOOP");
-		getField("ThrottleControl").setValue("FALSE");
-
-	}
-
-	/**
-	 * Create a clone of this object, a new instance ID must be specified.
-	 * Do not use this function directly to create new instances, the
-	 * UAVObjectManager should be used instead.
-	 */
-	public UAVDataObject clone(int instID) {
-		// TODO: Need to get specific instance to clone
-		try {
-			GuidanceSettings obj = new GuidanceSettings();
-			obj.initialize(instID, this.getMetaObject());
-			return obj;
-		} catch  (Exception e) {
-			return null;
-		}
-	}
-
-	/**
-	 * Static function to retrieve an instance of the object.
-	 */
-	public GuidanceSettings GetInstance(UAVObjectManager objMngr, int instID)
-	{
-	    return (GuidanceSettings)(objMngr.getObject(GuidanceSettings.OBJID, instID));
-	}
-
-	// Constants
-	protected static final int OBJID = 0x6EA79FB4;
-	protected static final String NAME = "GuidanceSettings";
-	protected static String DESCRIPTION = "Settings for the @ref GuidanceModule";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
-	protected static int NUMBYTES = 0;
-
-
-}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
index 3f3b3d8dd..0cd45db1b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
@@ -103,18 +103,17 @@ public class HomeLocation extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
index f56982e69..9d8113846 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
@@ -190,14 +190,6 @@ public class HwSettings extends UAVDataObject {
 		ComUsbBridgeSpeedEnumOptions.add("115200");
 		fields.add( new UAVObjectField("ComUsbBridgeSpeed", "bps", UAVObjectField.FieldType.ENUM, ComUsbBridgeSpeedElemNames, ComUsbBridgeSpeedEnumOptions) );
 
-		List<String> USB_DeviceTypeElemNames = new ArrayList<String>();
-		USB_DeviceTypeElemNames.add("0");
-		List<String> USB_DeviceTypeEnumOptions = new ArrayList<String>();
-		USB_DeviceTypeEnumOptions.add("HID-only");
-		USB_DeviceTypeEnumOptions.add("HID+VCP");
-		USB_DeviceTypeEnumOptions.add("VCP-only");
-		fields.add( new UAVObjectField("USB_DeviceType", "descriptor", UAVObjectField.FieldType.ENUM, USB_DeviceTypeElemNames, USB_DeviceTypeEnumOptions) );
-
 		List<String> USB_HIDPortElemNames = new ArrayList<String>();
 		USB_HIDPortElemNames.add("0");
 		List<String> USB_HIDPortEnumOptions = new ArrayList<String>();
@@ -219,7 +211,12 @@ public class HwSettings extends UAVDataObject {
 		OptionalModulesElemNames.add("ComUsbBridge");
 		OptionalModulesElemNames.add("Fault");
 		OptionalModulesElemNames.add("Altitude");
+		OptionalModulesElemNames.add("Airspeed");
 		OptionalModulesElemNames.add("TxPID");
+		OptionalModulesElemNames.add("VtolPathFollower");
+		OptionalModulesElemNames.add("FixedWingPathFollower");
+		OptionalModulesElemNames.add("Battery");
+		OptionalModulesElemNames.add("Overo");
 		List<String> OptionalModulesEnumOptions = new ArrayList<String>();
 		OptionalModulesEnumOptions.add("Disabled");
 		OptionalModulesEnumOptions.add("Enabled");
@@ -252,18 +249,17 @@ public class HwSettings extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
@@ -286,7 +282,6 @@ public class HwSettings extends UAVDataObject {
 		getField("TelemetrySpeed").setValue("57600");
 		getField("GPSSpeed").setValue("57600");
 		getField("ComUsbBridgeSpeed").setValue("57600");
-		getField("USB_DeviceType").setValue("HID-only");
 		getField("USB_HIDPort").setValue("USBTelemetry");
 		getField("USB_VCPPort").setValue("Disabled");
 		getField("OptionalModules").setValue("Disabled",0);
@@ -295,6 +290,11 @@ public class HwSettings extends UAVDataObject {
 		getField("OptionalModules").setValue("Disabled",3);
 		getField("OptionalModules").setValue("Disabled",4);
 		getField("OptionalModules").setValue("Disabled",5);
+		getField("OptionalModules").setValue("Disabled",6);
+		getField("OptionalModules").setValue("Disabled",7);
+		getField("OptionalModules").setValue("Disabled",8);
+		getField("OptionalModules").setValue("Disabled",9);
+		getField("OptionalModules").setValue("Disabled",10);
 		getField("DSMxBind").setValue(0);
 
 	}
@@ -324,7 +324,7 @@ public class HwSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x4730375C;
+	protected static final int OBJID = 0x5D950E50;
 	protected static final String NAME = "HwSettings";
 	protected static String DESCRIPTION = "Selection of optional hardware configurations.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
index abd8f41f6..a09e4404d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
@@ -177,18 +177,17 @@ public class I2CStats extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 10000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 30000;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 10000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 30000;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
index 6ac5a1b2c..5ce51c245 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
@@ -113,18 +113,17 @@ public class ManualControlCommand extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 2000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 2000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
index c8f460bc4..47ebbc230 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
@@ -51,6 +51,10 @@ public class ManualControlSettings extends UAVDataObject {
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		
 
+		List<String> DeadbandElemNames = new ArrayList<String>();
+		DeadbandElemNames.add("0");
+		fields.add( new UAVObjectField("Deadband", "%", UAVObjectField.FieldType.FLOAT32, DeadbandElemNames, null) );
+
 		List<String> ChannelMinElemNames = new ArrayList<String>();
 		ChannelMinElemNames.add("Throttle");
 		ChannelMinElemNames.add("Roll");
@@ -146,6 +150,7 @@ public class ManualControlSettings extends UAVDataObject {
 		Stabilization1SettingsEnumOptions.add("Attitude");
 		Stabilization1SettingsEnumOptions.add("AxisLock");
 		Stabilization1SettingsEnumOptions.add("WeakLeveling");
+		Stabilization1SettingsEnumOptions.add("VirtualBar");
 		fields.add( new UAVObjectField("Stabilization1Settings", "", UAVObjectField.FieldType.ENUM, Stabilization1SettingsElemNames, Stabilization1SettingsEnumOptions) );
 
 		List<String> Stabilization2SettingsElemNames = new ArrayList<String>();
@@ -158,6 +163,7 @@ public class ManualControlSettings extends UAVDataObject {
 		Stabilization2SettingsEnumOptions.add("Attitude");
 		Stabilization2SettingsEnumOptions.add("AxisLock");
 		Stabilization2SettingsEnumOptions.add("WeakLeveling");
+		Stabilization2SettingsEnumOptions.add("VirtualBar");
 		fields.add( new UAVObjectField("Stabilization2Settings", "", UAVObjectField.FieldType.ENUM, Stabilization2SettingsElemNames, Stabilization2SettingsEnumOptions) );
 
 		List<String> Stabilization3SettingsElemNames = new ArrayList<String>();
@@ -170,6 +176,7 @@ public class ManualControlSettings extends UAVDataObject {
 		Stabilization3SettingsEnumOptions.add("Attitude");
 		Stabilization3SettingsEnumOptions.add("AxisLock");
 		Stabilization3SettingsEnumOptions.add("WeakLeveling");
+		Stabilization3SettingsEnumOptions.add("VirtualBar");
 		fields.add( new UAVObjectField("Stabilization3Settings", "", UAVObjectField.FieldType.ENUM, Stabilization3SettingsElemNames, Stabilization3SettingsEnumOptions) );
 
 		List<String> FlightModePositionElemNames = new ArrayList<String>();
@@ -185,8 +192,21 @@ public class ManualControlSettings extends UAVDataObject {
 		FlightModePositionEnumOptions.add("VelocityControl");
 		FlightModePositionEnumOptions.add("PositionHold");
 		FlightModePositionEnumOptions.add("PathPlanner");
+		FlightModePositionEnumOptions.add("RTH");
+		FlightModePositionEnumOptions.add("Land");
 		fields.add( new UAVObjectField("FlightModePosition", "", UAVObjectField.FieldType.ENUM, FlightModePositionElemNames, FlightModePositionEnumOptions) );
 
+		List<String> FlightModeNumberElemNames = new ArrayList<String>();
+		FlightModeNumberElemNames.add("0");
+		fields.add( new UAVObjectField("FlightModeNumber", "", UAVObjectField.FieldType.UINT8, FlightModeNumberElemNames, null) );
+
+		List<String> FailsafeBehaviorElemNames = new ArrayList<String>();
+		FailsafeBehaviorElemNames.add("0");
+		List<String> FailsafeBehaviorEnumOptions = new ArrayList<String>();
+		FailsafeBehaviorEnumOptions.add("None");
+		FailsafeBehaviorEnumOptions.add("RTH");
+		fields.add( new UAVObjectField("FailsafeBehavior", "", UAVObjectField.FieldType.ENUM, FailsafeBehaviorElemNames, FailsafeBehaviorEnumOptions) );
+
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -210,18 +230,17 @@ public class ManualControlSettings extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
@@ -232,6 +251,7 @@ public class ManualControlSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
+		getField("Deadband").setValue(0);
 		getField("ChannelMin").setValue(1000,0);
 		getField("ChannelMin").setValue(1000,1);
 		getField("ChannelMin").setValue(1000,2);
@@ -291,6 +311,8 @@ public class ManualControlSettings extends UAVDataObject {
 		getField("FlightModePosition").setValue("Manual",0);
 		getField("FlightModePosition").setValue("Stabilized1",1);
 		getField("FlightModePosition").setValue("Stabilized2",2);
+		getField("FlightModeNumber").setValue(3);
+		getField("FailsafeBehavior").setValue("None");
 
 	}
 
@@ -319,7 +341,7 @@ public class ManualControlSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x59C4551C;
+	protected static final int OBJID = 0x6C188320;
 	protected static final String NAME = "ManualControlSettings";
 	protected static String DESCRIPTION = "Settings to indicate how to decode receiver input by @ref ManualControlModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
index 76841d8ff..094d91545 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
@@ -372,18 +372,17 @@ public class MixerSettings extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
index 80e3b15bf..1f767c5ba 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
@@ -114,18 +114,17 @@ public class MixerStatus extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 1000;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
index 1629a19d2..6d09a799e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
@@ -86,18 +86,17 @@ public class NedAccel extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 10001;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 10001;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
index dccd85d36..42a65e3ab 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
@@ -68,6 +68,7 @@ public class ObjectPersistence extends UAVDataObject {
 		OperationEnumOptions.add("Delete");
 		OperationEnumOptions.add("FullErase");
 		OperationEnumOptions.add("Completed");
+		OperationEnumOptions.add("Error");
 		fields.add( new UAVObjectField("Operation", "", UAVObjectField.FieldType.ENUM, OperationElemNames, OperationEnumOptions) );
 
 		List<String> SelectionElemNames = new ArrayList<String>();
@@ -102,18 +103,17 @@ public class ObjectPersistence extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
@@ -152,7 +152,7 @@ public class ObjectPersistence extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xF69AD8B8;
+	protected static final int OBJID = 0x99C63292;
 	protected static final String NAME = "ObjectPersistence";
 	protected static String DESCRIPTION = "Someone who knows please enter this";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
index 184098a16..1c87c21c3 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
@@ -86,18 +86,17 @@ public class PositionActual extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 1000;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 1000;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java
deleted file mode 100644
index 123ca58af..000000000
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java
+++ /dev/null
@@ -1,147 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       uavobjecttemplate.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Template for an uavobject in java
- *             This is a autogenerated file!! Do not modify and expect a result.
- *             The position the craft is trying t achieve.  Can come from GCS or @ref PathPlanner 
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-package org.openpilot.uavtalk.uavobjects;
-
-import java.nio.ByteBuffer;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.ListIterator;
-
-import org.openpilot.uavtalk.UAVObjectManager;
-import org.openpilot.uavtalk.UAVObject;
-import org.openpilot.uavtalk.UAVDataObject;
-import org.openpilot.uavtalk.UAVObjectField;
-
-/**
-The position the craft is trying t achieve.  Can come from GCS or @ref PathPlanner 
-
-generated from positiondesired.xml
- **/
-public class PositionDesired extends UAVDataObject {
-
-	public PositionDesired() {
-		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
-		
-		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
-		
-
-		List<String> NorthElemNames = new ArrayList<String>();
-		NorthElemNames.add("0");
-		fields.add( new UAVObjectField("North", "m", UAVObjectField.FieldType.FLOAT32, NorthElemNames, null) );
-
-		List<String> EastElemNames = new ArrayList<String>();
-		EastElemNames.add("0");
-		fields.add( new UAVObjectField("East", "m", UAVObjectField.FieldType.FLOAT32, EastElemNames, null) );
-
-		List<String> DownElemNames = new ArrayList<String>();
-		DownElemNames.add("0");
-		fields.add( new UAVObjectField("Down", "m", UAVObjectField.FieldType.FLOAT32, DownElemNames, null) );
-
-
-		// Compute the number of bytes for this object
-		int numBytes = 0;
-		ListIterator<UAVObjectField> li = fields.listIterator();
-		while(li.hasNext()) {
-			numBytes += li.next().getNumBytes();
-		}
-		NUMBYTES = numBytes;
-
-		// Initialize object
-		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
-		// Set the default field values
-		setDefaultFieldValues();
-		// Set the object description
-		setDescription(DESCRIPTION);
-	}
-
-	/**
-	 * Create a Metadata object filled with default values for this object
-	 * @return Metadata object with default values
-	 */
-	public Metadata getDefaultMetadata() {
-		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 1000;
-		return metadata;
-	}
-
-	/**
-	 * Initialize object fields with the default values.
-	 * If a default value is not specified the object fields
-	 * will be initialized to zero.
-	 */
-	public void setDefaultFieldValues()
-	{
-
-	}
-
-	/**
-	 * Create a clone of this object, a new instance ID must be specified.
-	 * Do not use this function directly to create new instances, the
-	 * UAVObjectManager should be used instead.
-	 */
-	public UAVDataObject clone(int instID) {
-		// TODO: Need to get specific instance to clone
-		try {
-			PositionDesired obj = new PositionDesired();
-			obj.initialize(instID, this.getMetaObject());
-			return obj;
-		} catch  (Exception e) {
-			return null;
-		}
-	}
-
-	/**
-	 * Static function to retrieve an instance of the object.
-	 */
-	public PositionDesired GetInstance(UAVObjectManager objMngr, int instID)
-	{
-	    return (PositionDesired)(objMngr.getObject(PositionDesired.OBJID, instID));
-	}
-
-	// Constants
-	protected static final int OBJID = 0x778DBE24;
-	protected static final String NAME = "PositionDesired";
-	protected static String DESCRIPTION = "The position the craft is trying t achieve.  Can come from GCS or @ref PathPlanner ";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
-	protected static int NUMBYTES = 0;
-
-
-}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
index ddeacd8d4..51f7faa7d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
@@ -86,18 +86,17 @@ public class RateDesired extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 1000;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
index a40b27e38..15391ce71 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
@@ -90,18 +90,17 @@ public class ReceiverActivity extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READONLY;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READONLY) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
index 18cf6f4d6..1a5679d6a 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
@@ -78,18 +78,17 @@ public class SonarAltitude extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
index 32d2c735c..8ca5df722 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
@@ -77,6 +77,7 @@ public class StabilizationDesired extends UAVDataObject {
 		StabilizationModeEnumOptions.add("Attitude");
 		StabilizationModeEnumOptions.add("AxisLock");
 		StabilizationModeEnumOptions.add("WeakLeveling");
+		StabilizationModeEnumOptions.add("VirtualBar");
 		fields.add( new UAVObjectField("StabilizationMode", "", UAVObjectField.FieldType.ENUM, StabilizationModeElemNames, StabilizationModeEnumOptions) );
 
 
@@ -102,18 +103,17 @@ public class StabilizationDesired extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
@@ -152,7 +152,7 @@ public class StabilizationDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0xDB8FFC3C;
+	protected static final int OBJID = 0xDE1EAAD6;
 	protected static final String NAME = "StabilizationDesired";
 	protected static String DESCRIPTION = "The desired attitude that @ref StabilizationModule will try and achieve if FlightMode is Stabilized.  Comes from @ref ManaulControlModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
index ab78bdc74..cc2c69e8f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
@@ -102,6 +102,31 @@ public class StabilizationSettings extends UAVDataObject {
 		YawPIElemNames.add("ILimit");
 		fields.add( new UAVObjectField("YawPI", "", UAVObjectField.FieldType.FLOAT32, YawPIElemNames, null) );
 
+		List<String> VbarSensitivityElemNames = new ArrayList<String>();
+		VbarSensitivityElemNames.add("Roll");
+		VbarSensitivityElemNames.add("Pitch");
+		VbarSensitivityElemNames.add("Yaw");
+		fields.add( new UAVObjectField("VbarSensitivity", "frac", UAVObjectField.FieldType.FLOAT32, VbarSensitivityElemNames, null) );
+
+		List<String> VbarRollPIElemNames = new ArrayList<String>();
+		VbarRollPIElemNames.add("Kp");
+		VbarRollPIElemNames.add("Ki");
+		fields.add( new UAVObjectField("VbarRollPI", "1/(deg/s)", UAVObjectField.FieldType.FLOAT32, VbarRollPIElemNames, null) );
+
+		List<String> VbarPitchPIElemNames = new ArrayList<String>();
+		VbarPitchPIElemNames.add("Kp");
+		VbarPitchPIElemNames.add("Ki");
+		fields.add( new UAVObjectField("VbarPitchPI", "1/(deg/s)", UAVObjectField.FieldType.FLOAT32, VbarPitchPIElemNames, null) );
+
+		List<String> VbarYawPIElemNames = new ArrayList<String>();
+		VbarYawPIElemNames.add("Kp");
+		VbarYawPIElemNames.add("Ki");
+		fields.add( new UAVObjectField("VbarYawPI", "1/(deg/s)", UAVObjectField.FieldType.FLOAT32, VbarYawPIElemNames, null) );
+
+		List<String> VbarTauElemNames = new ArrayList<String>();
+		VbarTauElemNames.add("0");
+		fields.add( new UAVObjectField("VbarTau", "sec", UAVObjectField.FieldType.FLOAT32, VbarTauElemNames, null) );
+
 		List<String> GyroTauElemNames = new ArrayList<String>();
 		GyroTauElemNames.add("0");
 		fields.add( new UAVObjectField("GyroTau", "", UAVObjectField.FieldType.FLOAT32, GyroTauElemNames, null) );
@@ -122,6 +147,21 @@ public class StabilizationSettings extends UAVDataObject {
 		YawMaxElemNames.add("0");
 		fields.add( new UAVObjectField("YawMax", "degrees", UAVObjectField.FieldType.UINT8, YawMaxElemNames, null) );
 
+		List<String> VbarGyroSuppressElemNames = new ArrayList<String>();
+		VbarGyroSuppressElemNames.add("0");
+		fields.add( new UAVObjectField("VbarGyroSuppress", "%", UAVObjectField.FieldType.INT8, VbarGyroSuppressElemNames, null) );
+
+		List<String> VbarPiroCompElemNames = new ArrayList<String>();
+		VbarPiroCompElemNames.add("0");
+		List<String> VbarPiroCompEnumOptions = new ArrayList<String>();
+		VbarPiroCompEnumOptions.add("FALSE");
+		VbarPiroCompEnumOptions.add("TRUE");
+		fields.add( new UAVObjectField("VbarPiroComp", "", UAVObjectField.FieldType.ENUM, VbarPiroCompElemNames, VbarPiroCompEnumOptions) );
+
+		List<String> VbarMaxAngleElemNames = new ArrayList<String>();
+		VbarMaxAngleElemNames.add("0");
+		fields.add( new UAVObjectField("VbarMaxAngle", "deg", UAVObjectField.FieldType.UINT8, VbarMaxAngleElemNames, null) );
+
 		List<String> MaxAxisLockElemNames = new ArrayList<String>();
 		MaxAxisLockElemNames.add("0");
 		fields.add( new UAVObjectField("MaxAxisLock", "deg", UAVObjectField.FieldType.UINT8, MaxAxisLockElemNames, null) );
@@ -164,18 +204,17 @@ public class StabilizationSettings extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
@@ -213,11 +252,24 @@ public class StabilizationSettings extends UAVDataObject {
 		getField("YawPI").setValue(2,0);
 		getField("YawPI").setValue(0,1);
 		getField("YawPI").setValue(50,2);
+		getField("VbarSensitivity").setValue(0.5,0);
+		getField("VbarSensitivity").setValue(0.5,1);
+		getField("VbarSensitivity").setValue(0.5,2);
+		getField("VbarRollPI").setValue(0.005,0);
+		getField("VbarRollPI").setValue(0.002,1);
+		getField("VbarPitchPI").setValue(0.005,0);
+		getField("VbarPitchPI").setValue(0.002,1);
+		getField("VbarYawPI").setValue(0.005,0);
+		getField("VbarYawPI").setValue(0.002,1);
+		getField("VbarTau").setValue(0.5);
 		getField("GyroTau").setValue(0.005);
 		getField("WeakLevelingKp").setValue(0.1);
 		getField("RollMax").setValue(55);
 		getField("PitchMax").setValue(55);
 		getField("YawMax").setValue(35);
+		getField("VbarGyroSuppress").setValue(30);
+		getField("VbarPiroComp").setValue("FALSE");
+		getField("VbarMaxAngle").setValue(10);
 		getField("MaxAxisLock").setValue(15);
 		getField("MaxAxisLockRate").setValue(2);
 		getField("MaxWeakLevelingRate").setValue(5);
@@ -250,7 +302,7 @@ public class StabilizationSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x5F78C51E;
+	protected static final int OBJID = 0xBBC337D4;
 	protected static final String NAME = "StabilizationSettings";
 	protected static String DESCRIPTION = "PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
index bc4bf0625..3b34763fe 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
@@ -56,7 +56,6 @@ public class SystemAlarms extends UAVDataObject {
 		AlarmElemNames.add("StackOverflow");
 		AlarmElemNames.add("CPUOverload");
 		AlarmElemNames.add("EventSystem");
-		AlarmElemNames.add("SDCard");
 		AlarmElemNames.add("Telemetry");
 		AlarmElemNames.add("ManualControl");
 		AlarmElemNames.add("Actuator");
@@ -64,12 +63,12 @@ public class SystemAlarms extends UAVDataObject {
 		AlarmElemNames.add("Sensors");
 		AlarmElemNames.add("Stabilization");
 		AlarmElemNames.add("Guidance");
-		AlarmElemNames.add("AHRSComms");
 		AlarmElemNames.add("Battery");
 		AlarmElemNames.add("FlightTime");
 		AlarmElemNames.add("I2C");
 		AlarmElemNames.add("GPS");
 		AlarmElemNames.add("BootFault");
+		AlarmElemNames.add("Power");
 		List<String> AlarmEnumOptions = new ArrayList<String>();
 		AlarmEnumOptions.add("Uninitialised");
 		AlarmEnumOptions.add("OK");
@@ -101,18 +100,17 @@ public class SystemAlarms extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 1000;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
 		return metadata;
 	}
 
@@ -140,7 +138,6 @@ public class SystemAlarms extends UAVDataObject {
 		getField("Alarm").setValue("Uninitialised",14);
 		getField("Alarm").setValue("Uninitialised",15);
 		getField("Alarm").setValue("Uninitialised",16);
-		getField("Alarm").setValue("Uninitialised",17);
 
 	}
 
@@ -169,7 +166,7 @@ public class SystemAlarms extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x9C7CBFE;
+	protected static final int OBJID = 0x737ADCF2;
 	protected static final String NAME = "SystemAlarms";
 	protected static String DESCRIPTION = "Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
index e3c2cf0b0..bffbced31 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
@@ -54,6 +54,8 @@ public class SystemSettings extends UAVDataObject {
 		List<String> GUIConfigDataElemNames = new ArrayList<String>();
 		GUIConfigDataElemNames.add("0");
 		GUIConfigDataElemNames.add("1");
+		GUIConfigDataElemNames.add("2");
+		GUIConfigDataElemNames.add("3");
 		fields.add( new UAVObjectField("GUIConfigData", "bits", UAVObjectField.FieldType.UINT32, GUIConfigDataElemNames, null) );
 
 		List<String> AirframeTypeElemNames = new ArrayList<String>();
@@ -75,6 +77,9 @@ public class SystemSettings extends UAVDataObject {
 		AirframeTypeEnumOptions.add("OctoCoaxX");
 		AirframeTypeEnumOptions.add("HexaCoax");
 		AirframeTypeEnumOptions.add("Tri");
+		AirframeTypeEnumOptions.add("GroundVehicleCar");
+		AirframeTypeEnumOptions.add("GroundVehicleDifferential");
+		AirframeTypeEnumOptions.add("GroundVehicleMotorcycle");
 		fields.add( new UAVObjectField("AirframeType", "", UAVObjectField.FieldType.ENUM, AirframeTypeElemNames, AirframeTypeEnumOptions) );
 
 
@@ -100,18 +105,17 @@ public class SystemSettings extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.flightTelemetryUpdatePeriod = 0;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_NEVER;
-		metadata.loggingUpdatePeriod = 0;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
 		return metadata;
 	}
 
@@ -124,7 +128,9 @@ public class SystemSettings extends UAVDataObject {
 	{
 		getField("GUIConfigData").setValue(0,0);
 		getField("GUIConfigData").setValue(0,1);
-		getField("AirframeType").setValue("FixedWing");
+		getField("GUIConfigData").setValue(0,2);
+		getField("GUIConfigData").setValue(0,3);
+		getField("AirframeType").setValue("QuadX");
 
 	}
 
@@ -153,7 +159,7 @@ public class SystemSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x30BD5D7C;
+	protected static final int OBJID = 0xC72A326E;
 	protected static final String NAME = "SystemSettings";
 	protected static String DESCRIPTION = "Select airframe type.  Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
index 26d01f2a0..888474261 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
@@ -106,18 +106,17 @@ public class SystemStats extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 1000;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
index eefcef6d9..9f530e6a9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
@@ -62,11 +62,12 @@ public class TaskInfo extends UAVDataObject {
 		StackRemainingElemNames.add("GPS");
 		StackRemainingElemNames.add("ManualControl");
 		StackRemainingElemNames.add("Altitude");
+		StackRemainingElemNames.add("Airspeed");
 		StackRemainingElemNames.add("Stabilization");
 		StackRemainingElemNames.add("AltitudeHold");
-		StackRemainingElemNames.add("Guidance");
-		StackRemainingElemNames.add("FlightPlan");
 		StackRemainingElemNames.add("PathPlanner");
+		StackRemainingElemNames.add("PathFollower");
+		StackRemainingElemNames.add("FlightPlan");
 		StackRemainingElemNames.add("Com2UsbBridge");
 		StackRemainingElemNames.add("Usb2ComBridge");
 		StackRemainingElemNames.add("OveroSync");
@@ -83,11 +84,12 @@ public class TaskInfo extends UAVDataObject {
 		RunningElemNames.add("GPS");
 		RunningElemNames.add("ManualControl");
 		RunningElemNames.add("Altitude");
+		RunningElemNames.add("Airspeed");
 		RunningElemNames.add("Stabilization");
 		RunningElemNames.add("AltitudeHold");
-		RunningElemNames.add("Guidance");
-		RunningElemNames.add("FlightPlan");
 		RunningElemNames.add("PathPlanner");
+		RunningElemNames.add("PathFollower");
+		RunningElemNames.add("FlightPlan");
 		RunningElemNames.add("Com2UsbBridge");
 		RunningElemNames.add("Usb2ComBridge");
 		RunningElemNames.add("OveroSync");
@@ -107,11 +109,12 @@ public class TaskInfo extends UAVDataObject {
 		RunningTimeElemNames.add("GPS");
 		RunningTimeElemNames.add("ManualControl");
 		RunningTimeElemNames.add("Altitude");
+		RunningTimeElemNames.add("Airspeed");
 		RunningTimeElemNames.add("Stabilization");
 		RunningTimeElemNames.add("AltitudeHold");
-		RunningTimeElemNames.add("Guidance");
-		RunningTimeElemNames.add("FlightPlan");
 		RunningTimeElemNames.add("PathPlanner");
+		RunningTimeElemNames.add("PathFollower");
+		RunningTimeElemNames.add("FlightPlan");
 		RunningTimeElemNames.add("Com2UsbBridge");
 		RunningTimeElemNames.add("Usb2ComBridge");
 		RunningTimeElemNames.add("OveroSync");
@@ -140,18 +143,17 @@ public class TaskInfo extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 10000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 1000;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 10000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
 		return metadata;
 	}
 
@@ -190,7 +192,7 @@ public class TaskInfo extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final int OBJID = 0x498F54BA;
+	protected static final int OBJID = 0xB81CD2AE;
 	protected static final String NAME = "TaskInfo";
 	protected static String DESCRIPTION = "Task information";
 	protected static final boolean ISSINGLEINST = 1 == 1;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
index 823643130..7968c37c3 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
@@ -45,11 +45,15 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new AltitudeHoldSettings() );
 			objMngr.registerObject( new AttitudeActual() );
 			objMngr.registerObject( new AttitudeSettings() );
+			objMngr.registerObject( new AttitudeSimulated() );
+			objMngr.registerObject( new BaroAirspeed() );
 			objMngr.registerObject( new BaroAltitude() );
 			objMngr.registerObject( new CameraDesired() );
 			objMngr.registerObject( new CameraStabSettings() );
 			objMngr.registerObject( new FaultSettings() );
 			objMngr.registerObject( new FirmwareIAPObj() );
+			objMngr.registerObject( new FixedWingPathFollowerSettings() );
+			objMngr.registerObject( new FixedWingPathFollowerStatus() );
 			objMngr.registerObject( new FlightBatterySettings() );
 			objMngr.registerObject( new FlightBatteryState() );
 			objMngr.registerObject( new FlightPlanControl() );
@@ -61,38 +65,45 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new GCSTelemetryStats() );
 			objMngr.registerObject( new GPSPosition() );
 			objMngr.registerObject( new GPSSatellites() );
+			objMngr.registerObject( new GPSSettings() );
 			objMngr.registerObject( new GPSTime() );
 			objMngr.registerObject( new GPSVelocity() );
 			objMngr.registerObject( new Gyros() );
 			objMngr.registerObject( new GyrosBias() );
-			objMngr.registerObject( new GuidanceSettings() );
 			objMngr.registerObject( new HomeLocation() );
 			objMngr.registerObject( new HwSettings() );
 			objMngr.registerObject( new I2CStats() );
-			objMngr.registerObject( new GPSPosition() );
+			objMngr.registerObject( new MagBias() );
 			objMngr.registerObject( new Magnetometer() );
 			objMngr.registerObject( new ManualControlCommand() );
 			objMngr.registerObject( new ManualControlSettings() );
 			objMngr.registerObject( new MixerSettings() );
 			objMngr.registerObject( new MixerStatus() );
-			objMngr.registerObject( new NEDPosition() );
 			objMngr.registerObject( new NedAccel() );
+			objMngr.registerObject( new NEDPosition() );
 			objMngr.registerObject( new ObjectPersistence() );
+			objMngr.registerObject( new OveroSyncSettings() );
+			objMngr.registerObject( new OveroSyncStats() );
 			objMngr.registerObject( new PathDesired() );
+			objMngr.registerObject( new PathPlannerSettings() );
+			objMngr.registerObject( new PipXSettings() );
+			objMngr.registerObject( new PipXStatus() );
 			objMngr.registerObject( new PositionActual() );
-			objMngr.registerObject( new PositionDesired() );
 			objMngr.registerObject( new RateDesired() );
 			objMngr.registerObject( new ReceiverActivity() );
+			objMngr.registerObject( new RevoCalibration() );
+			objMngr.registerObject( new RevoSettings() );
 			objMngr.registerObject( new SonarAltitude() );
 			objMngr.registerObject( new StabilizationDesired() );
 			objMngr.registerObject( new StabilizationSettings() );
 			objMngr.registerObject( new SystemAlarms() );
 			objMngr.registerObject( new SystemSettings() );
 			objMngr.registerObject( new SystemStats() );
-			objMngr.registerObject( new TxPIDSettings() );
 			objMngr.registerObject( new TaskInfo() );
+			objMngr.registerObject( new TxPIDSettings() );
 			objMngr.registerObject( new VelocityActual() );
 			objMngr.registerObject( new VelocityDesired() );
+			objMngr.registerObject( new VtolPathFollowerSettings() );
 			objMngr.registerObject( new WatchdogStatus() );
 			objMngr.registerObject( new Waypoint() );
 			objMngr.registerObject( new WaypointActive() );
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
index 2a8cd3754..a545bca16 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
@@ -86,18 +86,17 @@ public class VelocityActual extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 1000;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
index 436ef6448..f506a594c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
@@ -86,18 +86,17 @@ public class VelocityDesired extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 1000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 1000;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
 		return metadata;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
index acbdb43d1..94e85f57b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
@@ -82,18 +82,17 @@ public class WatchdogStatus extends UAVDataObject {
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.gcsTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_MANUAL;
-		metadata.gcsTelemetryUpdatePeriod = 0;
-
-		metadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
-		metadata.flightTelemetryAcked = UAVObject.Acked.FALSE;
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.flightTelemetryUpdatePeriod = 5000;
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_PERIODIC;
-		metadata.loggingUpdatePeriod = 5000;
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 5000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 5000;
+ 
 		return metadata;
 	}
 
diff --git a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
index 64e2461f5..1283f03cb 100644
--- a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
+++ b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
@@ -74,18 +74,17 @@ $(FIELDSINIT)
 	 */
 	public Metadata getDefaultMetadata() {
 		UAVObject.Metadata metadata = new UAVObject.Metadata();
-		metadata.gcsAccess = UAVObject.AccessMode.$(GCSACCESS);
-		metadata.gcsTelemetryAcked = UAVObject.Acked.$(GCSTELEM_ACKEDTF);
-		metadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.$(GCSTELEM_UPDATEMODE);
-		metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
-
-		metadata.flightAccess = UAVObject.AccessMode.$(FLIGHTACCESS);
-		metadata.flightTelemetryAcked = UAVObject.Acked.$(FLIGHTTELEM_ACKEDTF);
-		metadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.$(FLIGHTTELEM_UPDATEMODE);
-		metadata.flightTelemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
-
-		metadata.loggingUpdateMode = UAVObject.UpdateMode.$(LOGGING_UPDATEMODE);
-		metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.$(FLIGHTACCESS)) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.$(GCSACCESS)) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    $(FLIGHTTELEM_ACKED) << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    $(GCSTELEM_ACKED) << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.$(FLIGHTTELEM_UPDATEMODE)) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.$(GCSTELEM_UPDATEMODE)) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
+    	metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
+    	metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
+ 
 		return metadata;
 	}
 

From 32ec48412d8a2178f7e82be24dfde4bef16c3f89 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 2 Aug 2012 13:08:47 -0500
Subject: [PATCH 253/543] Forgot to initialize the fields for metadata

---
 androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
index c57b6c2fe..98a3bf8df 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
@@ -27,7 +27,8 @@ public class UAVMetaObject extends UAVObject {
 		modesBitField.add("FlightUpdateOnChange");
 		modesBitField.add("GCSUpdatePeriodic");
 		modesBitField.add("GCSUpdateOnChange");
-
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		fields.add( new UAVObjectField("Modes", "", UAVObjectField.FieldType.BITFIELD, 1, modesBitField) );
 	    fields.add( new UAVObjectField("Flight Telemetry Update Period", "ms", UAVObjectField.FieldType.UINT16, 1, null) );
 	    fields.add( new UAVObjectField("GCS Telemetry Update Period", "ms", UAVObjectField.FieldType.UINT16, 1, null) );

From 95218802daf0b496d71c68359894308de842ba46 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 3 Aug 2012 13:49:16 -0500
Subject: [PATCH 254/543] Catch invalid number decoding to cover cases where
 there is no IP address.

---
 .../src/org/openpilot/androidgcs/OPTelemetryService.java  | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index 1a4b61eb8..917dfb116 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -72,8 +72,14 @@ public class OPTelemetryService extends Service {
 				break;
 			case MSG_CONNECT:	
 				terminate = false;
+				int connection_type;
 				SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
-				int connection_type = Integer.decode(prefs.getString("connection_type", ""));
+				try {
+					connection_type = Integer.decode(prefs.getString("connection_type", ""));
+				} catch (NumberFormatException e) {
+					connection_type = 0;
+				}
+
 				switch(connection_type) {
 				case 0: // No connection
 					return;

From 65861b4b8d7be00b4ae05c666a65a5a5190c3dca Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 4 Aug 2012 01:35:49 -0500
Subject: [PATCH 255/543] Update the UAVO files

---
 .../openpilot/uavtalk/uavobjects/Accels.java  | 150 ++++++++
 .../uavtalk/uavobjects/AltHoldSmoothed.java   | 146 ++++++++
 .../uavobjects/AltitudeHoldDesired.java       | 150 ++++++++
 .../uavobjects/AltitudeHoldSettings.java      | 169 +++++++++
 .../uavtalk/uavobjects/AttitudeSimulated.java | 174 ++++++++++
 .../uavtalk/uavobjects/BaroAirspeed.java      | 153 ++++++++
 .../FixedWingPathFollowerSettings.java        | 239 +++++++++++++
 .../FixedWingPathFollowerStatus.java          | 164 +++++++++
 .../uavtalk/uavobjects/GPSSettings.java       | 142 ++++++++
 .../uavtalk/uavobjects/GPSVelocity.java       | 146 ++++++++
 .../openpilot/uavtalk/uavobjects/Gyros.java   | 150 ++++++++
 .../uavtalk/uavobjects/GyrosBias.java         | 146 ++++++++
 .../openpilot/uavtalk/uavobjects/MagBias.java | 146 ++++++++
 .../uavtalk/uavobjects/Magnetometer.java      | 146 ++++++++
 .../uavtalk/uavobjects/NEDPosition.java       | 146 ++++++++
 .../uavtalk/uavobjects/OveroSyncSettings.java | 143 ++++++++
 .../uavtalk/uavobjects/OveroSyncStats.java    | 165 +++++++++
 .../uavtalk/uavobjects/PathDesired.java       | 162 +++++++++
 .../uavobjects/PathPlannerSettings.java       | 151 ++++++++
 .../uavtalk/uavobjects/PipXSettings.java      | 326 ++++++++++++++++++
 .../uavtalk/uavobjects/PipXStatus.java        | 301 ++++++++++++++++
 .../uavtalk/uavobjects/RevoCalibration.java   | 249 +++++++++++++
 .../uavtalk/uavobjects/RevoSettings.java      | 143 ++++++++
 .../uavtalk/uavobjects/TxPIDSettings.java     | 225 ++++++++++++
 .../uavobjects/VtolPathFollowerSettings.java  | 232 +++++++++++++
 .../uavtalk/uavobjects/Waypoint.java          | 159 +++++++++
 .../uavtalk/uavobjects/WaypointActive.java    | 138 ++++++++
 27 files changed, 4761 insertions(+)
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java

diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java
new file mode 100644
index 000000000..32437e63e
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java
@@ -0,0 +1,150 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The accel data.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The accel data.
+
+generated from accels.xml
+ **/
+public class Accels extends UAVDataObject {
+
+	public Accels() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> xElemNames = new ArrayList<String>();
+		xElemNames.add("0");
+		fields.add( new UAVObjectField("x", "m/s^2", UAVObjectField.FieldType.FLOAT32, xElemNames, null) );
+
+		List<String> yElemNames = new ArrayList<String>();
+		yElemNames.add("0");
+		fields.add( new UAVObjectField("y", "m/s^2", UAVObjectField.FieldType.FLOAT32, yElemNames, null) );
+
+		List<String> zElemNames = new ArrayList<String>();
+		zElemNames.add("0");
+		fields.add( new UAVObjectField("z", "m/s^2", UAVObjectField.FieldType.FLOAT32, zElemNames, null) );
+
+		List<String> temperatureElemNames = new ArrayList<String>();
+		temperatureElemNames.add("0");
+		fields.add( new UAVObjectField("temperature", "deg C", UAVObjectField.FieldType.FLOAT32, temperatureElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			Accels obj = new Accels();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public Accels GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (Accels)(objMngr.getObject(Accels.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xDD9D5FC0;
+	protected static final String NAME = "Accels";
+	protected static String DESCRIPTION = "The accel data.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java
new file mode 100644
index 000000000..46d03a544
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java
@@ -0,0 +1,146 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The output on the kalman filter on altitude.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The output on the kalman filter on altitude.
+
+generated from altholdsmoothed.xml
+ **/
+public class AltHoldSmoothed extends UAVDataObject {
+
+	public AltHoldSmoothed() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> AltitudeElemNames = new ArrayList<String>();
+		AltitudeElemNames.add("0");
+		fields.add( new UAVObjectField("Altitude", "m", UAVObjectField.FieldType.FLOAT32, AltitudeElemNames, null) );
+
+		List<String> VelocityElemNames = new ArrayList<String>();
+		VelocityElemNames.add("0");
+		fields.add( new UAVObjectField("Velocity", "m/s", UAVObjectField.FieldType.FLOAT32, VelocityElemNames, null) );
+
+		List<String> AccelElemNames = new ArrayList<String>();
+		AccelElemNames.add("0");
+		fields.add( new UAVObjectField("Accel", "m/s^2", UAVObjectField.FieldType.FLOAT32, AccelElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			AltHoldSmoothed obj = new AltHoldSmoothed();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public AltHoldSmoothed GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (AltHoldSmoothed)(objMngr.getObject(AltHoldSmoothed.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x2BC6B9D2;
+	protected static final String NAME = "AltHoldSmoothed";
+	protected static String DESCRIPTION = "The output on the kalman filter on altitude.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java
new file mode 100644
index 000000000..efe860340
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java
@@ -0,0 +1,150 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Holds the desired altitude (from manual control) as well as the desired attitude to pass through
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Holds the desired altitude (from manual control) as well as the desired attitude to pass through
+
+generated from altitudeholddesired.xml
+ **/
+public class AltitudeHoldDesired extends UAVDataObject {
+
+	public AltitudeHoldDesired() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> AltitudeElemNames = new ArrayList<String>();
+		AltitudeElemNames.add("0");
+		fields.add( new UAVObjectField("Altitude", "m", UAVObjectField.FieldType.FLOAT32, AltitudeElemNames, null) );
+
+		List<String> RollElemNames = new ArrayList<String>();
+		RollElemNames.add("0");
+		fields.add( new UAVObjectField("Roll", "deg", UAVObjectField.FieldType.FLOAT32, RollElemNames, null) );
+
+		List<String> PitchElemNames = new ArrayList<String>();
+		PitchElemNames.add("0");
+		fields.add( new UAVObjectField("Pitch", "deg", UAVObjectField.FieldType.FLOAT32, PitchElemNames, null) );
+
+		List<String> YawElemNames = new ArrayList<String>();
+		YawElemNames.add("0");
+		fields.add( new UAVObjectField("Yaw", "deg/s", UAVObjectField.FieldType.FLOAT32, YawElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			AltitudeHoldDesired obj = new AltitudeHoldDesired();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public AltitudeHoldDesired GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (AltitudeHoldDesired)(objMngr.getObject(AltitudeHoldDesired.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x495BAD6E;
+	protected static final String NAME = "AltitudeHoldDesired";
+	protected static String DESCRIPTION = "Holds the desired altitude (from manual control) as well as the desired attitude to pass through";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
new file mode 100644
index 000000000..77b6774b9
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
@@ -0,0 +1,169 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the @ref AltitudeHold module
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the @ref AltitudeHold module
+
+generated from altitudeholdsettings.xml
+ **/
+public class AltitudeHoldSettings extends UAVDataObject {
+
+	public AltitudeHoldSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> KpElemNames = new ArrayList<String>();
+		KpElemNames.add("0");
+		fields.add( new UAVObjectField("Kp", "throttle/m", UAVObjectField.FieldType.FLOAT32, KpElemNames, null) );
+
+		List<String> KiElemNames = new ArrayList<String>();
+		KiElemNames.add("0");
+		fields.add( new UAVObjectField("Ki", "throttle/m", UAVObjectField.FieldType.FLOAT32, KiElemNames, null) );
+
+		List<String> KdElemNames = new ArrayList<String>();
+		KdElemNames.add("0");
+		fields.add( new UAVObjectField("Kd", "throttle/m", UAVObjectField.FieldType.FLOAT32, KdElemNames, null) );
+
+		List<String> KaElemNames = new ArrayList<String>();
+		KaElemNames.add("0");
+		fields.add( new UAVObjectField("Ka", "throttle/(m/s^2)", UAVObjectField.FieldType.FLOAT32, KaElemNames, null) );
+
+		List<String> PressureNoiseElemNames = new ArrayList<String>();
+		PressureNoiseElemNames.add("0");
+		fields.add( new UAVObjectField("PressureNoise", "m", UAVObjectField.FieldType.FLOAT32, PressureNoiseElemNames, null) );
+
+		List<String> AccelNoiseElemNames = new ArrayList<String>();
+		AccelNoiseElemNames.add("0");
+		fields.add( new UAVObjectField("AccelNoise", "m/s^2", UAVObjectField.FieldType.FLOAT32, AccelNoiseElemNames, null) );
+
+		List<String> AccelDriftElemNames = new ArrayList<String>();
+		AccelDriftElemNames.add("0");
+		fields.add( new UAVObjectField("AccelDrift", "m/s^2", UAVObjectField.FieldType.FLOAT32, AccelDriftElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("Kp").setValue(0.03);
+		getField("Ki").setValue(0);
+		getField("Kd").setValue(0.03);
+		getField("Ka").setValue(0.005);
+		getField("PressureNoise").setValue(0.4);
+		getField("AccelNoise").setValue(5);
+		getField("AccelDrift").setValue(0.001);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			AltitudeHoldSettings obj = new AltitudeHoldSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public AltitudeHoldSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (AltitudeHoldSettings)(objMngr.getObject(AltitudeHoldSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xFEC55B42;
+	protected static final String NAME = "AltitudeHoldSettings";
+	protected static String DESCRIPTION = "Settings for the @ref AltitudeHold module";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java
new file mode 100644
index 000000000..3a713ab04
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java
@@ -0,0 +1,174 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The simulated Attitude estimation from @ref Sensors.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The simulated Attitude estimation from @ref Sensors.
+
+generated from attitudesimulated.xml
+ **/
+public class AttitudeSimulated extends UAVDataObject {
+
+	public AttitudeSimulated() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> q1ElemNames = new ArrayList<String>();
+		q1ElemNames.add("0");
+		fields.add( new UAVObjectField("q1", "", UAVObjectField.FieldType.FLOAT32, q1ElemNames, null) );
+
+		List<String> q2ElemNames = new ArrayList<String>();
+		q2ElemNames.add("0");
+		fields.add( new UAVObjectField("q2", "", UAVObjectField.FieldType.FLOAT32, q2ElemNames, null) );
+
+		List<String> q3ElemNames = new ArrayList<String>();
+		q3ElemNames.add("0");
+		fields.add( new UAVObjectField("q3", "", UAVObjectField.FieldType.FLOAT32, q3ElemNames, null) );
+
+		List<String> q4ElemNames = new ArrayList<String>();
+		q4ElemNames.add("0");
+		fields.add( new UAVObjectField("q4", "", UAVObjectField.FieldType.FLOAT32, q4ElemNames, null) );
+
+		List<String> RollElemNames = new ArrayList<String>();
+		RollElemNames.add("0");
+		fields.add( new UAVObjectField("Roll", "degrees", UAVObjectField.FieldType.FLOAT32, RollElemNames, null) );
+
+		List<String> PitchElemNames = new ArrayList<String>();
+		PitchElemNames.add("0");
+		fields.add( new UAVObjectField("Pitch", "degrees", UAVObjectField.FieldType.FLOAT32, PitchElemNames, null) );
+
+		List<String> YawElemNames = new ArrayList<String>();
+		YawElemNames.add("0");
+		fields.add( new UAVObjectField("Yaw", "degrees", UAVObjectField.FieldType.FLOAT32, YawElemNames, null) );
+
+		List<String> VelocityElemNames = new ArrayList<String>();
+		VelocityElemNames.add("North");
+		VelocityElemNames.add("East");
+		VelocityElemNames.add("Down");
+		fields.add( new UAVObjectField("Velocity", "m/s", UAVObjectField.FieldType.FLOAT32, VelocityElemNames, null) );
+
+		List<String> PositionElemNames = new ArrayList<String>();
+		PositionElemNames.add("North");
+		PositionElemNames.add("East");
+		PositionElemNames.add("Down");
+		fields.add( new UAVObjectField("Position", "m", UAVObjectField.FieldType.FLOAT32, PositionElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 100;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			AttitudeSimulated obj = new AttitudeSimulated();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public AttitudeSimulated GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (AttitudeSimulated)(objMngr.getObject(AttitudeSimulated.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x9266CE74;
+	protected static final String NAME = "AttitudeSimulated";
+	protected static String DESCRIPTION = "The simulated Attitude estimation from @ref Sensors.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java
new file mode 100644
index 000000000..439915741
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java
@@ -0,0 +1,153 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The raw data from the dynamic pressure sensor with pressure, temperature and airspeed.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The raw data from the dynamic pressure sensor with pressure, temperature and airspeed.
+
+generated from baroairspeed.xml
+ **/
+public class BaroAirspeed extends UAVDataObject {
+
+	public BaroAirspeed() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> AirspeedElemNames = new ArrayList<String>();
+		AirspeedElemNames.add("0");
+		fields.add( new UAVObjectField("Airspeed", "m/s", UAVObjectField.FieldType.FLOAT32, AirspeedElemNames, null) );
+
+		List<String> SensorValueElemNames = new ArrayList<String>();
+		SensorValueElemNames.add("0");
+		fields.add( new UAVObjectField("SensorValue", "raw", UAVObjectField.FieldType.UINT16, SensorValueElemNames, null) );
+
+		List<String> ZeroPointElemNames = new ArrayList<String>();
+		ZeroPointElemNames.add("0");
+		fields.add( new UAVObjectField("ZeroPoint", "raw", UAVObjectField.FieldType.UINT16, ZeroPointElemNames, null) );
+
+		List<String> ConnectedElemNames = new ArrayList<String>();
+		ConnectedElemNames.add("0");
+		List<String> ConnectedEnumOptions = new ArrayList<String>();
+		ConnectedEnumOptions.add("False");
+		ConnectedEnumOptions.add("True");
+		fields.add( new UAVObjectField("Connected", "", UAVObjectField.FieldType.ENUM, ConnectedElemNames, ConnectedEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			BaroAirspeed obj = new BaroAirspeed();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public BaroAirspeed GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (BaroAirspeed)(objMngr.getObject(BaroAirspeed.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x169EA4A;
+	protected static final String NAME = "BaroAirspeed";
+	protected static String DESCRIPTION = "The raw data from the dynamic pressure sensor with pressure, temperature and airspeed.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java
new file mode 100644
index 000000000..00419bc4c
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java
@@ -0,0 +1,239 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the @ref FixedWingPathFollowerModule
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the @ref FixedWingPathFollowerModule
+
+generated from fixedwingpathfollowersettings.xml
+ **/
+public class FixedWingPathFollowerSettings extends UAVDataObject {
+
+	public FixedWingPathFollowerSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> AirSpeedMaxElemNames = new ArrayList<String>();
+		AirSpeedMaxElemNames.add("0");
+		fields.add( new UAVObjectField("AirSpeedMax", "m/s", UAVObjectField.FieldType.FLOAT32, AirSpeedMaxElemNames, null) );
+
+		List<String> AirSpeedMinElemNames = new ArrayList<String>();
+		AirSpeedMinElemNames.add("0");
+		fields.add( new UAVObjectField("AirSpeedMin", "m/s", UAVObjectField.FieldType.FLOAT32, AirSpeedMinElemNames, null) );
+
+		List<String> VerticalVelMaxElemNames = new ArrayList<String>();
+		VerticalVelMaxElemNames.add("0");
+		fields.add( new UAVObjectField("VerticalVelMax", "m/s", UAVObjectField.FieldType.FLOAT32, VerticalVelMaxElemNames, null) );
+
+		List<String> HorizontalPosPElemNames = new ArrayList<String>();
+		HorizontalPosPElemNames.add("0");
+		fields.add( new UAVObjectField("HorizontalPosP", "(m/s)/m", UAVObjectField.FieldType.FLOAT32, HorizontalPosPElemNames, null) );
+
+		List<String> VerticalPosPElemNames = new ArrayList<String>();
+		VerticalPosPElemNames.add("0");
+		fields.add( new UAVObjectField("VerticalPosP", "(m/s)/m", UAVObjectField.FieldType.FLOAT32, VerticalPosPElemNames, null) );
+
+		List<String> CoursePIElemNames = new ArrayList<String>();
+		CoursePIElemNames.add("Kp");
+		CoursePIElemNames.add("Ki");
+		CoursePIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("CoursePI", "deg/deg", UAVObjectField.FieldType.FLOAT32, CoursePIElemNames, null) );
+
+		List<String> SpeedPElemNames = new ArrayList<String>();
+		SpeedPElemNames.add("Kp");
+		SpeedPElemNames.add("Max");
+		fields.add( new UAVObjectField("SpeedP", "(m/s^2) / ((m/s)/(m/s)", UAVObjectField.FieldType.FLOAT32, SpeedPElemNames, null) );
+
+		List<String> AccelPIElemNames = new ArrayList<String>();
+		AccelPIElemNames.add("Kp");
+		AccelPIElemNames.add("Ki");
+		AccelPIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("AccelPI", "deg / (m/s^2)", UAVObjectField.FieldType.FLOAT32, AccelPIElemNames, null) );
+
+		List<String> VerticalToPitchCrossFeedElemNames = new ArrayList<String>();
+		VerticalToPitchCrossFeedElemNames.add("Kp");
+		VerticalToPitchCrossFeedElemNames.add("Max");
+		fields.add( new UAVObjectField("VerticalToPitchCrossFeed", "deg / ((m/s)/(m/s))", UAVObjectField.FieldType.FLOAT32, VerticalToPitchCrossFeedElemNames, null) );
+
+		List<String> AirspeedToVerticalCrossFeedElemNames = new ArrayList<String>();
+		AirspeedToVerticalCrossFeedElemNames.add("Kp");
+		AirspeedToVerticalCrossFeedElemNames.add("Max");
+		fields.add( new UAVObjectField("AirspeedToVerticalCrossFeed", "(m/s) / ((m/s)/(m/s))", UAVObjectField.FieldType.FLOAT32, AirspeedToVerticalCrossFeedElemNames, null) );
+
+		List<String> PowerPIElemNames = new ArrayList<String>();
+		PowerPIElemNames.add("Kp");
+		PowerPIElemNames.add("Ki");
+		PowerPIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("PowerPI", "1/(m/s)", UAVObjectField.FieldType.FLOAT32, PowerPIElemNames, null) );
+
+		List<String> RollLimitElemNames = new ArrayList<String>();
+		RollLimitElemNames.add("Min");
+		RollLimitElemNames.add("Neutral");
+		RollLimitElemNames.add("Max");
+		fields.add( new UAVObjectField("RollLimit", "deg", UAVObjectField.FieldType.FLOAT32, RollLimitElemNames, null) );
+
+		List<String> PitchLimitElemNames = new ArrayList<String>();
+		PitchLimitElemNames.add("Min");
+		PitchLimitElemNames.add("Neutral");
+		PitchLimitElemNames.add("Max");
+		fields.add( new UAVObjectField("PitchLimit", "deg", UAVObjectField.FieldType.FLOAT32, PitchLimitElemNames, null) );
+
+		List<String> ThrottleLimitElemNames = new ArrayList<String>();
+		ThrottleLimitElemNames.add("Min");
+		ThrottleLimitElemNames.add("Neutral");
+		ThrottleLimitElemNames.add("Max");
+		fields.add( new UAVObjectField("ThrottleLimit", "", UAVObjectField.FieldType.FLOAT32, ThrottleLimitElemNames, null) );
+
+		List<String> UpdatePeriodElemNames = new ArrayList<String>();
+		UpdatePeriodElemNames.add("0");
+		fields.add( new UAVObjectField("UpdatePeriod", "ms", UAVObjectField.FieldType.INT32, UpdatePeriodElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("AirSpeedMax").setValue(15);
+		getField("AirSpeedMin").setValue(10);
+		getField("VerticalVelMax").setValue(10);
+		getField("HorizontalPosP").setValue(0.05);
+		getField("VerticalPosP").setValue(0.05);
+		getField("CoursePI").setValue(0.2,0);
+		getField("CoursePI").setValue(0,1);
+		getField("CoursePI").setValue(0,2);
+		getField("SpeedP").setValue(10,0);
+		getField("SpeedP").setValue(10,1);
+		getField("AccelPI").setValue(1.5,0);
+		getField("AccelPI").setValue(1.5,1);
+		getField("AccelPI").setValue(20,2);
+		getField("VerticalToPitchCrossFeed").setValue(50,0);
+		getField("VerticalToPitchCrossFeed").setValue(5,1);
+		getField("AirspeedToVerticalCrossFeed").setValue(100,0);
+		getField("AirspeedToVerticalCrossFeed").setValue(100,1);
+		getField("PowerPI").setValue(0.01,0);
+		getField("PowerPI").setValue(0.01,1);
+		getField("PowerPI").setValue(0.8,2);
+		getField("RollLimit").setValue(-35,0);
+		getField("RollLimit").setValue(0,1);
+		getField("RollLimit").setValue(35,2);
+		getField("PitchLimit").setValue(-10,0);
+		getField("PitchLimit").setValue(5,1);
+		getField("PitchLimit").setValue(20,2);
+		getField("ThrottleLimit").setValue(0.1,0);
+		getField("ThrottleLimit").setValue(0.5,1);
+		getField("ThrottleLimit").setValue(0.9,2);
+		getField("UpdatePeriod").setValue(100);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			FixedWingPathFollowerSettings obj = new FixedWingPathFollowerSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public FixedWingPathFollowerSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (FixedWingPathFollowerSettings)(objMngr.getObject(FixedWingPathFollowerSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x8A3F1E02;
+	protected static final String NAME = "FixedWingPathFollowerSettings";
+	protected static String DESCRIPTION = "Settings for the @ref FixedWingPathFollowerModule";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java
new file mode 100644
index 000000000..a40be35cf
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java
@@ -0,0 +1,164 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Object Storing Debugging Information on PID internals
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Object Storing Debugging Information on PID internals
+
+generated from fixedwingpathfollowerstatus.xml
+ **/
+public class FixedWingPathFollowerStatus extends UAVDataObject {
+
+	public FixedWingPathFollowerStatus() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> EElemNames = new ArrayList<String>();
+		EElemNames.add("Course");
+		EElemNames.add("Speed");
+		EElemNames.add("Accel");
+		EElemNames.add("Power");
+		fields.add( new UAVObjectField("E", "", UAVObjectField.FieldType.FLOAT32, EElemNames, null) );
+
+		List<String> AElemNames = new ArrayList<String>();
+		AElemNames.add("Course");
+		AElemNames.add("Speed");
+		AElemNames.add("Accel");
+		AElemNames.add("Power");
+		fields.add( new UAVObjectField("A", "", UAVObjectField.FieldType.FLOAT32, AElemNames, null) );
+
+		List<String> CElemNames = new ArrayList<String>();
+		CElemNames.add("Course");
+		CElemNames.add("Speed");
+		CElemNames.add("Accel");
+		CElemNames.add("Power");
+		fields.add( new UAVObjectField("C", "", UAVObjectField.FieldType.FLOAT32, CElemNames, null) );
+
+		List<String> ErrorsElemNames = new ArrayList<String>();
+		ErrorsElemNames.add("Wind");
+		ErrorsElemNames.add("Lowspeed");
+		ErrorsElemNames.add("Highspeed");
+		ErrorsElemNames.add("Lowpower");
+		ErrorsElemNames.add("Highpower");
+		ErrorsElemNames.add("Pitchcontrol");
+		fields.add( new UAVObjectField("Errors", "", UAVObjectField.FieldType.UINT8, ErrorsElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 500;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			FixedWingPathFollowerStatus obj = new FixedWingPathFollowerStatus();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public FixedWingPathFollowerStatus GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (FixedWingPathFollowerStatus)(objMngr.getObject(FixedWingPathFollowerStatus.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xA0D6F6D4;
+	protected static final String NAME = "FixedWingPathFollowerStatus";
+	protected static String DESCRIPTION = "Object Storing Debugging Information on PID internals";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
new file mode 100644
index 000000000..f534fc89c
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
@@ -0,0 +1,142 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the GPS
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the GPS
+
+generated from gpssettings.xml
+ **/
+public class GPSSettings extends UAVDataObject {
+
+	public GPSSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> DataProtocolElemNames = new ArrayList<String>();
+		DataProtocolElemNames.add("0");
+		List<String> DataProtocolEnumOptions = new ArrayList<String>();
+		DataProtocolEnumOptions.add("NMEA");
+		DataProtocolEnumOptions.add("UBX");
+		fields.add( new UAVObjectField("DataProtocol", "", UAVObjectField.FieldType.ENUM, DataProtocolElemNames, DataProtocolEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("DataProtocol").setValue("NMEA");
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			GPSSettings obj = new GPSSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public GPSSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (GPSSettings)(objMngr.getObject(GPSSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xAC5F6370;
+	protected static final String NAME = "GPSSettings";
+	protected static String DESCRIPTION = "Settings for the GPS";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java
new file mode 100644
index 000000000..2ce4a3c62
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java
@@ -0,0 +1,146 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Raw GPS data from @ref GPSModule.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Raw GPS data from @ref GPSModule.
+
+generated from gpsvelocity.xml
+ **/
+public class GPSVelocity extends UAVDataObject {
+
+	public GPSVelocity() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> NorthElemNames = new ArrayList<String>();
+		NorthElemNames.add("0");
+		fields.add( new UAVObjectField("North", "m/s", UAVObjectField.FieldType.FLOAT32, NorthElemNames, null) );
+
+		List<String> EastElemNames = new ArrayList<String>();
+		EastElemNames.add("0");
+		fields.add( new UAVObjectField("East", "m/s", UAVObjectField.FieldType.FLOAT32, EastElemNames, null) );
+
+		List<String> DownElemNames = new ArrayList<String>();
+		DownElemNames.add("0");
+		fields.add( new UAVObjectField("Down", "m/s", UAVObjectField.FieldType.FLOAT32, DownElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			GPSVelocity obj = new GPSVelocity();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public GPSVelocity GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (GPSVelocity)(objMngr.getObject(GPSVelocity.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x8245DC80;
+	protected static final String NAME = "GPSVelocity";
+	protected static String DESCRIPTION = "Raw GPS data from @ref GPSModule.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java
new file mode 100644
index 000000000..5c960d2e6
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java
@@ -0,0 +1,150 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The gyro data.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The gyro data.
+
+generated from gyros.xml
+ **/
+public class Gyros extends UAVDataObject {
+
+	public Gyros() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> xElemNames = new ArrayList<String>();
+		xElemNames.add("0");
+		fields.add( new UAVObjectField("x", "deg/s", UAVObjectField.FieldType.FLOAT32, xElemNames, null) );
+
+		List<String> yElemNames = new ArrayList<String>();
+		yElemNames.add("0");
+		fields.add( new UAVObjectField("y", "deg/s", UAVObjectField.FieldType.FLOAT32, yElemNames, null) );
+
+		List<String> zElemNames = new ArrayList<String>();
+		zElemNames.add("0");
+		fields.add( new UAVObjectField("z", "deg/s", UAVObjectField.FieldType.FLOAT32, zElemNames, null) );
+
+		List<String> temperatureElemNames = new ArrayList<String>();
+		temperatureElemNames.add("0");
+		fields.add( new UAVObjectField("temperature", "deg C", UAVObjectField.FieldType.FLOAT32, temperatureElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			Gyros obj = new Gyros();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public Gyros GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (Gyros)(objMngr.getObject(Gyros.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x4228AF6;
+	protected static final String NAME = "Gyros";
+	protected static String DESCRIPTION = "The gyro data.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java
new file mode 100644
index 000000000..00bc7da2d
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java
@@ -0,0 +1,146 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The gyro data.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The gyro data.
+
+generated from gyrosbias.xml
+ **/
+public class GyrosBias extends UAVDataObject {
+
+	public GyrosBias() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> xElemNames = new ArrayList<String>();
+		xElemNames.add("0");
+		fields.add( new UAVObjectField("x", "deg/s", UAVObjectField.FieldType.FLOAT32, xElemNames, null) );
+
+		List<String> yElemNames = new ArrayList<String>();
+		yElemNames.add("0");
+		fields.add( new UAVObjectField("y", "deg/s", UAVObjectField.FieldType.FLOAT32, yElemNames, null) );
+
+		List<String> zElemNames = new ArrayList<String>();
+		zElemNames.add("0");
+		fields.add( new UAVObjectField("z", "deg/s", UAVObjectField.FieldType.FLOAT32, zElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			GyrosBias obj = new GyrosBias();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public GyrosBias GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (GyrosBias)(objMngr.getObject(GyrosBias.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xE4B6F980;
+	protected static final String NAME = "GyrosBias";
+	protected static String DESCRIPTION = "The gyro data.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java
new file mode 100644
index 000000000..398f455d5
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java
@@ -0,0 +1,146 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The gyro data.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The gyro data.
+
+generated from magbias.xml
+ **/
+public class MagBias extends UAVDataObject {
+
+	public MagBias() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> xElemNames = new ArrayList<String>();
+		xElemNames.add("0");
+		fields.add( new UAVObjectField("x", "mGau", UAVObjectField.FieldType.FLOAT32, xElemNames, null) );
+
+		List<String> yElemNames = new ArrayList<String>();
+		yElemNames.add("0");
+		fields.add( new UAVObjectField("y", "mGau", UAVObjectField.FieldType.FLOAT32, yElemNames, null) );
+
+		List<String> zElemNames = new ArrayList<String>();
+		zElemNames.add("0");
+		fields.add( new UAVObjectField("z", "mGau", UAVObjectField.FieldType.FLOAT32, zElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			MagBias obj = new MagBias();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public MagBias GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (MagBias)(objMngr.getObject(MagBias.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x5043E510;
+	protected static final String NAME = "MagBias";
+	protected static String DESCRIPTION = "The gyro data.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java
new file mode 100644
index 000000000..583817cca
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java
@@ -0,0 +1,146 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The mag data.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The mag data.
+
+generated from magnetometer.xml
+ **/
+public class Magnetometer extends UAVDataObject {
+
+	public Magnetometer() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> xElemNames = new ArrayList<String>();
+		xElemNames.add("0");
+		fields.add( new UAVObjectField("x", "mGa", UAVObjectField.FieldType.FLOAT32, xElemNames, null) );
+
+		List<String> yElemNames = new ArrayList<String>();
+		yElemNames.add("0");
+		fields.add( new UAVObjectField("y", "mGa", UAVObjectField.FieldType.FLOAT32, yElemNames, null) );
+
+		List<String> zElemNames = new ArrayList<String>();
+		zElemNames.add("0");
+		fields.add( new UAVObjectField("z", "mGa", UAVObjectField.FieldType.FLOAT32, zElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			Magnetometer obj = new Magnetometer();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public Magnetometer GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (Magnetometer)(objMngr.getObject(Magnetometer.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x813B55DE;
+	protected static final String NAME = "Magnetometer";
+	protected static String DESCRIPTION = "The mag data.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java
new file mode 100644
index 000000000..0aa67862e
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java
@@ -0,0 +1,146 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Contains the current position relative to @ref HomeLocation
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Contains the current position relative to @ref HomeLocation
+
+generated from nedposition.xml
+ **/
+public class NEDPosition extends UAVDataObject {
+
+	public NEDPosition() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> NorthElemNames = new ArrayList<String>();
+		NorthElemNames.add("0");
+		fields.add( new UAVObjectField("North", "m", UAVObjectField.FieldType.FLOAT32, NorthElemNames, null) );
+
+		List<String> EastElemNames = new ArrayList<String>();
+		EastElemNames.add("0");
+		fields.add( new UAVObjectField("East", "m", UAVObjectField.FieldType.FLOAT32, EastElemNames, null) );
+
+		List<String> DownElemNames = new ArrayList<String>();
+		DownElemNames.add("0");
+		fields.add( new UAVObjectField("Down", "m", UAVObjectField.FieldType.FLOAT32, DownElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			NEDPosition obj = new NEDPosition();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public NEDPosition GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (NEDPosition)(objMngr.getObject(NEDPosition.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x1FB15A00;
+	protected static final String NAME = "NEDPosition";
+	protected static String DESCRIPTION = "Contains the current position relative to @ref HomeLocation";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java
new file mode 100644
index 000000000..c680d230c
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java
@@ -0,0 +1,143 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings to control the behavior of the overo sync module
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings to control the behavior of the overo sync module
+
+generated from overosyncsettings.xml
+ **/
+public class OveroSyncSettings extends UAVDataObject {
+
+	public OveroSyncSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> LogOnElemNames = new ArrayList<String>();
+		LogOnElemNames.add("0");
+		List<String> LogOnEnumOptions = new ArrayList<String>();
+		LogOnEnumOptions.add("Never");
+		LogOnEnumOptions.add("Always");
+		LogOnEnumOptions.add("Armed");
+		fields.add( new UAVObjectField("LogOn", "", UAVObjectField.FieldType.ENUM, LogOnElemNames, LogOnEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("LogOn").setValue("Armed");
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			OveroSyncSettings obj = new OveroSyncSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public OveroSyncSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (OveroSyncSettings)(objMngr.getObject(OveroSyncSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xA1ABC278;
+	protected static final String NAME = "OveroSyncSettings";
+	protected static String DESCRIPTION = "Settings to control the behavior of the overo sync module";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
new file mode 100644
index 000000000..4c31f21dd
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
@@ -0,0 +1,165 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Maintains statistics on transfer rate to and from over
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Maintains statistics on transfer rate to and from over
+
+generated from overosyncstats.xml
+ **/
+public class OveroSyncStats extends UAVDataObject {
+
+	public OveroSyncStats() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> SendElemNames = new ArrayList<String>();
+		SendElemNames.add("0");
+		fields.add( new UAVObjectField("Send", "B/s", UAVObjectField.FieldType.UINT32, SendElemNames, null) );
+
+		List<String> ReceivedElemNames = new ArrayList<String>();
+		ReceivedElemNames.add("0");
+		fields.add( new UAVObjectField("Received", "B/s", UAVObjectField.FieldType.UINT32, ReceivedElemNames, null) );
+
+		List<String> FramesyncErrorsElemNames = new ArrayList<String>();
+		FramesyncErrorsElemNames.add("0");
+		fields.add( new UAVObjectField("FramesyncErrors", "count", UAVObjectField.FieldType.UINT32, FramesyncErrorsElemNames, null) );
+
+		List<String> UnderrunErrorsElemNames = new ArrayList<String>();
+		UnderrunErrorsElemNames.add("0");
+		fields.add( new UAVObjectField("UnderrunErrors", "count", UAVObjectField.FieldType.UINT32, UnderrunErrorsElemNames, null) );
+
+		List<String> DroppedUpdatesElemNames = new ArrayList<String>();
+		DroppedUpdatesElemNames.add("0");
+		fields.add( new UAVObjectField("DroppedUpdates", "", UAVObjectField.FieldType.UINT32, DroppedUpdatesElemNames, null) );
+
+		List<String> PacketsElemNames = new ArrayList<String>();
+		PacketsElemNames.add("0");
+		fields.add( new UAVObjectField("Packets", "", UAVObjectField.FieldType.UINT32, PacketsElemNames, null) );
+
+		List<String> ConnectedElemNames = new ArrayList<String>();
+		ConnectedElemNames.add("0");
+		List<String> ConnectedEnumOptions = new ArrayList<String>();
+		ConnectedEnumOptions.add("False");
+		ConnectedEnumOptions.add("True");
+		fields.add( new UAVObjectField("Connected", "", UAVObjectField.FieldType.ENUM, ConnectedElemNames, ConnectedEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			OveroSyncStats obj = new OveroSyncStats();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public OveroSyncStats GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (OveroSyncStats)(objMngr.getObject(OveroSyncStats.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xD2085FAC;
+	protected static final String NAME = "OveroSyncStats";
+	protected static String DESCRIPTION = "Maintains statistics on transfer rate to and from over";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java
new file mode 100644
index 000000000..38e710477
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java
@@ -0,0 +1,162 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The endpoint or path the craft is trying to achieve.  Can come from @ref ManualControl or @ref PathPlanner 
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The endpoint or path the craft is trying to achieve.  Can come from @ref ManualControl or @ref PathPlanner 
+
+generated from pathdesired.xml
+ **/
+public class PathDesired extends UAVDataObject {
+
+	public PathDesired() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> StartElemNames = new ArrayList<String>();
+		StartElemNames.add("North");
+		StartElemNames.add("East");
+		StartElemNames.add("Down");
+		fields.add( new UAVObjectField("Start", "m", UAVObjectField.FieldType.FLOAT32, StartElemNames, null) );
+
+		List<String> EndElemNames = new ArrayList<String>();
+		EndElemNames.add("North");
+		EndElemNames.add("East");
+		EndElemNames.add("Down");
+		fields.add( new UAVObjectField("End", "m", UAVObjectField.FieldType.FLOAT32, EndElemNames, null) );
+
+		List<String> StartingVelocityElemNames = new ArrayList<String>();
+		StartingVelocityElemNames.add("0");
+		fields.add( new UAVObjectField("StartingVelocity", "m/s", UAVObjectField.FieldType.FLOAT32, StartingVelocityElemNames, null) );
+
+		List<String> EndingVelocityElemNames = new ArrayList<String>();
+		EndingVelocityElemNames.add("0");
+		fields.add( new UAVObjectField("EndingVelocity", "m/s", UAVObjectField.FieldType.FLOAT32, EndingVelocityElemNames, null) );
+
+		List<String> ModeElemNames = new ArrayList<String>();
+		ModeElemNames.add("0");
+		List<String> ModeEnumOptions = new ArrayList<String>();
+		ModeEnumOptions.add("Endpoint");
+		ModeEnumOptions.add("Path");
+		ModeEnumOptions.add("Land");
+		fields.add( new UAVObjectField("Mode", "", UAVObjectField.FieldType.ENUM, ModeElemNames, ModeEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			PathDesired obj = new PathDesired();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public PathDesired GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (PathDesired)(objMngr.getObject(PathDesired.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x5A4DC71A;
+	protected static final String NAME = "PathDesired";
+	protected static String DESCRIPTION = "The endpoint or path the craft is trying to achieve.  Can come from @ref ManualControl or @ref PathPlanner ";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java
new file mode 100644
index 000000000..fb6b66e19
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java
@@ -0,0 +1,151 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the @ref PathPlanner Module
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the @ref PathPlanner Module
+
+generated from pathplannersettings.xml
+ **/
+public class PathPlannerSettings extends UAVDataObject {
+
+	public PathPlannerSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> PathModeElemNames = new ArrayList<String>();
+		PathModeElemNames.add("0");
+		List<String> PathModeEnumOptions = new ArrayList<String>();
+		PathModeEnumOptions.add("ENDPOINT");
+		PathModeEnumOptions.add("PATH");
+		fields.add( new UAVObjectField("PathMode", "", UAVObjectField.FieldType.ENUM, PathModeElemNames, PathModeEnumOptions) );
+
+		List<String> PreprogrammedPathElemNames = new ArrayList<String>();
+		PreprogrammedPathElemNames.add("0");
+		List<String> PreprogrammedPathEnumOptions = new ArrayList<String>();
+		PreprogrammedPathEnumOptions.add("NONE");
+		PreprogrammedPathEnumOptions.add("10M_BOX");
+		PreprogrammedPathEnumOptions.add("LOGO");
+		fields.add( new UAVObjectField("PreprogrammedPath", "", UAVObjectField.FieldType.ENUM, PreprogrammedPathElemNames, PreprogrammedPathEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("PathMode").setValue("PATH");
+		getField("PreprogrammedPath").setValue("NONE");
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			PathPlannerSettings obj = new PathPlannerSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public PathPlannerSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (PathPlannerSettings)(objMngr.getObject(PathPlannerSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x290E45DA;
+	protected static final String NAME = "PathPlannerSettings";
+	protected static String DESCRIPTION = "Settings for the @ref PathPlanner Module";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java
new file mode 100644
index 000000000..aa5387148
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java
@@ -0,0 +1,326 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             PipXtreme configurations options.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+PipXtreme configurations options.
+
+generated from pipxsettings.xml
+ **/
+public class PipXSettings extends UAVDataObject {
+
+	public PipXSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> PairIDElemNames = new ArrayList<String>();
+		PairIDElemNames.add("0");
+		fields.add( new UAVObjectField("PairID", "", UAVObjectField.FieldType.UINT32, PairIDElemNames, null) );
+
+		List<String> FrequencyElemNames = new ArrayList<String>();
+		FrequencyElemNames.add("0");
+		fields.add( new UAVObjectField("Frequency", "", UAVObjectField.FieldType.UINT32, FrequencyElemNames, null) );
+
+		List<String> SendTimeoutElemNames = new ArrayList<String>();
+		SendTimeoutElemNames.add("0");
+		fields.add( new UAVObjectField("SendTimeout", "ms", UAVObjectField.FieldType.UINT16, SendTimeoutElemNames, null) );
+
+		List<String> TelemetryConfigElemNames = new ArrayList<String>();
+		TelemetryConfigElemNames.add("0");
+		List<String> TelemetryConfigEnumOptions = new ArrayList<String>();
+		TelemetryConfigEnumOptions.add("Disabled");
+		TelemetryConfigEnumOptions.add("Serial");
+		TelemetryConfigEnumOptions.add("UAVTalk");
+		TelemetryConfigEnumOptions.add("GCS");
+		TelemetryConfigEnumOptions.add("Debug");
+		fields.add( new UAVObjectField("TelemetryConfig", "function", UAVObjectField.FieldType.ENUM, TelemetryConfigElemNames, TelemetryConfigEnumOptions) );
+
+		List<String> TelemetrySpeedElemNames = new ArrayList<String>();
+		TelemetrySpeedElemNames.add("0");
+		List<String> TelemetrySpeedEnumOptions = new ArrayList<String>();
+		TelemetrySpeedEnumOptions.add("2400");
+		TelemetrySpeedEnumOptions.add("4800");
+		TelemetrySpeedEnumOptions.add("9600");
+		TelemetrySpeedEnumOptions.add("19200");
+		TelemetrySpeedEnumOptions.add("38400");
+		TelemetrySpeedEnumOptions.add("57600");
+		TelemetrySpeedEnumOptions.add("115200");
+		fields.add( new UAVObjectField("TelemetrySpeed", "bps", UAVObjectField.FieldType.ENUM, TelemetrySpeedElemNames, TelemetrySpeedEnumOptions) );
+
+		List<String> FlexiConfigElemNames = new ArrayList<String>();
+		FlexiConfigElemNames.add("0");
+		List<String> FlexiConfigEnumOptions = new ArrayList<String>();
+		FlexiConfigEnumOptions.add("Disabled");
+		FlexiConfigEnumOptions.add("Serial");
+		FlexiConfigEnumOptions.add("UAVTalk");
+		FlexiConfigEnumOptions.add("GCS");
+		FlexiConfigEnumOptions.add("PPM_In");
+		FlexiConfigEnumOptions.add("PPM_Out");
+		FlexiConfigEnumOptions.add("RSSI");
+		FlexiConfigEnumOptions.add("Debug");
+		fields.add( new UAVObjectField("FlexiConfig", "function", UAVObjectField.FieldType.ENUM, FlexiConfigElemNames, FlexiConfigEnumOptions) );
+
+		List<String> FlexiSpeedElemNames = new ArrayList<String>();
+		FlexiSpeedElemNames.add("0");
+		List<String> FlexiSpeedEnumOptions = new ArrayList<String>();
+		FlexiSpeedEnumOptions.add("2400");
+		FlexiSpeedEnumOptions.add("4800");
+		FlexiSpeedEnumOptions.add("9600");
+		FlexiSpeedEnumOptions.add("19200");
+		FlexiSpeedEnumOptions.add("38400");
+		FlexiSpeedEnumOptions.add("57600");
+		FlexiSpeedEnumOptions.add("115200");
+		fields.add( new UAVObjectField("FlexiSpeed", "bps", UAVObjectField.FieldType.ENUM, FlexiSpeedElemNames, FlexiSpeedEnumOptions) );
+
+		List<String> VCPConfigElemNames = new ArrayList<String>();
+		VCPConfigElemNames.add("0");
+		List<String> VCPConfigEnumOptions = new ArrayList<String>();
+		VCPConfigEnumOptions.add("Disabled");
+		VCPConfigEnumOptions.add("Serial");
+		VCPConfigEnumOptions.add("Debug");
+		fields.add( new UAVObjectField("VCPConfig", "function", UAVObjectField.FieldType.ENUM, VCPConfigElemNames, VCPConfigEnumOptions) );
+
+		List<String> VCPSpeedElemNames = new ArrayList<String>();
+		VCPSpeedElemNames.add("0");
+		List<String> VCPSpeedEnumOptions = new ArrayList<String>();
+		VCPSpeedEnumOptions.add("2400");
+		VCPSpeedEnumOptions.add("4800");
+		VCPSpeedEnumOptions.add("9600");
+		VCPSpeedEnumOptions.add("19200");
+		VCPSpeedEnumOptions.add("38400");
+		VCPSpeedEnumOptions.add("57600");
+		VCPSpeedEnumOptions.add("115200");
+		fields.add( new UAVObjectField("VCPSpeed", "bps", UAVObjectField.FieldType.ENUM, VCPSpeedElemNames, VCPSpeedEnumOptions) );
+
+		List<String> RFSpeedElemNames = new ArrayList<String>();
+		RFSpeedElemNames.add("0");
+		List<String> RFSpeedEnumOptions = new ArrayList<String>();
+		RFSpeedEnumOptions.add("2400");
+		RFSpeedEnumOptions.add("4800");
+		RFSpeedEnumOptions.add("9600");
+		RFSpeedEnumOptions.add("19200");
+		RFSpeedEnumOptions.add("38400");
+		RFSpeedEnumOptions.add("57600");
+		RFSpeedEnumOptions.add("115200");
+		fields.add( new UAVObjectField("RFSpeed", "bps", UAVObjectField.FieldType.ENUM, RFSpeedElemNames, RFSpeedEnumOptions) );
+
+		List<String> MaxRFPowerElemNames = new ArrayList<String>();
+		MaxRFPowerElemNames.add("0");
+		List<String> MaxRFPowerEnumOptions = new ArrayList<String>();
+		MaxRFPowerEnumOptions.add("1.25");
+		MaxRFPowerEnumOptions.add("1.6");
+		MaxRFPowerEnumOptions.add("3.16");
+		MaxRFPowerEnumOptions.add("6.3");
+		MaxRFPowerEnumOptions.add("12.6");
+		MaxRFPowerEnumOptions.add("25");
+		MaxRFPowerEnumOptions.add("50");
+		MaxRFPowerEnumOptions.add("100");
+		fields.add( new UAVObjectField("MaxRFPower", "mW", UAVObjectField.FieldType.ENUM, MaxRFPowerElemNames, MaxRFPowerEnumOptions) );
+
+		List<String> MinPacketSizeElemNames = new ArrayList<String>();
+		MinPacketSizeElemNames.add("0");
+		fields.add( new UAVObjectField("MinPacketSize", "bytes", UAVObjectField.FieldType.UINT8, MinPacketSizeElemNames, null) );
+
+		List<String> FrequencyCalibrationElemNames = new ArrayList<String>();
+		FrequencyCalibrationElemNames.add("0");
+		fields.add( new UAVObjectField("FrequencyCalibration", "", UAVObjectField.FieldType.UINT8, FrequencyCalibrationElemNames, null) );
+
+		List<String> AESKeyElemNames = new ArrayList<String>();
+		AESKeyElemNames.add("0");
+		AESKeyElemNames.add("1");
+		AESKeyElemNames.add("2");
+		AESKeyElemNames.add("3");
+		AESKeyElemNames.add("4");
+		AESKeyElemNames.add("5");
+		AESKeyElemNames.add("6");
+		AESKeyElemNames.add("7");
+		AESKeyElemNames.add("8");
+		AESKeyElemNames.add("9");
+		AESKeyElemNames.add("10");
+		AESKeyElemNames.add("11");
+		AESKeyElemNames.add("12");
+		AESKeyElemNames.add("13");
+		AESKeyElemNames.add("14");
+		AESKeyElemNames.add("15");
+		AESKeyElemNames.add("16");
+		AESKeyElemNames.add("17");
+		AESKeyElemNames.add("18");
+		AESKeyElemNames.add("19");
+		AESKeyElemNames.add("20");
+		AESKeyElemNames.add("21");
+		AESKeyElemNames.add("22");
+		AESKeyElemNames.add("23");
+		AESKeyElemNames.add("24");
+		AESKeyElemNames.add("25");
+		AESKeyElemNames.add("26");
+		AESKeyElemNames.add("27");
+		AESKeyElemNames.add("28");
+		AESKeyElemNames.add("29");
+		AESKeyElemNames.add("30");
+		AESKeyElemNames.add("31");
+		fields.add( new UAVObjectField("AESKey", "", UAVObjectField.FieldType.UINT8, AESKeyElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("PairID").setValue(0);
+		getField("Frequency").setValue(434000000);
+		getField("SendTimeout").setValue(50);
+		getField("TelemetryConfig").setValue("UAVTalk");
+		getField("TelemetrySpeed").setValue("57600");
+		getField("FlexiConfig").setValue("Disabled");
+		getField("FlexiSpeed").setValue("57600");
+		getField("VCPConfig").setValue("Disabled");
+		getField("VCPSpeed").setValue("57600");
+		getField("RFSpeed").setValue("115200");
+		getField("MaxRFPower").setValue("100");
+		getField("MinPacketSize").setValue(50);
+		getField("FrequencyCalibration").setValue(127);
+		getField("AESKey").setValue(0,0);
+		getField("AESKey").setValue(0,1);
+		getField("AESKey").setValue(0,2);
+		getField("AESKey").setValue(0,3);
+		getField("AESKey").setValue(0,4);
+		getField("AESKey").setValue(0,5);
+		getField("AESKey").setValue(0,6);
+		getField("AESKey").setValue(0,7);
+		getField("AESKey").setValue(0,8);
+		getField("AESKey").setValue(0,9);
+		getField("AESKey").setValue(0,10);
+		getField("AESKey").setValue(0,11);
+		getField("AESKey").setValue(0,12);
+		getField("AESKey").setValue(0,13);
+		getField("AESKey").setValue(0,14);
+		getField("AESKey").setValue(0,15);
+		getField("AESKey").setValue(0,16);
+		getField("AESKey").setValue(0,17);
+		getField("AESKey").setValue(0,18);
+		getField("AESKey").setValue(0,19);
+		getField("AESKey").setValue(0,20);
+		getField("AESKey").setValue(0,21);
+		getField("AESKey").setValue(0,22);
+		getField("AESKey").setValue(0,23);
+		getField("AESKey").setValue(0,24);
+		getField("AESKey").setValue(0,25);
+		getField("AESKey").setValue(0,26);
+		getField("AESKey").setValue(0,27);
+		getField("AESKey").setValue(0,28);
+		getField("AESKey").setValue(0,29);
+		getField("AESKey").setValue(0,30);
+		getField("AESKey").setValue(0,31);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			PipXSettings obj = new PipXSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public PipXSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (PipXSettings)(objMngr.getObject(PipXSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xBA192BCA;
+	protected static final String NAME = "PipXSettings";
+	protected static String DESCRIPTION = "PipXtreme configurations options.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java
new file mode 100644
index 000000000..fb6a91e33
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java
@@ -0,0 +1,301 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             PipXtreme device status.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+PipXtreme device status.
+
+generated from pipxstatus.xml
+ **/
+public class PipXStatus extends UAVDataObject {
+
+	public PipXStatus() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> MinFrequencyElemNames = new ArrayList<String>();
+		MinFrequencyElemNames.add("0");
+		fields.add( new UAVObjectField("MinFrequency", "Hz", UAVObjectField.FieldType.UINT32, MinFrequencyElemNames, null) );
+
+		List<String> MaxFrequencyElemNames = new ArrayList<String>();
+		MaxFrequencyElemNames.add("0");
+		fields.add( new UAVObjectField("MaxFrequency", "Hz", UAVObjectField.FieldType.UINT32, MaxFrequencyElemNames, null) );
+
+		List<String> FrequencyStepSizeElemNames = new ArrayList<String>();
+		FrequencyStepSizeElemNames.add("0");
+		fields.add( new UAVObjectField("FrequencyStepSize", "", UAVObjectField.FieldType.FLOAT32, FrequencyStepSizeElemNames, null) );
+
+		List<String> DeviceIDElemNames = new ArrayList<String>();
+		DeviceIDElemNames.add("0");
+		fields.add( new UAVObjectField("DeviceID", "", UAVObjectField.FieldType.UINT32, DeviceIDElemNames, null) );
+
+		List<String> AFCElemNames = new ArrayList<String>();
+		AFCElemNames.add("0");
+		fields.add( new UAVObjectField("AFC", "", UAVObjectField.FieldType.INT32, AFCElemNames, null) );
+
+		List<String> PairIDsElemNames = new ArrayList<String>();
+		PairIDsElemNames.add("0");
+		PairIDsElemNames.add("1");
+		PairIDsElemNames.add("2");
+		PairIDsElemNames.add("3");
+		fields.add( new UAVObjectField("PairIDs", "", UAVObjectField.FieldType.UINT32, PairIDsElemNames, null) );
+
+		List<String> BoardRevisionElemNames = new ArrayList<String>();
+		BoardRevisionElemNames.add("0");
+		fields.add( new UAVObjectField("BoardRevision", "", UAVObjectField.FieldType.UINT16, BoardRevisionElemNames, null) );
+
+		List<String> RetriesElemNames = new ArrayList<String>();
+		RetriesElemNames.add("0");
+		fields.add( new UAVObjectField("Retries", "", UAVObjectField.FieldType.UINT16, RetriesElemNames, null) );
+
+		List<String> ErrorsElemNames = new ArrayList<String>();
+		ErrorsElemNames.add("0");
+		fields.add( new UAVObjectField("Errors", "", UAVObjectField.FieldType.UINT16, ErrorsElemNames, null) );
+
+		List<String> UAVTalkErrorsElemNames = new ArrayList<String>();
+		UAVTalkErrorsElemNames.add("0");
+		fields.add( new UAVObjectField("UAVTalkErrors", "", UAVObjectField.FieldType.UINT16, UAVTalkErrorsElemNames, null) );
+
+		List<String> DroppedElemNames = new ArrayList<String>();
+		DroppedElemNames.add("0");
+		fields.add( new UAVObjectField("Dropped", "", UAVObjectField.FieldType.UINT16, DroppedElemNames, null) );
+
+		List<String> ResetsElemNames = new ArrayList<String>();
+		ResetsElemNames.add("0");
+		fields.add( new UAVObjectField("Resets", "", UAVObjectField.FieldType.UINT16, ResetsElemNames, null) );
+
+		List<String> TXRateElemNames = new ArrayList<String>();
+		TXRateElemNames.add("0");
+		fields.add( new UAVObjectField("TXRate", "Bps", UAVObjectField.FieldType.UINT16, TXRateElemNames, null) );
+
+		List<String> RXRateElemNames = new ArrayList<String>();
+		RXRateElemNames.add("0");
+		fields.add( new UAVObjectField("RXRate", "Bps", UAVObjectField.FieldType.UINT16, RXRateElemNames, null) );
+
+		List<String> DescriptionElemNames = new ArrayList<String>();
+		DescriptionElemNames.add("0");
+		DescriptionElemNames.add("1");
+		DescriptionElemNames.add("2");
+		DescriptionElemNames.add("3");
+		DescriptionElemNames.add("4");
+		DescriptionElemNames.add("5");
+		DescriptionElemNames.add("6");
+		DescriptionElemNames.add("7");
+		DescriptionElemNames.add("8");
+		DescriptionElemNames.add("9");
+		DescriptionElemNames.add("10");
+		DescriptionElemNames.add("11");
+		DescriptionElemNames.add("12");
+		DescriptionElemNames.add("13");
+		DescriptionElemNames.add("14");
+		DescriptionElemNames.add("15");
+		DescriptionElemNames.add("16");
+		DescriptionElemNames.add("17");
+		DescriptionElemNames.add("18");
+		DescriptionElemNames.add("19");
+		DescriptionElemNames.add("20");
+		DescriptionElemNames.add("21");
+		DescriptionElemNames.add("22");
+		DescriptionElemNames.add("23");
+		DescriptionElemNames.add("24");
+		DescriptionElemNames.add("25");
+		DescriptionElemNames.add("26");
+		DescriptionElemNames.add("27");
+		DescriptionElemNames.add("28");
+		DescriptionElemNames.add("29");
+		DescriptionElemNames.add("30");
+		DescriptionElemNames.add("31");
+		DescriptionElemNames.add("32");
+		DescriptionElemNames.add("33");
+		DescriptionElemNames.add("34");
+		DescriptionElemNames.add("35");
+		DescriptionElemNames.add("36");
+		DescriptionElemNames.add("37");
+		DescriptionElemNames.add("38");
+		DescriptionElemNames.add("39");
+		fields.add( new UAVObjectField("Description", "", UAVObjectField.FieldType.UINT8, DescriptionElemNames, null) );
+
+		List<String> CPUSerialElemNames = new ArrayList<String>();
+		CPUSerialElemNames.add("0");
+		CPUSerialElemNames.add("1");
+		CPUSerialElemNames.add("2");
+		CPUSerialElemNames.add("3");
+		CPUSerialElemNames.add("4");
+		CPUSerialElemNames.add("5");
+		CPUSerialElemNames.add("6");
+		CPUSerialElemNames.add("7");
+		CPUSerialElemNames.add("8");
+		CPUSerialElemNames.add("9");
+		CPUSerialElemNames.add("10");
+		CPUSerialElemNames.add("11");
+		fields.add( new UAVObjectField("CPUSerial", "", UAVObjectField.FieldType.UINT8, CPUSerialElemNames, null) );
+
+		List<String> BoardTypeElemNames = new ArrayList<String>();
+		BoardTypeElemNames.add("0");
+		fields.add( new UAVObjectField("BoardType", "", UAVObjectField.FieldType.UINT8, BoardTypeElemNames, null) );
+
+		List<String> FrequencyBandElemNames = new ArrayList<String>();
+		FrequencyBandElemNames.add("0");
+		fields.add( new UAVObjectField("FrequencyBand", "", UAVObjectField.FieldType.UINT8, FrequencyBandElemNames, null) );
+
+		List<String> RSSIElemNames = new ArrayList<String>();
+		RSSIElemNames.add("0");
+		fields.add( new UAVObjectField("RSSI", "dBm", UAVObjectField.FieldType.INT8, RSSIElemNames, null) );
+
+		List<String> LinkStateElemNames = new ArrayList<String>();
+		LinkStateElemNames.add("0");
+		List<String> LinkStateEnumOptions = new ArrayList<String>();
+		LinkStateEnumOptions.add("Disconnected");
+		LinkStateEnumOptions.add("Connecting");
+		LinkStateEnumOptions.add("Connected");
+		fields.add( new UAVObjectField("LinkState", "function", UAVObjectField.FieldType.ENUM, LinkStateElemNames, LinkStateEnumOptions) );
+
+		List<String> PairSignalStrengthsElemNames = new ArrayList<String>();
+		PairSignalStrengthsElemNames.add("0");
+		PairSignalStrengthsElemNames.add("1");
+		PairSignalStrengthsElemNames.add("2");
+		PairSignalStrengthsElemNames.add("3");
+		fields.add( new UAVObjectField("PairSignalStrengths", "dBm", UAVObjectField.FieldType.INT8, PairSignalStrengthsElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READONLY) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("MinFrequency").setValue(0);
+		getField("MaxFrequency").setValue(0);
+		getField("FrequencyStepSize").setValue(0);
+		getField("DeviceID").setValue(0);
+		getField("AFC").setValue(0);
+		getField("PairIDs").setValue(0,0);
+		getField("PairIDs").setValue(0,1);
+		getField("PairIDs").setValue(0,2);
+		getField("PairIDs").setValue(0,3);
+		getField("Retries").setValue(0);
+		getField("Errors").setValue(0);
+		getField("UAVTalkErrors").setValue(0);
+		getField("Dropped").setValue(0);
+		getField("Resets").setValue(0);
+		getField("TXRate").setValue(0);
+		getField("RXRate").setValue(0);
+		getField("FrequencyBand").setValue(0);
+		getField("RSSI").setValue(0);
+		getField("LinkState").setValue("Disconnected");
+		getField("PairSignalStrengths").setValue(-127,0);
+		getField("PairSignalStrengths").setValue(-127,1);
+		getField("PairSignalStrengths").setValue(-127,2);
+		getField("PairSignalStrengths").setValue(-127,3);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			PipXStatus obj = new PipXStatus();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public PipXStatus GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (PipXStatus)(objMngr.getObject(PipXStatus.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x3FC68A86;
+	protected static final String NAME = "PipXStatus";
+	protected static String DESCRIPTION = "PipXtreme device status.";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
new file mode 100644
index 000000000..940f78875
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
@@ -0,0 +1,249 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the INS to control the algorithm and what is updated
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the INS to control the algorithm and what is updated
+
+generated from revocalibration.xml
+ **/
+public class RevoCalibration extends UAVDataObject {
+
+	public RevoCalibration() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> accel_biasElemNames = new ArrayList<String>();
+		accel_biasElemNames.add("X");
+		accel_biasElemNames.add("Y");
+		accel_biasElemNames.add("Z");
+		fields.add( new UAVObjectField("accel_bias", "m/s", UAVObjectField.FieldType.FLOAT32, accel_biasElemNames, null) );
+
+		List<String> accel_scaleElemNames = new ArrayList<String>();
+		accel_scaleElemNames.add("X");
+		accel_scaleElemNames.add("Y");
+		accel_scaleElemNames.add("Z");
+		fields.add( new UAVObjectField("accel_scale", "gain", UAVObjectField.FieldType.FLOAT32, accel_scaleElemNames, null) );
+
+		List<String> accel_varElemNames = new ArrayList<String>();
+		accel_varElemNames.add("X");
+		accel_varElemNames.add("Y");
+		accel_varElemNames.add("Z");
+		fields.add( new UAVObjectField("accel_var", "(m/s)^2", UAVObjectField.FieldType.FLOAT32, accel_varElemNames, null) );
+
+		List<String> gyro_biasElemNames = new ArrayList<String>();
+		gyro_biasElemNames.add("X");
+		gyro_biasElemNames.add("Y");
+		gyro_biasElemNames.add("Z");
+		fields.add( new UAVObjectField("gyro_bias", "deg/s", UAVObjectField.FieldType.FLOAT32, gyro_biasElemNames, null) );
+
+		List<String> gyro_scaleElemNames = new ArrayList<String>();
+		gyro_scaleElemNames.add("X");
+		gyro_scaleElemNames.add("Y");
+		gyro_scaleElemNames.add("Z");
+		fields.add( new UAVObjectField("gyro_scale", "gain", UAVObjectField.FieldType.FLOAT32, gyro_scaleElemNames, null) );
+
+		List<String> gyro_varElemNames = new ArrayList<String>();
+		gyro_varElemNames.add("X");
+		gyro_varElemNames.add("Y");
+		gyro_varElemNames.add("Z");
+		fields.add( new UAVObjectField("gyro_var", "(deg/s)^2", UAVObjectField.FieldType.FLOAT32, gyro_varElemNames, null) );
+
+		List<String> gyro_tempcoeffElemNames = new ArrayList<String>();
+		gyro_tempcoeffElemNames.add("X");
+		gyro_tempcoeffElemNames.add("Y");
+		gyro_tempcoeffElemNames.add("Z");
+		fields.add( new UAVObjectField("gyro_tempcoeff", "(deg/s)/deg", UAVObjectField.FieldType.FLOAT32, gyro_tempcoeffElemNames, null) );
+
+		List<String> mag_biasElemNames = new ArrayList<String>();
+		mag_biasElemNames.add("X");
+		mag_biasElemNames.add("Y");
+		mag_biasElemNames.add("Z");
+		fields.add( new UAVObjectField("mag_bias", "mGau", UAVObjectField.FieldType.FLOAT32, mag_biasElemNames, null) );
+
+		List<String> mag_scaleElemNames = new ArrayList<String>();
+		mag_scaleElemNames.add("X");
+		mag_scaleElemNames.add("Y");
+		mag_scaleElemNames.add("Z");
+		fields.add( new UAVObjectField("mag_scale", "gain", UAVObjectField.FieldType.FLOAT32, mag_scaleElemNames, null) );
+
+		List<String> mag_varElemNames = new ArrayList<String>();
+		mag_varElemNames.add("X");
+		mag_varElemNames.add("Y");
+		mag_varElemNames.add("Z");
+		fields.add( new UAVObjectField("mag_var", "mGau^2", UAVObjectField.FieldType.FLOAT32, mag_varElemNames, null) );
+
+		List<String> gps_varElemNames = new ArrayList<String>();
+		gps_varElemNames.add("Pos");
+		gps_varElemNames.add("Vel");
+		fields.add( new UAVObjectField("gps_var", "m^2", UAVObjectField.FieldType.FLOAT32, gps_varElemNames, null) );
+
+		List<String> baro_varElemNames = new ArrayList<String>();
+		baro_varElemNames.add("0");
+		fields.add( new UAVObjectField("baro_var", "m^2", UAVObjectField.FieldType.FLOAT32, baro_varElemNames, null) );
+
+		List<String> MagBiasNullingRateElemNames = new ArrayList<String>();
+		MagBiasNullingRateElemNames.add("0");
+		fields.add( new UAVObjectField("MagBiasNullingRate", "", UAVObjectField.FieldType.FLOAT32, MagBiasNullingRateElemNames, null) );
+
+		List<String> BiasCorrectedRawElemNames = new ArrayList<String>();
+		BiasCorrectedRawElemNames.add("0");
+		List<String> BiasCorrectedRawEnumOptions = new ArrayList<String>();
+		BiasCorrectedRawEnumOptions.add("FALSE");
+		BiasCorrectedRawEnumOptions.add("TRUE");
+		fields.add( new UAVObjectField("BiasCorrectedRaw", "", UAVObjectField.FieldType.ENUM, BiasCorrectedRawElemNames, BiasCorrectedRawEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("accel_bias").setValue(0,0);
+		getField("accel_bias").setValue(0,1);
+		getField("accel_bias").setValue(0,2);
+		getField("accel_scale").setValue(1,0);
+		getField("accel_scale").setValue(1,1);
+		getField("accel_scale").setValue(1,2);
+		getField("accel_var").setValue(0.01,0);
+		getField("accel_var").setValue(0.01,1);
+		getField("accel_var").setValue(0.01,2);
+		getField("gyro_bias").setValue(0,0);
+		getField("gyro_bias").setValue(0,1);
+		getField("gyro_bias").setValue(0,2);
+		getField("gyro_scale").setValue(1,0);
+		getField("gyro_scale").setValue(1,1);
+		getField("gyro_scale").setValue(1,2);
+		getField("gyro_var").setValue(0.01,0);
+		getField("gyro_var").setValue(0.01,1);
+		getField("gyro_var").setValue(0.01,2);
+		getField("gyro_tempcoeff").setValue(1,0);
+		getField("gyro_tempcoeff").setValue(1,1);
+		getField("gyro_tempcoeff").setValue(1,2);
+		getField("mag_bias").setValue(0,0);
+		getField("mag_bias").setValue(0,1);
+		getField("mag_bias").setValue(0,2);
+		getField("mag_scale").setValue(1,0);
+		getField("mag_scale").setValue(1,1);
+		getField("mag_scale").setValue(1,2);
+		getField("mag_var").setValue(0.01,0);
+		getField("mag_var").setValue(0.01,1);
+		getField("mag_var").setValue(10,2);
+		getField("gps_var").setValue(1,0);
+		getField("gps_var").setValue(1,1);
+		getField("baro_var").setValue(1);
+		getField("MagBiasNullingRate").setValue(0);
+		getField("BiasCorrectedRaw").setValue("TRUE");
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			RevoCalibration obj = new RevoCalibration();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public RevoCalibration GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (RevoCalibration)(objMngr.getObject(RevoCalibration.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xA2A63C7C;
+	protected static final String NAME = "RevoCalibration";
+	protected static String DESCRIPTION = "Settings for the INS to control the algorithm and what is updated";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java
new file mode 100644
index 000000000..5e36565b2
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java
@@ -0,0 +1,143 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the revo to control the algorithm and what is updated
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the revo to control the algorithm and what is updated
+
+generated from revosettings.xml
+ **/
+public class RevoSettings extends UAVDataObject {
+
+	public RevoSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> FusionAlgorithmElemNames = new ArrayList<String>();
+		FusionAlgorithmElemNames.add("0");
+		List<String> FusionAlgorithmEnumOptions = new ArrayList<String>();
+		FusionAlgorithmEnumOptions.add("Complimentary");
+		FusionAlgorithmEnumOptions.add("INSIndoor");
+		FusionAlgorithmEnumOptions.add("INSOutdoor");
+		fields.add( new UAVObjectField("FusionAlgorithm", "", UAVObjectField.FieldType.ENUM, FusionAlgorithmElemNames, FusionAlgorithmEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("FusionAlgorithm").setValue("Complimentary");
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			RevoSettings obj = new RevoSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public RevoSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (RevoSettings)(objMngr.getObject(RevoSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0xE2DA70EA;
+	protected static final String NAME = "RevoSettings";
+	protected static String DESCRIPTION = "Settings for the revo to control the algorithm and what is updated";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java
new file mode 100644
index 000000000..789f31b3f
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java
@@ -0,0 +1,225 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings used by @ref TxPID optional module to tune PID settings using R/C transmitter
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings used by @ref TxPID optional module to tune PID settings using R/C transmitter
+
+generated from txpidsettings.xml
+ **/
+public class TxPIDSettings extends UAVDataObject {
+
+	public TxPIDSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> ThrottleRangeElemNames = new ArrayList<String>();
+		ThrottleRangeElemNames.add("Min");
+		ThrottleRangeElemNames.add("Max");
+		fields.add( new UAVObjectField("ThrottleRange", "%", UAVObjectField.FieldType.FLOAT32, ThrottleRangeElemNames, null) );
+
+		List<String> MinPIDElemNames = new ArrayList<String>();
+		MinPIDElemNames.add("Instance1");
+		MinPIDElemNames.add("Instance2");
+		MinPIDElemNames.add("Instance3");
+		fields.add( new UAVObjectField("MinPID", "", UAVObjectField.FieldType.FLOAT32, MinPIDElemNames, null) );
+
+		List<String> MaxPIDElemNames = new ArrayList<String>();
+		MaxPIDElemNames.add("Instance1");
+		MaxPIDElemNames.add("Instance2");
+		MaxPIDElemNames.add("Instance3");
+		fields.add( new UAVObjectField("MaxPID", "", UAVObjectField.FieldType.FLOAT32, MaxPIDElemNames, null) );
+
+		List<String> UpdateModeElemNames = new ArrayList<String>();
+		UpdateModeElemNames.add("0");
+		List<String> UpdateModeEnumOptions = new ArrayList<String>();
+		UpdateModeEnumOptions.add("Never");
+		UpdateModeEnumOptions.add("When Armed");
+		UpdateModeEnumOptions.add("Always");
+		fields.add( new UAVObjectField("UpdateMode", "option", UAVObjectField.FieldType.ENUM, UpdateModeElemNames, UpdateModeEnumOptions) );
+
+		List<String> InputsElemNames = new ArrayList<String>();
+		InputsElemNames.add("Instance1");
+		InputsElemNames.add("Instance2");
+		InputsElemNames.add("Instance3");
+		List<String> InputsEnumOptions = new ArrayList<String>();
+		InputsEnumOptions.add("Throttle");
+		InputsEnumOptions.add("Accessory0");
+		InputsEnumOptions.add("Accessory1");
+		InputsEnumOptions.add("Accessory2");
+		InputsEnumOptions.add("Accessory3");
+		InputsEnumOptions.add("Accessory4");
+		InputsEnumOptions.add("Accessory5");
+		fields.add( new UAVObjectField("Inputs", "channel", UAVObjectField.FieldType.ENUM, InputsElemNames, InputsEnumOptions) );
+
+		List<String> PIDsElemNames = new ArrayList<String>();
+		PIDsElemNames.add("Instance1");
+		PIDsElemNames.add("Instance2");
+		PIDsElemNames.add("Instance3");
+		List<String> PIDsEnumOptions = new ArrayList<String>();
+		PIDsEnumOptions.add("Disabled");
+		PIDsEnumOptions.add("Roll Rate.Kp");
+		PIDsEnumOptions.add("Pitch Rate.Kp");
+		PIDsEnumOptions.add("Roll+Pitch Rate.Kp");
+		PIDsEnumOptions.add("Yaw Rate.Kp");
+		PIDsEnumOptions.add("Roll Rate.Ki");
+		PIDsEnumOptions.add("Pitch Rate.Ki");
+		PIDsEnumOptions.add("Roll+Pitch Rate.Ki");
+		PIDsEnumOptions.add("Yaw Rate.Ki");
+		PIDsEnumOptions.add("Roll Rate.Kd");
+		PIDsEnumOptions.add("Pitch Rate.Kd");
+		PIDsEnumOptions.add("Roll+Pitch Rate.Kd");
+		PIDsEnumOptions.add("Yaw Rate.Kd");
+		PIDsEnumOptions.add("Roll Rate.ILimit");
+		PIDsEnumOptions.add("Pitch Rate.ILimit");
+		PIDsEnumOptions.add("Roll+Pitch Rate.ILimit");
+		PIDsEnumOptions.add("Yaw Rate.ILimit");
+		PIDsEnumOptions.add("Roll Attitude.Kp");
+		PIDsEnumOptions.add("Pitch Attitude.Kp");
+		PIDsEnumOptions.add("Roll+Pitch Attitude.Kp");
+		PIDsEnumOptions.add("Yaw Attitude.Kp");
+		PIDsEnumOptions.add("Roll Attitude.Ki");
+		PIDsEnumOptions.add("Pitch Attitude.Ki");
+		PIDsEnumOptions.add("Roll+Pitch Attitude.Ki");
+		PIDsEnumOptions.add("Yaw Attitude.Ki");
+		PIDsEnumOptions.add("Roll Attitude.ILimit");
+		PIDsEnumOptions.add("Pitch Attitude.ILimit");
+		PIDsEnumOptions.add("Roll+Pitch Attitude.ILimit");
+		PIDsEnumOptions.add("Yaw Attitude.ILimit");
+		PIDsEnumOptions.add("GyroTau");
+		fields.add( new UAVObjectField("PIDs", "option", UAVObjectField.FieldType.ENUM, PIDsElemNames, PIDsEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("ThrottleRange").setValue(0.2,0);
+		getField("ThrottleRange").setValue(0.8,1);
+		getField("MinPID").setValue(0,0);
+		getField("MinPID").setValue(0,1);
+		getField("MinPID").setValue(0,2);
+		getField("MaxPID").setValue(0,0);
+		getField("MaxPID").setValue(0,1);
+		getField("MaxPID").setValue(0,2);
+		getField("UpdateMode").setValue("When Armed");
+		getField("Inputs").setValue("Throttle",0);
+		getField("Inputs").setValue("Accessory0",1);
+		getField("Inputs").setValue("Accessory1",2);
+		getField("PIDs").setValue("Disabled",0);
+		getField("PIDs").setValue("Disabled",1);
+		getField("PIDs").setValue("Disabled",2);
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			TxPIDSettings obj = new TxPIDSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public TxPIDSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (TxPIDSettings)(objMngr.getObject(TxPIDSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x42B2D2AE;
+	protected static final String NAME = "TxPIDSettings";
+	protected static String DESCRIPTION = "Settings used by @ref TxPID optional module to tune PID settings using R/C transmitter";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java
new file mode 100644
index 000000000..b3c01dc8a
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java
@@ -0,0 +1,232 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the @ref VtolPathFollower module
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the @ref VtolPathFollower module
+
+generated from vtolpathfollowersettings.xml
+ **/
+public class VtolPathFollowerSettings extends UAVDataObject {
+
+	public VtolPathFollowerSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> HorizontalPosPIElemNames = new ArrayList<String>();
+		HorizontalPosPIElemNames.add("Kp");
+		HorizontalPosPIElemNames.add("Ki");
+		HorizontalPosPIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("HorizontalPosPI", "(m/s)/m", UAVObjectField.FieldType.FLOAT32, HorizontalPosPIElemNames, null) );
+
+		List<String> HorizontalVelPIDElemNames = new ArrayList<String>();
+		HorizontalVelPIDElemNames.add("Kp");
+		HorizontalVelPIDElemNames.add("Ki");
+		HorizontalVelPIDElemNames.add("Kd");
+		HorizontalVelPIDElemNames.add("ILimit");
+		fields.add( new UAVObjectField("HorizontalVelPID", "deg/(m/s)", UAVObjectField.FieldType.FLOAT32, HorizontalVelPIDElemNames, null) );
+
+		List<String> VerticalPosPIElemNames = new ArrayList<String>();
+		VerticalPosPIElemNames.add("Kp");
+		VerticalPosPIElemNames.add("Ki");
+		VerticalPosPIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("VerticalPosPI", "", UAVObjectField.FieldType.FLOAT32, VerticalPosPIElemNames, null) );
+
+		List<String> VerticalVelPIDElemNames = new ArrayList<String>();
+		VerticalVelPIDElemNames.add("Kp");
+		VerticalVelPIDElemNames.add("Ki");
+		VerticalVelPIDElemNames.add("Kd");
+		VerticalVelPIDElemNames.add("ILimit");
+		fields.add( new UAVObjectField("VerticalVelPID", "", UAVObjectField.FieldType.FLOAT32, VerticalVelPIDElemNames, null) );
+
+		List<String> VelocityFeedforwardElemNames = new ArrayList<String>();
+		VelocityFeedforwardElemNames.add("0");
+		fields.add( new UAVObjectField("VelocityFeedforward", "deg/(m/s)", UAVObjectField.FieldType.FLOAT32, VelocityFeedforwardElemNames, null) );
+
+		List<String> MaxRollPitchElemNames = new ArrayList<String>();
+		MaxRollPitchElemNames.add("0");
+		fields.add( new UAVObjectField("MaxRollPitch", "deg", UAVObjectField.FieldType.FLOAT32, MaxRollPitchElemNames, null) );
+
+		List<String> UpdatePeriodElemNames = new ArrayList<String>();
+		UpdatePeriodElemNames.add("0");
+		fields.add( new UAVObjectField("UpdatePeriod", "ms", UAVObjectField.FieldType.INT32, UpdatePeriodElemNames, null) );
+
+		List<String> HorizontalVelMaxElemNames = new ArrayList<String>();
+		HorizontalVelMaxElemNames.add("0");
+		fields.add( new UAVObjectField("HorizontalVelMax", "m/s", UAVObjectField.FieldType.UINT16, HorizontalVelMaxElemNames, null) );
+
+		List<String> VerticalVelMaxElemNames = new ArrayList<String>();
+		VerticalVelMaxElemNames.add("0");
+		fields.add( new UAVObjectField("VerticalVelMax", "m/s", UAVObjectField.FieldType.UINT16, VerticalVelMaxElemNames, null) );
+
+		List<String> GuidanceModeElemNames = new ArrayList<String>();
+		GuidanceModeElemNames.add("0");
+		List<String> GuidanceModeEnumOptions = new ArrayList<String>();
+		GuidanceModeEnumOptions.add("DUAL_LOOP");
+		GuidanceModeEnumOptions.add("VELOCITY_CONTROL");
+		fields.add( new UAVObjectField("GuidanceMode", "", UAVObjectField.FieldType.ENUM, GuidanceModeElemNames, GuidanceModeEnumOptions) );
+
+		List<String> ThrottleControlElemNames = new ArrayList<String>();
+		ThrottleControlElemNames.add("0");
+		List<String> ThrottleControlEnumOptions = new ArrayList<String>();
+		ThrottleControlEnumOptions.add("FALSE");
+		ThrottleControlEnumOptions.add("TRUE");
+		fields.add( new UAVObjectField("ThrottleControl", "", UAVObjectField.FieldType.ENUM, ThrottleControlElemNames, ThrottleControlEnumOptions) );
+
+		List<String> VelocitySourceElemNames = new ArrayList<String>();
+		VelocitySourceElemNames.add("0");
+		List<String> VelocitySourceEnumOptions = new ArrayList<String>();
+		VelocitySourceEnumOptions.add("EKF");
+		VelocitySourceEnumOptions.add("NEDVEL");
+		VelocitySourceEnumOptions.add("GPSPOS");
+		fields.add( new UAVObjectField("VelocitySource", "", UAVObjectField.FieldType.ENUM, VelocitySourceElemNames, VelocitySourceEnumOptions) );
+
+		List<String> PositionSourceElemNames = new ArrayList<String>();
+		PositionSourceElemNames.add("0");
+		List<String> PositionSourceEnumOptions = new ArrayList<String>();
+		PositionSourceEnumOptions.add("EKF");
+		PositionSourceEnumOptions.add("GPSPOS");
+		fields.add( new UAVObjectField("PositionSource", "", UAVObjectField.FieldType.ENUM, PositionSourceElemNames, PositionSourceEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("HorizontalPosPI").setValue(1,0);
+		getField("HorizontalPosPI").setValue(0,1);
+		getField("HorizontalPosPI").setValue(0,2);
+		getField("HorizontalVelPID").setValue(5,0);
+		getField("HorizontalVelPID").setValue(0,1);
+		getField("HorizontalVelPID").setValue(1,2);
+		getField("HorizontalVelPID").setValue(0,3);
+		getField("VerticalPosPI").setValue(0.1,0);
+		getField("VerticalPosPI").setValue(0.001,1);
+		getField("VerticalPosPI").setValue(200,2);
+		getField("VerticalVelPID").setValue(0.1,0);
+		getField("VerticalVelPID").setValue(0,1);
+		getField("VerticalVelPID").setValue(0,2);
+		getField("VerticalVelPID").setValue(0,3);
+		getField("VelocityFeedforward").setValue(0);
+		getField("MaxRollPitch").setValue(20);
+		getField("UpdatePeriod").setValue(100);
+		getField("HorizontalVelMax").setValue(10);
+		getField("VerticalVelMax").setValue(1);
+		getField("GuidanceMode").setValue("DUAL_LOOP");
+		getField("ThrottleControl").setValue("FALSE");
+		getField("VelocitySource").setValue("EKF");
+		getField("PositionSource").setValue("EKF");
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			VtolPathFollowerSettings obj = new VtolPathFollowerSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public VtolPathFollowerSettings GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (VtolPathFollowerSettings)(objMngr.getObject(VtolPathFollowerSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x973991F6;
+	protected static final String NAME = "VtolPathFollowerSettings";
+	protected static String DESCRIPTION = "Settings for the @ref VtolPathFollower module";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
new file mode 100644
index 000000000..4db7179ad
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
@@ -0,0 +1,159 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             A waypoint the aircraft can try and hit.  Used by the @ref PathPlanner module
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+A waypoint the aircraft can try and hit.  Used by the @ref PathPlanner module
+
+generated from waypoint.xml
+ **/
+public class Waypoint extends UAVDataObject {
+
+	public Waypoint() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> PositionElemNames = new ArrayList<String>();
+		PositionElemNames.add("North");
+		PositionElemNames.add("East");
+		PositionElemNames.add("Down");
+		fields.add( new UAVObjectField("Position", "m", UAVObjectField.FieldType.FLOAT32, PositionElemNames, null) );
+
+		List<String> VelocityElemNames = new ArrayList<String>();
+		VelocityElemNames.add("North");
+		VelocityElemNames.add("East");
+		VelocityElemNames.add("Down");
+		fields.add( new UAVObjectField("Velocity", "m/s", UAVObjectField.FieldType.FLOAT32, VelocityElemNames, null) );
+
+		List<String> YawDesiredElemNames = new ArrayList<String>();
+		YawDesiredElemNames.add("0");
+		fields.add( new UAVObjectField("YawDesired", "deg", UAVObjectField.FieldType.FLOAT32, YawDesiredElemNames, null) );
+
+		List<String> ActionElemNames = new ArrayList<String>();
+		ActionElemNames.add("0");
+		List<String> ActionEnumOptions = new ArrayList<String>();
+		ActionEnumOptions.add("PathToNext");
+		ActionEnumOptions.add("EndpointToNext");
+		ActionEnumOptions.add("Land");
+		ActionEnumOptions.add("Stop");
+		fields.add( new UAVObjectField("Action", "", UAVObjectField.FieldType.ENUM, ActionElemNames, ActionEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 4000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			Waypoint obj = new Waypoint();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public Waypoint GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (Waypoint)(objMngr.getObject(Waypoint.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x338C5F90;
+	protected static final String NAME = "Waypoint";
+	protected static String DESCRIPTION = "A waypoint the aircraft can try and hit.  Used by the @ref PathPlanner module";
+	protected static final boolean ISSINGLEINST = 0 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java
new file mode 100644
index 000000000..06f3ab6c4
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java
@@ -0,0 +1,138 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Indicates the currently active waypoint
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Indicates the currently active waypoint
+
+generated from waypointactive.xml
+ **/
+public class WaypointActive extends UAVDataObject {
+
+	public WaypointActive() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> IndexElemNames = new ArrayList<String>();
+		IndexElemNames.add("0");
+		fields.add( new UAVObjectField("Index", "", UAVObjectField.FieldType.UINT8, IndexElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(int instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			WaypointActive obj = new WaypointActive();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public WaypointActive GetInstance(UAVObjectManager objMngr, int instID)
+	{
+	    return (WaypointActive)(objMngr.getObject(WaypointActive.OBJID, instID));
+	}
+
+	// Constants
+	protected static final int OBJID = 0x1EA5B192;
+	protected static final String NAME = "WaypointActive";
+	protected static String DESCRIPTION = "Indicates the currently active waypoint";
+	protected static final boolean ISSINGLEINST = 1 == 1;
+	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static int NUMBYTES = 0;
+
+
+}
\ No newline at end of file

From 45f4ae0701b28581798c4020ee66bb542643bca2 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 4 Aug 2012 02:14:12 -0500
Subject: [PATCH 256/543] Allow selecting the IP address from the preferences

---
 androidgcs/res/xml/preferences.xml                  |  2 +-
 .../src/org/openpilot/androidgcs/TcpUAVTalk.java    | 13 +++++++++----
 2 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/androidgcs/res/xml/preferences.xml b/androidgcs/res/xml/preferences.xml
index 24fd43b5e..285e7b6d7 100644
--- a/androidgcs/res/xml/preferences.xml
+++ b/androidgcs/res/xml/preferences.xml
@@ -10,6 +10,6 @@
 		<EditTextPreference android:name="ip_address"
 			android:summary="Enter a TCP/IP address here"
 			android:defaultValue="192.168.0.1" android:title="IP address:"
-			android:key="editTextPref" />
+			android:key="ip_address" />
 	</PreferenceCategory>
 </PreferenceScreen>
diff --git a/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
index 47074f968..f5d40040b 100644
--- a/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
@@ -8,6 +8,8 @@ import org.openpilot.uavtalk.UAVObjectManager;
 import org.openpilot.uavtalk.UAVTalk;
 
 import android.content.Context;
+import android.content.SharedPreferences;
+import android.preference.PreferenceManager;
 import android.util.Log;
 
 public class TcpUAVTalk {
@@ -17,14 +19,17 @@ public class TcpUAVTalk {
 	public static boolean DEBUG = LOGLEVEL > 0;
 	
 	// Temporarily define fixed device name
-	public final static String IP_ADDRESS = "10.21.18.120";
+	private String ip_address = "1";
 	public final static int PORT = 9001;
 	
 	private UAVTalk uavTalk;
 	private boolean connected; 
 	
 	public TcpUAVTalk(Context caller) {
-        if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + IP_ADDRESS);
+		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(caller);
+		ip_address = prefs.getString("ip_address","127.0.0.1");
+
+        if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + ip_address);
 
         connected = false;         
     }
@@ -47,11 +52,11 @@ public class TcpUAVTalk {
 	
  
 	private boolean openTelemetryTcp(UAVObjectManager objMngr) {
-		Log.d(TAG, "Opening conncetion to " + IP_ADDRESS + " at address " + PORT);
+		Log.d(TAG, "Opening connection to " + ip_address + " at address " + PORT);
 		
 		InetAddress serverAddr = null;
 		try {
-			serverAddr = InetAddress.getByName(IP_ADDRESS);
+			serverAddr = InetAddress.getByName(ip_address);
 		} catch (UnknownHostException e1) {
 			// TODO Auto-generated catch block
 			e1.printStackTrace();

From 20b585383d4db87bae20b123676e7cd2a3e27791 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 4 Aug 2012 03:18:26 -0500
Subject: [PATCH 257/543] Make port and bluetooth adapter be listed in the
 preferences.  Using the BT adapter not working yet.

---
 androidgcs/res/xml/preferences.xml              |  8 ++++++++
 .../openpilot/androidgcs/BluetoothUAVTalk.java  | 17 ++++++++++++-----
 .../androidgcs/OPTelemetryService.java          |  2 +-
 .../org/openpilot/androidgcs/TcpUAVTalk.java    | 12 ++++++++----
 4 files changed, 29 insertions(+), 10 deletions(-)

diff --git a/androidgcs/res/xml/preferences.xml b/androidgcs/res/xml/preferences.xml
index 285e7b6d7..3a9103b49 100644
--- a/androidgcs/res/xml/preferences.xml
+++ b/androidgcs/res/xml/preferences.xml
@@ -11,5 +11,13 @@
 			android:summary="Enter a TCP/IP address here"
 			android:defaultValue="192.168.0.1" android:title="IP address:"
 			android:key="ip_address" />
+		<EditTextPreference android:name="port"
+			android:summary="Enter a TCP/IP port here"
+			android:defaultValue="9001" android:title="Port:"
+			android:key="port" />
+		<org.openpilot.androidgcs.BluetoothDevicePreference android:name="bt_adapter"
+		    android:key="bluetooth_mac"
+    		android:title="Bluetooth Device"
+    		android:dialogTitle="Choose Bluetooth Device" />
 	</PreferenceCategory>
 </PreferenceScreen>
diff --git a/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
index b240f3adc..c00db0bea 100644
--- a/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
@@ -7,6 +7,7 @@ import java.util.UUID;
 import org.openpilot.uavtalk.UAVObjectManager;
 import org.openpilot.uavtalk.UAVTalk;
 
+import android.annotation.TargetApi;
 import android.app.Activity;
 import android.bluetooth.BluetoothAdapter;
 import android.bluetooth.BluetoothDevice;
@@ -14,16 +15,18 @@ import android.bluetooth.BluetoothSocket;
 import android.content.BroadcastReceiver;
 import android.content.Context;
 import android.content.Intent;
+import android.content.SharedPreferences;
+import android.preference.PreferenceManager;
 import android.util.Log;
 
-public class BluetoothUAVTalk {
+@TargetApi(10) public class BluetoothUAVTalk {
 	private final String TAG = "BluetoothUAVTalk";
 	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 	
 	// Temporarily define fixed device name
-	public final static String DEVICE_NAME = "RN42-222D";
+	private String device_name = "RN42-222D";
 	private final static UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
 	
 	private BluetoothAdapter mBluetoothAdapter;
@@ -32,8 +35,12 @@ public class BluetoothUAVTalk {
 	private UAVTalk uavTalk;
 	private boolean connected; 
 	
-	public BluetoothUAVTalk(Context caller, String deviceName) {
-        if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + deviceName);
+	public BluetoothUAVTalk(Context caller) {
+		
+		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(caller);
+		device_name = prefs.getString("bluetooth_mac","");
+
+        if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + device_name);
 
         connected = false;
         device = null;
@@ -93,7 +100,7 @@ public class BluetoothUAVTalk {
 		        // Add the name and address to an array adapter to show in a ListView
 		        //mArrayAdapter.add(device.getName() + "\n" + device.getAddress());
 		    	Log.d(TAG, "Paired device: " + device.getName());
-		    	if(device.getName().compareTo(DEVICE_NAME) == 0) {
+		    	if(device.getName().compareTo(device_name) == 0) {
 		    		this.device = device;
 		    		return;
 		    	}
diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index 917dfb116..13e415c54 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -277,7 +277,7 @@ public class OPTelemetryService extends Service {
 
 			Looper.prepare();						
 
-			BluetoothUAVTalk bt = new BluetoothUAVTalk(OPTelemetryService.this, BluetoothUAVTalk.DEVICE_NAME);
+			BluetoothUAVTalk bt = new BluetoothUAVTalk(OPTelemetryService.this);
 			for( int i = 0; i < 10; i++ ) {
 				if (DEBUG) Log.d(TAG, "Attempting Bluetooth Connection");
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
index f5d40040b..1f647bd99 100644
--- a/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
@@ -20,7 +20,7 @@ public class TcpUAVTalk {
 	
 	// Temporarily define fixed device name
 	private String ip_address = "1";
-	public final static int PORT = 9001;
+	private int port = 9001;
 	
 	private UAVTalk uavTalk;
 	private boolean connected; 
@@ -28,8 +28,12 @@ public class TcpUAVTalk {
 	public TcpUAVTalk(Context caller) {
 		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(caller);
 		ip_address = prefs.getString("ip_address","127.0.0.1");
+		try {
+			port = Integer.decode(prefs.getString("port", ""));
+		} catch (NumberFormatException e) {
+		}
 
-        if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + ip_address);
+		if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + ip_address);
 
         connected = false;         
     }
@@ -52,7 +56,7 @@ public class TcpUAVTalk {
 	
  
 	private boolean openTelemetryTcp(UAVObjectManager objMngr) {
-		Log.d(TAG, "Opening connection to " + ip_address + " at address " + PORT);
+		Log.d(TAG, "Opening connection to " + ip_address + " at address " + port);
 		
 		InetAddress serverAddr = null;
 		try {
@@ -65,7 +69,7 @@ public class TcpUAVTalk {
 		
 		Socket socket = null;
 		try {
-			socket = new Socket(serverAddr,PORT);
+			socket = new Socket(serverAddr,port);
 		} catch (IOException e1) {
 			// TODO Auto-generated catch block
 			e1.printStackTrace();

From a44e84ff9bfad12d35592c155e0e24eb64f5dceb Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 4 Aug 2012 21:00:25 -0500
Subject: [PATCH 258/543] Update the sdk version

---
 androidgcs/AndroidManifest.xml | 2 +-
 androidgcs/project.properties  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index c18dc0cb1..40b08c328 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -2,7 +2,7 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
 	package="org.openpilot.androidgcs" android:versionCode="1"
 	android:versionName="1.0">
-	<uses-sdk android:minSdkVersion="7" />
+	<uses-sdk android:minSdkVersion="11" />
 
 	<uses-permission android:name="android.permission.INTERNET" />
 
diff --git a/androidgcs/project.properties b/androidgcs/project.properties
index 5d85d779c..a43ea8cdc 100644
--- a/androidgcs/project.properties
+++ b/androidgcs/project.properties
@@ -8,4 +8,4 @@
 # project structure.
 
 # Project target.
-target=Google Inc.:Google APIs:13
+target=Google Inc.:Google APIs:16

From bf9343532241536197d93031cff7d38af18d93bd Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 4 Aug 2012 21:00:54 -0500
Subject: [PATCH 259/543] Check in a joystick gadget class

---
 .../Android/Widgets/DockPanel/DockPanel.java  | 319 +++++++++++
 .../Widgets/DockPanel/DockPosition.java       |   5 +
 .../DragAndDrop/DragAndDropManager.java       | 124 +++++
 .../Widgets/DragAndDrop/DragSurface.java      |  94 ++++
 .../Widgets/DragAndDrop/DraggableItem.java    |  44 ++
 .../DragAndDrop/DraggableViewsFactory.java    |  19 +
 .../Android/Widgets/DragAndDrop/DropZone.java |  67 +++
 .../DragAndDrop/DropZoneEventsListener.java   |   9 +
 .../Widgets/Joystick/DualJoystickView.java    | 147 +++++
 .../Joystick/JoystickClickedListener.java     |   6 +
 .../Joystick/JoystickMovedListener.java       |   7 +
 .../Widgets/Joystick/JoystickView.java        | 521 ++++++++++++++++++
 .../ThresholdEditText/ThresholdEditText.java  | 169 ++++++
 .../ThresholdTextChanged.java                 |   7 +
 .../Widgets/TilesLayout/SingleTileLayout.java |  68 +++
 .../Widgets/TilesLayout/TilePosition.java     |  63 +++
 .../Widgets/TilesLayout/TilesLayout.java      | 299 ++++++++++
 .../TilesLayout/TilesLayoutPreset.java        | 157 ++++++
 18 files changed, 2125 insertions(+)
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/DockPanel/DockPanel.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/DockPanel/DockPosition.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DragAndDropManager.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DragSurface.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DraggableItem.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DraggableViewsFactory.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DropZone.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DropZoneEventsListener.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/DualJoystickView.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickClickedListener.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickMovedListener.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/ThresholdEditText/ThresholdEditText.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/ThresholdEditText/ThresholdTextChanged.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/SingleTileLayout.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilePosition.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayout.java
 create mode 100644 androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayoutPreset.java

diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/DockPanel/DockPanel.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DockPanel/DockPanel.java
new file mode 100644
index 000000000..e2397394e
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DockPanel/DockPanel.java
@@ -0,0 +1,319 @@
+package com.MobileAnarchy.Android.Widgets.DockPanel;
+
+import android.content.Context;
+import android.graphics.Color;
+import android.util.AttributeSet;
+import android.util.Log;
+import android.view.Gravity;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.animation.AccelerateInterpolator;
+import android.view.animation.Animation;
+import android.view.animation.DecelerateInterpolator;
+import android.view.animation.TranslateAnimation;
+import android.view.animation.Animation.AnimationListener;
+import android.widget.FrameLayout;
+import android.widget.ImageButton;
+import android.widget.LinearLayout;
+
+public class DockPanel extends LinearLayout {
+
+	// =========================================
+	// Private members
+	// =========================================
+
+	private static final String TAG = "DockPanel";
+	private DockPosition position;
+	private int contentLayoutId;
+	private int handleButtonDrawableId;
+	private Boolean isOpen;
+	private Boolean animationRunning;
+	private FrameLayout contentPlaceHolder;
+	private ImageButton toggleButton;
+	private int animationDuration;
+
+	// =========================================
+	// Constructors
+	// =========================================
+
+	public DockPanel(Context context, int contentLayoutId,
+			int handleButtonDrawableId, Boolean isOpen) {
+		super(context);
+
+		this.contentLayoutId = contentLayoutId;
+		this.handleButtonDrawableId = handleButtonDrawableId;
+		this.isOpen = isOpen;
+
+		Init(null);
+	}
+
+	public DockPanel(Context context, AttributeSet attrs) {
+		super(context, attrs);
+
+		// to prevent from crashing the designer
+		try {
+			Init(attrs);
+		} catch (Exception ex) {
+		}
+	}
+
+	// =========================================
+	// Initialization
+	// =========================================
+
+	private void Init(AttributeSet attrs) {
+		setDefaultValues(attrs);
+
+		createHandleToggleButton();
+
+		// create the handle container
+		FrameLayout handleContainer = new FrameLayout(getContext());
+		handleContainer.addView(toggleButton);
+
+		// create and populate the panel's container, and inflate it
+		contentPlaceHolder = new FrameLayout(getContext());
+		String infService = Context.LAYOUT_INFLATER_SERVICE;
+		LayoutInflater li = (LayoutInflater) getContext().getSystemService(
+				infService);
+		li.inflate(contentLayoutId, contentPlaceHolder, true);
+
+		// setting the layout of the panel parameters according to the docking
+		// position
+		if (position == DockPosition.LEFT || position == DockPosition.RIGHT) {
+			handleContainer.setLayoutParams(new LayoutParams(
+					android.view.ViewGroup.LayoutParams.WRAP_CONTENT,
+					android.view.ViewGroup.LayoutParams.FILL_PARENT, 1));
+			contentPlaceHolder.setLayoutParams(new LayoutParams(
+					android.view.ViewGroup.LayoutParams.WRAP_CONTENT,
+					android.view.ViewGroup.LayoutParams.FILL_PARENT, 1));
+		} else {
+			handleContainer.setLayoutParams(new LayoutParams(
+					android.view.ViewGroup.LayoutParams.FILL_PARENT,
+					android.view.ViewGroup.LayoutParams.WRAP_CONTENT, 1));
+			contentPlaceHolder.setLayoutParams(new LayoutParams(
+					android.view.ViewGroup.LayoutParams.FILL_PARENT,
+					android.view.ViewGroup.LayoutParams.WRAP_CONTENT, 1));
+		}
+
+		// adding the view to the parent layout according to docking position
+		if (position == DockPosition.RIGHT || position == DockPosition.BOTTOM) {
+			this.addView(handleContainer);
+			this.addView(contentPlaceHolder);
+		} else {
+			this.addView(contentPlaceHolder);
+			this.addView(handleContainer);
+		}
+
+		if (!isOpen) {
+			contentPlaceHolder.setVisibility(GONE);
+		}
+	}
+
+	private void setDefaultValues(AttributeSet attrs) {
+		// set default values
+		isOpen = true;
+		animationRunning = false;
+		animationDuration = 500;
+		setPosition(DockPosition.RIGHT);
+
+		// Try to load values set by xml markup
+		if (attrs != null) {
+			String namespace = "http://com.MobileAnarchy.Android.Widgets";
+
+			animationDuration = attrs.getAttributeIntValue(namespace,
+					"animationDuration", 500);
+			contentLayoutId = attrs.getAttributeResourceValue(namespace,
+					"contentLayoutId", 0);
+			handleButtonDrawableId = attrs.getAttributeResourceValue(
+					namespace, "handleButtonDrawableResourceId", 0);
+			isOpen = attrs.getAttributeBooleanValue(namespace, "isOpen", true);
+
+			// Enums are a bit trickier (needs to be parsed)
+			try {
+				position = DockPosition.valueOf(attrs.getAttributeValue(
+						namespace, "dockPosition").toUpperCase());
+				setPosition(position);
+			} catch (Exception ex) {
+				// Docking to the left is the default behavior
+				setPosition(DockPosition.LEFT);
+			}
+		}
+	}
+
+	private void createHandleToggleButton() {
+		toggleButton = new ImageButton(getContext());
+		toggleButton.setPadding(0, 0, 0, 0);
+		toggleButton.setLayoutParams(new FrameLayout.LayoutParams(
+				android.view.ViewGroup.LayoutParams.WRAP_CONTENT,
+				android.view.ViewGroup.LayoutParams.WRAP_CONTENT,
+				Gravity.CENTER));
+		toggleButton.setBackgroundColor(Color.TRANSPARENT);
+		toggleButton.setImageResource(handleButtonDrawableId);
+		toggleButton.setOnClickListener(new OnClickListener() {
+			@Override
+			public void onClick(View v) {
+				toggle();
+			}
+		});
+	}
+
+	private void setPosition(DockPosition position) {
+		this.position = position;
+		switch (position) {
+		case TOP:
+			setOrientation(LinearLayout.VERTICAL);
+			setGravity(Gravity.TOP);
+			break;
+		case RIGHT:
+			setOrientation(LinearLayout.HORIZONTAL);
+			setGravity(Gravity.RIGHT);
+			break;
+		case BOTTOM:
+			setOrientation(LinearLayout.VERTICAL);
+			setGravity(Gravity.BOTTOM);
+			break;
+		case LEFT:
+			setOrientation(LinearLayout.HORIZONTAL);
+			setGravity(Gravity.LEFT);
+			break;
+		}
+	}
+
+	// =========================================
+	// Public methods
+	// =========================================
+
+	public int getAnimationDuration() {
+		return animationDuration;
+	}
+
+	public void setAnimationDuration(int milliseconds) {
+		animationDuration = milliseconds;
+	}
+
+	public Boolean getIsRunning() {
+		return animationRunning;
+	}
+
+	public void open() {
+		if (!animationRunning) {
+			Log.d(TAG, "Opening...");
+
+			Animation animation = createShowAnimation();
+			this.setAnimation(animation);
+			animation.start();
+
+			isOpen = true;
+		}
+	}
+
+	public void close() {
+		if (!animationRunning) {
+			Log.d(TAG, "Closing...");
+
+			Animation animation = createHideAnimation();
+			this.setAnimation(animation);
+			animation.start();
+			isOpen = false;
+		}
+	}
+
+	public void toggle() {
+		if (isOpen) {
+			close();
+		} else {
+			open();
+		}
+	}
+
+	// =========================================
+	// Private methods
+	// =========================================
+
+	private Animation createHideAnimation() {
+		Animation animation = null;
+		switch (position) {
+		case TOP:
+			animation = new TranslateAnimation(0, 0, 0, -contentPlaceHolder
+					.getHeight());
+			break;
+		case RIGHT:
+			animation = new TranslateAnimation(0, contentPlaceHolder
+					.getWidth(), 0, 0);
+			break;
+		case BOTTOM:
+			animation = new TranslateAnimation(0, 0, 0, contentPlaceHolder
+					.getHeight());
+			break;
+		case LEFT:
+			animation = new TranslateAnimation(0, -contentPlaceHolder
+					.getWidth(), 0, 0);
+			break;
+		}
+
+		animation.setDuration(animationDuration);
+		animation.setInterpolator(new AccelerateInterpolator());
+		animation.setAnimationListener(new AnimationListener() {
+			@Override
+			public void onAnimationStart(Animation animation) {
+				animationRunning = true;
+			}
+
+			@Override
+			public void onAnimationRepeat(Animation animation) {
+			}
+
+			@Override
+			public void onAnimationEnd(Animation animation) {
+				contentPlaceHolder.setVisibility(View.GONE);
+				animationRunning = false;
+			}
+		});
+		return animation;
+	}
+
+	private Animation createShowAnimation() {
+		Animation animation = null;
+		switch (position) {
+		case TOP:
+			animation = new TranslateAnimation(0, 0, -contentPlaceHolder
+					.getHeight(), 0);
+			break;
+		case RIGHT:
+			animation = new TranslateAnimation(contentPlaceHolder.getWidth(),
+					0, 0, 0);
+			break;
+		case BOTTOM:
+			animation = new TranslateAnimation(0, 0, contentPlaceHolder
+					.getHeight(), 0);
+			break;
+		case LEFT:
+			animation = new TranslateAnimation(-contentPlaceHolder.getWidth(),
+					0, 0, 0);
+			break;
+		}
+		Log.d(TAG, "Animation duration: " + animationDuration);
+		animation.setDuration(animationDuration);
+		animation.setInterpolator(new DecelerateInterpolator());
+		animation.setAnimationListener(new AnimationListener() {
+			@Override
+			public void onAnimationStart(Animation animation) {
+				animationRunning = true;
+				contentPlaceHolder.setVisibility(View.VISIBLE);
+				Log.d(TAG, "\"Show\" Animation started");
+			}
+
+			@Override
+			public void onAnimationRepeat(Animation animation) {
+			}
+
+			@Override
+			public void onAnimationEnd(Animation animation) {
+				animationRunning = false;
+				Log.d(TAG, "\"Show\" Animation ended");
+			}
+		});
+		return animation;
+	}
+
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/DockPanel/DockPosition.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DockPanel/DockPosition.java
new file mode 100644
index 000000000..59643dfc6
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DockPanel/DockPosition.java
@@ -0,0 +1,5 @@
+package com.MobileAnarchy.Android.Widgets.DockPanel;
+
+public enum DockPosition {
+	TOP, BOTTOM, LEFT, RIGHT
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DragAndDropManager.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DragAndDropManager.java
new file mode 100644
index 000000000..d7e0c5e44
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DragAndDropManager.java
@@ -0,0 +1,124 @@
+package com.MobileAnarchy.Android.Widgets.DragAndDrop;
+
+import java.util.ArrayList;
+
+import android.content.Context;
+import android.view.MotionEvent;
+import android.view.View;
+import android.view.View.OnTouchListener;
+
+public class DragAndDropManager {
+
+	// =========================================
+	// Private members
+	// =========================================
+
+	protected static final String TAG = "DragAndDropManager";
+	private static DragAndDropManager instance = null;
+	private ArrayList<DropZone> dropZones;
+	private OnTouchListener originalTouchListener;
+	private DragSurface dragSurface;
+	private DraggableItem draggedItem;
+	private DropZone activeDropZone;
+
+	// =========================================
+	// Protected Constructor
+	// =========================================
+
+	protected DragAndDropManager() {
+		// Exists only to defeat instantiation.
+		dropZones = new ArrayList<DropZone>();
+	}
+
+	// =========================================
+	// Public Properties
+	// =========================================
+
+	public static DragAndDropManager getInstance() {
+		if (instance == null) {
+			instance = new DragAndDropManager();
+		}
+		return instance;
+	}
+
+	public Context getContext() {
+		if (dragSurface == null) 
+			return null;
+		
+		return dragSurface.getContext();
+	}
+	
+	// =========================================
+	// Public Methods
+	// =========================================
+
+	public void init(DragSurface surface) {
+		dragSurface = surface;
+		clearDropZones();
+	}
+	
+	public void clearDropZones() {
+		dropZones.clear();
+	}
+	
+	public void addDropZone(DropZone dropZone) {
+		dropZones.add(dropZone);
+	}
+
+	
+	public void startDragging(OnTouchListener originalListener, DraggableItem draggedItem) {
+		originalTouchListener = originalListener;
+		this.draggedItem = draggedItem;
+		draggedItem.getSource().setOnTouchListener(new OnTouchListener() {
+			
+			@Override
+			public boolean onTouch(View v, MotionEvent event) {
+				int[] location = new int[2]; 
+				v.getLocationOnScreen(location);
+				event.offsetLocation(location[0], location[1]);
+				invalidateDropZones((int)event.getX(), (int)event.getY());
+				return dragSurface.onTouchEvent(event);
+			}
+		});
+
+		dragSurface.startDragging(draggedItem);
+	}
+	
+
+	// =========================================
+	// Protected Methods
+	// =========================================
+
+	protected void invalidateDropZones(int x, int y) {
+		if (activeDropZone != null) {
+			if (!activeDropZone.isOver(x, y)) {
+				activeDropZone.getListener().OnDragZoneLeft(activeDropZone, draggedItem);
+				activeDropZone = null;
+			}
+			else {
+				// we are still over the same drop zone, no need to check other drop zones
+				return;
+			}
+		}
+		
+		for (DropZone dropZone : dropZones) {
+			if (dropZone.isOver(x, y)) {
+				activeDropZone = dropZone;
+				dropZone.getListener().OnDragZoneEntered(activeDropZone, draggedItem);
+				break;
+			}
+		}
+	}
+	
+	protected void stoppedDragging() {
+		if (activeDropZone != null) {
+			activeDropZone.getListener().OnDropped(activeDropZone, draggedItem);
+		}
+		
+		// Registering the "old" listener to the view that initiated this drag session
+		draggedItem.getSource().setOnTouchListener(originalTouchListener);
+		draggedItem = null;
+		activeDropZone = null;
+	}
+	
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DragSurface.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DragSurface.java
new file mode 100644
index 000000000..aebb9d481
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DragSurface.java
@@ -0,0 +1,94 @@
+package com.MobileAnarchy.Android.Widgets.DragAndDrop;
+
+import android.content.Context;
+import android.util.AttributeSet;
+import android.view.Gravity;
+import android.view.MotionEvent;
+import android.widget.FrameLayout;
+
+public class DragSurface extends FrameLayout {
+
+	private float draggedViewHalfHeight;
+	private float draggedViewHalfWidth;
+	private int framesCount;
+	
+	private Boolean isDragging;
+	private DraggableItem draggedItem;
+	
+	public DragSurface(Context context, AttributeSet attrs) {
+		super(context, attrs);
+		isDragging = false;
+	}
+
+	// =========================================
+	// Touch Events Listener
+	// =========================================
+
+	@Override
+	public boolean onTouchEvent(MotionEvent event) {
+		if (isDragging && event.getAction() == MotionEvent.ACTION_UP) {
+			// Dragging ended
+			removeAllViews();
+			isDragging = false;
+			
+			DragAndDropManager.getInstance().stoppedDragging();
+		}
+
+		if (isDragging && event.getAction() == MotionEvent.ACTION_MOVE) {
+			// Move the dragged view to it's new position
+			repositionView(event.getX(), event.getY());
+			
+			// Mark this event as handled (so that other UI elements will not intercept it)
+			return true;
+		}
+		
+		return false;
+	}
+
+	public void startDragging(DraggableItem draggableItem) {
+		this.draggedItem = draggableItem;
+		this.draggedItem.getDraggedView().setVisibility(INVISIBLE);
+		isDragging = true;
+		addView(this.draggedItem.getDraggedView());
+		//repositionView(x, y);
+		framesCount = 0;
+	}
+
+	private void repositionView(float x, float y) {
+		draggedViewHalfHeight = draggedItem.getDraggedView().getHeight() / 2f;
+		draggedViewHalfWidth = draggedItem.getDraggedView().getWidth() / 2f;
+		
+		// If the dragged view was not drawn yet, skip this phase 
+		if (draggedViewHalfHeight == 0 || draggedViewHalfWidth == 0)
+			return;
+		
+		framesCount++;
+		
+		//Log.d(TAG, "Original = (x=" + x + ", y=" + y + ")");
+		//Log.d(TAG, "Size (W=" + draggedViewHalfWidth + ", H=" + draggedViewHalfHeight + ")");
+
+		x = x - draggedViewHalfWidth;
+		y = y - draggedViewHalfHeight;
+		
+		x = Math.max(x, 0);
+		x = Math.min(x, getWidth() - draggedViewHalfWidth * 2);
+
+		y = Math.max(y, 0);
+		y = Math.min(y, getHeight() - draggedViewHalfHeight * 2);
+
+		//Log.d(TAG, "Moving view to (x=" + x + ", y=" + y + ")");
+		FrameLayout.LayoutParams lp = new FrameLayout.LayoutParams(LayoutParams.WRAP_CONTENT, 
+				LayoutParams.WRAP_CONTENT, Gravity.TOP + Gravity.LEFT);
+		
+		lp.setMargins((int)x, (int)y, 0, 0);
+		draggedItem.getDraggedView().setLayoutParams(lp);
+
+		// hte first couple of dragged frame's positions are not calculated correctly,
+		// so we have a threshold before making the dragged view visible again
+		if (framesCount < 2)
+			return;
+
+		draggedItem.getDraggedView().setVisibility(VISIBLE);
+	}
+	
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DraggableItem.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DraggableItem.java
new file mode 100644
index 000000000..d0c8b7e25
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DraggableItem.java
@@ -0,0 +1,44 @@
+package com.MobileAnarchy.Android.Widgets.DragAndDrop;
+
+import android.view.View;
+
+public class DraggableItem {
+
+	// =========================================
+	// Private members
+	// =========================================
+
+	private View source;
+	private View draggedView;
+	private Object tag; 
+
+	// =========================================
+	// Constructor
+	// =========================================
+
+	public DraggableItem(View source, View draggedItem) {
+		this.source = source;
+		this.draggedView = draggedItem;
+	}
+
+	// =========================================
+	// Public properties
+	// =========================================
+
+	public Object getTag() {
+		return tag;
+	}
+
+	public void setTag(Object tag) {
+		this.tag = tag;
+	}
+
+	public View getSource() {
+		return source;
+	}
+
+	public View getDraggedView() {
+		return draggedView;
+	}
+	
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DraggableViewsFactory.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DraggableViewsFactory.java
new file mode 100644
index 000000000..246b2392f
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DraggableViewsFactory.java
@@ -0,0 +1,19 @@
+package com.MobileAnarchy.Android.Widgets.DragAndDrop;
+
+import android.content.Context;
+import android.view.View;
+import android.widget.TextView;
+import android.widget.TableLayout.LayoutParams;
+
+public class DraggableViewsFactory {
+
+	public static View getLabel(String text) {
+		Context context = DragAndDropManager.getInstance().getContext();
+		TextView textView = new TextView(context);
+		textView.setText(text);
+		textView.setLayoutParams(new LayoutParams(LayoutParams.WRAP_CONTENT, LayoutParams.WRAP_CONTENT));
+		//textView.setGravity(Gravity.TOP + Gravity.LEFT);
+		return textView;
+	}
+	
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DropZone.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DropZone.java
new file mode 100644
index 000000000..06a8caa17
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DropZone.java
@@ -0,0 +1,67 @@
+package com.MobileAnarchy.Android.Widgets.DragAndDrop;
+
+import android.view.View;
+
+public class DropZone {
+
+	// =========================================
+	// Private members
+	// =========================================
+
+	private View view;
+	private DropZoneEventsListener listener;
+	private int left, top, width, height;
+	private Boolean dimansionsCalculated;
+	
+	// =========================================
+	// Constructor
+	// =========================================
+
+	public DropZone(View view, DropZoneEventsListener listener) {
+		this.view = view;
+		this.listener = listener;
+		dimansionsCalculated = false;
+	}
+
+	// =========================================
+	// Public properties
+	// =========================================
+	
+	public View getView() {
+		return view;
+	}
+	
+	// =========================================
+	// Public methods
+	// =========================================
+	
+	public Boolean isOver(int x, int y) {
+		if (!dimansionsCalculated) 
+			calculateDimensions();
+		
+		Boolean isOver = (x >= left && x <= (left + width)) &&
+		       			 (y >= top && y <= (top + height));
+
+		//Log.d("DragZone", "x=" +x + ", left=" + left + ", y=" + y + ", top=" + top + " width=" + width + ", height=" + height + ", isover=" + isOver);
+
+		return isOver;
+	}
+	
+	// =========================================
+	// Protected & Private methods
+	// =========================================
+	
+	protected DropZoneEventsListener getListener() {
+		return listener;
+	}
+	
+	private void calculateDimensions() {
+		int[] location = new int[2];
+		view.getLocationOnScreen(location);
+		left = location[0];
+		top = location[1];
+		width = view.getWidth();
+		height = view.getHeight();
+		dimansionsCalculated = true;
+	}
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DropZoneEventsListener.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DropZoneEventsListener.java
new file mode 100644
index 000000000..828a1cbf2
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DragAndDrop/DropZoneEventsListener.java
@@ -0,0 +1,9 @@
+package com.MobileAnarchy.Android.Widgets.DragAndDrop;
+
+public interface DropZoneEventsListener {
+
+	void OnDragZoneEntered(DropZone zone, DraggableItem item);
+	void OnDragZoneLeft(DropZone zone, DraggableItem item); 
+	void OnDropped(DropZone zone, DraggableItem item);
+	
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/DualJoystickView.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/DualJoystickView.java
new file mode 100644
index 000000000..bb419d404
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/DualJoystickView.java
@@ -0,0 +1,147 @@
+package com.MobileAnarchy.Android.Widgets.Joystick;
+
+import android.content.Context;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Paint;
+import android.util.AttributeSet;
+import android.view.MotionEvent;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.LinearLayout;
+
+public class DualJoystickView extends LinearLayout {
+	@SuppressWarnings("unused")
+	private static final String TAG = DualJoystickView.class.getSimpleName();
+	
+	private final boolean D = false;
+	private Paint dbgPaint1;
+
+	private JoystickView stickL;
+	private JoystickView stickR;
+
+	private View pad;
+
+	public DualJoystickView(Context context) {
+		super(context);
+		stickL = new JoystickView(context);
+		stickR = new JoystickView(context);
+		initDualJoystickView();
+	}
+
+	public DualJoystickView(Context context, AttributeSet attrs) {
+		super(context, attrs);
+		stickL = new JoystickView(context, attrs);
+		stickR = new JoystickView(context, attrs);
+		initDualJoystickView();
+	}
+
+	private void initDualJoystickView() {
+		setOrientation(LinearLayout.HORIZONTAL);
+		
+		if ( D ) {
+			dbgPaint1 = new Paint(Paint.ANTI_ALIAS_FLAG);
+			dbgPaint1.setColor(Color.CYAN);
+			dbgPaint1.setStrokeWidth(1);
+			dbgPaint1.setStyle(Paint.Style.STROKE);
+		}
+		
+		pad = new View(getContext());
+	}
+	
+	@Override
+	protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
+		super.onMeasure(widthMeasureSpec, heightMeasureSpec);
+		removeView(stickL);
+		removeView(stickR);
+
+		float padW = getMeasuredWidth()-(getMeasuredHeight()*2);
+		int joyWidth = (int) ((getMeasuredWidth()-padW)/2);
+		LayoutParams joyLParams = new LayoutParams(joyWidth,getMeasuredHeight());
+		
+		stickL.setLayoutParams(joyLParams);
+		stickR.setLayoutParams(joyLParams);
+		
+		stickL.TAG = "L";
+		stickR.TAG = "R";
+		stickL.setPointerId(JoystickView.INVALID_POINTER_ID);
+		stickR.setPointerId(JoystickView.INVALID_POINTER_ID);
+
+		addView(stickL);
+
+		ViewGroup.LayoutParams padLParams = new ViewGroup.LayoutParams((int) padW,getMeasuredHeight());
+		removeView(pad);
+		pad.setLayoutParams(padLParams);
+		addView(pad);
+		
+		addView(stickR);
+	}
+	
+	@Override
+	protected void onLayout(boolean changed, int l, int t, int r, int b) {
+		super.onLayout(changed, l, t, r, b);
+		stickR.setTouchOffset(stickR.getLeft(), stickR.getTop());
+	}
+	
+	public void setAutoReturnToCenter(boolean left, boolean right) {
+		stickL.setAutoReturnToCenter(left);
+		stickR.setAutoReturnToCenter(right);
+	}
+	
+	public void setOnJostickMovedListener(JoystickMovedListener left, JoystickMovedListener right) {
+		stickL.setOnJostickMovedListener(left);
+		stickR.setOnJostickMovedListener(right);
+	}
+	
+	public void setOnJostickClickedListener(JoystickClickedListener left, JoystickClickedListener right) {
+		stickL.setOnJostickClickedListener(left);
+		stickR.setOnJostickClickedListener(right);
+	}
+	
+	public void setYAxisInverted(boolean leftYAxisInverted, boolean rightYAxisInverted) {
+		stickL.setYAxisInverted(leftYAxisInverted);
+		stickL.setYAxisInverted(rightYAxisInverted);
+	}
+
+	public void setMovementConstraint(int movementConstraint) {
+		stickL.setMovementConstraint(movementConstraint);
+		stickR.setMovementConstraint(movementConstraint);
+	}
+
+	public void setMovementRange(float movementRangeLeft, float movementRangeRight) {
+		stickL.setMovementRange(movementRangeLeft);
+		stickR.setMovementRange(movementRangeRight);
+	}
+
+	public void setMoveResolution(float leftMoveResolution, float rightMoveResolution) {
+		stickL.setMoveResolution(leftMoveResolution);
+		stickR.setMoveResolution(rightMoveResolution);
+	}
+
+	public void setUserCoordinateSystem(int leftCoordinateSystem, int rightCoordinateSystem) {
+		stickL.setUserCoordinateSystem(leftCoordinateSystem);
+		stickR.setUserCoordinateSystem(rightCoordinateSystem);
+	}
+	
+	@Override
+	protected void dispatchDraw(Canvas canvas) {
+		super.dispatchDraw(canvas);
+		if (D) {
+			canvas.drawRect(1, 1, getMeasuredWidth()-1, getMeasuredHeight()-1, dbgPaint1);
+		}
+	}
+	
+	@Override
+	public boolean dispatchTouchEvent(MotionEvent ev) {
+    	boolean l = stickL.dispatchTouchEvent(ev);
+    	boolean r = stickR.dispatchTouchEvent(ev);
+    	return l || r;
+	}
+	
+	@Override
+	public boolean onTouchEvent(MotionEvent ev) {
+    	boolean l = stickL.onTouchEvent(ev);
+    	boolean r = stickR.onTouchEvent(ev);
+    	return l || r;
+	}
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickClickedListener.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickClickedListener.java
new file mode 100644
index 000000000..128828980
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickClickedListener.java
@@ -0,0 +1,6 @@
+package com.MobileAnarchy.Android.Widgets.Joystick;
+
+public interface JoystickClickedListener {
+	public void OnClicked();
+	public void OnReleased();
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickMovedListener.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickMovedListener.java
new file mode 100644
index 000000000..346f2efed
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickMovedListener.java
@@ -0,0 +1,7 @@
+package com.MobileAnarchy.Android.Widgets.Joystick;
+
+public interface JoystickMovedListener {
+	public void OnMoved(int pan, int tilt);
+	public void OnReleased();
+	public void OnReturnedToCenter();
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java
new file mode 100644
index 000000000..bab74e5a7
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java
@@ -0,0 +1,521 @@
+package com.MobileAnarchy.Android.Widgets.Joystick;
+
+import android.content.Context;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Paint;
+import android.os.Handler;
+import android.util.AttributeSet;
+import android.util.Log;
+import android.view.HapticFeedbackConstants;
+import android.view.MotionEvent;
+import android.view.View;
+
+public class JoystickView extends View {
+	public static final int INVALID_POINTER_ID = -1;
+	
+	// =========================================
+	// Private Members
+	// =========================================
+	private final boolean D = false;
+	String TAG = "JoystickView";
+	
+	private Paint dbgPaint1;
+	private Paint dbgPaint2;
+	
+	private Paint bgPaint;
+	private Paint handlePaint;
+	
+	private int innerPadding;
+	private int bgRadius;
+	private int handleRadius;
+	private int movementRadius;
+	private int handleInnerBoundaries;
+	
+	private JoystickMovedListener moveListener;
+	private JoystickClickedListener clickListener;
+
+	//# of pixels movement required between reporting to the listener
+	private float moveResolution;
+
+	private boolean yAxisInverted;
+	private boolean autoReturnToCenter;
+	
+	//Max range of movement in user coordinate system
+	public final static int CONSTRAIN_BOX = 0;
+	public final static int CONSTRAIN_CIRCLE = 1;
+	private int movementConstraint;
+	private float movementRange;
+
+	public final static int COORDINATE_CARTESIAN = 0;		//Regular cartesian coordinates
+	public final static int COORDINATE_DIFFERENTIAL = 1;	//Uses polar rotation of 45 degrees to calc differential drive paramaters
+	private int userCoordinateSystem;
+	
+	//Records touch pressure for click handling
+	private float touchPressure;
+	private boolean clicked;
+	private float clickThreshold;
+	
+	//Last touch point in view coordinates
+	private int pointerId = INVALID_POINTER_ID;
+	private float touchX, touchY;
+	
+	//Last reported position in view coordinates (allows different reporting sensitivities)
+	private float reportX, reportY;
+	
+	//Handle center in view coordinates
+	private float handleX, handleY;
+	
+	//Center of the view in view coordinates
+	private int cX, cY;
+
+	//Size of the view in view coordinates
+	private int dimX, dimY;
+
+	//Cartesian coordinates of last touch point - joystick center is (0,0)
+	private int cartX, cartY;
+	
+	//Polar coordinates of the touch point from joystick center
+	private double radial;
+	private double angle;
+	
+	//User coordinates of last touch point
+	private int userX, userY;
+
+	//Offset co-ordinates (used when touch events are received from parent's coordinate origin)
+	private int offsetX;
+	private int offsetY;
+
+	// =========================================
+	// Constructors
+	// =========================================
+
+	public JoystickView(Context context) {
+		super(context);
+		initJoystickView();
+	}
+
+	public JoystickView(Context context, AttributeSet attrs) {
+		super(context, attrs);
+		initJoystickView();
+	}
+
+	public JoystickView(Context context, AttributeSet attrs, int defStyle) {
+		super(context, attrs, defStyle);
+		initJoystickView();
+	}
+
+	// =========================================
+	// Initialization
+	// =========================================
+
+	private void initJoystickView() {
+		setFocusable(true);
+
+		dbgPaint1 = new Paint(Paint.ANTI_ALIAS_FLAG);
+		dbgPaint1.setColor(Color.RED);
+		dbgPaint1.setStrokeWidth(1);
+		dbgPaint1.setStyle(Paint.Style.STROKE);
+		
+		dbgPaint2 = new Paint(Paint.ANTI_ALIAS_FLAG);
+		dbgPaint2.setColor(Color.GREEN);
+		dbgPaint2.setStrokeWidth(1);
+		dbgPaint2.setStyle(Paint.Style.STROKE);
+		
+		bgPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+		bgPaint.setColor(Color.GRAY);
+		bgPaint.setStrokeWidth(1);
+		bgPaint.setStyle(Paint.Style.FILL_AND_STROKE);
+
+		handlePaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+		handlePaint.setColor(Color.DKGRAY);
+		handlePaint.setStrokeWidth(1);
+		handlePaint.setStyle(Paint.Style.FILL_AND_STROKE);
+
+		innerPadding = 10;
+		
+		setMovementRange(10);
+		setMoveResolution(1.0f);
+		setClickThreshold(0.4f);
+		setYAxisInverted(true);
+		setUserCoordinateSystem(COORDINATE_CARTESIAN);
+		setAutoReturnToCenter(true);
+	}
+
+	public void setAutoReturnToCenter(boolean autoReturnToCenter) {
+		this.autoReturnToCenter = autoReturnToCenter;
+	}
+	
+	public boolean isAutoReturnToCenter() {
+		return autoReturnToCenter;
+	}
+	
+	public void setUserCoordinateSystem(int userCoordinateSystem) {
+		if (userCoordinateSystem < COORDINATE_CARTESIAN || movementConstraint > COORDINATE_DIFFERENTIAL)
+			Log.e(TAG, "invalid value for userCoordinateSystem");
+		else
+			this.userCoordinateSystem = userCoordinateSystem;
+	}
+	
+	public int getUserCoordinateSystem() {
+		return userCoordinateSystem;
+	}
+	
+	public void setMovementConstraint(int movementConstraint) {
+		if (movementConstraint < CONSTRAIN_BOX || movementConstraint > CONSTRAIN_CIRCLE)
+			Log.e(TAG, "invalid value for movementConstraint");
+		else
+			this.movementConstraint = movementConstraint;
+	}
+	
+	public int getMovementConstraint() {
+		return movementConstraint;
+	}
+	
+	public boolean isYAxisInverted() {
+		return yAxisInverted;
+	}
+	
+	public void setYAxisInverted(boolean yAxisInverted) {
+		this.yAxisInverted = yAxisInverted;
+	}
+	
+	/**
+	 * Set the pressure sensitivity for registering a click
+	 * @param clickThreshold threshold 0...1.0f inclusive. 0 will cause clicks to never be reported, 1.0 is a very hard click
+	 */
+	public void setClickThreshold(float clickThreshold) {
+		if (clickThreshold < 0 || clickThreshold > 1.0f)
+			Log.e(TAG, "clickThreshold must range from 0...1.0f inclusive");
+		else
+			this.clickThreshold = clickThreshold;
+	}
+	
+	public float getClickThreshold() {
+		return clickThreshold;
+	}
+	
+	public void setMovementRange(float movementRange) {
+		this.movementRange = movementRange;
+	}
+	
+	public float getMovementRange() {
+		return movementRange;
+	}
+	
+	public void setMoveResolution(float moveResolution) {
+		this.moveResolution = moveResolution;
+	}
+	
+	public float getMoveResolution() {
+		return moveResolution;
+	}
+	
+	// =========================================
+	// Public Methods 
+	// =========================================
+
+	public void setOnJostickMovedListener(JoystickMovedListener listener) {
+		this.moveListener = listener;
+	}
+	
+	public void setOnJostickClickedListener(JoystickClickedListener listener) {
+		this.clickListener = listener;
+	}
+	
+	// =========================================
+	// Drawing Functionality 
+	// =========================================
+
+	@Override
+	protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
+		// Here we make sure that we have a perfect circle
+		int measuredWidth = measure(widthMeasureSpec);
+		int measuredHeight = measure(heightMeasureSpec);
+		setMeasuredDimension(measuredWidth, measuredHeight);
+	}
+
+	@Override
+	protected void onLayout(boolean changed, int left, int top, int right, int bottom) {
+		super.onLayout(changed, left, top, right, bottom);
+
+		int d = Math.min(getMeasuredWidth(), getMeasuredHeight());
+
+		dimX = d;
+		dimY = d;
+
+		cX = d / 2;
+		cY = d / 2;
+		
+		bgRadius = dimX/2 - innerPadding;
+		handleRadius = (int)(d * 0.25);
+		handleInnerBoundaries = handleRadius;
+		movementRadius = Math.min(cX, cY) - handleInnerBoundaries;
+	}
+
+	private int measure(int measureSpec) {
+		int result = 0;
+		// Decode the measurement specifications.
+		int specMode = MeasureSpec.getMode(measureSpec);
+		int specSize = MeasureSpec.getSize(measureSpec);
+		if (specMode == MeasureSpec.UNSPECIFIED) {
+			// Return a default size of 200 if no bounds are specified.
+			result = 200;
+		} else {
+			// As you want to fill the available space
+			// always return the full available bounds.
+			result = specSize;
+		}
+		return result;
+	}
+
+	@Override
+	protected void onDraw(Canvas canvas) {
+		canvas.save();
+		// Draw the background
+		canvas.drawCircle(cX, cY, bgRadius, bgPaint);
+
+		// Draw the handle
+		handleX = touchX + cX;
+		handleY = touchY + cY;
+		canvas.drawCircle(handleX, handleY, handleRadius, handlePaint);
+
+		if (D) {
+			canvas.drawRect(1, 1, getMeasuredWidth()-1, getMeasuredHeight()-1, dbgPaint1);
+			
+			canvas.drawCircle(handleX, handleY, 3, dbgPaint1);
+			
+			if ( movementConstraint == CONSTRAIN_CIRCLE ) {
+				canvas.drawCircle(cX, cY, this.movementRadius, dbgPaint1);
+			}
+			else {
+				canvas.drawRect(cX-movementRadius, cY-movementRadius, cX+movementRadius, cY+movementRadius, dbgPaint1);
+			}
+			
+			//Origin to touch point
+			canvas.drawLine(cX, cY, handleX, handleY, dbgPaint2);
+			
+			int baseY = (int) (touchY < 0 ? cY + handleRadius : cY - handleRadius);
+			canvas.drawText(String.format("%s (%.0f,%.0f)", TAG, touchX, touchY), handleX-20, baseY-7, dbgPaint2);
+			canvas.drawText("("+ String.format("%.0f, %.1f", radial, angle * 57.2957795) + (char) 0x00B0 + ")", handleX-20, baseY+15, dbgPaint2);
+		}
+
+//		Log.d(TAG, String.format("touch(%f,%f)", touchX, touchY));
+//		Log.d(TAG, String.format("onDraw(%.1f,%.1f)\n\n", handleX, handleY));
+		canvas.restore();
+	}
+
+	// Constrain touch within a box
+	private void constrainBox() {
+		touchX = Math.max(Math.min(touchX, movementRadius), -movementRadius);
+		touchY = Math.max(Math.min(touchY, movementRadius), -movementRadius);
+	}
+
+	// Constrain touch within a circle
+	private void constrainCircle() {
+		float diffX = touchX;
+		float diffY = touchY;
+		double radial = Math.sqrt((diffX*diffX) + (diffY*diffY));
+		if ( radial > movementRadius ) {
+			touchX = (int)((diffX / radial) * movementRadius);
+			touchY = (int)((diffY / radial) * movementRadius);
+		}
+	}
+	
+	public void setPointerId(int id) {
+		this.pointerId = id;
+	}
+	
+	public int getPointerId() {
+		return pointerId;
+	}
+
+	@Override
+	public boolean onTouchEvent(MotionEvent ev) {
+	    final int action = ev.getAction();
+		switch (action & MotionEvent.ACTION_MASK) {
+		    case MotionEvent.ACTION_MOVE: {
+	    		return processMoveEvent(ev);
+		    }	    
+		    case MotionEvent.ACTION_CANCEL: 
+		    case MotionEvent.ACTION_UP: {
+		    	if ( pointerId != INVALID_POINTER_ID ) {
+//			    	Log.d(TAG, "ACTION_UP");
+			    	returnHandleToCenter();
+		        	setPointerId(INVALID_POINTER_ID);
+		    	}
+		        break;
+		    }
+		    case MotionEvent.ACTION_POINTER_UP: {
+		    	if ( pointerId != INVALID_POINTER_ID ) {
+			        final int pointerIndex = (action & MotionEvent.ACTION_POINTER_INDEX_MASK) >> MotionEvent.ACTION_POINTER_INDEX_SHIFT;
+			        final int pointerId = ev.getPointerId(pointerIndex);
+			        if ( pointerId == this.pointerId ) {
+//			        	Log.d(TAG, "ACTION_POINTER_UP: " + pointerId);
+			        	returnHandleToCenter();
+			        	setPointerId(INVALID_POINTER_ID);
+			    		return true;
+			        }
+		    	}
+		        break;
+		    }
+		    case MotionEvent.ACTION_DOWN: {
+		    	if ( pointerId == INVALID_POINTER_ID ) {
+		    		int x = (int) ev.getX();
+		    		if ( x >= offsetX && x < offsetX + dimX ) {
+			        	setPointerId(ev.getPointerId(0));
+//			        	Log.d(TAG, "ACTION_DOWN: " + getPointerId());
+			    		return true;
+		    		}
+		    	}
+		        break;
+		    }
+		    case MotionEvent.ACTION_POINTER_DOWN: {
+		    	if ( pointerId == INVALID_POINTER_ID ) {
+			        final int pointerIndex = (action & MotionEvent.ACTION_POINTER_INDEX_MASK) >> MotionEvent.ACTION_POINTER_INDEX_SHIFT;
+			        final int pointerId = ev.getPointerId(pointerIndex);
+		    		int x = (int) ev.getX(pointerId);
+		    		if ( x >= offsetX && x < offsetX + dimX ) {
+//			        	Log.d(TAG, "ACTION_POINTER_DOWN: " + pointerId);
+			        	setPointerId(pointerId);
+			    		return true;
+		    		}
+		    	}
+		        break;
+		    }
+	    }
+		return false;
+	}
+	
+	private boolean processMoveEvent(MotionEvent ev) {
+		if ( pointerId != INVALID_POINTER_ID ) {
+			final int pointerIndex = ev.findPointerIndex(pointerId);
+			
+			// Translate touch position to center of view
+			float x = ev.getX(pointerIndex);
+			touchX = x - cX - offsetX;
+			float y = ev.getY(pointerIndex);
+			touchY = y - cY - offsetY;
+
+//        	Log.d(TAG, String.format("ACTION_MOVE: (%03.0f, %03.0f) => (%03.0f, %03.0f)", x, y, touchX, touchY));
+        	
+			reportOnMoved();
+			invalidate();
+			
+			touchPressure = ev.getPressure(pointerIndex);
+			reportOnPressure();
+			
+			return true;
+		}
+		return false;
+	}
+
+	private void reportOnMoved() {
+		if ( movementConstraint == CONSTRAIN_CIRCLE )
+			constrainCircle();
+		else
+			constrainBox();
+
+		calcUserCoordinates();
+
+		if (moveListener != null) {
+			boolean rx = Math.abs(touchX - reportX) >= moveResolution;
+			boolean ry = Math.abs(touchY - reportY) >= moveResolution;
+			if (rx || ry) {
+				this.reportX = touchX;
+				this.reportY = touchY;
+				
+//				Log.d(TAG, String.format("moveListener.OnMoved(%d,%d)", (int)userX, (int)userY));
+				moveListener.OnMoved(userX, userY);
+			}
+		}
+	}
+
+	private void calcUserCoordinates() {
+		//First convert to cartesian coordinates
+		cartX = (int)(touchX / movementRadius * movementRange);
+		cartY = (int)(touchY / movementRadius * movementRange);
+		
+		radial = Math.sqrt((cartX*cartX) + (cartY*cartY));
+		angle = Math.atan2(cartY, cartX);
+		
+		//Invert Y axis if requested
+		if ( !yAxisInverted )
+			cartY  *= -1;
+		
+		if ( userCoordinateSystem == COORDINATE_CARTESIAN ) {
+			userX = cartX;
+			userY = cartY;
+		}
+		else if ( userCoordinateSystem == COORDINATE_DIFFERENTIAL ) {
+			userX = cartY + cartX / 4;
+			userY = cartY - cartX / 4;
+			
+			if ( userX < -movementRange )
+				userX = (int)-movementRange;
+			if ( userX > movementRange )
+				userX = (int)movementRange;
+
+			if ( userY < -movementRange )
+				userY = (int)-movementRange;
+			if ( userY > movementRange )
+				userY = (int)movementRange;
+		}
+		
+	}
+	
+	//Simple pressure click
+	private void reportOnPressure() {
+//		Log.d(TAG, String.format("touchPressure=%.2f", this.touchPressure));
+		if ( clickListener != null ) {
+			if ( clicked && touchPressure < clickThreshold ) {
+				clickListener.OnReleased();
+				this.clicked = false;
+//				Log.d(TAG, "reset click");
+				invalidate();
+			}
+			else if ( !clicked && touchPressure >= clickThreshold ) {
+				clicked = true;
+				clickListener.OnClicked();
+//				Log.d(TAG, "click");
+				invalidate();
+				performHapticFeedback(HapticFeedbackConstants.VIRTUAL_KEY);
+			}
+		}
+	}
+
+	private void returnHandleToCenter() {
+		if ( autoReturnToCenter ) {
+			final int numberOfFrames = 5;
+			final double intervalsX = (0 - touchX) / numberOfFrames;
+			final double intervalsY = (0 - touchY) / numberOfFrames;
+
+			for (int i = 0; i < numberOfFrames; i++) {
+				final int j = i;
+				postDelayed(new Runnable() {
+					@Override
+					public void run() {
+						touchX += intervalsX;
+						touchY += intervalsY;
+						
+						reportOnMoved();
+						invalidate();
+						
+						if (moveListener != null && j == numberOfFrames - 1) {
+							moveListener.OnReturnedToCenter();
+						}
+					}
+				}, i * 40);
+			}
+
+			if (moveListener != null) {
+				moveListener.OnReleased();
+			}
+		}
+	}
+
+	public void setTouchOffset(int x, int y) {
+		offsetX = x;
+		offsetY = y;
+	}
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/ThresholdEditText/ThresholdEditText.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/ThresholdEditText/ThresholdEditText.java
new file mode 100644
index 000000000..5fbd76f46
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/ThresholdEditText/ThresholdEditText.java
@@ -0,0 +1,169 @@
+package com.MobileAnarchy.Android.Widgets.ThresholdEditText;
+
+import android.content.Context;
+import android.os.Handler;
+import android.text.Editable;
+import android.text.TextWatcher;
+import android.util.AttributeSet;
+import android.widget.EditText;
+
+public class ThresholdEditText extends EditText {
+
+	// =========================================
+	// Private members
+	// =========================================
+
+	private int threshold;
+	private ThresholdTextChanged thresholdTextChanged;
+	private Handler handler;
+	private Runnable invoker;
+	private boolean thresholdDisabledOnEmptyInput;
+
+	
+	// =========================================
+	// Constructors
+	// =========================================
+
+	public ThresholdEditText(Context context) {
+		super(context);
+		initAttributes(null);
+		init();
+	}
+
+	public ThresholdEditText(Context context, AttributeSet attrs) {
+		super(context, attrs);
+		initAttributes(attrs);
+		init();
+	}
+
+	
+	// =========================================
+	// Public properties
+	// =========================================
+
+	/**
+	 * Get the current threshold value
+	 */
+	public int getThreshold() {
+		return threshold;
+	}
+
+	/**
+	 * Set the threshold value (in milliseconds)
+	 * 
+	 * @param threshold
+	 *            Threshold value
+	 */
+	public void setThreshold(int threshold) {
+		this.threshold = threshold;
+	}
+
+	/**
+	 * @return True = the callback will fire immediately when the content of the
+	 *         EditText is emptied False = The threshold will be used even on
+	 *         empty input
+	 */
+	public boolean getThresholdDisabledOnEmptyInput() {
+		return thresholdDisabledOnEmptyInput;
+	}
+
+	/**
+	 * @param thresholdDisabledOnEmptyInput
+	 *            Set to true if you want the callback to fire immediately when
+	 *            the content of the EditText is emptied
+	 */
+	public void setThresholdDisabledOnEmptyInput(
+			boolean thresholdDisabledOnEmptyInput) {
+		this.thresholdDisabledOnEmptyInput = thresholdDisabledOnEmptyInput;
+	}
+
+	/**
+	 * Set the callback to the OnThresholdTextChanged event
+	 * 
+	 * @param listener
+	 */
+	public void setOnThresholdTextChanged(ThresholdTextChanged listener) {
+		this.thresholdTextChanged = listener;
+	}
+
+	// =========================================
+	// Private / Protected methods
+	// =========================================
+
+	/**
+	 * Load properties values from xml layout
+	 */
+	private void initAttributes(AttributeSet attrs) {
+		if (attrs != null) {
+			String namespace = "http://com.MobileAnarchy.Android.Widgets";
+
+			// Load values to local members
+			this.threshold = attrs.getAttributeIntValue(namespace, "threshold",
+					500);
+			this.thresholdDisabledOnEmptyInput = attrs.getAttributeBooleanValue(
+					namespace, "disableThresholdOnEmptyInput", true);
+		} else {
+			// Default threshold value is 0.5 seconds
+			threshold = 500;
+
+			// Default behaviour on emptied text - no threshold
+			thresholdDisabledOnEmptyInput = true;
+		}
+	}
+
+	/**
+	 * Initialize the private members with default values
+	 */
+	private void init() {
+
+		handler = new Handler();
+
+		invoker = new Runnable() {
+
+			@Override
+			public void run() {
+				invokeCallback();
+			}
+
+		};
+
+		this.addTextChangedListener(new TextWatcher() {
+
+			@Override
+			public void afterTextChanged(Editable s) {
+			}
+
+			@Override
+			public void beforeTextChanged(CharSequence s, int start, int count,
+					int after) {
+			}
+
+			@Override
+			public void onTextChanged(CharSequence s, int start, int before,
+					int count) {
+
+				// Remove any existing pending callbacks
+				handler.removeCallbacks(invoker);
+
+				if (s.length() == 0 && thresholdDisabledOnEmptyInput) {
+					// The text is empty, so invoke the callback immediately
+					invoker.run();
+				} else {
+					// Post a new delayed callback
+					handler.postDelayed(invoker, threshold);
+				}
+			}
+
+		});
+	}
+
+	/**
+	 * Invoking the callback on the listener provided (if provided)
+	 */
+	private void invokeCallback() {
+		if (thresholdTextChanged != null) {
+			thresholdTextChanged.onThersholdTextChanged(this.getText());
+		}
+	}
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/ThresholdEditText/ThresholdTextChanged.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/ThresholdEditText/ThresholdTextChanged.java
new file mode 100644
index 000000000..145f6547b
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/ThresholdEditText/ThresholdTextChanged.java
@@ -0,0 +1,7 @@
+package com.MobileAnarchy.Android.Widgets.ThresholdEditText;
+
+import android.text.Editable;
+
+public interface ThresholdTextChanged {
+	void onThersholdTextChanged(Editable text);
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/SingleTileLayout.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/SingleTileLayout.java
new file mode 100644
index 000000000..d2f3be2d3
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/SingleTileLayout.java
@@ -0,0 +1,68 @@
+package com.MobileAnarchy.Android.Widgets.TilesLayout;
+
+import android.content.Context;
+import android.util.AttributeSet;
+import android.view.View;
+import android.widget.FrameLayout;
+
+public class SingleTileLayout extends FrameLayout {
+
+	// =========================================
+	// Private members
+	// =========================================
+
+	private TilePosition position;
+	private long timestamp;
+	
+	// =========================================
+	// Constructors
+	// =========================================
+
+	public SingleTileLayout(Context context) {
+		super(context);
+	}
+
+	public SingleTileLayout(Context context, AttributeSet attrs) {
+		super(context, attrs);
+	}
+
+	
+	// =========================================
+	// Public Methods
+	// =========================================
+
+	public TilePosition getPosition() {
+		return position;
+	}
+
+	public void setPosition(TilePosition position) {
+		this.position = position;
+	}
+	
+	public long getTimestamp() {
+		return this.timestamp;
+	}
+	
+	// =========================================
+	// Overrides
+	// =========================================
+
+	@Override
+	public void addView(View child) {
+		super.addView(child);
+		timestamp = java.lang.System.currentTimeMillis();
+	}
+
+	@Override
+	public void removeAllViews() {
+		super.removeAllViews();
+		timestamp = 0;
+	}
+
+	@Override
+	public void removeView(View view) {
+		super.removeView(view);
+		timestamp = 0;
+	}
+	
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilePosition.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilePosition.java
new file mode 100644
index 000000000..04bf0c1d4
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilePosition.java
@@ -0,0 +1,63 @@
+package com.MobileAnarchy.Android.Widgets.TilesLayout;
+
+
+public class TilePosition {
+
+	// =========================================
+	// Private Members
+	// =========================================
+
+	private float x, y, height, width;
+	
+	// =========================================
+	// Constructors
+	// =========================================
+
+	public TilePosition(float x, float y, float width, float height) {
+		this.x = x;
+		this.y = y;
+		this.height = height;
+		this.width = width;
+	}
+
+	// =========================================
+	// Public Properties
+	// =========================================
+
+	public float getX() {
+		return x;
+	}
+
+	public float getY() {
+		return y;
+	}
+
+	public float getHeight() {
+		return height;
+	}
+
+	public float getWidth() {
+		return width;
+	}
+
+	
+	// =========================================
+	// Public Methods
+	// =========================================
+
+	public Boolean equals(TilePosition position) {
+		if (position == null) 
+			return false;
+		
+		return this.x == position.x &&
+		       this.y == position.y &&
+		       this.height == position.height &&
+		       this.width == position.width;
+	}
+	
+	@Override
+	public String toString() {
+		return "TilePosition = [X: " + x + ", Y: " + y + ", Height: " + height + ", Width: " + width + "]";
+	}
+	
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayout.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayout.java
new file mode 100644
index 000000000..c1728faff
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayout.java
@@ -0,0 +1,299 @@
+package com.MobileAnarchy.Android.Widgets.TilesLayout;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import android.R;
+import android.content.Context;
+import android.graphics.Color;
+import android.os.Handler;
+import android.util.AttributeSet;
+import android.util.Log;
+import android.view.Gravity;
+import android.view.View;
+import android.view.animation.AlphaAnimation;
+import android.view.animation.Animation;
+import android.view.animation.AnimationSet;
+import android.view.animation.DecelerateInterpolator;
+import android.view.animation.ScaleAnimation;
+import android.view.animation.TranslateAnimation;
+import android.view.animation.Animation.AnimationListener;
+import android.widget.FrameLayout;
+
+public class TilesLayout extends FrameLayout {
+
+	// =========================================
+	// Private members
+	// =========================================
+
+	private static final String TAG = "TilesLayout";
+	private int animatedTransitionDuration;
+	private List<SingleTileLayout> tiles;
+	private TilesLayoutPreset preset;
+	private int tileBackgroundResourceId;
+	
+	// =========================================
+	// Constructors
+	// =========================================
+
+	public TilesLayout(Context context) {
+		super(context);
+		Init(null);
+	}
+
+	public TilesLayout(Context context, AttributeSet attrs) {
+		super(context, attrs);
+		Init(attrs);
+	}
+
+	
+	// =========================================
+	// Public Properties
+	// =========================================
+
+	public void setPreset(TilesLayoutPreset preset) {
+		try {
+			rebuildLayout(preset);
+			this.preset = preset;
+		}
+		catch (Exception ex) {
+			Log.e(TAG, "Failed to set layout preset", ex);
+		}
+	}
+	
+	public TilesLayoutPreset getPreset() {
+		return this.preset;
+	}
+	
+	public int getAnimatedTransitionDuration() {
+		return animatedTransitionDuration;
+	}
+
+	public void setAnimatedTransitionDuration(int animatedTransitionDuration) {
+		this.animatedTransitionDuration = animatedTransitionDuration;
+	}
+
+	public int getTileBackgroundResourceId() {
+		return tileBackgroundResourceId;
+	}
+
+	public void setTileBackgroundResourceId(int tileBackgroundResourceId) {
+		this.tileBackgroundResourceId = tileBackgroundResourceId;
+	}
+
+	// =========================================
+	// Public Methods
+	// =========================================
+
+	public void addContent(View view) {
+		for	(int i = 0; i < tiles.size(); i++) {
+			if (tiles.get(i).getChildCount() == 0) {
+				tiles.get(i).addView(view);
+				return;
+			}
+		}
+		// No available space for the new view... 
+		// TODO: Take the tile with the smallest time stamp and place the new view in it
+	}
+	
+	public void clearView(int tileId) {
+		if (tiles.size() < tileId) {
+			tiles.get(tileId).removeAllViews();
+		}
+	}
+	
+	// =========================================
+	// Private Methods
+	// =========================================
+
+	private void Init(AttributeSet attrs) {
+		animatedTransitionDuration = 750;
+		tileBackgroundResourceId = R.drawable.edit_text;
+		tiles = new ArrayList<SingleTileLayout>();
+	}
+	
+	
+	private void rebuildLayout(TilesLayoutPreset preset) {
+		ArrayList<TilePosition> positions = buildViewsPositions(preset);
+		
+		// We need to transform the current layout, to the new layout
+		int extraViews = tiles.size() - positions.size();
+		if (extraViews > 0) {
+			// Remove the extra views
+			while(tiles.size() - positions.size() > 0) {
+				int lastViewPosition = tiles.size() - 1;
+				removeView(tiles.get(lastViewPosition));
+				tiles.remove(lastViewPosition);	
+			}
+		} else {
+			// Add the extra views
+			for (int i = tiles.size(); i< positions.size(); i++) {
+				TilePosition newTilePosition = positions.get(i);
+				SingleTileLayout tile = new SingleTileLayout(getContext());
+				tile.setBackgroundResource(tileBackgroundResourceId);
+				
+				FrameLayout.LayoutParams lp = new FrameLayout.LayoutParams(
+						(int)newTilePosition.getWidth(), 
+						(int)newTilePosition.getHeight(), 
+						Gravity.TOP + Gravity.LEFT);
+				lp.setMargins((int)newTilePosition.getX(), 
+						(int)newTilePosition.getY(), 0, 0);
+				
+				tile.setLayoutParams(lp);
+				
+				tiles.add(tile);
+				addView(tile);
+			}
+		}
+		// There is a bug in the animation-set, so we'll not animate
+		animateChange(positions);
+
+		// Regular repositioning (no animation)
+		//processChange(positions);
+	}
+
+
+
+	private ArrayList<TilePosition> buildViewsPositions(TilesLayoutPreset preset) {
+		int width = getWidth();
+		int height = getHeight();
+
+		Log.d(TAG, "Container's Dimensions = Width: " + width + ", Height: " + height);
+		ArrayList<TilePosition> actualPositions = new ArrayList<TilePosition>();
+		for (TilePosition position : preset.getTilePositions()) {
+			
+			int tileX = (int) Math.round(width * ((float)position.getX() / 100.0));
+			int tileY = (int) Math.round(height * ((float)position.getY() / 100.0));
+			int tileWidth = (int) Math.round(width * ((float)position.getWidth() / 100.0));
+			int tileHeight = (int) Math.round(height * ((float)position.getHeight() / 100.0));
+			
+			TilePosition actualPosition = new TilePosition(tileX, tileY, tileWidth, tileHeight);
+			actualPositions.add(actualPosition);
+			
+			Log.d(TAG, "New tile created - X: " + tileX + ", Y: " + tileY + ", Width: " + tileWidth + ", Height: " + tileHeight);
+		}
+		return actualPositions;
+	}
+
+
+	@SuppressWarnings("unused")
+	private void processChange(ArrayList<TilePosition> positions) {
+		for (int i = 0; i < tiles.size(); i++) {
+			final SingleTileLayout currentTile = tiles.get(i);
+			final TilePosition targetPosition = positions.get(i);
+			currentTile.setPosition(targetPosition);
+
+			FrameLayout.LayoutParams lp = new FrameLayout.LayoutParams(
+					(int)targetPosition.getWidth(), 
+					(int)targetPosition.getHeight(), 
+					Gravity.TOP + Gravity.LEFT);
+			lp.setMargins((int)targetPosition.getX(), 
+					(int)targetPosition.getY(), 0, 0);
+			
+			currentTile.setLayoutParams(lp);
+		}		
+	}
+
+	
+	private void animateChange(ArrayList<TilePosition> positions) {
+		AnimationSet animationSet = new AnimationSet(true);
+		DecelerateInterpolator decelerateInterpolator = new DecelerateInterpolator();
+		
+		for (int i = 0; i < tiles.size(); i++) {
+			AnimationSet scaleAndMove = new AnimationSet(true);
+			scaleAndMove.setFillAfter(true);
+
+			final SingleTileLayout currentTile = tiles.get(i);
+			TilePosition currentPosition = currentTile.getPosition(); 
+			final TilePosition targetPosition = positions.get(i);
+			
+			if (currentPosition == null) {
+				AlphaAnimation alphaAnimation = new AlphaAnimation(0, 1);
+				alphaAnimation.setDuration(animatedTransitionDuration);
+				alphaAnimation.setStartOffset(0);
+				currentTile.setAnimation(alphaAnimation);
+				
+				scaleAndMove.addAnimation(alphaAnimation);
+			}
+
+			currentTile.setPosition(targetPosition);
+
+			if (!targetPosition.equals(currentPosition)) {
+				float toXDelta = 0, toYDelta = 0;
+				if (currentPosition != null) {
+					// Calculate new position
+					toXDelta = targetPosition.getX() - currentPosition.getX();
+					toYDelta = targetPosition.getY() - currentPosition.getY();
+					
+					// Factor in the scaling animation
+					toXDelta = toXDelta / (targetPosition.getWidth() / currentPosition.getWidth());
+					toYDelta = toYDelta / (targetPosition.getHeight() / currentPosition.getHeight());
+				}
+				
+				// Move
+				TranslateAnimation moveAnimation = new TranslateAnimation(0, toXDelta, 0, toYDelta);
+				moveAnimation.setDuration(animatedTransitionDuration);
+				moveAnimation.setStartOffset(0);
+				moveAnimation.setFillAfter(true);
+				moveAnimation.setInterpolator(decelerateInterpolator);
+				scaleAndMove.addAnimation(moveAnimation);
+				
+				// Physically move the tile when the animation ends
+				scaleAndMove.setAnimationListener(new AnimationListener() {
+					
+					@Override
+					public void onAnimationStart(Animation animation) {	}
+					
+					@Override
+					public void onAnimationRepeat(Animation animation) { }
+					
+					@Override
+					public void onAnimationEnd(Animation animation) {
+						FrameLayout.LayoutParams lp = new FrameLayout.LayoutParams(
+								(int)targetPosition.getWidth(), 
+								(int)targetPosition.getHeight(), 
+								Gravity.TOP + Gravity.LEFT);
+						lp.setMargins((int)targetPosition.getX(), 
+								(int)targetPosition.getY(), 0, 0);
+						
+						currentTile.setLayoutParams(lp);
+						
+						// The following null animation just gets rid of screen flicker
+						animation = new TranslateAnimation(0.0f, 0.0f, 0.0f, 0.0f);
+						animation.setDuration(1);
+						currentTile.startAnimation(animation);
+					}
+				});
+				
+				// Scale
+				if (currentPosition != null) {
+					ScaleAnimation scaleAnimation = 
+						new ScaleAnimation(1, 
+								targetPosition.getWidth() / currentPosition.getWidth(), 
+								1, 
+								targetPosition.getHeight() / currentPosition.getHeight(),
+								Animation.ABSOLUTE, 0,
+								Animation.ABSOLUTE, 0);
+					
+					scaleAnimation.setDuration(animatedTransitionDuration);
+					scaleAnimation.setStartOffset(0);
+					scaleAnimation.setFillAfter(true);
+					scaleAndMove.addAnimation(scaleAnimation);
+				}
+				
+				// Set animation to the tile
+				currentTile.setAnimation(scaleAndMove);
+			}
+			// Add to the total animation set
+			animationSet.addAnimation(scaleAndMove);
+		}
+		
+		if (animationSet.getAnimations().size() > 0) {
+			Log.d(TAG, "Starting animation");
+			animationSet.setFillAfter(true);
+			animationSet.start();
+		}
+	}
+
+	
+}
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayoutPreset.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayoutPreset.java
new file mode 100644
index 000000000..76a13d73b
--- /dev/null
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayoutPreset.java
@@ -0,0 +1,157 @@
+package com.MobileAnarchy.Android.Widgets.TilesLayout;
+
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * Describes the positioning of a tiles in a 100x100 environment
+ */
+public class TilesLayoutPreset {
+
+	// =========================================
+	// Private Members
+	// =========================================
+
+	private List<TilePosition> _positions;
+	private String _presetName;
+
+	// =========================================
+	// Constructors
+	// =========================================
+
+	public TilesLayoutPreset(String name) {
+		_presetName = name;
+		_positions = new LinkedList<TilePosition>();
+	}
+	
+	// =========================================
+	// Public Methods
+	// =========================================
+
+	public void add(float x, float y, float width, float height) {
+		TilePosition tilePosition = new TilePosition(x, y, height, width);
+		add(tilePosition);
+	}
+
+	public void add(TilePosition tilePosition) {
+		_positions.add(tilePosition);
+	}
+	
+	public Iterable<TilePosition> getTilePositions() {
+		return _positions;
+	}
+
+	public int getCount() {
+		return _positions.size();
+	}
+
+	// =========================================
+	// Static Presets Factories
+	// =========================================
+
+	public static TilesLayoutPreset get1x1() {
+		TilesLayoutPreset preset = new TilesLayoutPreset("Default 1X1");
+		preset.add(0, 0, 100, 100);
+		return preset;
+	}
+
+	
+	public static TilesLayoutPreset get1x2() {
+		TilesLayoutPreset preset = new TilesLayoutPreset("Default 1X2");
+		preset.add(0, 0, 50, 100);
+		preset.add(0, 50, 50, 100);
+		return preset;
+	}
+
+	
+	public static TilesLayoutPreset get2x1() {
+		TilesLayoutPreset preset = new TilesLayoutPreset("Default 2X1");
+		preset.add(0, 0, 100, 50);
+		preset.add(50, 0, 100, 50);
+		return preset;
+	}
+
+	
+	public static TilesLayoutPreset get2x2() {
+		TilesLayoutPreset preset = new TilesLayoutPreset("Default 2X2");
+		preset.add(0, 0, 50, 50);
+		preset.add(50, 0, 50, 50);
+		preset.add(0, 50, 50, 50);
+		preset.add(50, 50, 50, 50);
+		return preset;
+	}
+
+	public static TilesLayoutPreset get3x3() {
+		TilesLayoutPreset preset = new TilesLayoutPreset("Default 3X3");
+		preset.add(0, 0, 100/3f, 100/3f);
+		preset.add(100/3f, 0, 100/3f, 100/3f);
+		preset.add(200/3f, 0, 100/3f, 100/3f);
+		preset.add(0, 100/3f, 100/3f, 100/3f);
+		preset.add(100/3f, 100/3f, 100/3f, 100/3f);
+		preset.add(200/3f, 100/3f, 100/3f, 100/3f);
+		preset.add(0, 200/3f, 100/3f, 100/3f);
+		preset.add(100/3f, 200/3f, 100/3f, 100/3f);
+		preset.add(200/3f, 200/3f, 100/3f, 100/3f);
+		return preset;
+	}
+
+	public static TilesLayoutPreset get3x2() {
+		TilesLayoutPreset preset = new TilesLayoutPreset("Default 3X2");
+		preset.add(0, 0, 50, 100/3f);
+		preset.add(100/3f, 0, 50, 100/3f);
+		preset.add(200/3f, 0, 50, 100/3f);
+		preset.add(0, 50, 50, 100/3f);
+		preset.add(100/3f, 50, 50, 100/3f);
+		preset.add(200/3f, 50, 50, 100/3f);
+		return preset;
+	}
+
+	public static TilesLayoutPreset get2x3() {
+		TilesLayoutPreset preset = new TilesLayoutPreset("Default 2X3");
+		preset.add(0, 0, 100/3f, 50);
+		preset.add(50, 0, 100/3f, 50);
+		preset.add(0, 100/3f, 100/3f, 50);
+		preset.add(50, 100/3f, 100/3f, 50);
+		preset.add(0, 200/3f, 100/3f, 50);
+		preset.add(50, 200/3f, 100/3f, 50);
+		return preset;
+	}
+
+	
+	public static TilesLayoutPreset get4x4() {
+		TilesLayoutPreset preset = new TilesLayoutPreset("Default 2X2");
+		preset.add(0, 0, 25, 25);
+		preset.add(25, 0, 25, 25);
+		preset.add(50, 0, 25, 25);
+		preset.add(75, 0, 25, 25);
+		preset.add(0, 25, 25, 25);
+		preset.add(25, 25, 25, 25);
+		preset.add(50, 25, 25, 25);
+		preset.add(75, 25, 25, 25);
+		preset.add(0, 50, 25, 25);
+		preset.add(25, 50, 25, 25);
+		preset.add(50, 50, 25, 25);
+		preset.add(75, 50, 25, 25);
+		preset.add(0, 75, 25, 25);
+		preset.add(25, 75, 25, 25);
+		preset.add(50, 75, 25, 25);
+		preset.add(75, 75, 25, 25);
+		return preset;
+	}
+	
+	public static TilesLayoutPreset get2x3x3() {
+		TilesLayoutPreset preset = new TilesLayoutPreset("Custom 2X4X4");
+		preset.add(0, 0, 50, 50);
+		preset.add(50, 0, 50, 50);
+		preset.add(0, 50, 50, 50);
+
+		preset.add(50, 50, 25, 25);
+		preset.add(75, 50, 25, 25);
+		preset.add(50, 75, 25, 25);
+		preset.add(75, 75, 25, 25);
+
+		return preset;
+	}
+
+	
+}

From b7cd02c9bfb32738ec339e3877b694801baeede2 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 4 Aug 2012 21:02:05 -0500
Subject: [PATCH 260/543] AndroidGCS: Refactor the UAVO browser to use a split
 view - objects names on the side and content on the other side.  Add a filter
 for settings versus data.

---
 androidgcs/res/layout/object_browser.xml      | 54 +++++++++++-
 androidgcs/res/layout/pfd.xml                 | 34 ++++++--
 .../openpilot/androidgcs/ObjectBrowser.java   | 84 +++++++++++++------
 .../src/org/openpilot/uavtalk/UAVObject.java  |  9 +-
 .../org/openpilot/uavtalk/UAVObjectField.java |  6 +-
 5 files changed, 151 insertions(+), 36 deletions(-)

diff --git a/androidgcs/res/layout/object_browser.xml b/androidgcs/res/layout/object_browser.xml
index 9c7456915..67dc0af76 100644
--- a/androidgcs/res/layout/object_browser.xml
+++ b/androidgcs/res/layout/object_browser.xml
@@ -2,6 +2,56 @@
 <RelativeLayout   xmlns:android="http://schemas.android.com/apk/res/android"
   android:layout_width="match_parent"
   android:layout_height="match_parent">
-    <Spinner android:layout_alignParentTop="true" android:layout_height="wrap_content" android:layout_width="match_parent" android:id="@+id/object_list_filter"></Spinner>
-    <ListView android:id="@+id/object_list" android:layout_height="wrap_content" android:layout_width="match_parent" android:layout_below="@+id/spinner1" android:layout_alignLeft="@+id/spinner1" android:layout_alignRight="@+id/spinner1"></ListView>
+
+    <LinearLayout
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignParentLeft="true"
+        android:layout_alignParentTop="true"
+        android:layout_marginLeft="5dp"
+        android:orientation="vertical" >
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content" >
+
+            <CheckBox
+                android:id="@+id/settingsCheck"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:checked="true"
+                android:text="Settings" />
+
+            <CheckBox
+                android:id="@+id/dataCheck"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:checked="true"
+                android:text="Data" />
+
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content" >
+
+            <ListView
+                android:id="@+id/object_list"
+                android:layout_width="200dp"
+                android:layout_height="wrap_content"
+                android:layout_weight="1" >
+            </ListView>
+
+            <TextView
+                android:id="@+id/object_information"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_weight="1"
+                android:text=""
+                android:textAppearance="?android:attr/textAppearanceMedium" />
+
+        </LinearLayout>
+
+    </LinearLayout>
+
 </RelativeLayout>
diff --git a/androidgcs/res/layout/pfd.xml b/androidgcs/res/layout/pfd.xml
index 191a80eb9..5291f2724 100644
--- a/androidgcs/res/layout/pfd.xml
+++ b/androidgcs/res/layout/pfd.xml
@@ -1,8 +1,30 @@
 <?xml version="1.0" encoding="utf-8"?>
-<LinearLayout
-  xmlns:android="http://schemas.android.com/apk/res/android"
-  android:layout_width="match_parent"
-  android:layout_height="match_parent">
-    <org.openpilot.androidgcs.CompassView android:id="@+id/compass_view" android:layout_height="wrap_content" android:layout_width="wrap_content"></org.openpilot.androidgcs.CompassView>
-    <org.openpilot.androidgcs.AttitudeView android:id="@+id/attitude_view" android:layout_height="fill_parent" android:layout_width="fill_parent"></org.openpilot.androidgcs.AttitudeView>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="vertical" >
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content" >
+
+        <org.openpilot.androidgcs.CompassView
+            android:id="@+id/compass_view"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content" />
+
+        <org.openpilot.androidgcs.AttitudeView
+            android:id="@+id/attitude_view"
+            android:layout_width="fill_parent"
+            android:layout_height="fill_parent" />
+
+    </LinearLayout>
+
+    <com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView
+        android:id="@+id/dualjoystickView"
+        android:layout_width="fill_parent"
+        android:layout_height="175dip"
+        android:layout_marginTop="5dip" >
+    </com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView>
+
 </LinearLayout>
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index a6ed177a2..1a7495ada 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -16,8 +16,12 @@ import android.util.Log;
 import android.view.View;
 import android.widget.AdapterView;
 import android.widget.ArrayAdapter;
+import android.widget.CheckBox;
+import android.widget.CompoundButton;
+import android.widget.CompoundButton.OnCheckedChangeListener;
 import android.widget.ListView;
 import android.widget.Spinner;
+import android.widget.TextView;
 import android.widget.Toast;
 import android.widget.AdapterView.OnItemClickListener;
 
@@ -27,6 +31,7 @@ import org.openpilot.uavtalk.UAVObject;
 public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPreferenceChangeListener {
 
 	private final String TAG = "ObjectBrower";
+	int selected_index = -1;
 	boolean connected;
 	SharedPreferences prefs;
 	ArrayAdapter<UAVDataObject> adapter;
@@ -35,10 +40,15 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 	final Handler uavobjHandler = new Handler(); 
 	final Runnable updateText = new Runnable() {
 		public void run() {
-			Log.d(TAG,"Update");
-			update();
+			updateObject();
 		}
 	};
+	
+	private final Observer updatedObserver = new Observer() {
+		public void update(Observable observable, Object data) {
+			uavobjHandler.post(updateText);
+		}				
+	};
 
 	/** Called when the activity is first created. */
 	@Override
@@ -47,20 +57,48 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 		setContentView(R.layout.object_browser);		
 		prefs = PreferenceManager.getDefaultSharedPreferences(this);
 		prefs.registerOnSharedPreferenceChangeListener(this);
-		
-		Spinner objectFilter = (Spinner) findViewById(R.id.object_list_filter);
 	}
 
 	@Override
 	void onOPConnected() {
 		Toast.makeText(this,"Telemetry estabilished",Toast.LENGTH_SHORT);
 		Log.d(TAG, "onOPConnected()");
+		
+		OnCheckedChangeListener checkListener = new OnCheckedChangeListener() {
+			@Override
+			public void onCheckedChanged(CompoundButton buttonView,
+					boolean isChecked) {
+				updateList();
+			}
+		};
+		
+		((CheckBox) findViewById(R.id.dataCheck)).setOnCheckedChangeListener(checkListener);
+		((CheckBox) findViewById(R.id.settingsCheck)).setOnCheckedChangeListener(checkListener);
+		
+		updateList();
+	}
+
+	/**
+	 * Populate the list of UAVO objects based on the selected filter
+	 */
+	private void updateList() {
+		// Disconnect any previous signals
+		if (selected_index > 0)
+			allObjects.get(selected_index).removeUpdatedObserver(updatedObserver);
+		selected_index = -1;
+
+		boolean includeData = ((CheckBox) findViewById(R.id.dataCheck)).isChecked();
+		boolean includeSettings = ((CheckBox) findViewById(R.id.settingsCheck)).isChecked();
 
 		List<List<UAVDataObject>> allobjects = objMngr.getDataObjects();
 		allObjects = new ArrayList<UAVDataObject>();
 		ListIterator<List<UAVDataObject>> li = allobjects.listIterator();
 		while(li.hasNext()) {
-			allObjects.addAll(li.next());
+			List<UAVDataObject> objects = li.next();
+			if(includeSettings && objects.get(0).isSettings())
+				allObjects.addAll(objects);
+			else if (includeData && !objects.get(0).isSettings())
+				allObjects.addAll(objects);
 		}
 
 		adapter = new ArrayAdapter<UAVDataObject>(this,R.layout.object_view, allObjects);
@@ -70,29 +108,25 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 		objects.setOnItemClickListener(new OnItemClickListener() {
 			public void onItemClick(AdapterView<?> parent, View view,
 					int position, long id) {
-			      /*Toast.makeText(getApplicationContext(), ((TextView) view).getText(),
-			              Toast.LENGTH_SHORT).show();*/
-				Intent intent = new Intent(ObjectBrowser.this, ObjectEditor.class);
-				intent.putExtra("org.openpilot.androidgcs.ObjectName", allObjects.get(position).getName());
-				intent.putExtra("org.openpilot.androidgcs.ObjectId", allObjects.get(position).getObjID());
-				intent.putExtra("org.openpilot.androidgcs.InstId", allObjects.get(position).getInstID());
-				startActivity(intent);
+
+				if (selected_index > 0)
+					allObjects.get(selected_index).removeUpdatedObserver(updatedObserver);
+
+				selected_index = position;
+				allObjects.get(position).addUpdatedObserver(updatedObserver);
+				updateObject();
 			}
 		});
-
-
-		UAVObject obj = objMngr.getObject("SystemStats");
-		if(obj != null)
-			obj.addUpdatedObserver(new Observer() {
-				public void update(Observable observable, Object data) {
-					uavobjHandler.post(updateText);
-				}				
-			});
-
+		
 	}
-
-	public void update() {
-		adapter.notifyDataSetChanged();
+	
+	private void updateObject() {
+		//adapter.notifyDataSetChanged();
+		TextView text = (TextView) findViewById(R.id.object_information);
+		if (selected_index >= 0 && selected_index < allObjects.size())
+			text.setText(allObjects.get(selected_index).toStringData());
+		else
+			Log.d(TAG,"Update called but invalid index: " + selected_index);
 	}
 
 	public void onSharedPreferenceChanged(SharedPreferences sharedPreferences,
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index 28c279040..087d2b808 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -52,6 +52,11 @@ public abstract class UAVObject {
 	}
 	
 	private CallbackListener updatedListeners = new CallbackListener(this);
+	public void removeUpdatedObserver(Observer o) {
+		synchronized(updatedListeners) {
+			updatedListeners.deleteObserver(o);
+		}
+	}
 	public void addUpdatedObserver(Observer o) {
 		synchronized(updatedListeners) {
 			updatedListeners.addObserver(o);
@@ -730,14 +735,14 @@ public abstract class UAVObject {
 	 */
 	@Override
 	public String toString() {
-		return toStringBrief() + toStringData();
+		return toStringBrief(); // + toStringData();
 	}
 
 	/**
 	 * Return a string with the object information (only the header)
 	 */
 	public String toStringBrief() {
-		return getName() + " (" + Integer.toHexString(getObjID()) + " " + Integer.toHexString(getInstID()) + " " + getNumBytes() + ")\n";
+		return getName(); // + " (" + Integer.toHexString(getObjID()) + " " + Integer.toHexString(getInstID()) + " " + getNumBytes() + ")\n";
 	}
 
 	/**
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index 3ed221079..af707d3a0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -469,7 +469,11 @@ public class UAVObjectField {
     
 	public String toString() {
         String sout = new String();
-        sout += name + ": " + data.toString() + " (" + units + ")\n";
+    	sout += name + ": " + getValue().toString();
+    	if (units.length() > 0) 
+    		sout += " (" + units + ")\n";
+    	else
+    		sout += "\n";
         return sout;    	
     }
 

From 0348a8921eb3d25adf8175b566235b2c3d1e3145 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 4 Aug 2012 22:20:00 -0500
Subject: [PATCH 261/543] AndroidGCS: Output all fields from the UAVObjects

---
 androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index af707d3a0..988642ff0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -469,7 +469,14 @@ public class UAVObjectField {
     
 	public String toString() {
         String sout = new String();
-    	sout += name + ": " + getValue().toString();
+        sout += name + ": ";
+        for (int i = 0; i < numElements; i++) {
+        	sout += getValue(i).toString();
+        	if (i != numElements-1)
+        		sout += ", ";
+        	else
+        		sout += " ";
+        }
     	if (units.length() > 0) 
     		sout += " (" + units + ")\n";
     	else

From 3a3ac552da368015b5a87e00991a4903b6a1cea5 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 4 Aug 2012 23:00:25 -0500
Subject: [PATCH 262/543] AndroidGCS: Refine the graphics of the object editor

---
 androidgcs/AndroidManifest.xml                |   4 +-
 androidgcs/res/layout/object_browser.xml      |  71 ++++++++---
 androidgcs/res/layout/object_edit.xml         |   9 --
 androidgcs/res/layout/object_editor.xml       |  49 +++++++-
 .../openpilot/androidgcs/ObjectBrowser.java   |  19 ++-
 .../openpilot/androidgcs/ObjectEditView.java  | 117 ++++++++----------
 .../openpilot/androidgcs/ObjectEditor.java    |  18 ++-
 7 files changed, 179 insertions(+), 108 deletions(-)
 delete mode 100644 androidgcs/res/layout/object_edit.xml

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 40b08c328..52bf9cb30 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -2,14 +2,14 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
 	package="org.openpilot.androidgcs" android:versionCode="1"
 	android:versionName="1.0">
-	<uses-sdk android:minSdkVersion="11" />
+	<uses-sdk android:minSdkVersion="14" />
 
 	<uses-permission android:name="android.permission.INTERNET" />
 
 	<uses-permission android:name="android.permission.BLUETOOTH" />
 	<uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
 
-	<application android:icon="@drawable/icon" android:label="@string/app_name">
+	<application android:icon="@drawable/icon" android:label="@string/app_name" android:theme="@android:style/Theme.Holo">
 		<!-- for map overlay -->
 		<uses-library android:name="com.google.android.maps" />
 
diff --git a/androidgcs/res/layout/object_browser.xml b/androidgcs/res/layout/object_browser.xml
index 67dc0af76..567c04f15 100644
--- a/androidgcs/res/layout/object_browser.xml
+++ b/androidgcs/res/layout/object_browser.xml
@@ -1,10 +1,13 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout   xmlns:android="http://schemas.android.com/apk/res/android"
-  android:layout_width="match_parent"
-  android:layout_height="match_parent">
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="fill_parent"
+    android:layout_height="match_parent"
+    android:layout_gravity="right"
+    android:gravity="right" >
 
     <LinearLayout
-        android:layout_width="wrap_content"
+        android:id="@+id/linearLayout1"
+        android:layout_width="fill_parent"
         android:layout_height="wrap_content"
         android:layout_alignParentLeft="true"
         android:layout_alignParentTop="true"
@@ -12,7 +15,7 @@
         android:orientation="vertical" >
 
         <LinearLayout
-            android:layout_width="match_parent"
+            android:layout_width="fill_parent"
             android:layout_height="wrap_content" >
 
             <CheckBox
@@ -30,28 +33,62 @@
                 android:text="Data" />
 
         </LinearLayout>
-
+        
+        <View
+            android:layout_height="1dip"
+            android:layout_width="fill_parent"
+            android:background="#FFFFFFFF" />
+        
         <LinearLayout
-            android:layout_width="wrap_content"
+            android:layout_width="fill_parent"
             android:layout_height="wrap_content" >
 
             <ListView
                 android:id="@+id/object_list"
-                android:layout_width="200dp"
-                android:layout_height="wrap_content"
-                android:layout_weight="1" >
-            </ListView>
-
-            <TextView
-                android:id="@+id/object_information"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
                 android:layout_weight="1"
-                android:text=""
-                android:textAppearance="?android:attr/textAppearanceMedium" />
+                android:drawSelectorOnTop="true" 
+                android:choiceMode="singleChoice"/>
+            
+            <View
+                android:layout_width="1dip"
+                android:layout_height="fill_parent"
+                android:background="#FFFFFFFF" />
 
+            <LinearLayout
+                android:layout_width="fill_parent"
+                android:layout_height="fill_parent"
+                android:layout_weight="1"
+                android:orientation="vertical" >
+
+                <TextView
+                    android:id="@+id/object_information"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="12dp"
+                    android:layout_marginTop="12dp"
+                    android:textAppearance="?android:attr/textAppearanceMedium" />
+
+                <Space
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content" />
+
+                <Space
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content" />
+
+                <Button
+                    android:id="@+id/editButton"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_gravity="bottom|right"
+                    android:layout_marginBottom="32dp"
+                    android:layout_marginRight="12dp"
+                    android:text="Edit" />
+
+            </LinearLayout>
         </LinearLayout>
-
     </LinearLayout>
 
 </RelativeLayout>
diff --git a/androidgcs/res/layout/object_edit.xml b/androidgcs/res/layout/object_edit.xml
deleted file mode 100644
index c161caa4c..000000000
--- a/androidgcs/res/layout/object_edit.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout
-  xmlns:android="http://schemas.android.com/apk/res/android"
-  android:layout_width="match_parent"
-  android:layout_height="match_parent">
-	<org.openpilot.androidgcs.ObjectEditView android:layout_height="wrap_content" android:text="ObjectEditor: " android:id="@+id/object_edit_view" android:layout_alignParentTop="true" android:layout_width="wrap_content" android:layout_centerHorizontal="true" android:textStyle="bold"></org.openpilot.androidgcs.ObjectEditView>
-	<Button android:layout_height="wrap_content" android:layout_width="wrap_content" android:layout_alignParentBottom="true" android:id="@+id/object_edit_send_button" android:text="@string/send_button"></Button>
-	<Button android:layout_height="wrap_content" android:layout_width="wrap_content" android:id="@+id/object_edit_save_button" android:text="@string/save_button" android:layout_toRightOf="@+id/object_edit_send_button" android:layout_alignTop="@+id/object_edit_send_button" android:layout_alignBottom="@+id/object_edit_send_button"></Button>
-</RelativeLayout>
diff --git a/androidgcs/res/layout/object_editor.xml b/androidgcs/res/layout/object_editor.xml
index d93b1a097..be6e219e8 100644
--- a/androidgcs/res/layout/object_editor.xml
+++ b/androidgcs/res/layout/object_editor.xml
@@ -1,6 +1,45 @@
 <?xml version="1.0" encoding="utf-8"?>
-<LinearLayout
-  xmlns:android="http://schemas.android.com/apk/res/android"
-  android:layout_width="match_parent"
-  android:layout_height="match_parent">
-</LinearLayout>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="vertical"
+    tools:context=".ObjectEditor" >
+
+    <ScrollView
+        android:id="@+id/scrollView1"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_weight="1.56" >
+
+        <org.openpilot.androidgcs.ObjectEditView
+            android:id="@+id/object_edit_view"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content" >
+        </org.openpilot.androidgcs.ObjectEditView>
+
+    </ScrollView>
+    
+    <!-- View android:layout_width="200dp" android:layout_height="1dip" android:background="#FFFFFFFF" / -->
+	
+	<LinearLayout
+	    android:layout_width="match_parent"
+	    android:layout_height="wrap_content"
+	    android:layout_weight="1"
+	    android:gravity="right" >
+
+		<Button
+		    android:id="@+id/object_edit_send_button"
+		    android:layout_width="wrap_content"
+		    android:layout_height="wrap_content"
+		    android:text="@string/send_button" />
+
+		<Button
+		    android:id="@+id/object_edit_save_button"
+		    android:layout_width="wrap_content"
+		    android:layout_height="wrap_content"
+		    android:text="@string/save_button" />
+
+	</LinearLayout>
+    
+</LinearLayout>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index 1a7495ada..9703c1d15 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -14,19 +14,18 @@ import android.os.Handler;
 import android.preference.PreferenceManager;
 import android.util.Log;
 import android.view.View;
+import android.view.View.OnClickListener;
 import android.widget.AdapterView;
 import android.widget.ArrayAdapter;
+import android.widget.Button;
 import android.widget.CheckBox;
 import android.widget.CompoundButton;
 import android.widget.CompoundButton.OnCheckedChangeListener;
 import android.widget.ListView;
-import android.widget.Spinner;
 import android.widget.TextView;
-import android.widget.Toast;
 import android.widget.AdapterView.OnItemClickListener;
 
 import org.openpilot.uavtalk.UAVDataObject;
-import org.openpilot.uavtalk.UAVObject;
 
 public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPreferenceChangeListener {
 
@@ -61,7 +60,6 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 
 	@Override
 	void onOPConnected() {
-		Toast.makeText(this,"Telemetry estabilished",Toast.LENGTH_SHORT);
 		Log.d(TAG, "onOPConnected()");
 		
 		OnCheckedChangeListener checkListener = new OnCheckedChangeListener() {
@@ -75,6 +73,19 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 		((CheckBox) findViewById(R.id.dataCheck)).setOnCheckedChangeListener(checkListener);
 		((CheckBox) findViewById(R.id.settingsCheck)).setOnCheckedChangeListener(checkListener);
 		
+		((Button) findViewById(R.id.editButton)).setOnClickListener(new OnClickListener() {
+			@Override
+			public void onClick(View v) {
+				if (selected_index > 0) {
+					Intent intent = new Intent(ObjectBrowser.this, ObjectEditor.class);
+					intent.putExtra("org.openpilot.androidgcs.ObjectName", allObjects.get(selected_index).getName());
+					intent.putExtra("org.openpilot.androidgcs.ObjectId", allObjects.get(selected_index).getObjID());
+					intent.putExtra("org.openpilot.androidgcs.InstId", allObjects.get(selected_index).getInstID());
+					startActivity(intent);
+				}
+			}
+		});
+
 		updateList();
 	}
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java b/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
index 7b81ff18c..f88de99fd 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
@@ -2,20 +2,23 @@ package org.openpilot.androidgcs;
 
 import java.util.ArrayList;
 import java.util.List;
-import java.util.ListIterator;
 
 import org.openpilot.uavtalk.UAVObjectField;
 
 import android.content.Context;
+import android.text.InputType;
 import android.util.AttributeSet;
 import android.view.View;
+import android.widget.ArrayAdapter;
 import android.widget.EditText;
+import android.widget.GridLayout;
 import android.widget.LinearLayout;
+import android.widget.Spinner;
 import android.widget.TextView;
 
-public class ObjectEditView extends LinearLayout {
+public class ObjectEditView extends GridLayout {
 
-	TextView objectName;
+	String objectName;
 	List<View> fields;
 
 	public ObjectEditView(Context context) {
@@ -36,79 +39,63 @@ public class ObjectEditView extends LinearLayout {
 	public void initObjectEditView() {
 		// Set orientation of layout to vertical 
 		setOrientation(LinearLayout.VERTICAL);
-
-		objectName = new TextView(getContext());
-		objectName.setText("");
-		objectName.setTextSize(14);
-
-		// Lay them out in the compound control. 
-		int lHeight = LayoutParams.WRAP_CONTENT; 
-		int lWidth = LayoutParams.FILL_PARENT;
-		addView(objectName, new LinearLayout.LayoutParams(lWidth, lHeight));
-
+		setColumnCount(2);
 		fields = new ArrayList<View>();
 	}
 
 	public void setName(String name) {
-		objectName.setText(name);
+		objectName = name;
 	}
 
 	public void addField(UAVObjectField field) {
-		if(field.getNumElements() == 1) {
-			FieldValue fieldView = new FieldValue(getContext());
-			fieldView.setName(field.getName());
-			if(field.isNumeric()) {
-				fieldView.setValue(new Double(field.getDouble()).toString());
-			} else {
-				fieldView.setValue(field.getValue().toString());
-			}
-			fields.add(fieldView);
-			addView(fieldView, new LinearLayout.LayoutParams(LayoutParams.WRAP_CONTENT, LayoutParams.FILL_PARENT));
-		} 
-		else {
-			ListIterator<String> names = field.getElementNames().listIterator();
-			int i = 0;
-			while(names.hasNext()) {
-				FieldValue fieldView = new FieldValue(getContext());
-				fieldView.setName(field.getName() + "-" + names.next());
-				if(field.isNumeric()) {
-					fieldView.setValue(new Double(field.getDouble(i)).toString());
-				} else {
-					fieldView.setValue(field.getValue(i).toString());
-				}
-				i++;
-				fields.add(fieldView);
-				addView(fieldView, new LinearLayout.LayoutParams(LayoutParams.WRAP_CONTENT, LayoutParams.FILL_PARENT));
-
-			}
-		}
+		for (int i = 0; i < field.getNumElements(); i++)
+			addRow(getContext(), field, i);
 	}
-
-	public class FieldValue extends LinearLayout {
-
-		TextView fieldName;
-		EditText fieldValue;
-
-		public FieldValue(Context context) {
-			super(context);
-			setOrientation(LinearLayout.HORIZONTAL);
-
-			fieldName = new TextView(getContext());
-			fieldValue = new EditText(getContext());
-
-			// Lay them out in the compound control.
-			addView(fieldName, new LinearLayout.LayoutParams(LayoutParams.WRAP_CONTENT, LayoutParams.FILL_PARENT));
-			fieldValue.setWidth(300);
-			addView(fieldValue, new LinearLayout.LayoutParams(LayoutParams.WRAP_CONTENT, LayoutParams.WRAP_CONTENT));
+	
+	
+	public void addRow(Context context, UAVObjectField field, int idx) {
+		int row = getRowCount();
+		
+		TextView fieldName = new TextView(context);
+		if(field.getNumElements() == 1) {
+			fieldName.setText(field.getName());
+		} else {
+			fieldName.setText(field.getName() + "-" + field.getElementNames().get(idx));
 		}
+		addView(fieldName, new GridLayout.LayoutParams(spec(row), spec(0)));
 
-		public void setName(String name) {
-			fieldName.setText(name);
+		View fieldValue = null;
+		switch(field.getType()) 
+		{
+		case FLOAT32:
+			fieldValue = new EditText(context);
+			((EditText)fieldValue).setText(field.getValue(idx).toString());
+			((EditText)fieldValue).setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_SIGNED | InputType.TYPE_NUMBER_FLAG_DECIMAL);
+			break;
+		case INT8:
+		case INT16:
+		case INT32:
+			fieldValue = new EditText(context);
+			((EditText)fieldValue).setText(field.getValue(idx).toString());
+			((EditText)fieldValue).setInputType(InputType.TYPE_CLASS_NUMBER | InputType.TYPE_NUMBER_FLAG_SIGNED);
+			break;
+		case UINT8:
+		case UINT16:
+		case UINT32:
+			fieldValue = new EditText(context);
+			((EditText)fieldValue).setText(field.getValue(idx).toString());
+			((EditText)fieldValue).setInputType(InputType.TYPE_CLASS_NUMBER);
+			break;
+		case ENUM:
+			fieldValue = new Spinner(context);
+			ArrayAdapter<String> adapter = new ArrayAdapter<String>(context, android.R.layout.simple_spinner_dropdown_item);
+			adapter.addAll(field.getOptions());
+			((Spinner) fieldValue).setAdapter(adapter);
+			break;
 		}
-
-		public void setValue(String value) {
-			fieldValue.setText(value);
-		}		
+		
+		addView(fieldValue, new GridLayout.LayoutParams(spec(row), spec(1)));
+		fields.add(fieldValue);
 	}
 
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java b/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
index afbddb5e5..b662cf122 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
@@ -7,7 +7,6 @@ import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectField;
 
 import android.os.Bundle;
-import android.widget.Toast;
 
 public class ObjectEditor extends ObjectManagerActivity {
 
@@ -18,21 +17,28 @@ public class ObjectEditor extends ObjectManagerActivity {
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
-		setContentView(R.layout.object_edit);
+		setContentView(R.layout.object_editor);
 
-		System.out.println("Started. Intent:" + getIntent());
+		// TODO: Figure out why this line is required so it doesn't
+		// have to be set programmatically
+		setTheme(android.R.style.Theme_Holo);
+		
 	    Bundle extras = getIntent().getExtras();
 	    if(extras != null){
 	    	objectName = extras.getString("org.openpilot.androidgcs.ObjectName");
 	        objectID = extras.getInt("org.openpilot.androidgcs.ObjectId");
 	        instID = extras.getInt("org.openpilot.androidgcs.InstId");
-	    }	    	    
+	        
+	        setTitle(objectName);
+	    }
+	    
 	}	
 	
 	public void onOPConnected() {
 		UAVObject obj = objMngr.getObject(objectID, instID);
-		Toast.makeText(getApplicationContext(), obj.toString(), Toast.LENGTH_SHORT);
-		
+		if (obj == null)
+			return;
+
 		ObjectEditView editView = (ObjectEditView) findViewById(R.id.object_edit_view);
 		editView.setName(obj.getName());
 		

From 9ded1bb9fbbb13f5605d7e1d62a6f38eae97d2ca Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 04:00:12 -0500
Subject: [PATCH 263/543] AndroidGCS: Suppress some debugging information from
 telemetry

---
 androidgcs/src/org/openpilot/uavtalk/Telemetry.java | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 2ee5ab9a4..ae1eb10b7 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -16,9 +16,9 @@ public class Telemetry {
 	
 	private final String TAG = "Telemetry";
 	public static int LOGLEVEL = 0;
-	public static boolean WARN = LOGLEVEL > 1;
+	public static boolean WARN = LOGLEVEL > 2;
+	public static boolean ERROR = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
-	
     public class TelemetryStats {
         public int txBytes;
         public int rxBytes;
@@ -305,7 +305,7 @@ public class Telemetry {
             processObjectQueue();
         } else
         {
-        	Log.e(TAG,"Error: received a transaction completed when did not expect it.");
+        	if (ERROR) Log.e(TAG,"Error: received a transaction completed when did not expect it.");
         }
     }
 
@@ -369,7 +369,7 @@ public class Telemetry {
             }
         } else
         {
-        	Log.e(TAG,"Error: inside of processObjectTransaction with no transPending");
+        	if (ERROR) Log.e(TAG,"Error: inside of processObjectTransaction with no transPending");
         }
     }
 
@@ -429,7 +429,7 @@ public class Telemetry {
         // Don nothing if a transaction is already in progress (should not happen)
         if (transPending)
         {
-        	Log.e(TAG,"Dequeue while a transaction pending");
+        	if (ERROR) Log.e(TAG,"Dequeue while a transaction pending");
             return;
         }
 

From ae40f8860018d66be9902e83267af9135a3aef2f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 04:01:04 -0500
Subject: [PATCH 264/543] AndroidGCS: Convert UAVObject IDs to longs from ints
 because they are meant to be unsigned uint32 which is unsupported by java.

---
 .../openpilot/androidgcs/ObjectEditor.java    | 111 +++++++++++++++---
 .../org/openpilot/uavtalk/UAVDataObject.java  |   6 +-
 .../org/openpilot/uavtalk/UAVMetaObject.java  |   2 +-
 .../src/org/openpilot/uavtalk/UAVObject.java  |  12 +-
 .../openpilot/uavtalk/UAVObjectManager.java   |  22 ++--
 .../src/org/openpilot/uavtalk/UAVTalk.java    |   2 +-
 .../openpilot/uavtalk/uavobjects/Accels.java  |   8 +-
 .../uavtalk/uavobjects/AccessoryDesired.java  |   8 +-
 .../uavtalk/uavobjects/ActuatorCommand.java   |   8 +-
 .../uavtalk/uavobjects/ActuatorDesired.java   |   8 +-
 .../uavtalk/uavobjects/ActuatorSettings.java  |   8 +-
 .../uavtalk/uavobjects/AltHoldSmoothed.java   |   8 +-
 .../uavobjects/AltitudeHoldDesired.java       |   8 +-
 .../uavobjects/AltitudeHoldSettings.java      |   8 +-
 .../uavtalk/uavobjects/AttitudeActual.java    |   8 +-
 .../uavtalk/uavobjects/AttitudeSettings.java  |   8 +-
 .../uavtalk/uavobjects/AttitudeSimulated.java |   8 +-
 .../uavtalk/uavobjects/BaroAirspeed.java      |   8 +-
 .../uavtalk/uavobjects/BaroAltitude.java      |   8 +-
 .../uavtalk/uavobjects/CameraDesired.java     |   8 +-
 .../uavobjects/CameraStabSettings.java        |   8 +-
 .../uavtalk/uavobjects/FaultSettings.java     |   8 +-
 .../uavtalk/uavobjects/FirmwareIAPObj.java    |   8 +-
 .../FixedWingPathFollowerSettings.java        |   8 +-
 .../FixedWingPathFollowerStatus.java          |   8 +-
 .../uavobjects/FlightBatterySettings.java     |   8 +-
 .../uavobjects/FlightBatteryState.java        |   8 +-
 .../uavtalk/uavobjects/FlightPlanControl.java |   8 +-
 .../uavobjects/FlightPlanSettings.java        |   8 +-
 .../uavtalk/uavobjects/FlightPlanStatus.java  |   8 +-
 .../uavtalk/uavobjects/FlightStatus.java      |   8 +-
 .../uavobjects/FlightTelemetryStats.java      |   8 +-
 .../uavtalk/uavobjects/GCSReceiver.java       |   8 +-
 .../uavtalk/uavobjects/GCSTelemetryStats.java |   8 +-
 .../uavtalk/uavobjects/GPSPosition.java       |   8 +-
 .../uavtalk/uavobjects/GPSSatellites.java     |   8 +-
 .../uavtalk/uavobjects/GPSSettings.java       |   8 +-
 .../openpilot/uavtalk/uavobjects/GPSTime.java |   8 +-
 .../uavtalk/uavobjects/GPSVelocity.java       |   8 +-
 .../openpilot/uavtalk/uavobjects/Gyros.java   |   8 +-
 .../uavtalk/uavobjects/GyrosBias.java         |   8 +-
 .../uavtalk/uavobjects/HomeLocation.java      |   8 +-
 .../uavtalk/uavobjects/HwSettings.java        |   8 +-
 .../uavtalk/uavobjects/I2CStats.java          |   8 +-
 .../openpilot/uavtalk/uavobjects/MagBias.java |   8 +-
 .../uavtalk/uavobjects/Magnetometer.java      |   8 +-
 .../uavobjects/ManualControlCommand.java      |   8 +-
 .../uavobjects/ManualControlSettings.java     |   8 +-
 .../uavtalk/uavobjects/MixerSettings.java     |   8 +-
 .../uavtalk/uavobjects/MixerStatus.java       |   8 +-
 .../uavtalk/uavobjects/NEDPosition.java       |   8 +-
 .../uavtalk/uavobjects/NedAccel.java          |   8 +-
 .../uavtalk/uavobjects/ObjectPersistence.java |   8 +-
 .../uavtalk/uavobjects/OveroSyncSettings.java |   8 +-
 .../uavtalk/uavobjects/OveroSyncStats.java    |   8 +-
 .../uavtalk/uavobjects/PathDesired.java       |   8 +-
 .../uavobjects/PathPlannerSettings.java       |   8 +-
 .../uavtalk/uavobjects/PipXSettings.java      |   8 +-
 .../uavtalk/uavobjects/PipXStatus.java        |   8 +-
 .../uavtalk/uavobjects/PositionActual.java    |   8 +-
 .../uavtalk/uavobjects/RateDesired.java       |   8 +-
 .../uavtalk/uavobjects/ReceiverActivity.java  |   8 +-
 .../uavtalk/uavobjects/RevoCalibration.java   |   8 +-
 .../uavtalk/uavobjects/RevoSettings.java      |   8 +-
 .../uavtalk/uavobjects/SonarAltitude.java     |   8 +-
 .../uavobjects/StabilizationDesired.java      |   8 +-
 .../uavobjects/StabilizationSettings.java     |   8 +-
 .../uavtalk/uavobjects/SystemAlarms.java      |   8 +-
 .../uavtalk/uavobjects/SystemSettings.java    |   8 +-
 .../uavtalk/uavobjects/SystemStats.java       |   8 +-
 .../uavtalk/uavobjects/TaskInfo.java          |   8 +-
 .../uavtalk/uavobjects/TxPIDSettings.java     |   8 +-
 .../uavtalk/uavobjects/VelocityActual.java    |   8 +-
 .../uavtalk/uavobjects/VelocityDesired.java   |   8 +-
 .../uavobjects/VtolPathFollowerSettings.java  |   8 +-
 .../uavtalk/uavobjects/WatchdogStatus.java    |   8 +-
 .../uavtalk/uavobjects/Waypoint.java          |   8 +-
 .../uavtalk/uavobjects/WaypointActive.java    |   8 +-
 .../templates/uavobjecttemplate.java          |   8 +-
 79 files changed, 410 insertions(+), 329 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java b/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
index b662cf122..16256a975 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
@@ -22,31 +22,112 @@ public class ObjectEditor extends ObjectManagerActivity {
 		// TODO: Figure out why this line is required so it doesn't
 		// have to be set programmatically
 		setTheme(android.R.style.Theme_Holo);
-		
-	    Bundle extras = getIntent().getExtras();
-	    if(extras != null){
-	    	objectName = extras.getString("org.openpilot.androidgcs.ObjectName");
-	        objectID = extras.getInt("org.openpilot.androidgcs.ObjectId");
-	        instID = extras.getInt("org.openpilot.androidgcs.InstId");
-	        
-	        setTitle(objectName);
-	    }
-	    
-	}	
-	
+
+		Bundle extras = getIntent().getExtras();
+		if (extras == null)
+			return;
+
+		objectName = extras.getString("org.openpilot.androidgcs.ObjectName");
+		objectID = extras.getLong("org.openpilot.androidgcs.ObjectId");
+		instID = extras.getLong("org.openpilot.androidgcs.InstId");
+
+		setTitle(objectName);
+
+		Button sendButton = (Button) findViewById(R.id.object_edit_send_button);
+		sendButton.setOnClickListener(new OnClickListener() {
+			@Override
+			public void onClick(View v) {
+				updateObject();
+			}
+		});
+
+		Button saveButton = (Button) findViewById(R.id.object_edit_save_button);
+		saveButton.setOnClickListener(new OnClickListener() {
+			@Override
+			public void onClick(View v) {
+				saveObject();
+			}
+		});
+	}
+
 	public void onOPConnected() {
 		UAVObject obj = objMngr.getObject(objectID, instID);
-		if (obj == null)
+		if (obj == null) {
+			Log.d(TAG, "Object not found:" + objectID);
 			return;
+		}
 
 		ObjectEditView editView = (ObjectEditView) findViewById(R.id.object_edit_view);
 		editView.setName(obj.getName());
-		
+
 		List<UAVObjectField> fields = obj.getFields();
 		ListIterator<UAVObjectField> li = fields.listIterator();
-		while(li.hasNext()) {
+		while (li.hasNext()) {
 			editView.addField(li.next());
 		}
 	}
 
+	/**
+	 * Fetch the data back from the view and then send it to the UAV
+	 */
+	private void saveObject() {
+
+		UAVObject objPer = objMngr.getObject("ObjectPersistence");
+
+		if( !updateObject()  || objPer == null) {
+			Toast.makeText(this, "Save failed", Toast.LENGTH_LONG).show();
+			return;
+		}
+		
+		long thisId = objectID < 0 ? ((Long) 0x100000000l) + objectID : objectID; 
+		objPer.getField("Operation").setValue("Save");
+		objPer.getField("Selection").setValue("SingleObject");
+		Log.d(TAG,"Saving with object id: " + objectID + " swapped to " + thisId);
+		objPer.getField("ObjectID").setValue(thisId);
+		objPer.getField("InstanceID").setValue(instID);
+		objPer.updated();
+		
+		Toast.makeText(this, "Save succeeded", Toast.LENGTH_LONG).show();
+	}
+
+	/**
+	 * Fetch the data back from the view and then send it to the UAV
+	 */
+	private boolean updateObject() {
+		UAVObject obj = objMngr.getObject(objectID, instID);
+		if (obj == null)
+			return false;
+
+		ObjectEditView editView = (ObjectEditView) findViewById(R.id.object_edit_view);
+
+		int field_idx = 0;
+
+		List<UAVObjectField> fields = obj.getFields();
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while (li.hasNext()) {
+			UAVObjectField field = li.next();
+			int num_fields = field.getNumElements();
+			for (int i = 0; i < num_fields; i++) {
+				switch (field.getType()) {
+				case ENUM:
+					int selected = ((Spinner)editView.fields.get(field_idx)).getSelectedItemPosition();
+					field.setValue(selected, i);
+					break;
+				default:
+					String val = ((EditText) editView.fields.get(field_idx)).getText().toString();
+					Double num = Double.parseDouble(val);
+					
+					Log.e(TAG, "Updating field: " + field.getName() + " value: " + num);
+					field.setValue(num, i);
+					break;
+				}
+
+				field_idx++;
+			}
+		}
+		obj.updated();
+
+		return true;
+	}
+
 }
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
index 0acc02226..e8ae6e50e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
@@ -9,7 +9,7 @@ public abstract class UAVDataObject extends UAVObject {
 	 * @param isSet
 	 * @param name
 	 */
-	public UAVDataObject(int objID, Boolean isSingleInst, Boolean isSet, String name) {
+	public UAVDataObject(long objID, Boolean isSingleInst, Boolean isSet, String name) {
 		super(objID, isSingleInst, name);
 		mobj = null;
 		this.isSet = isSet;
@@ -17,7 +17,7 @@ public abstract class UAVDataObject extends UAVObject {
 	/**
 	 * Initialize instance ID and assign a metaobject
 	 */
-	public void initialize(int instID, UAVMetaObject mobj)
+	public void initialize(long instID, UAVMetaObject mobj)
 	{
 	    //QMutexLocker locker(mutex);
 	    this.mobj = mobj;
@@ -77,7 +77,7 @@ public abstract class UAVDataObject extends UAVObject {
 	}
 	    
     // TODO: Make abstract
-    public UAVDataObject clone(int instID) {
+    public UAVDataObject clone(long instID) {
 		return (UAVDataObject) super.clone();
     }
     
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
index 98a3bf8df..5f938bbac 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
@@ -7,7 +7,7 @@ import java.util.ListIterator;
 
 public class UAVMetaObject extends UAVObject {
 
-	public UAVMetaObject(int objID, String name, UAVDataObject parent) throws Exception {
+	public UAVMetaObject(long objID, String name, UAVDataObject parent) throws Exception {
 		super(objID, true, name);
 		this.parent = parent;
 		
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index 087d2b808..da93e9889 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -363,7 +363,7 @@ public abstract class UAVObject {
 
 	};
 
-	public UAVObject(int objID, Boolean isSingleInst, String name) {
+	public UAVObject(long objID, Boolean isSingleInst, String name) {
 		this.objID = objID;
 		this.instID = 0;
 		this.isSingleInst = isSingleInst;
@@ -371,7 +371,7 @@ public abstract class UAVObject {
 		// this.mutex = new QMutex(QMutex::Recursive);
 	};
 
-	public synchronized void initialize(int instID) {
+	public synchronized void initialize(long instID) {
 		this.instID = instID;
 	}
 
@@ -402,14 +402,14 @@ public abstract class UAVObject {
 	/**
 	 * Get the object ID
 	 */
-	public int getObjID() {
+	public long getObjID() {
 		return objID;
 	}
 
 	/**
 	 * Get the instance ID
 	 */
-	public int getInstID() {
+	public long getInstID() {
 		return instID;
 	}
 
@@ -794,8 +794,8 @@ public abstract class UAVObject {
 	/**
 	 * Private data for the object, common to all
 	 */
-	protected int objID;
-	protected int instID;
+	protected long objID;
+	protected long instID;
 	protected boolean isSingleInst;
 	protected String name;
 	protected String description;
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
index 3ec588879..bbd637651 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
@@ -95,8 +95,8 @@ public class UAVObjectManager {
 				// If the instance ID is specified and not at the default value (0) then we need to make sure
 				// that there are no gaps in the instance list. If gaps are found then then additional instances
 				// will be created.
-				for(int instID = instList.size(); instID < obj.getInstID(); instID++) {
-					UAVDataObject newObj = obj.clone(instID);
+				for(long instId = instList.size(); instId < obj.getInstID(); instId++) {
+					UAVDataObject newObj = obj.clone(instId);
 					newObj.initialize(mobj);
 					instList.add(newObj);
 					newInstance.event(newObj);
@@ -116,7 +116,7 @@ public class UAVObjectManager {
 
 				// Check if there are any gaps between the requested instance ID and the ones in the list,
 				// if any then create the missing instances.
-				for (int instId = instList.size(); instId < obj.getInstID(); ++instId)
+				for (long instId = instList.size(); instId < obj.getInstID(); ++instId)
 				{
 					UAVDataObject cobj = obj.clone(instId);
 					cobj.initialize(mobj);
@@ -247,7 +247,7 @@ public class UAVObjectManager {
 	 * Get a specific object given its name and instance ID
 	 * @returns The object is found or NULL if not
 	 */
-	public UAVObject getObject(String name, int instId)
+	public UAVObject getObject(String name, long instId)
 	{
 		return getObject(name, 0, instId);
 	}
@@ -257,7 +257,7 @@ public class UAVObjectManager {
 	 * @param objId the object id
 	 * @returns The object is found or NULL if not
 	 */
-	public UAVObject getObject(int objId) 
+	public UAVObject getObject(long objId) 
 	{
 		return getObject(null, objId, 0);
 	}
@@ -266,7 +266,7 @@ public class UAVObjectManager {
 	 * Get a specific object given its object and instance ID
 	 * @returns The object is found or NULL if not
 	 */
-	public UAVObject getObject(int objId, int instId)
+	public UAVObject getObject(long objId, long instId)
 	{
 		return getObject(null, objId, instId);
 	}
@@ -274,7 +274,7 @@ public class UAVObjectManager {
 	/**
 	 * Helper function for the public getObject() functions.
 	 */
-	public synchronized UAVObject getObject(String name, int objId, int instId)
+	public synchronized UAVObject getObject(String name, long objId, long instId)
 	{
 		// Check if this object type is already in the list
 		ListIterator<List<UAVObject>> objIter = objects.listIterator();
@@ -308,7 +308,7 @@ public class UAVObjectManager {
 	/**
 	 * Get all the instances of the object specified by its ID
 	 */
-	public List<UAVObject> getObjectInstances(int objId)
+	public List<UAVObject> getObjectInstances(long objId)
 	{
 		return getObjectInstances(null, objId);
 	}
@@ -316,7 +316,7 @@ public class UAVObjectManager {
 	/**
 	 * Helper function for the public getObjectInstances()
 	 */
-	public synchronized List<UAVObject> getObjectInstances(String name, int objId)
+	public synchronized List<UAVObject> getObjectInstances(String name, long objId)
 	{
 		// Check if this object type is already in the list
 		ListIterator<List<UAVObject>> objIter = objects.listIterator();
@@ -343,7 +343,7 @@ public class UAVObjectManager {
 	/**
 	 * Get the number of instances for an object given its ID
 	 */
-	public int getNumInstances(int objId)
+	public int getNumInstances(long objId)
 	{
 		return getNumInstances(null, objId);
 	}
@@ -351,7 +351,7 @@ public class UAVObjectManager {
 	/**
 	 * Helper function for public getNumInstances
 	 */
-	public int getNumInstances(String name, int objId)
+	public int getNumInstances(String name, long objId)
 	{
 		return getObjectInstances(name,objId).size();
 	}
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 9cdd11ccb..e16bf6c17 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -686,7 +686,7 @@ public class UAVTalk extends Observable {
 		bbuf
 				.putShort((short) (length + 2 /* SYNC, Type */+ 2 /* Size */+ 4 /* ObjID */+ (obj
 						.isSingleInstance() ? 0 : 2)));
-		bbuf.putInt(obj.getObjID());
+		bbuf.putInt((int)obj.getObjID());
 
 		// Setup instance ID if one is required
 		if (!obj.isSingleInstance()) {
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java
index 32437e63e..167e1f151 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java
@@ -119,7 +119,7 @@ public class Accels extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			Accels obj = new Accels();
@@ -133,13 +133,13 @@ public class Accels extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public Accels GetInstance(UAVObjectManager objMngr, int instID)
+	public Accels GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (Accels)(objMngr.getObject(Accels.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xDD9D5FC0;
+	protected static final long OBJID = 0xDD9D5FC0;
 	protected static final String NAME = "Accels";
 	protected static String DESCRIPTION = "The accel data.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -147,4 +147,4 @@ public class Accels extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
index 4b7c875a7..69d8989e0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
@@ -107,7 +107,7 @@ public class AccessoryDesired extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			AccessoryDesired obj = new AccessoryDesired();
@@ -121,13 +121,13 @@ public class AccessoryDesired extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public AccessoryDesired GetInstance(UAVObjectManager objMngr, int instID)
+	public AccessoryDesired GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (AccessoryDesired)(objMngr.getObject(AccessoryDesired.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xC409985A;
+	protected static final long OBJID = 0xC409985A;
 	protected static final String NAME = "AccessoryDesired";
 	protected static String DESCRIPTION = "Desired Auxillary actuator settings.  Comes from @ref ManualControlModule.";
 	protected static final boolean ISSINGLEINST = 0 == 1;
@@ -135,4 +135,4 @@ public class AccessoryDesired extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
index 0120e0ce7..d48bd0c2c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
@@ -128,7 +128,7 @@ public class ActuatorCommand extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			ActuatorCommand obj = new ActuatorCommand();
@@ -142,13 +142,13 @@ public class ActuatorCommand extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public ActuatorCommand GetInstance(UAVObjectManager objMngr, int instID)
+	public ActuatorCommand GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (ActuatorCommand)(objMngr.getObject(ActuatorCommand.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x5324CB8;
+	protected static final long OBJID = 0x5324CB8;
 	protected static final String NAME = "ActuatorCommand";
 	protected static String DESCRIPTION = "Contains the pulse duration sent to each of the channels.  Set by @ref ActuatorModule";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -156,4 +156,4 @@ public class ActuatorCommand extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
index a00517906..ff1329ad6 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
@@ -127,7 +127,7 @@ public class ActuatorDesired extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			ActuatorDesired obj = new ActuatorDesired();
@@ -141,13 +141,13 @@ public class ActuatorDesired extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public ActuatorDesired GetInstance(UAVObjectManager objMngr, int instID)
+	public ActuatorDesired GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (ActuatorDesired)(objMngr.getObject(ActuatorDesired.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xCA4BC4A4;
+	protected static final long OBJID = 0xCA4BC4A4;
 	protected static final String NAME = "ActuatorDesired";
 	protected static String DESCRIPTION = "Desired raw, pitch and yaw actuator settings.  Comes from either @ref StabilizationModule or @ref ManualControlModule depending on FlightMode.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -155,4 +155,4 @@ public class ActuatorDesired extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
index 2257da346..5c587d31a 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
@@ -242,7 +242,7 @@ public class ActuatorSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			ActuatorSettings obj = new ActuatorSettings();
@@ -256,13 +256,13 @@ public class ActuatorSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public ActuatorSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public ActuatorSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (ActuatorSettings)(objMngr.getObject(ActuatorSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x7D555646;
+	protected static final long OBJID = 0x7D555646;
 	protected static final String NAME = "ActuatorSettings";
 	protected static String DESCRIPTION = "Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -270,4 +270,4 @@ public class ActuatorSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java
index 46d03a544..d2ac0b36d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java
@@ -115,7 +115,7 @@ public class AltHoldSmoothed extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			AltHoldSmoothed obj = new AltHoldSmoothed();
@@ -129,13 +129,13 @@ public class AltHoldSmoothed extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public AltHoldSmoothed GetInstance(UAVObjectManager objMngr, int instID)
+	public AltHoldSmoothed GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (AltHoldSmoothed)(objMngr.getObject(AltHoldSmoothed.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x2BC6B9D2;
+	protected static final long OBJID = 0x2BC6B9D2;
 	protected static final String NAME = "AltHoldSmoothed";
 	protected static String DESCRIPTION = "The output on the kalman filter on altitude.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -143,4 +143,4 @@ public class AltHoldSmoothed extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java
index efe860340..a53a18a1c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java
@@ -119,7 +119,7 @@ public class AltitudeHoldDesired extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			AltitudeHoldDesired obj = new AltitudeHoldDesired();
@@ -133,13 +133,13 @@ public class AltitudeHoldDesired extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public AltitudeHoldDesired GetInstance(UAVObjectManager objMngr, int instID)
+	public AltitudeHoldDesired GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (AltitudeHoldDesired)(objMngr.getObject(AltitudeHoldDesired.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x495BAD6E;
+	protected static final long OBJID = 0x495BAD6E;
 	protected static final String NAME = "AltitudeHoldDesired";
 	protected static String DESCRIPTION = "Holds the desired altitude (from manual control) as well as the desired attitude to pass through";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -147,4 +147,4 @@ public class AltitudeHoldDesired extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
index 77b6774b9..241ae4299 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
@@ -138,7 +138,7 @@ public class AltitudeHoldSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			AltitudeHoldSettings obj = new AltitudeHoldSettings();
@@ -152,13 +152,13 @@ public class AltitudeHoldSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public AltitudeHoldSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public AltitudeHoldSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (AltitudeHoldSettings)(objMngr.getObject(AltitudeHoldSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xFEC55B42;
+	protected static final long OBJID = 0xFEC55B42;
 	protected static final String NAME = "AltitudeHoldSettings";
 	protected static String DESCRIPTION = "Settings for the @ref AltitudeHold module";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -166,4 +166,4 @@ public class AltitudeHoldSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
index b117e501a..e72019311 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
@@ -131,7 +131,7 @@ public class AttitudeActual extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			AttitudeActual obj = new AttitudeActual();
@@ -145,13 +145,13 @@ public class AttitudeActual extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public AttitudeActual GetInstance(UAVObjectManager objMngr, int instID)
+	public AttitudeActual GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (AttitudeActual)(objMngr.getObject(AttitudeActual.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x33DAD5E6;
+	protected static final long OBJID = 0x33DAD5E6;
 	protected static final String NAME = "AttitudeActual";
 	protected static String DESCRIPTION = "The updated Attitude estimation from @ref AHRSCommsModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -159,4 +159,4 @@ public class AttitudeActual extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
index 9bcce7bf3..4507e83dc 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
@@ -175,7 +175,7 @@ public class AttitudeSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			AttitudeSettings obj = new AttitudeSettings();
@@ -189,13 +189,13 @@ public class AttitudeSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public AttitudeSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public AttitudeSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (AttitudeSettings)(objMngr.getObject(AttitudeSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xC307BC4A;
+	protected static final long OBJID = 0xC307BC4A;
 	protected static final String NAME = "AttitudeSettings";
 	protected static String DESCRIPTION = "Settings for the @ref Attitude module used on CopterControl";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -203,4 +203,4 @@ public class AttitudeSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java
index 3a713ab04..c3ca10e91 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java
@@ -143,7 +143,7 @@ public class AttitudeSimulated extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			AttitudeSimulated obj = new AttitudeSimulated();
@@ -157,13 +157,13 @@ public class AttitudeSimulated extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public AttitudeSimulated GetInstance(UAVObjectManager objMngr, int instID)
+	public AttitudeSimulated GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (AttitudeSimulated)(objMngr.getObject(AttitudeSimulated.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x9266CE74;
+	protected static final long OBJID = 0x9266CE74;
 	protected static final String NAME = "AttitudeSimulated";
 	protected static String DESCRIPTION = "The simulated Attitude estimation from @ref Sensors.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -171,4 +171,4 @@ public class AttitudeSimulated extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java
index 439915741..430974aec 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java
@@ -122,7 +122,7 @@ public class BaroAirspeed extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			BaroAirspeed obj = new BaroAirspeed();
@@ -136,13 +136,13 @@ public class BaroAirspeed extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public BaroAirspeed GetInstance(UAVObjectManager objMngr, int instID)
+	public BaroAirspeed GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (BaroAirspeed)(objMngr.getObject(BaroAirspeed.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x169EA4A;
+	protected static final long OBJID = 0x169EA4A;
 	protected static final String NAME = "BaroAirspeed";
 	protected static String DESCRIPTION = "The raw data from the dynamic pressure sensor with pressure, temperature and airspeed.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -150,4 +150,4 @@ public class BaroAirspeed extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
index cd649f84c..27f5d667b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
@@ -115,7 +115,7 @@ public class BaroAltitude extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			BaroAltitude obj = new BaroAltitude();
@@ -129,13 +129,13 @@ public class BaroAltitude extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public BaroAltitude GetInstance(UAVObjectManager objMngr, int instID)
+	public BaroAltitude GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (BaroAltitude)(objMngr.getObject(BaroAltitude.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x99622E6A;
+	protected static final long OBJID = 0x99622E6A;
 	protected static final String NAME = "BaroAltitude";
 	protected static String DESCRIPTION = "The raw data from the barometric sensor with pressure, temperature and altitude estimate.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -143,4 +143,4 @@ public class BaroAltitude extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
index 34c23e612..bcd009b18 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
@@ -115,7 +115,7 @@ public class CameraDesired extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			CameraDesired obj = new CameraDesired();
@@ -129,13 +129,13 @@ public class CameraDesired extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public CameraDesired GetInstance(UAVObjectManager objMngr, int instID)
+	public CameraDesired GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (CameraDesired)(objMngr.getObject(CameraDesired.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x531F544E;
+	protected static final long OBJID = 0x531F544E;
 	protected static final String NAME = "CameraDesired";
 	protected static String DESCRIPTION = "Desired camera outputs.  Comes from @ref CameraStabilization module.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -143,4 +143,4 @@ public class CameraDesired extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
index 0b2f3b3f5..d3b5acfa8 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
@@ -173,7 +173,7 @@ public class CameraStabSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			CameraStabSettings obj = new CameraStabSettings();
@@ -187,13 +187,13 @@ public class CameraStabSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public CameraStabSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public CameraStabSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (CameraStabSettings)(objMngr.getObject(CameraStabSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x3B95DDBA;
+	protected static final long OBJID = 0x3B95DDBA;
 	protected static final String NAME = "CameraStabSettings";
 	protected static String DESCRIPTION = "Settings for the @ref CameraStab mmodule";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -201,4 +201,4 @@ public class CameraStabSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
index 8da58f793..31b5a8ad9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
@@ -115,7 +115,7 @@ public class FaultSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			FaultSettings obj = new FaultSettings();
@@ -129,13 +129,13 @@ public class FaultSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public FaultSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public FaultSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (FaultSettings)(objMngr.getObject(FaultSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x2778BA3C;
+	protected static final long OBJID = 0x2778BA3C;
 	protected static final String NAME = "FaultSettings";
 	protected static String DESCRIPTION = "Allows testers to simulate various fault scenarios.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -143,4 +143,4 @@ public class FaultSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
index 58fadcee5..3b0c4da20 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
@@ -181,7 +181,7 @@ public class FirmwareIAPObj extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			FirmwareIAPObj obj = new FirmwareIAPObj();
@@ -195,13 +195,13 @@ public class FirmwareIAPObj extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public FirmwareIAPObj GetInstance(UAVObjectManager objMngr, int instID)
+	public FirmwareIAPObj GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (FirmwareIAPObj)(objMngr.getObject(FirmwareIAPObj.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x3CCDFB68;
+	protected static final long OBJID = 0x3CCDFB68;
 	protected static final String NAME = "FirmwareIAPObj";
 	protected static String DESCRIPTION = "Queries board for SN, model, revision, and sends reset command";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -209,4 +209,4 @@ public class FirmwareIAPObj extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java
index 00419bc4c..e35e744e4 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java
@@ -208,7 +208,7 @@ public class FixedWingPathFollowerSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			FixedWingPathFollowerSettings obj = new FixedWingPathFollowerSettings();
@@ -222,13 +222,13 @@ public class FixedWingPathFollowerSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public FixedWingPathFollowerSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public FixedWingPathFollowerSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (FixedWingPathFollowerSettings)(objMngr.getObject(FixedWingPathFollowerSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x8A3F1E02;
+	protected static final long OBJID = 0x8A3F1E02;
 	protected static final String NAME = "FixedWingPathFollowerSettings";
 	protected static String DESCRIPTION = "Settings for the @ref FixedWingPathFollowerModule";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -236,4 +236,4 @@ public class FixedWingPathFollowerSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java
index a40be35cf..9766ca1fe 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java
@@ -133,7 +133,7 @@ public class FixedWingPathFollowerStatus extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			FixedWingPathFollowerStatus obj = new FixedWingPathFollowerStatus();
@@ -147,13 +147,13 @@ public class FixedWingPathFollowerStatus extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public FixedWingPathFollowerStatus GetInstance(UAVObjectManager objMngr, int instID)
+	public FixedWingPathFollowerStatus GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (FixedWingPathFollowerStatus)(objMngr.getObject(FixedWingPathFollowerStatus.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xA0D6F6D4;
+	protected static final long OBJID = 0xA0D6F6D4;
 	protected static final String NAME = "FixedWingPathFollowerStatus";
 	protected static String DESCRIPTION = "Object Storing Debugging Information on PID internals";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -161,4 +161,4 @@ public class FixedWingPathFollowerStatus extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
index 850f64103..dd6c95f1f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
@@ -150,7 +150,7 @@ public class FlightBatterySettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			FlightBatterySettings obj = new FlightBatterySettings();
@@ -164,13 +164,13 @@ public class FlightBatterySettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public FlightBatterySettings GetInstance(UAVObjectManager objMngr, int instID)
+	public FlightBatterySettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (FlightBatterySettings)(objMngr.getObject(FlightBatterySettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x94AC6AD2;
+	protected static final long OBJID = 0x94AC6AD2;
 	protected static final String NAME = "FlightBatterySettings";
 	protected static String DESCRIPTION = "Flight Battery configuration.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -178,4 +178,4 @@ public class FlightBatterySettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
index d54648ad5..5a94df0d9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
@@ -138,7 +138,7 @@ public class FlightBatteryState extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			FlightBatteryState obj = new FlightBatteryState();
@@ -152,13 +152,13 @@ public class FlightBatteryState extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public FlightBatteryState GetInstance(UAVObjectManager objMngr, int instID)
+	public FlightBatteryState GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (FlightBatteryState)(objMngr.getObject(FlightBatteryState.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xD2083596;
+	protected static final long OBJID = 0xD2083596;
 	protected static final String NAME = "FlightBatteryState";
 	protected static String DESCRIPTION = "Battery status information.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -166,4 +166,4 @@ public class FlightBatteryState extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
index cdea28a0f..353531e97 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
@@ -112,7 +112,7 @@ public class FlightPlanControl extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			FlightPlanControl obj = new FlightPlanControl();
@@ -126,13 +126,13 @@ public class FlightPlanControl extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public FlightPlanControl GetInstance(UAVObjectManager objMngr, int instID)
+	public FlightPlanControl GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (FlightPlanControl)(objMngr.getObject(FlightPlanControl.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x53E3F180;
+	protected static final long OBJID = 0x53E3F180;
 	protected static final String NAME = "FlightPlanControl";
 	protected static String DESCRIPTION = "Control the flight plan script";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -140,4 +140,4 @@ public class FlightPlanControl extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
index 184bbd1b7..b7a8955fd 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
@@ -108,7 +108,7 @@ public class FlightPlanSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			FlightPlanSettings obj = new FlightPlanSettings();
@@ -122,13 +122,13 @@ public class FlightPlanSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public FlightPlanSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public FlightPlanSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (FlightPlanSettings)(objMngr.getObject(FlightPlanSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x92E9FF76;
+	protected static final long OBJID = 0x92E9FF76;
 	protected static final String NAME = "FlightPlanSettings";
 	protected static String DESCRIPTION = "Settings for the flight plan module, control the execution of the script";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -136,4 +136,4 @@ public class FlightPlanSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
index 8aa152789..ea5d0bec4 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
@@ -152,7 +152,7 @@ public class FlightPlanStatus extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			FlightPlanStatus obj = new FlightPlanStatus();
@@ -166,13 +166,13 @@ public class FlightPlanStatus extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public FlightPlanStatus GetInstance(UAVObjectManager objMngr, int instID)
+	public FlightPlanStatus GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (FlightPlanStatus)(objMngr.getObject(FlightPlanStatus.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x2206EE46;
+	protected static final long OBJID = 0x2206EE46;
 	protected static final String NAME = "FlightPlanStatus";
 	protected static String DESCRIPTION = "Status of the flight plan script";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -180,4 +180,4 @@ public class FlightPlanStatus extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
index 38697e573..fe6bcdc8b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
@@ -126,7 +126,7 @@ public class FlightStatus extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			FlightStatus obj = new FlightStatus();
@@ -140,13 +140,13 @@ public class FlightStatus extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public FlightStatus GetInstance(UAVObjectManager objMngr, int instID)
+	public FlightStatus GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (FlightStatus)(objMngr.getObject(FlightStatus.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x884FEF66;
+	protected static final long OBJID = 0x884FEF66;
 	protected static final String NAME = "FlightStatus";
 	protected static String DESCRIPTION = "Contains major flight status information for other modules.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -154,4 +154,4 @@ public class FlightStatus extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
index 3a042f52e..27e2ce394 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
@@ -132,7 +132,7 @@ public class FlightTelemetryStats extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			FlightTelemetryStats obj = new FlightTelemetryStats();
@@ -146,13 +146,13 @@ public class FlightTelemetryStats extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public FlightTelemetryStats GetInstance(UAVObjectManager objMngr, int instID)
+	public FlightTelemetryStats GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (FlightTelemetryStats)(objMngr.getObject(FlightTelemetryStats.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x2F7E2902;
+	protected static final long OBJID = 0x2F7E2902;
 	protected static final String NAME = "FlightTelemetryStats";
 	protected static String DESCRIPTION = "Maintains the telemetry statistics from the OpenPilot flight computer.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -160,4 +160,4 @@ public class FlightTelemetryStats extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
index 05fa87efb..28b88933a 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
@@ -114,7 +114,7 @@ public class GCSReceiver extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			GCSReceiver obj = new GCSReceiver();
@@ -128,13 +128,13 @@ public class GCSReceiver extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public GCSReceiver GetInstance(UAVObjectManager objMngr, int instID)
+	public GCSReceiver GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (GCSReceiver)(objMngr.getObject(GCSReceiver.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xCC7E1470;
+	protected static final long OBJID = 0xCC7E1470;
 	protected static final String NAME = "GCSReceiver";
 	protected static String DESCRIPTION = "A receiver channel group carried over the telemetry link.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -142,4 +142,4 @@ public class GCSReceiver extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
index 754272c8c..1bea3355b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
@@ -132,7 +132,7 @@ public class GCSTelemetryStats extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			GCSTelemetryStats obj = new GCSTelemetryStats();
@@ -146,13 +146,13 @@ public class GCSTelemetryStats extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public GCSTelemetryStats GetInstance(UAVObjectManager objMngr, int instID)
+	public GCSTelemetryStats GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (GCSTelemetryStats)(objMngr.getObject(GCSTelemetryStats.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xABC72744;
+	protected static final long OBJID = 0xABC72744;
 	protected static final String NAME = "GCSTelemetryStats";
 	protected static String DESCRIPTION = "The telemetry statistics from the ground computer";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -160,4 +160,4 @@ public class GCSTelemetryStats extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
index c2c8544a9..d58b758a8 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
@@ -152,7 +152,7 @@ public class GPSPosition extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			GPSPosition obj = new GPSPosition();
@@ -166,13 +166,13 @@ public class GPSPosition extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public GPSPosition GetInstance(UAVObjectManager objMngr, int instID)
+	public GPSPosition GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (GPSPosition)(objMngr.getObject(GPSPosition.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xE2A323B6;
+	protected static final long OBJID = 0xE2A323B6;
 	protected static final String NAME = "GPSPosition";
 	protected static String DESCRIPTION = "Raw GPS data from @ref GPSModule.  Should only be used by @ref AHRSCommsModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -180,4 +180,4 @@ public class GPSPosition extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
index 0f5b0161a..81b5be464 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
@@ -183,7 +183,7 @@ public class GPSSatellites extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			GPSSatellites obj = new GPSSatellites();
@@ -197,13 +197,13 @@ public class GPSSatellites extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public GPSSatellites GetInstance(UAVObjectManager objMngr, int instID)
+	public GPSSatellites GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (GPSSatellites)(objMngr.getObject(GPSSatellites.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x920D998;
+	protected static final long OBJID = 0x920D998;
 	protected static final String NAME = "GPSSatellites";
 	protected static String DESCRIPTION = "Contains information about the GPS satellites in view from @ref GPSModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -211,4 +211,4 @@ public class GPSSatellites extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
index f534fc89c..254543efb 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
@@ -111,7 +111,7 @@ public class GPSSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			GPSSettings obj = new GPSSettings();
@@ -125,13 +125,13 @@ public class GPSSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public GPSSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public GPSSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (GPSSettings)(objMngr.getObject(GPSSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xAC5F6370;
+	protected static final long OBJID = 0xAC5F6370;
 	protected static final String NAME = "GPSSettings";
 	protected static String DESCRIPTION = "Settings for the GPS";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -139,4 +139,4 @@ public class GPSSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
index 7095aa18e..0fa7dd6b8 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
@@ -127,7 +127,7 @@ public class GPSTime extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			GPSTime obj = new GPSTime();
@@ -141,13 +141,13 @@ public class GPSTime extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public GPSTime GetInstance(UAVObjectManager objMngr, int instID)
+	public GPSTime GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (GPSTime)(objMngr.getObject(GPSTime.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xD4478084;
+	protected static final long OBJID = 0xD4478084;
 	protected static final String NAME = "GPSTime";
 	protected static String DESCRIPTION = "Contains the GPS time from @ref GPSModule.  Required to compute the world magnetic model correctly when setting the home location.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -155,4 +155,4 @@ public class GPSTime extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java
index 2ce4a3c62..409f31b41 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java
@@ -115,7 +115,7 @@ public class GPSVelocity extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			GPSVelocity obj = new GPSVelocity();
@@ -129,13 +129,13 @@ public class GPSVelocity extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public GPSVelocity GetInstance(UAVObjectManager objMngr, int instID)
+	public GPSVelocity GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (GPSVelocity)(objMngr.getObject(GPSVelocity.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x8245DC80;
+	protected static final long OBJID = 0x8245DC80;
 	protected static final String NAME = "GPSVelocity";
 	protected static String DESCRIPTION = "Raw GPS data from @ref GPSModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -143,4 +143,4 @@ public class GPSVelocity extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java
index 5c960d2e6..176cab896 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java
@@ -119,7 +119,7 @@ public class Gyros extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			Gyros obj = new Gyros();
@@ -133,13 +133,13 @@ public class Gyros extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public Gyros GetInstance(UAVObjectManager objMngr, int instID)
+	public Gyros GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (Gyros)(objMngr.getObject(Gyros.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x4228AF6;
+	protected static final long OBJID = 0x4228AF6;
 	protected static final String NAME = "Gyros";
 	protected static String DESCRIPTION = "The gyro data.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -147,4 +147,4 @@ public class Gyros extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java
index 00bc7da2d..dbfd6b376 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java
@@ -115,7 +115,7 @@ public class GyrosBias extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			GyrosBias obj = new GyrosBias();
@@ -129,13 +129,13 @@ public class GyrosBias extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public GyrosBias GetInstance(UAVObjectManager objMngr, int instID)
+	public GyrosBias GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (GyrosBias)(objMngr.getObject(GyrosBias.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xE4B6F980;
+	protected static final long OBJID = 0xE4B6F980;
 	protected static final String NAME = "GyrosBias";
 	protected static String DESCRIPTION = "The gyro data.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -143,4 +143,4 @@ public class GyrosBias extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
index 0cd45db1b..7ec829ddf 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
@@ -140,7 +140,7 @@ public class HomeLocation extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			HomeLocation obj = new HomeLocation();
@@ -154,13 +154,13 @@ public class HomeLocation extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public HomeLocation GetInstance(UAVObjectManager objMngr, int instID)
+	public HomeLocation GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (HomeLocation)(objMngr.getObject(HomeLocation.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x6185DC6E;
+	protected static final long OBJID = 0x6185DC6E;
 	protected static final String NAME = "HomeLocation";
 	protected static String DESCRIPTION = "HomeLocation setting which contains the constants to tranlate from longitutde and latitude to NED reference frame.  Automatically set by @ref GPSModule after acquiring a 3D lock.  Used by @ref AHRSCommsModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -168,4 +168,4 @@ public class HomeLocation extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
index 9d8113846..9dd7d0cce 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
@@ -304,7 +304,7 @@ public class HwSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			HwSettings obj = new HwSettings();
@@ -318,13 +318,13 @@ public class HwSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public HwSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public HwSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (HwSettings)(objMngr.getObject(HwSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x5D950E50;
+	protected static final long OBJID = 0x5D950E50;
 	protected static final String NAME = "HwSettings";
 	protected static String DESCRIPTION = "Selection of optional hardware configurations.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -332,4 +332,4 @@ public class HwSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
index a09e4404d..41e4f91ab 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
@@ -206,7 +206,7 @@ public class I2CStats extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			I2CStats obj = new I2CStats();
@@ -220,13 +220,13 @@ public class I2CStats extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public I2CStats GetInstance(UAVObjectManager objMngr, int instID)
+	public I2CStats GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (I2CStats)(objMngr.getObject(I2CStats.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xB714823E;
+	protected static final long OBJID = 0xB714823E;
 	protected static final String NAME = "I2CStats";
 	protected static String DESCRIPTION = "Tracks statistics on the I2C bus.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -234,4 +234,4 @@ public class I2CStats extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java
index 398f455d5..e7c97c33c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java
@@ -115,7 +115,7 @@ public class MagBias extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			MagBias obj = new MagBias();
@@ -129,13 +129,13 @@ public class MagBias extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public MagBias GetInstance(UAVObjectManager objMngr, int instID)
+	public MagBias GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (MagBias)(objMngr.getObject(MagBias.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x5043E510;
+	protected static final long OBJID = 0x5043E510;
 	protected static final String NAME = "MagBias";
 	protected static String DESCRIPTION = "The gyro data.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -143,4 +143,4 @@ public class MagBias extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java
index 583817cca..554c4bb69 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java
@@ -115,7 +115,7 @@ public class Magnetometer extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			Magnetometer obj = new Magnetometer();
@@ -129,13 +129,13 @@ public class Magnetometer extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public Magnetometer GetInstance(UAVObjectManager objMngr, int instID)
+	public Magnetometer GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (Magnetometer)(objMngr.getObject(Magnetometer.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x813B55DE;
+	protected static final long OBJID = 0x813B55DE;
 	protected static final String NAME = "Magnetometer";
 	protected static String DESCRIPTION = "The mag data.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -143,4 +143,4 @@ public class Magnetometer extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
index 5ce51c245..d48ac310c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
@@ -142,7 +142,7 @@ public class ManualControlCommand extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			ManualControlCommand obj = new ManualControlCommand();
@@ -156,13 +156,13 @@ public class ManualControlCommand extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public ManualControlCommand GetInstance(UAVObjectManager objMngr, int instID)
+	public ManualControlCommand GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (ManualControlCommand)(objMngr.getObject(ManualControlCommand.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x1E82C2D2;
+	protected static final long OBJID = 0x1E82C2D2;
 	protected static final String NAME = "ManualControlCommand";
 	protected static String DESCRIPTION = "The output from the @ref ManualControlModule which descodes the receiver inputs.  Overriden by GCS for fly-by-wire control.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -170,4 +170,4 @@ public class ManualControlCommand extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
index 47ebbc230..afa4cfcde 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
@@ -321,7 +321,7 @@ public class ManualControlSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			ManualControlSettings obj = new ManualControlSettings();
@@ -335,13 +335,13 @@ public class ManualControlSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public ManualControlSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public ManualControlSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (ManualControlSettings)(objMngr.getObject(ManualControlSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x6C188320;
+	protected static final long OBJID = 0x6C188320;
 	protected static final String NAME = "ManualControlSettings";
 	protected static String DESCRIPTION = "Settings to indicate how to decode receiver input by @ref ManualControlModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -349,4 +349,4 @@ public class ManualControlSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
index 094d91545..d52b39448 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
@@ -476,7 +476,7 @@ public class MixerSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			MixerSettings obj = new MixerSettings();
@@ -490,13 +490,13 @@ public class MixerSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public MixerSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public MixerSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (MixerSettings)(objMngr.getObject(MixerSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x5D16D6C4;
+	protected static final long OBJID = 0x5D16D6C4;
 	protected static final String NAME = "MixerSettings";
 	protected static String DESCRIPTION = "Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -504,4 +504,4 @@ public class MixerSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
index 1f767c5ba..b0f2692af 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
@@ -143,7 +143,7 @@ public class MixerStatus extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			MixerStatus obj = new MixerStatus();
@@ -157,13 +157,13 @@ public class MixerStatus extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public MixerStatus GetInstance(UAVObjectManager objMngr, int instID)
+	public MixerStatus GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (MixerStatus)(objMngr.getObject(MixerStatus.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x124E28A;
+	protected static final long OBJID = 0x124E28A;
 	protected static final String NAME = "MixerStatus";
 	protected static String DESCRIPTION = "Status for the matrix mixer showing the output of each mixer after all scaling";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -171,4 +171,4 @@ public class MixerStatus extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java
index 0aa67862e..8a46a0025 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java
@@ -115,7 +115,7 @@ public class NEDPosition extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			NEDPosition obj = new NEDPosition();
@@ -129,13 +129,13 @@ public class NEDPosition extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public NEDPosition GetInstance(UAVObjectManager objMngr, int instID)
+	public NEDPosition GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (NEDPosition)(objMngr.getObject(NEDPosition.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x1FB15A00;
+	protected static final long OBJID = 0x1FB15A00;
 	protected static final String NAME = "NEDPosition";
 	protected static String DESCRIPTION = "Contains the current position relative to @ref HomeLocation";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -143,4 +143,4 @@ public class NEDPosition extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
index 6d09a799e..972d81e3c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
@@ -115,7 +115,7 @@ public class NedAccel extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			NedAccel obj = new NedAccel();
@@ -129,13 +129,13 @@ public class NedAccel extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public NedAccel GetInstance(UAVObjectManager objMngr, int instID)
+	public NedAccel GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (NedAccel)(objMngr.getObject(NedAccel.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x7C7F5BC0;
+	protected static final long OBJID = 0x7C7F5BC0;
 	protected static final String NAME = "NedAccel";
 	protected static String DESCRIPTION = "The projection of acceleration in the NED reference frame used by @ref Guidance.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -143,4 +143,4 @@ public class NedAccel extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
index 42a65e3ab..8790ff8b8 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
@@ -132,7 +132,7 @@ public class ObjectPersistence extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			ObjectPersistence obj = new ObjectPersistence();
@@ -146,13 +146,13 @@ public class ObjectPersistence extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public ObjectPersistence GetInstance(UAVObjectManager objMngr, int instID)
+	public ObjectPersistence GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (ObjectPersistence)(objMngr.getObject(ObjectPersistence.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x99C63292;
+	protected static final long OBJID = 0x99C63292;
 	protected static final String NAME = "ObjectPersistence";
 	protected static String DESCRIPTION = "Someone who knows please enter this";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -160,4 +160,4 @@ public class ObjectPersistence extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java
index c680d230c..12048f0a3 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java
@@ -112,7 +112,7 @@ public class OveroSyncSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			OveroSyncSettings obj = new OveroSyncSettings();
@@ -126,13 +126,13 @@ public class OveroSyncSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public OveroSyncSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public OveroSyncSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (OveroSyncSettings)(objMngr.getObject(OveroSyncSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xA1ABC278;
+	protected static final long OBJID = 0xA1ABC278;
 	protected static final String NAME = "OveroSyncSettings";
 	protected static String DESCRIPTION = "Settings to control the behavior of the overo sync module";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -140,4 +140,4 @@ public class OveroSyncSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
index 4c31f21dd..380388118 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
@@ -134,7 +134,7 @@ public class OveroSyncStats extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			OveroSyncStats obj = new OveroSyncStats();
@@ -148,13 +148,13 @@ public class OveroSyncStats extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public OveroSyncStats GetInstance(UAVObjectManager objMngr, int instID)
+	public OveroSyncStats GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (OveroSyncStats)(objMngr.getObject(OveroSyncStats.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xD2085FAC;
+	protected static final long OBJID = 0xD2085FAC;
 	protected static final String NAME = "OveroSyncStats";
 	protected static String DESCRIPTION = "Maintains statistics on transfer rate to and from over";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -162,4 +162,4 @@ public class OveroSyncStats extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java
index 38e710477..f430f0f4b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java
@@ -131,7 +131,7 @@ public class PathDesired extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			PathDesired obj = new PathDesired();
@@ -145,13 +145,13 @@ public class PathDesired extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public PathDesired GetInstance(UAVObjectManager objMngr, int instID)
+	public PathDesired GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (PathDesired)(objMngr.getObject(PathDesired.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x5A4DC71A;
+	protected static final long OBJID = 0x5A4DC71A;
 	protected static final String NAME = "PathDesired";
 	protected static String DESCRIPTION = "The endpoint or path the craft is trying to achieve.  Can come from @ref ManualControl or @ref PathPlanner ";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -159,4 +159,4 @@ public class PathDesired extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java
index fb6b66e19..c842559f0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java
@@ -120,7 +120,7 @@ public class PathPlannerSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			PathPlannerSettings obj = new PathPlannerSettings();
@@ -134,13 +134,13 @@ public class PathPlannerSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public PathPlannerSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public PathPlannerSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (PathPlannerSettings)(objMngr.getObject(PathPlannerSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x290E45DA;
+	protected static final long OBJID = 0x290E45DA;
 	protected static final String NAME = "PathPlannerSettings";
 	protected static String DESCRIPTION = "Settings for the @ref PathPlanner Module";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -148,4 +148,4 @@ public class PathPlannerSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java
index aa5387148..f9dfa5723 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java
@@ -295,7 +295,7 @@ public class PipXSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			PipXSettings obj = new PipXSettings();
@@ -309,13 +309,13 @@ public class PipXSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public PipXSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public PipXSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (PipXSettings)(objMngr.getObject(PipXSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xBA192BCA;
+	protected static final long OBJID = 0xBA192BCA;
 	protected static final String NAME = "PipXSettings";
 	protected static String DESCRIPTION = "PipXtreme configurations options.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -323,4 +323,4 @@ public class PipXSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java
index fb6a91e33..efa9035f7 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java
@@ -270,7 +270,7 @@ public class PipXStatus extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			PipXStatus obj = new PipXStatus();
@@ -284,13 +284,13 @@ public class PipXStatus extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public PipXStatus GetInstance(UAVObjectManager objMngr, int instID)
+	public PipXStatus GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (PipXStatus)(objMngr.getObject(PipXStatus.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x3FC68A86;
+	protected static final long OBJID = 0x3FC68A86;
 	protected static final String NAME = "PipXStatus";
 	protected static String DESCRIPTION = "PipXtreme device status.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -298,4 +298,4 @@ public class PipXStatus extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
index 1c87c21c3..38b308c16 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
@@ -115,7 +115,7 @@ public class PositionActual extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			PositionActual obj = new PositionActual();
@@ -129,13 +129,13 @@ public class PositionActual extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public PositionActual GetInstance(UAVObjectManager objMngr, int instID)
+	public PositionActual GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (PositionActual)(objMngr.getObject(PositionActual.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xFA9E2D42;
+	protected static final long OBJID = 0xFA9E2D42;
 	protected static final String NAME = "PositionActual";
 	protected static String DESCRIPTION = "Contains the current position relative to @ref HomeLocation";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -143,4 +143,4 @@ public class PositionActual extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
index 51f7faa7d..8ed278a4f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
@@ -115,7 +115,7 @@ public class RateDesired extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			RateDesired obj = new RateDesired();
@@ -129,13 +129,13 @@ public class RateDesired extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public RateDesired GetInstance(UAVObjectManager objMngr, int instID)
+	public RateDesired GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (RateDesired)(objMngr.getObject(RateDesired.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xCE8C826;
+	protected static final long OBJID = 0xCE8C826;
 	protected static final String NAME = "RateDesired";
 	protected static String DESCRIPTION = "Status for the matrix mixer showing the output of each mixer after all scaling";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -143,4 +143,4 @@ public class RateDesired extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
index 15391ce71..be7523ce0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
@@ -121,7 +121,7 @@ public class ReceiverActivity extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			ReceiverActivity obj = new ReceiverActivity();
@@ -135,13 +135,13 @@ public class ReceiverActivity extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public ReceiverActivity GetInstance(UAVObjectManager objMngr, int instID)
+	public ReceiverActivity GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (ReceiverActivity)(objMngr.getObject(ReceiverActivity.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x1E7C53DA;
+	protected static final long OBJID = 0x1E7C53DA;
 	protected static final String NAME = "ReceiverActivity";
 	protected static String DESCRIPTION = "Monitors which receiver channels have been active within the last second.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -149,4 +149,4 @@ public class ReceiverActivity extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
index 940f78875..d583feb19 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
@@ -218,7 +218,7 @@ public class RevoCalibration extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			RevoCalibration obj = new RevoCalibration();
@@ -232,13 +232,13 @@ public class RevoCalibration extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public RevoCalibration GetInstance(UAVObjectManager objMngr, int instID)
+	public RevoCalibration GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (RevoCalibration)(objMngr.getObject(RevoCalibration.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xA2A63C7C;
+	protected static final long OBJID = 0xA2A63C7C;
 	protected static final String NAME = "RevoCalibration";
 	protected static String DESCRIPTION = "Settings for the INS to control the algorithm and what is updated";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -246,4 +246,4 @@ public class RevoCalibration extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java
index 5e36565b2..00d1275a4 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java
@@ -112,7 +112,7 @@ public class RevoSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			RevoSettings obj = new RevoSettings();
@@ -126,13 +126,13 @@ public class RevoSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public RevoSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public RevoSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (RevoSettings)(objMngr.getObject(RevoSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xE2DA70EA;
+	protected static final long OBJID = 0xE2DA70EA;
 	protected static final String NAME = "RevoSettings";
 	protected static String DESCRIPTION = "Settings for the revo to control the algorithm and what is updated";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -140,4 +140,4 @@ public class RevoSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
index 1a5679d6a..c7498d4fe 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
@@ -107,7 +107,7 @@ public class SonarAltitude extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			SonarAltitude obj = new SonarAltitude();
@@ -121,13 +121,13 @@ public class SonarAltitude extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public SonarAltitude GetInstance(UAVObjectManager objMngr, int instID)
+	public SonarAltitude GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (SonarAltitude)(objMngr.getObject(SonarAltitude.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x6C5A0CBC;
+	protected static final long OBJID = 0x6C5A0CBC;
 	protected static final String NAME = "SonarAltitude";
 	protected static String DESCRIPTION = "The raw data from the ultrasound sonar sensor with altitude estimate.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -135,4 +135,4 @@ public class SonarAltitude extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
index 8ca5df722..be812d268 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
@@ -132,7 +132,7 @@ public class StabilizationDesired extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			StabilizationDesired obj = new StabilizationDesired();
@@ -146,13 +146,13 @@ public class StabilizationDesired extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public StabilizationDesired GetInstance(UAVObjectManager objMngr, int instID)
+	public StabilizationDesired GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (StabilizationDesired)(objMngr.getObject(StabilizationDesired.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xDE1EAAD6;
+	protected static final long OBJID = 0xDE1EAAD6;
 	protected static final String NAME = "StabilizationDesired";
 	protected static String DESCRIPTION = "The desired attitude that @ref StabilizationModule will try and achieve if FlightMode is Stabilized.  Comes from @ref ManaulControlModule.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -160,4 +160,4 @@ public class StabilizationDesired extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
index cc2c69e8f..a2244e681 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
@@ -282,7 +282,7 @@ public class StabilizationSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			StabilizationSettings obj = new StabilizationSettings();
@@ -296,13 +296,13 @@ public class StabilizationSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public StabilizationSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public StabilizationSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (StabilizationSettings)(objMngr.getObject(StabilizationSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xBBC337D4;
+	protected static final long OBJID = 0xBBC337D4;
 	protected static final String NAME = "StabilizationSettings";
 	protected static String DESCRIPTION = "PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -310,4 +310,4 @@ public class StabilizationSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
index 3b34763fe..a6d22d5d2 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
@@ -146,7 +146,7 @@ public class SystemAlarms extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			SystemAlarms obj = new SystemAlarms();
@@ -160,13 +160,13 @@ public class SystemAlarms extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public SystemAlarms GetInstance(UAVObjectManager objMngr, int instID)
+	public SystemAlarms GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (SystemAlarms)(objMngr.getObject(SystemAlarms.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x737ADCF2;
+	protected static final long OBJID = 0x737ADCF2;
 	protected static final String NAME = "SystemAlarms";
 	protected static String DESCRIPTION = "Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -174,4 +174,4 @@ public class SystemAlarms extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
index bffbced31..5005b1485 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
@@ -139,7 +139,7 @@ public class SystemSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			SystemSettings obj = new SystemSettings();
@@ -153,13 +153,13 @@ public class SystemSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public SystemSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public SystemSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (SystemSettings)(objMngr.getObject(SystemSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xC72A326E;
+	protected static final long OBJID = 0xC72A326E;
 	protected static final String NAME = "SystemSettings";
 	protected static String DESCRIPTION = "Select airframe type.  Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -167,4 +167,4 @@ public class SystemSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
index 888474261..1d35e219e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
@@ -135,7 +135,7 @@ public class SystemStats extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			SystemStats obj = new SystemStats();
@@ -149,13 +149,13 @@ public class SystemStats extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public SystemStats GetInstance(UAVObjectManager objMngr, int instID)
+	public SystemStats GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (SystemStats)(objMngr.getObject(SystemStats.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x364D1406;
+	protected static final long OBJID = 0x364D1406;
 	protected static final String NAME = "SystemStats";
 	protected static String DESCRIPTION = "CPU and memory usage from OpenPilot computer. ";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -163,4 +163,4 @@ public class SystemStats extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
index 9f530e6a9..291a21708 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
@@ -172,7 +172,7 @@ public class TaskInfo extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			TaskInfo obj = new TaskInfo();
@@ -186,13 +186,13 @@ public class TaskInfo extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public TaskInfo GetInstance(UAVObjectManager objMngr, int instID)
+	public TaskInfo GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (TaskInfo)(objMngr.getObject(TaskInfo.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xB81CD2AE;
+	protected static final long OBJID = 0xB81CD2AE;
 	protected static final String NAME = "TaskInfo";
 	protected static String DESCRIPTION = "Task information";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -200,4 +200,4 @@ public class TaskInfo extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java
index 789f31b3f..656676278 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java
@@ -194,7 +194,7 @@ public class TxPIDSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			TxPIDSettings obj = new TxPIDSettings();
@@ -208,13 +208,13 @@ public class TxPIDSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public TxPIDSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public TxPIDSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (TxPIDSettings)(objMngr.getObject(TxPIDSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x42B2D2AE;
+	protected static final long OBJID = 0x42B2D2AE;
 	protected static final String NAME = "TxPIDSettings";
 	protected static String DESCRIPTION = "Settings used by @ref TxPID optional module to tune PID settings using R/C transmitter";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -222,4 +222,4 @@ public class TxPIDSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
index a545bca16..89f4475c0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
@@ -115,7 +115,7 @@ public class VelocityActual extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			VelocityActual obj = new VelocityActual();
@@ -129,13 +129,13 @@ public class VelocityActual extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public VelocityActual GetInstance(UAVObjectManager objMngr, int instID)
+	public VelocityActual GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (VelocityActual)(objMngr.getObject(VelocityActual.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x5A08F61A;
+	protected static final long OBJID = 0x5A08F61A;
 	protected static final String NAME = "VelocityActual";
 	protected static String DESCRIPTION = "Updated by @ref AHRSCommsModule and used within @ref GuidanceModule for velocity control";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -143,4 +143,4 @@ public class VelocityActual extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
index f506a594c..57665e43e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
@@ -115,7 +115,7 @@ public class VelocityDesired extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			VelocityDesired obj = new VelocityDesired();
@@ -129,13 +129,13 @@ public class VelocityDesired extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public VelocityDesired GetInstance(UAVObjectManager objMngr, int instID)
+	public VelocityDesired GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (VelocityDesired)(objMngr.getObject(VelocityDesired.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x9E946992;
+	protected static final long OBJID = 0x9E946992;
 	protected static final String NAME = "VelocityDesired";
 	protected static String DESCRIPTION = "Used within @ref GuidanceModule to communicate between the task computing the desired velocity and the PID loop to achieve it (running at different rates).";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -143,4 +143,4 @@ public class VelocityDesired extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java
index b3c01dc8a..698164646 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java
@@ -201,7 +201,7 @@ public class VtolPathFollowerSettings extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			VtolPathFollowerSettings obj = new VtolPathFollowerSettings();
@@ -215,13 +215,13 @@ public class VtolPathFollowerSettings extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public VtolPathFollowerSettings GetInstance(UAVObjectManager objMngr, int instID)
+	public VtolPathFollowerSettings GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (VtolPathFollowerSettings)(objMngr.getObject(VtolPathFollowerSettings.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x973991F6;
+	protected static final long OBJID = 0x973991F6;
 	protected static final String NAME = "VtolPathFollowerSettings";
 	protected static String DESCRIPTION = "Settings for the @ref VtolPathFollower module";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -229,4 +229,4 @@ public class VtolPathFollowerSettings extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
index 94e85f57b..930c74536 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
@@ -111,7 +111,7 @@ public class WatchdogStatus extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			WatchdogStatus obj = new WatchdogStatus();
@@ -125,13 +125,13 @@ public class WatchdogStatus extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public WatchdogStatus GetInstance(UAVObjectManager objMngr, int instID)
+	public WatchdogStatus GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (WatchdogStatus)(objMngr.getObject(WatchdogStatus.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0xA207FA7C;
+	protected static final long OBJID = 0xA207FA7C;
 	protected static final String NAME = "WatchdogStatus";
 	protected static String DESCRIPTION = "For monitoring the flags in the watchdog and especially the bootup flags";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -139,4 +139,4 @@ public class WatchdogStatus extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
index 4db7179ad..f774990cd 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
@@ -128,7 +128,7 @@ public class Waypoint extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			Waypoint obj = new Waypoint();
@@ -142,13 +142,13 @@ public class Waypoint extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public Waypoint GetInstance(UAVObjectManager objMngr, int instID)
+	public Waypoint GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (Waypoint)(objMngr.getObject(Waypoint.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x338C5F90;
+	protected static final long OBJID = 0x338C5F90;
 	protected static final String NAME = "Waypoint";
 	protected static String DESCRIPTION = "A waypoint the aircraft can try and hit.  Used by the @ref PathPlanner module";
 	protected static final boolean ISSINGLEINST = 0 == 1;
@@ -156,4 +156,4 @@ public class Waypoint extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java
index 06f3ab6c4..3096b571e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java
@@ -107,7 +107,7 @@ public class WaypointActive extends UAVDataObject {
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			WaypointActive obj = new WaypointActive();
@@ -121,13 +121,13 @@ public class WaypointActive extends UAVDataObject {
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public WaypointActive GetInstance(UAVObjectManager objMngr, int instID)
+	public WaypointActive GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return (WaypointActive)(objMngr.getObject(WaypointActive.OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = 0x1EA5B192;
+	protected static final long OBJID = 0x1EA5B192;
 	protected static final String NAME = "WaypointActive";
 	protected static String DESCRIPTION = "Indicates the currently active waypoint";
 	protected static final boolean ISSINGLEINST = 1 == 1;
@@ -135,4 +135,4 @@ public class WaypointActive extends UAVDataObject {
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}
diff --git a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
index 1283f03cb..6a2f31408 100644
--- a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
+++ b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
@@ -103,7 +103,7 @@ $(INITFIELDS)
 	 * Do not use this function directly to create new instances, the
 	 * UAVObjectManager should be used instead.
 	 */
-	public UAVDataObject clone(int instID) {
+	public UAVDataObject clone(long instID) {
 		// TODO: Need to get specific instance to clone
 		try {
 			$(NAME) obj = new $(NAME)();
@@ -117,13 +117,13 @@ $(INITFIELDS)
 	/**
 	 * Static function to retrieve an instance of the object.
 	 */
-	public $(NAME) GetInstance(UAVObjectManager objMngr, int instID)
+	public $(NAME) GetInstance(UAVObjectManager objMngr, long instID)
 	{
 	    return ($(NAME))(objMngr.getObject($(NAME).OBJID, instID));
 	}
 
 	// Constants
-	protected static final int OBJID = $(OBJIDHEX);
+	protected static final long OBJID = $(OBJIDHEX);
 	protected static final String NAME = "$(NAME)";
 	protected static String DESCRIPTION = "$(DESCRIPTION)";
 	protected static final boolean ISSINGLEINST = $(ISSINGLEINST) == 1;
@@ -131,4 +131,4 @@ $(INITFIELDS)
 	protected static int NUMBYTES = 0;
 
 
-}
\ No newline at end of file
+}

From fc7e9d2b2bcac2b27de20947e1f9e03315af4849 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 04:11:33 -0500
Subject: [PATCH 265/543] AndroidGCS: Change the UAVO generation to suppress
 warnings

---
 androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java   | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/AccessoryDesired.java    | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/ActuatorSettings.java    | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java | 4 ++--
 .../openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java    | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java  | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/AttitudeSettings.java    | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java   | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java    | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java    | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/CameraDesired.java   | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/CameraStabSettings.java  | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/FaultSettings.java   | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java  | 4 ++--
 .../uavtalk/uavobjects/FixedWingPathFollowerSettings.java     | 4 ++--
 .../uavtalk/uavobjects/FixedWingPathFollowerStatus.java       | 4 ++--
 .../openpilot/uavtalk/uavobjects/FlightBatterySettings.java   | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/FlightBatteryState.java  | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/FlightPlanControl.java   | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java  | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java    | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/FlightStatus.java    | 4 ++--
 .../openpilot/uavtalk/uavobjects/FlightTelemetryStats.java    | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java     | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java   | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/GPSPosition.java     | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java   | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/GPSSettings.java     | 4 ++--
 androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java  | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java     | 4 ++--
 androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java    | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/GyrosBias.java       | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/HomeLocation.java    | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/HwSettings.java      | 4 ++--
 androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java | 4 ++--
 androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java  | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/Magnetometer.java    | 4 ++--
 .../openpilot/uavtalk/uavobjects/ManualControlCommand.java    | 4 ++--
 .../openpilot/uavtalk/uavobjects/ManualControlSettings.java   | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/MixerSettings.java   | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/MixerStatus.java     | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/NEDPosition.java     | 4 ++--
 androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/ObjectPersistence.java   | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java   | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java  | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/PathDesired.java     | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/PipXSettings.java    | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/PipXStatus.java      | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/PositionActual.java  | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/RateDesired.java     | 4 ++--
 .../org/openpilot/uavtalk/uavobjects/ReceiverActivity.java    | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/RevoSettings.java    | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java   | 4 ++--
 .../openpilot/uavtalk/uavobjects/StabilizationDesired.java    | 4 ++--
 .../openpilot/uavtalk/uavobjects/StabilizationSettings.java   | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java    | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/SystemSettings.java  | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/SystemStats.java     | 4 ++--
 androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java   | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/VelocityActual.java  | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java | 4 ++--
 .../uavtalk/uavobjects/VtolPathFollowerSettings.java          | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java  | 4 ++--
 androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java | 4 ++--
 .../src/org/openpilot/uavtalk/uavobjects/WaypointActive.java  | 4 ++--
 .../src/libs/juavobjects/templates/uavobjecttemplate.java     | 4 ++--
 73 files changed, 146 insertions(+), 146 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java
index 167e1f151..fa2aa6d30 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java
@@ -142,8 +142,8 @@ public class Accels extends UAVDataObject {
 	protected static final long OBJID = 0xDD9D5FC0;
 	protected static final String NAME = "Accels";
 	protected static String DESCRIPTION = "The accel data.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
index 69d8989e0..f24250f10 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
@@ -130,8 +130,8 @@ public class AccessoryDesired extends UAVDataObject {
 	protected static final long OBJID = 0xC409985A;
 	protected static final String NAME = "AccessoryDesired";
 	protected static String DESCRIPTION = "Desired Auxillary actuator settings.  Comes from @ref ManualControlModule.";
-	protected static final boolean ISSINGLEINST = 0 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 0 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
index d48bd0c2c..1982367c4 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
@@ -151,8 +151,8 @@ public class ActuatorCommand extends UAVDataObject {
 	protected static final long OBJID = 0x5324CB8;
 	protected static final String NAME = "ActuatorCommand";
 	protected static String DESCRIPTION = "Contains the pulse duration sent to each of the channels.  Set by @ref ActuatorModule";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
index ff1329ad6..d670db19a 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
@@ -150,8 +150,8 @@ public class ActuatorDesired extends UAVDataObject {
 	protected static final long OBJID = 0xCA4BC4A4;
 	protected static final String NAME = "ActuatorDesired";
 	protected static String DESCRIPTION = "Desired raw, pitch and yaw actuator settings.  Comes from either @ref StabilizationModule or @ref ManualControlModule depending on FlightMode.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
index 5c587d31a..d1dfeef5f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
@@ -265,8 +265,8 @@ public class ActuatorSettings extends UAVDataObject {
 	protected static final long OBJID = 0x7D555646;
 	protected static final String NAME = "ActuatorSettings";
 	protected static String DESCRIPTION = "Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java
index d2ac0b36d..416014c4f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java
@@ -138,8 +138,8 @@ public class AltHoldSmoothed extends UAVDataObject {
 	protected static final long OBJID = 0x2BC6B9D2;
 	protected static final String NAME = "AltHoldSmoothed";
 	protected static String DESCRIPTION = "The output on the kalman filter on altitude.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java
index a53a18a1c..7a9bf7037 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java
@@ -142,8 +142,8 @@ public class AltitudeHoldDesired extends UAVDataObject {
 	protected static final long OBJID = 0x495BAD6E;
 	protected static final String NAME = "AltitudeHoldDesired";
 	protected static String DESCRIPTION = "Holds the desired altitude (from manual control) as well as the desired attitude to pass through";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
index 241ae4299..400ace518 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
@@ -161,8 +161,8 @@ public class AltitudeHoldSettings extends UAVDataObject {
 	protected static final long OBJID = 0xFEC55B42;
 	protected static final String NAME = "AltitudeHoldSettings";
 	protected static String DESCRIPTION = "Settings for the @ref AltitudeHold module";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
index e72019311..536d48154 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
@@ -154,8 +154,8 @@ public class AttitudeActual extends UAVDataObject {
 	protected static final long OBJID = 0x33DAD5E6;
 	protected static final String NAME = "AttitudeActual";
 	protected static String DESCRIPTION = "The updated Attitude estimation from @ref AHRSCommsModule.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
index 4507e83dc..f5b97ec50 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
@@ -198,8 +198,8 @@ public class AttitudeSettings extends UAVDataObject {
 	protected static final long OBJID = 0xC307BC4A;
 	protected static final String NAME = "AttitudeSettings";
 	protected static String DESCRIPTION = "Settings for the @ref Attitude module used on CopterControl";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java
index c3ca10e91..55ab9bfea 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java
@@ -166,8 +166,8 @@ public class AttitudeSimulated extends UAVDataObject {
 	protected static final long OBJID = 0x9266CE74;
 	protected static final String NAME = "AttitudeSimulated";
 	protected static String DESCRIPTION = "The simulated Attitude estimation from @ref Sensors.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java
index 430974aec..29be235ef 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java
@@ -145,8 +145,8 @@ public class BaroAirspeed extends UAVDataObject {
 	protected static final long OBJID = 0x169EA4A;
 	protected static final String NAME = "BaroAirspeed";
 	protected static String DESCRIPTION = "The raw data from the dynamic pressure sensor with pressure, temperature and airspeed.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
index 27f5d667b..1d7705e2a 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
@@ -138,8 +138,8 @@ public class BaroAltitude extends UAVDataObject {
 	protected static final long OBJID = 0x99622E6A;
 	protected static final String NAME = "BaroAltitude";
 	protected static String DESCRIPTION = "The raw data from the barometric sensor with pressure, temperature and altitude estimate.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
index bcd009b18..1248171ab 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
@@ -138,8 +138,8 @@ public class CameraDesired extends UAVDataObject {
 	protected static final long OBJID = 0x531F544E;
 	protected static final String NAME = "CameraDesired";
 	protected static String DESCRIPTION = "Desired camera outputs.  Comes from @ref CameraStabilization module.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
index d3b5acfa8..63aeb8b45 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
@@ -196,8 +196,8 @@ public class CameraStabSettings extends UAVDataObject {
 	protected static final long OBJID = 0x3B95DDBA;
 	protected static final String NAME = "CameraStabSettings";
 	protected static String DESCRIPTION = "Settings for the @ref CameraStab mmodule";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
index 31b5a8ad9..f6a65f3c6 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
@@ -138,8 +138,8 @@ public class FaultSettings extends UAVDataObject {
 	protected static final long OBJID = 0x2778BA3C;
 	protected static final String NAME = "FaultSettings";
 	protected static String DESCRIPTION = "Allows testers to simulate various fault scenarios.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
index 3b0c4da20..2498db5e9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
@@ -204,8 +204,8 @@ public class FirmwareIAPObj extends UAVDataObject {
 	protected static final long OBJID = 0x3CCDFB68;
 	protected static final String NAME = "FirmwareIAPObj";
 	protected static String DESCRIPTION = "Queries board for SN, model, revision, and sends reset command";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java
index e35e744e4..56df481b6 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java
@@ -231,8 +231,8 @@ public class FixedWingPathFollowerSettings extends UAVDataObject {
 	protected static final long OBJID = 0x8A3F1E02;
 	protected static final String NAME = "FixedWingPathFollowerSettings";
 	protected static String DESCRIPTION = "Settings for the @ref FixedWingPathFollowerModule";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java
index 9766ca1fe..e1b0881da 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java
@@ -156,8 +156,8 @@ public class FixedWingPathFollowerStatus extends UAVDataObject {
 	protected static final long OBJID = 0xA0D6F6D4;
 	protected static final String NAME = "FixedWingPathFollowerStatus";
 	protected static String DESCRIPTION = "Object Storing Debugging Information on PID internals";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
index dd6c95f1f..96e9bcc12 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
@@ -173,8 +173,8 @@ public class FlightBatterySettings extends UAVDataObject {
 	protected static final long OBJID = 0x94AC6AD2;
 	protected static final String NAME = "FlightBatterySettings";
 	protected static String DESCRIPTION = "Flight Battery configuration.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
index 5a94df0d9..c94ebc900 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
@@ -161,8 +161,8 @@ public class FlightBatteryState extends UAVDataObject {
 	protected static final long OBJID = 0xD2083596;
 	protected static final String NAME = "FlightBatteryState";
 	protected static String DESCRIPTION = "Battery status information.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
index 353531e97..de2ac3ce5 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
@@ -135,8 +135,8 @@ public class FlightPlanControl extends UAVDataObject {
 	protected static final long OBJID = 0x53E3F180;
 	protected static final String NAME = "FlightPlanControl";
 	protected static String DESCRIPTION = "Control the flight plan script";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
index b7a8955fd..8a97c04c1 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
@@ -131,8 +131,8 @@ public class FlightPlanSettings extends UAVDataObject {
 	protected static final long OBJID = 0x92E9FF76;
 	protected static final String NAME = "FlightPlanSettings";
 	protected static String DESCRIPTION = "Settings for the flight plan module, control the execution of the script";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
index ea5d0bec4..1b806f0bc 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
@@ -175,8 +175,8 @@ public class FlightPlanStatus extends UAVDataObject {
 	protected static final long OBJID = 0x2206EE46;
 	protected static final String NAME = "FlightPlanStatus";
 	protected static String DESCRIPTION = "Status of the flight plan script";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
index fe6bcdc8b..78f9332e9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
@@ -149,8 +149,8 @@ public class FlightStatus extends UAVDataObject {
 	protected static final long OBJID = 0x884FEF66;
 	protected static final String NAME = "FlightStatus";
 	protected static String DESCRIPTION = "Contains major flight status information for other modules.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
index 27e2ce394..604304c58 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
@@ -155,8 +155,8 @@ public class FlightTelemetryStats extends UAVDataObject {
 	protected static final long OBJID = 0x2F7E2902;
 	protected static final String NAME = "FlightTelemetryStats";
 	protected static String DESCRIPTION = "Maintains the telemetry statistics from the OpenPilot flight computer.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
index 28b88933a..4b8a61300 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
@@ -137,8 +137,8 @@ public class GCSReceiver extends UAVDataObject {
 	protected static final long OBJID = 0xCC7E1470;
 	protected static final String NAME = "GCSReceiver";
 	protected static String DESCRIPTION = "A receiver channel group carried over the telemetry link.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
index 1bea3355b..c9211d01d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
@@ -155,8 +155,8 @@ public class GCSTelemetryStats extends UAVDataObject {
 	protected static final long OBJID = 0xABC72744;
 	protected static final String NAME = "GCSTelemetryStats";
 	protected static String DESCRIPTION = "The telemetry statistics from the ground computer";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
index d58b758a8..0e5c2a2d1 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
@@ -175,8 +175,8 @@ public class GPSPosition extends UAVDataObject {
 	protected static final long OBJID = 0xE2A323B6;
 	protected static final String NAME = "GPSPosition";
 	protected static String DESCRIPTION = "Raw GPS data from @ref GPSModule.  Should only be used by @ref AHRSCommsModule.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
index 81b5be464..8f7f327cf 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
@@ -206,8 +206,8 @@ public class GPSSatellites extends UAVDataObject {
 	protected static final long OBJID = 0x920D998;
 	protected static final String NAME = "GPSSatellites";
 	protected static String DESCRIPTION = "Contains information about the GPS satellites in view from @ref GPSModule.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
index 254543efb..409de3b54 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
@@ -134,8 +134,8 @@ public class GPSSettings extends UAVDataObject {
 	protected static final long OBJID = 0xAC5F6370;
 	protected static final String NAME = "GPSSettings";
 	protected static String DESCRIPTION = "Settings for the GPS";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
index 0fa7dd6b8..a3bb0f981 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
@@ -150,8 +150,8 @@ public class GPSTime extends UAVDataObject {
 	protected static final long OBJID = 0xD4478084;
 	protected static final String NAME = "GPSTime";
 	protected static String DESCRIPTION = "Contains the GPS time from @ref GPSModule.  Required to compute the world magnetic model correctly when setting the home location.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java
index 409f31b41..b877e26d9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java
@@ -138,8 +138,8 @@ public class GPSVelocity extends UAVDataObject {
 	protected static final long OBJID = 0x8245DC80;
 	protected static final String NAME = "GPSVelocity";
 	protected static String DESCRIPTION = "Raw GPS data from @ref GPSModule.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java
index 176cab896..022bb6360 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java
@@ -142,8 +142,8 @@ public class Gyros extends UAVDataObject {
 	protected static final long OBJID = 0x4228AF6;
 	protected static final String NAME = "Gyros";
 	protected static String DESCRIPTION = "The gyro data.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java
index dbfd6b376..7acdd2871 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java
@@ -138,8 +138,8 @@ public class GyrosBias extends UAVDataObject {
 	protected static final long OBJID = 0xE4B6F980;
 	protected static final String NAME = "GyrosBias";
 	protected static String DESCRIPTION = "The gyro data.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
index 7ec829ddf..deb8b9ee1 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
@@ -163,8 +163,8 @@ public class HomeLocation extends UAVDataObject {
 	protected static final long OBJID = 0x6185DC6E;
 	protected static final String NAME = "HomeLocation";
 	protected static String DESCRIPTION = "HomeLocation setting which contains the constants to tranlate from longitutde and latitude to NED reference frame.  Automatically set by @ref GPSModule after acquiring a 3D lock.  Used by @ref AHRSCommsModule.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
index 9dd7d0cce..0999dfdf8 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
@@ -327,8 +327,8 @@ public class HwSettings extends UAVDataObject {
 	protected static final long OBJID = 0x5D950E50;
 	protected static final String NAME = "HwSettings";
 	protected static String DESCRIPTION = "Selection of optional hardware configurations.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
index 41e4f91ab..368504ac6 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
@@ -229,8 +229,8 @@ public class I2CStats extends UAVDataObject {
 	protected static final long OBJID = 0xB714823E;
 	protected static final String NAME = "I2CStats";
 	protected static String DESCRIPTION = "Tracks statistics on the I2C bus.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java
index e7c97c33c..2014c2bce 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java
@@ -138,8 +138,8 @@ public class MagBias extends UAVDataObject {
 	protected static final long OBJID = 0x5043E510;
 	protected static final String NAME = "MagBias";
 	protected static String DESCRIPTION = "The gyro data.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java
index 554c4bb69..f3cdc1e9f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java
@@ -138,8 +138,8 @@ public class Magnetometer extends UAVDataObject {
 	protected static final long OBJID = 0x813B55DE;
 	protected static final String NAME = "Magnetometer";
 	protected static String DESCRIPTION = "The mag data.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
index d48ac310c..ebaca4385 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
@@ -165,8 +165,8 @@ public class ManualControlCommand extends UAVDataObject {
 	protected static final long OBJID = 0x1E82C2D2;
 	protected static final String NAME = "ManualControlCommand";
 	protected static String DESCRIPTION = "The output from the @ref ManualControlModule which descodes the receiver inputs.  Overriden by GCS for fly-by-wire control.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
index afa4cfcde..5394810ca 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
@@ -344,8 +344,8 @@ public class ManualControlSettings extends UAVDataObject {
 	protected static final long OBJID = 0x6C188320;
 	protected static final String NAME = "ManualControlSettings";
 	protected static String DESCRIPTION = "Settings to indicate how to decode receiver input by @ref ManualControlModule.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
index d52b39448..03f63ac5f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
@@ -499,8 +499,8 @@ public class MixerSettings extends UAVDataObject {
 	protected static final long OBJID = 0x5D16D6C4;
 	protected static final String NAME = "MixerSettings";
 	protected static String DESCRIPTION = "Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
index b0f2692af..a6b471a18 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
@@ -166,8 +166,8 @@ public class MixerStatus extends UAVDataObject {
 	protected static final long OBJID = 0x124E28A;
 	protected static final String NAME = "MixerStatus";
 	protected static String DESCRIPTION = "Status for the matrix mixer showing the output of each mixer after all scaling";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java
index 8a46a0025..3eb048acd 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java
@@ -138,8 +138,8 @@ public class NEDPosition extends UAVDataObject {
 	protected static final long OBJID = 0x1FB15A00;
 	protected static final String NAME = "NEDPosition";
 	protected static String DESCRIPTION = "Contains the current position relative to @ref HomeLocation";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
index 972d81e3c..f1f7972e7 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
@@ -138,8 +138,8 @@ public class NedAccel extends UAVDataObject {
 	protected static final long OBJID = 0x7C7F5BC0;
 	protected static final String NAME = "NedAccel";
 	protected static String DESCRIPTION = "The projection of acceleration in the NED reference frame used by @ref Guidance.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
index 8790ff8b8..7d795626e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
@@ -155,8 +155,8 @@ public class ObjectPersistence extends UAVDataObject {
 	protected static final long OBJID = 0x99C63292;
 	protected static final String NAME = "ObjectPersistence";
 	protected static String DESCRIPTION = "Someone who knows please enter this";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java
index 12048f0a3..3df1f6a41 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java
@@ -135,8 +135,8 @@ public class OveroSyncSettings extends UAVDataObject {
 	protected static final long OBJID = 0xA1ABC278;
 	protected static final String NAME = "OveroSyncSettings";
 	protected static String DESCRIPTION = "Settings to control the behavior of the overo sync module";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
index 380388118..e76e2cc63 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
@@ -157,8 +157,8 @@ public class OveroSyncStats extends UAVDataObject {
 	protected static final long OBJID = 0xD2085FAC;
 	protected static final String NAME = "OveroSyncStats";
 	protected static String DESCRIPTION = "Maintains statistics on transfer rate to and from over";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java
index f430f0f4b..e1194d0ac 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java
@@ -154,8 +154,8 @@ public class PathDesired extends UAVDataObject {
 	protected static final long OBJID = 0x5A4DC71A;
 	protected static final String NAME = "PathDesired";
 	protected static String DESCRIPTION = "The endpoint or path the craft is trying to achieve.  Can come from @ref ManualControl or @ref PathPlanner ";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java
index c842559f0..ae65e035d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java
@@ -143,8 +143,8 @@ public class PathPlannerSettings extends UAVDataObject {
 	protected static final long OBJID = 0x290E45DA;
 	protected static final String NAME = "PathPlannerSettings";
 	protected static String DESCRIPTION = "Settings for the @ref PathPlanner Module";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java
index f9dfa5723..e3c40bfcf 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java
@@ -318,8 +318,8 @@ public class PipXSettings extends UAVDataObject {
 	protected static final long OBJID = 0xBA192BCA;
 	protected static final String NAME = "PipXSettings";
 	protected static String DESCRIPTION = "PipXtreme configurations options.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java
index efa9035f7..28288a117 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java
@@ -293,8 +293,8 @@ public class PipXStatus extends UAVDataObject {
 	protected static final long OBJID = 0x3FC68A86;
 	protected static final String NAME = "PipXStatus";
 	protected static String DESCRIPTION = "PipXtreme device status.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
index 38b308c16..062c5f604 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
@@ -138,8 +138,8 @@ public class PositionActual extends UAVDataObject {
 	protected static final long OBJID = 0xFA9E2D42;
 	protected static final String NAME = "PositionActual";
 	protected static String DESCRIPTION = "Contains the current position relative to @ref HomeLocation";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
index 8ed278a4f..6c5d46d14 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
@@ -138,8 +138,8 @@ public class RateDesired extends UAVDataObject {
 	protected static final long OBJID = 0xCE8C826;
 	protected static final String NAME = "RateDesired";
 	protected static String DESCRIPTION = "Status for the matrix mixer showing the output of each mixer after all scaling";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
index be7523ce0..a6ae54bfc 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
@@ -144,8 +144,8 @@ public class ReceiverActivity extends UAVDataObject {
 	protected static final long OBJID = 0x1E7C53DA;
 	protected static final String NAME = "ReceiverActivity";
 	protected static String DESCRIPTION = "Monitors which receiver channels have been active within the last second.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
index d583feb19..b2fb3dcf2 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
@@ -241,8 +241,8 @@ public class RevoCalibration extends UAVDataObject {
 	protected static final long OBJID = 0xA2A63C7C;
 	protected static final String NAME = "RevoCalibration";
 	protected static String DESCRIPTION = "Settings for the INS to control the algorithm and what is updated";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java
index 00d1275a4..7b07ac572 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java
@@ -135,8 +135,8 @@ public class RevoSettings extends UAVDataObject {
 	protected static final long OBJID = 0xE2DA70EA;
 	protected static final String NAME = "RevoSettings";
 	protected static String DESCRIPTION = "Settings for the revo to control the algorithm and what is updated";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
index c7498d4fe..13f0baf71 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
@@ -130,8 +130,8 @@ public class SonarAltitude extends UAVDataObject {
 	protected static final long OBJID = 0x6C5A0CBC;
 	protected static final String NAME = "SonarAltitude";
 	protected static String DESCRIPTION = "The raw data from the ultrasound sonar sensor with altitude estimate.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
index be812d268..8a441ffe0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
@@ -155,8 +155,8 @@ public class StabilizationDesired extends UAVDataObject {
 	protected static final long OBJID = 0xDE1EAAD6;
 	protected static final String NAME = "StabilizationDesired";
 	protected static String DESCRIPTION = "The desired attitude that @ref StabilizationModule will try and achieve if FlightMode is Stabilized.  Comes from @ref ManaulControlModule.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
index a2244e681..93c7af131 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
@@ -305,8 +305,8 @@ public class StabilizationSettings extends UAVDataObject {
 	protected static final long OBJID = 0xBBC337D4;
 	protected static final String NAME = "StabilizationSettings";
 	protected static String DESCRIPTION = "PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
index a6d22d5d2..28ae79c5f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
@@ -169,8 +169,8 @@ public class SystemAlarms extends UAVDataObject {
 	protected static final long OBJID = 0x737ADCF2;
 	protected static final String NAME = "SystemAlarms";
 	protected static String DESCRIPTION = "Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
index 5005b1485..2ed2ea8bb 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
@@ -162,8 +162,8 @@ public class SystemSettings extends UAVDataObject {
 	protected static final long OBJID = 0xC72A326E;
 	protected static final String NAME = "SystemSettings";
 	protected static String DESCRIPTION = "Select airframe type.  Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
index 1d35e219e..9c675a939 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
@@ -158,8 +158,8 @@ public class SystemStats extends UAVDataObject {
 	protected static final long OBJID = 0x364D1406;
 	protected static final String NAME = "SystemStats";
 	protected static String DESCRIPTION = "CPU and memory usage from OpenPilot computer. ";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
index 291a21708..d1f246995 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
@@ -195,8 +195,8 @@ public class TaskInfo extends UAVDataObject {
 	protected static final long OBJID = 0xB81CD2AE;
 	protected static final String NAME = "TaskInfo";
 	protected static String DESCRIPTION = "Task information";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java
index 656676278..b35a80b21 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java
@@ -217,8 +217,8 @@ public class TxPIDSettings extends UAVDataObject {
 	protected static final long OBJID = 0x42B2D2AE;
 	protected static final String NAME = "TxPIDSettings";
 	protected static String DESCRIPTION = "Settings used by @ref TxPID optional module to tune PID settings using R/C transmitter";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
index 89f4475c0..24770de25 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
@@ -138,8 +138,8 @@ public class VelocityActual extends UAVDataObject {
 	protected static final long OBJID = 0x5A08F61A;
 	protected static final String NAME = "VelocityActual";
 	protected static String DESCRIPTION = "Updated by @ref AHRSCommsModule and used within @ref GuidanceModule for velocity control";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
index 57665e43e..4e72cc640 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
@@ -138,8 +138,8 @@ public class VelocityDesired extends UAVDataObject {
 	protected static final long OBJID = 0x9E946992;
 	protected static final String NAME = "VelocityDesired";
 	protected static String DESCRIPTION = "Used within @ref GuidanceModule to communicate between the task computing the desired velocity and the PID loop to achieve it (running at different rates).";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java
index 698164646..31c8be966 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java
@@ -224,8 +224,8 @@ public class VtolPathFollowerSettings extends UAVDataObject {
 	protected static final long OBJID = 0x973991F6;
 	protected static final String NAME = "VtolPathFollowerSettings";
 	protected static String DESCRIPTION = "Settings for the @ref VtolPathFollower module";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 1 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
index 930c74536..4ecd9d173 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
@@ -134,8 +134,8 @@ public class WatchdogStatus extends UAVDataObject {
 	protected static final long OBJID = 0xA207FA7C;
 	protected static final String NAME = "WatchdogStatus";
 	protected static String DESCRIPTION = "For monitoring the flags in the watchdog and especially the bootup flags";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
index f774990cd..8f9233dc0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
@@ -151,8 +151,8 @@ public class Waypoint extends UAVDataObject {
 	protected static final long OBJID = 0x338C5F90;
 	protected static final String NAME = "Waypoint";
 	protected static String DESCRIPTION = "A waypoint the aircraft can try and hit.  Used by the @ref PathPlanner module";
-	protected static final boolean ISSINGLEINST = 0 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 0 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java
index 3096b571e..8f1d9c8cd 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java
@@ -130,8 +130,8 @@ public class WaypointActive extends UAVDataObject {
 	protected static final long OBJID = 0x1EA5B192;
 	protected static final String NAME = "WaypointActive";
 	protected static String DESCRIPTION = "Indicates the currently active waypoint";
-	protected static final boolean ISSINGLEINST = 1 == 1;
-	protected static final boolean ISSETTINGS = 0 == 1;
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
 	protected static int NUMBYTES = 0;
 
 
diff --git a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
index 6a2f31408..da0f1d62e 100644
--- a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
+++ b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
@@ -126,8 +126,8 @@ $(INITFIELDS)
 	protected static final long OBJID = $(OBJIDHEX);
 	protected static final String NAME = "$(NAME)";
 	protected static String DESCRIPTION = "$(DESCRIPTION)";
-	protected static final boolean ISSINGLEINST = $(ISSINGLEINST) == 1;
-	protected static final boolean ISSETTINGS = $(ISSETTINGS) == 1;
+	protected static final boolean ISSINGLEINST = $(ISSINGLEINST) > 0;
+	protected static final boolean ISSETTINGS = $(ISSETTINGS) > 0;
 	protected static int NUMBYTES = 0;
 
 

From a067c0b0de5467a0ff97859d25e1f37a5e94e5ae Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 04:41:57 -0500
Subject: [PATCH 266/543] AndroidGCS: Make sure the rest of the UAVO IDs are
 working as positive long values instead of ints.

---
 .../src/org/openpilot/uavtalk/UAVTalk.java       | 16 +++++++++++-----
 .../org/openpilot/uavtalk/uavobjects/Accels.java |  2 +-
 .../uavtalk/uavobjects/AccessoryDesired.java     |  2 +-
 .../uavtalk/uavobjects/ActuatorCommand.java      |  2 +-
 .../uavtalk/uavobjects/ActuatorDesired.java      |  2 +-
 .../uavtalk/uavobjects/ActuatorSettings.java     |  2 +-
 .../uavtalk/uavobjects/AltHoldSmoothed.java      |  2 +-
 .../uavtalk/uavobjects/AltitudeHoldDesired.java  |  2 +-
 .../uavtalk/uavobjects/AltitudeHoldSettings.java |  2 +-
 .../uavtalk/uavobjects/AttitudeActual.java       |  2 +-
 .../uavtalk/uavobjects/AttitudeSettings.java     |  2 +-
 .../uavtalk/uavobjects/AttitudeSimulated.java    |  2 +-
 .../uavtalk/uavobjects/BaroAirspeed.java         |  2 +-
 .../uavtalk/uavobjects/BaroAltitude.java         |  2 +-
 .../uavtalk/uavobjects/CameraDesired.java        |  2 +-
 .../uavtalk/uavobjects/CameraStabSettings.java   |  2 +-
 .../uavtalk/uavobjects/FaultSettings.java        |  2 +-
 .../uavtalk/uavobjects/FirmwareIAPObj.java       |  2 +-
 .../FixedWingPathFollowerSettings.java           |  2 +-
 .../uavobjects/FixedWingPathFollowerStatus.java  |  2 +-
 .../uavobjects/FlightBatterySettings.java        |  2 +-
 .../uavtalk/uavobjects/FlightBatteryState.java   |  2 +-
 .../uavtalk/uavobjects/FlightPlanControl.java    |  2 +-
 .../uavtalk/uavobjects/FlightPlanSettings.java   |  2 +-
 .../uavtalk/uavobjects/FlightPlanStatus.java     |  2 +-
 .../uavtalk/uavobjects/FlightStatus.java         |  2 +-
 .../uavtalk/uavobjects/FlightTelemetryStats.java |  2 +-
 .../uavtalk/uavobjects/GCSReceiver.java          |  2 +-
 .../uavtalk/uavobjects/GCSTelemetryStats.java    |  2 +-
 .../uavtalk/uavobjects/GPSPosition.java          |  2 +-
 .../uavtalk/uavobjects/GPSSatellites.java        |  2 +-
 .../uavtalk/uavobjects/GPSSettings.java          |  2 +-
 .../openpilot/uavtalk/uavobjects/GPSTime.java    |  2 +-
 .../uavtalk/uavobjects/GPSVelocity.java          |  2 +-
 .../org/openpilot/uavtalk/uavobjects/Gyros.java  |  2 +-
 .../openpilot/uavtalk/uavobjects/GyrosBias.java  |  2 +-
 .../uavtalk/uavobjects/HomeLocation.java         |  2 +-
 .../openpilot/uavtalk/uavobjects/HwSettings.java |  2 +-
 .../openpilot/uavtalk/uavobjects/I2CStats.java   |  2 +-
 .../openpilot/uavtalk/uavobjects/MagBias.java    |  2 +-
 .../uavtalk/uavobjects/Magnetometer.java         |  2 +-
 .../uavtalk/uavobjects/ManualControlCommand.java |  2 +-
 .../uavobjects/ManualControlSettings.java        |  2 +-
 .../uavtalk/uavobjects/MixerSettings.java        |  2 +-
 .../uavtalk/uavobjects/MixerStatus.java          |  2 +-
 .../uavtalk/uavobjects/NEDPosition.java          |  2 +-
 .../openpilot/uavtalk/uavobjects/NedAccel.java   |  2 +-
 .../uavtalk/uavobjects/ObjectPersistence.java    |  2 +-
 .../uavtalk/uavobjects/OveroSyncSettings.java    |  2 +-
 .../uavtalk/uavobjects/OveroSyncStats.java       |  2 +-
 .../uavtalk/uavobjects/PathDesired.java          |  2 +-
 .../uavtalk/uavobjects/PathPlannerSettings.java  |  2 +-
 .../uavtalk/uavobjects/PipXSettings.java         |  2 +-
 .../openpilot/uavtalk/uavobjects/PipXStatus.java |  2 +-
 .../uavtalk/uavobjects/PositionActual.java       |  2 +-
 .../uavtalk/uavobjects/RateDesired.java          |  2 +-
 .../uavtalk/uavobjects/ReceiverActivity.java     |  2 +-
 .../uavtalk/uavobjects/RevoCalibration.java      |  2 +-
 .../uavtalk/uavobjects/RevoSettings.java         |  2 +-
 .../uavtalk/uavobjects/SonarAltitude.java        |  2 +-
 .../uavtalk/uavobjects/StabilizationDesired.java |  2 +-
 .../uavobjects/StabilizationSettings.java        |  2 +-
 .../uavtalk/uavobjects/SystemAlarms.java         |  2 +-
 .../uavtalk/uavobjects/SystemSettings.java       |  2 +-
 .../uavtalk/uavobjects/SystemStats.java          |  2 +-
 .../openpilot/uavtalk/uavobjects/TaskInfo.java   |  2 +-
 .../uavtalk/uavobjects/TxPIDSettings.java        |  2 +-
 .../uavtalk/uavobjects/VelocityActual.java       |  2 +-
 .../uavtalk/uavobjects/VelocityDesired.java      |  2 +-
 .../uavobjects/VtolPathFollowerSettings.java     |  2 +-
 .../uavtalk/uavobjects/WatchdogStatus.java       |  2 +-
 .../openpilot/uavtalk/uavobjects/Waypoint.java   |  2 +-
 .../uavtalk/uavobjects/WaypointActive.java       |  2 +-
 .../juavobjects/templates/uavobjecttemplate.java |  2 +-
 74 files changed, 84 insertions(+), 78 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index e16bf6c17..1ad53e53a 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -12,7 +12,7 @@ import android.util.Log;
 public class UAVTalk extends Observable {
 
 	static final String TAG = "UAVTalk";
-	public static int LOGLEVEL = 0;
+	public static int LOGLEVEL = -1;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
@@ -107,8 +107,8 @@ public class UAVTalk extends Observable {
 	ByteBuffer rxTmpBuffer /* 4 */;
 	ByteBuffer rxBuffer;
 	int rxType;
-	int rxObjId;
-	int rxInstId;
+	long rxObjId;
+	long rxInstId;
 	int rxLength;
 	int rxPacketLength;
 
@@ -343,9 +343,13 @@ public class UAVTalk extends Observable {
 
 			// Search for object, if not found reset state machine
 			rxObjId = rxTmpBuffer.getInt(0);
+			// Because java treats ints as only signed we need to do this manually
+			if (rxObjId < 0) 
+				rxObjId = 0x100000000l + rxObjId;
 			{
 				UAVObject rxObj = objMngr.getObject(rxObjId);
 				if (rxObj == null) {
+					Log.d(TAG, "Unknown ID: " + rxObjId);
 					stats.rxErrors++;
 					rxState = RxStateType.STATE_SYNC;
 					break;
@@ -475,8 +479,10 @@ public class UAVTalk extends Observable {
 	 * for all instances. \param[in] data Data buffer \param[in] length Buffer
 	 * length \return Success (true), Failure (false)
 	 */
-	public boolean receiveObject(int type, int objId, int instId,
+	public boolean receiveObject(int type, long objId, long instId,
 			ByteBuffer data) {
+		
+		if (DEBUG) Log.d(TAG, "Received object ID: " + objId);
 		assert (objMngr != null);
 
 		UAVObject obj = null;
@@ -559,7 +565,7 @@ public class UAVTalk extends Observable {
 	 * Update the data of an object from a byte array (unpack). If the object
 	 * instance could not be found in the list, then a new one is created.
 	 */
-	public synchronized UAVObject updateObject(int objId, int instId,
+	public synchronized UAVObject updateObject(long objId, long instId,
 			ByteBuffer data) {
 		assert (objMngr != null);
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java
index fa2aa6d30..e3c386e30 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Accels.java
@@ -139,7 +139,7 @@ public class Accels extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xDD9D5FC0;
+	protected static final long OBJID = 0xDD9D5FC0l;
 	protected static final String NAME = "Accels";
 	protected static String DESCRIPTION = "The accel data.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
index f24250f10..24da98961 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AccessoryDesired.java
@@ -127,7 +127,7 @@ public class AccessoryDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xC409985A;
+	protected static final long OBJID = 0xC409985Al;
 	protected static final String NAME = "AccessoryDesired";
 	protected static String DESCRIPTION = "Desired Auxillary actuator settings.  Comes from @ref ManualControlModule.";
 	protected static final boolean ISSINGLEINST = 0 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
index 1982367c4..917095171 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorCommand.java
@@ -148,7 +148,7 @@ public class ActuatorCommand extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x5324CB8;
+	protected static final long OBJID = 0x5324CB8l;
 	protected static final String NAME = "ActuatorCommand";
 	protected static String DESCRIPTION = "Contains the pulse duration sent to each of the channels.  Set by @ref ActuatorModule";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
index d670db19a..8f7869ff9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorDesired.java
@@ -147,7 +147,7 @@ public class ActuatorDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xCA4BC4A4;
+	protected static final long OBJID = 0xCA4BC4A4l;
 	protected static final String NAME = "ActuatorDesired";
 	protected static String DESCRIPTION = "Desired raw, pitch and yaw actuator settings.  Comes from either @ref StabilizationModule or @ref ManualControlModule depending on FlightMode.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
index d1dfeef5f..b0e5a2e89 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ActuatorSettings.java
@@ -262,7 +262,7 @@ public class ActuatorSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x7D555646;
+	protected static final long OBJID = 0x7D555646l;
 	protected static final String NAME = "ActuatorSettings";
 	protected static String DESCRIPTION = "Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java
index 416014c4f..4a49c8a5d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltHoldSmoothed.java
@@ -135,7 +135,7 @@ public class AltHoldSmoothed extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x2BC6B9D2;
+	protected static final long OBJID = 0x2BC6B9D2l;
 	protected static final String NAME = "AltHoldSmoothed";
 	protected static String DESCRIPTION = "The output on the kalman filter on altitude.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java
index 7a9bf7037..880a88f3f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldDesired.java
@@ -139,7 +139,7 @@ public class AltitudeHoldDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x495BAD6E;
+	protected static final long OBJID = 0x495BAD6El;
 	protected static final String NAME = "AltitudeHoldDesired";
 	protected static String DESCRIPTION = "Holds the desired altitude (from manual control) as well as the desired attitude to pass through";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
index 400ace518..afe2ec487 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
@@ -158,7 +158,7 @@ public class AltitudeHoldSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xFEC55B42;
+	protected static final long OBJID = 0xFEC55B42l;
 	protected static final String NAME = "AltitudeHoldSettings";
 	protected static String DESCRIPTION = "Settings for the @ref AltitudeHold module";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
index 536d48154..d62253d0e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeActual.java
@@ -151,7 +151,7 @@ public class AttitudeActual extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x33DAD5E6;
+	protected static final long OBJID = 0x33DAD5E6l;
 	protected static final String NAME = "AttitudeActual";
 	protected static String DESCRIPTION = "The updated Attitude estimation from @ref AHRSCommsModule.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
index f5b97ec50..c43a2a993 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSettings.java
@@ -195,7 +195,7 @@ public class AttitudeSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xC307BC4A;
+	protected static final long OBJID = 0xC307BC4Al;
 	protected static final String NAME = "AttitudeSettings";
 	protected static String DESCRIPTION = "Settings for the @ref Attitude module used on CopterControl";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java
index 55ab9bfea..2046d6add 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AttitudeSimulated.java
@@ -163,7 +163,7 @@ public class AttitudeSimulated extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x9266CE74;
+	protected static final long OBJID = 0x9266CE74l;
 	protected static final String NAME = "AttitudeSimulated";
 	protected static String DESCRIPTION = "The simulated Attitude estimation from @ref Sensors.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java
index 29be235ef..3a9e306f4 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAirspeed.java
@@ -142,7 +142,7 @@ public class BaroAirspeed extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x169EA4A;
+	protected static final long OBJID = 0x169EA4Al;
 	protected static final String NAME = "BaroAirspeed";
 	protected static String DESCRIPTION = "The raw data from the dynamic pressure sensor with pressure, temperature and airspeed.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
index 1d7705e2a..505a42c5f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/BaroAltitude.java
@@ -135,7 +135,7 @@ public class BaroAltitude extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x99622E6A;
+	protected static final long OBJID = 0x99622E6Al;
 	protected static final String NAME = "BaroAltitude";
 	protected static String DESCRIPTION = "The raw data from the barometric sensor with pressure, temperature and altitude estimate.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
index 1248171ab..caff64a0b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraDesired.java
@@ -135,7 +135,7 @@ public class CameraDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x531F544E;
+	protected static final long OBJID = 0x531F544El;
 	protected static final String NAME = "CameraDesired";
 	protected static String DESCRIPTION = "Desired camera outputs.  Comes from @ref CameraStabilization module.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
index 63aeb8b45..9ddb2116d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/CameraStabSettings.java
@@ -193,7 +193,7 @@ public class CameraStabSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x3B95DDBA;
+	protected static final long OBJID = 0x3B95DDBAl;
 	protected static final String NAME = "CameraStabSettings";
 	protected static String DESCRIPTION = "Settings for the @ref CameraStab mmodule";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
index f6a65f3c6..881a5c225 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FaultSettings.java
@@ -135,7 +135,7 @@ public class FaultSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x2778BA3C;
+	protected static final long OBJID = 0x2778BA3Cl;
 	protected static final String NAME = "FaultSettings";
 	protected static String DESCRIPTION = "Allows testers to simulate various fault scenarios.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
index 2498db5e9..48d211ae9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
@@ -201,7 +201,7 @@ public class FirmwareIAPObj extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x3CCDFB68;
+	protected static final long OBJID = 0x3CCDFB68l;
 	protected static final String NAME = "FirmwareIAPObj";
 	protected static String DESCRIPTION = "Queries board for SN, model, revision, and sends reset command";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java
index 56df481b6..332873fe3 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerSettings.java
@@ -228,7 +228,7 @@ public class FixedWingPathFollowerSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x8A3F1E02;
+	protected static final long OBJID = 0x8A3F1E02l;
 	protected static final String NAME = "FixedWingPathFollowerSettings";
 	protected static String DESCRIPTION = "Settings for the @ref FixedWingPathFollowerModule";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java
index e1b0881da..7aac671a0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FixedWingPathFollowerStatus.java
@@ -153,7 +153,7 @@ public class FixedWingPathFollowerStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xA0D6F6D4;
+	protected static final long OBJID = 0xA0D6F6D4l;
 	protected static final String NAME = "FixedWingPathFollowerStatus";
 	protected static String DESCRIPTION = "Object Storing Debugging Information on PID internals";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
index 96e9bcc12..69a17e773 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
@@ -170,7 +170,7 @@ public class FlightBatterySettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x94AC6AD2;
+	protected static final long OBJID = 0x94AC6AD2l;
 	protected static final String NAME = "FlightBatterySettings";
 	protected static String DESCRIPTION = "Flight Battery configuration.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
index c94ebc900..796da0c18 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
@@ -158,7 +158,7 @@ public class FlightBatteryState extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xD2083596;
+	protected static final long OBJID = 0xD2083596l;
 	protected static final String NAME = "FlightBatteryState";
 	protected static String DESCRIPTION = "Battery status information.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
index de2ac3ce5..f7ed37fc2 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanControl.java
@@ -132,7 +132,7 @@ public class FlightPlanControl extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x53E3F180;
+	protected static final long OBJID = 0x53E3F180l;
 	protected static final String NAME = "FlightPlanControl";
 	protected static String DESCRIPTION = "Control the flight plan script";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
index 8a97c04c1..a1c733686 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanSettings.java
@@ -128,7 +128,7 @@ public class FlightPlanSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x92E9FF76;
+	protected static final long OBJID = 0x92E9FF76l;
 	protected static final String NAME = "FlightPlanSettings";
 	protected static String DESCRIPTION = "Settings for the flight plan module, control the execution of the script";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
index 1b806f0bc..49ffc7b49 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightPlanStatus.java
@@ -172,7 +172,7 @@ public class FlightPlanStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x2206EE46;
+	protected static final long OBJID = 0x2206EE46l;
 	protected static final String NAME = "FlightPlanStatus";
 	protected static String DESCRIPTION = "Status of the flight plan script";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
index 78f9332e9..6497e45a9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
@@ -146,7 +146,7 @@ public class FlightStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x884FEF66;
+	protected static final long OBJID = 0x884FEF66l;
 	protected static final String NAME = "FlightStatus";
 	protected static String DESCRIPTION = "Contains major flight status information for other modules.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
index 604304c58..4b61c9195 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightTelemetryStats.java
@@ -152,7 +152,7 @@ public class FlightTelemetryStats extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x2F7E2902;
+	protected static final long OBJID = 0x2F7E2902l;
 	protected static final String NAME = "FlightTelemetryStats";
 	protected static String DESCRIPTION = "Maintains the telemetry statistics from the OpenPilot flight computer.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
index 4b8a61300..dd4ad9d33 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSReceiver.java
@@ -134,7 +134,7 @@ public class GCSReceiver extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xCC7E1470;
+	protected static final long OBJID = 0xCC7E1470l;
 	protected static final String NAME = "GCSReceiver";
 	protected static String DESCRIPTION = "A receiver channel group carried over the telemetry link.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
index c9211d01d..90323bd58 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GCSTelemetryStats.java
@@ -152,7 +152,7 @@ public class GCSTelemetryStats extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xABC72744;
+	protected static final long OBJID = 0xABC72744l;
 	protected static final String NAME = "GCSTelemetryStats";
 	protected static String DESCRIPTION = "The telemetry statistics from the ground computer";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
index 0e5c2a2d1..a13d11799 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSPosition.java
@@ -172,7 +172,7 @@ public class GPSPosition extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xE2A323B6;
+	protected static final long OBJID = 0xE2A323B6l;
 	protected static final String NAME = "GPSPosition";
 	protected static String DESCRIPTION = "Raw GPS data from @ref GPSModule.  Should only be used by @ref AHRSCommsModule.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
index 8f7f327cf..0463bd4a1 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSatellites.java
@@ -203,7 +203,7 @@ public class GPSSatellites extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x920D998;
+	protected static final long OBJID = 0x920D998l;
 	protected static final String NAME = "GPSSatellites";
 	protected static String DESCRIPTION = "Contains information about the GPS satellites in view from @ref GPSModule.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
index 409de3b54..068dc34f3 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
@@ -131,7 +131,7 @@ public class GPSSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xAC5F6370;
+	protected static final long OBJID = 0xAC5F6370l;
 	protected static final String NAME = "GPSSettings";
 	protected static String DESCRIPTION = "Settings for the GPS";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
index a3bb0f981..81fef701e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSTime.java
@@ -147,7 +147,7 @@ public class GPSTime extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xD4478084;
+	protected static final long OBJID = 0xD4478084l;
 	protected static final String NAME = "GPSTime";
 	protected static String DESCRIPTION = "Contains the GPS time from @ref GPSModule.  Required to compute the world magnetic model correctly when setting the home location.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java
index b877e26d9..432f039a8 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSVelocity.java
@@ -135,7 +135,7 @@ public class GPSVelocity extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x8245DC80;
+	protected static final long OBJID = 0x8245DC80l;
 	protected static final String NAME = "GPSVelocity";
 	protected static String DESCRIPTION = "Raw GPS data from @ref GPSModule.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java
index 022bb6360..b3de76547 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Gyros.java
@@ -139,7 +139,7 @@ public class Gyros extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x4228AF6;
+	protected static final long OBJID = 0x4228AF6l;
 	protected static final String NAME = "Gyros";
 	protected static String DESCRIPTION = "The gyro data.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java
index 7acdd2871..3a51fcdb3 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GyrosBias.java
@@ -135,7 +135,7 @@ public class GyrosBias extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xE4B6F980;
+	protected static final long OBJID = 0xE4B6F980l;
 	protected static final String NAME = "GyrosBias";
 	protected static String DESCRIPTION = "The gyro data.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
index deb8b9ee1..f4f976fa0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
@@ -160,7 +160,7 @@ public class HomeLocation extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x6185DC6E;
+	protected static final long OBJID = 0x6185DC6El;
 	protected static final String NAME = "HomeLocation";
 	protected static String DESCRIPTION = "HomeLocation setting which contains the constants to tranlate from longitutde and latitude to NED reference frame.  Automatically set by @ref GPSModule after acquiring a 3D lock.  Used by @ref AHRSCommsModule.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
index 0999dfdf8..b478bcd5b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
@@ -324,7 +324,7 @@ public class HwSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x5D950E50;
+	protected static final long OBJID = 0x5D950E50l;
 	protected static final String NAME = "HwSettings";
 	protected static String DESCRIPTION = "Selection of optional hardware configurations.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
index 368504ac6..4bc8701ce 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/I2CStats.java
@@ -226,7 +226,7 @@ public class I2CStats extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xB714823E;
+	protected static final long OBJID = 0xB714823El;
 	protected static final String NAME = "I2CStats";
 	protected static String DESCRIPTION = "Tracks statistics on the I2C bus.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java
index 2014c2bce..19a9913d7 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MagBias.java
@@ -135,7 +135,7 @@ public class MagBias extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x5043E510;
+	protected static final long OBJID = 0x5043E510l;
 	protected static final String NAME = "MagBias";
 	protected static String DESCRIPTION = "The gyro data.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java
index f3cdc1e9f..da81db3dd 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Magnetometer.java
@@ -135,7 +135,7 @@ public class Magnetometer extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x813B55DE;
+	protected static final long OBJID = 0x813B55DEl;
 	protected static final String NAME = "Magnetometer";
 	protected static String DESCRIPTION = "The mag data.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
index ebaca4385..63816ed52 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlCommand.java
@@ -162,7 +162,7 @@ public class ManualControlCommand extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x1E82C2D2;
+	protected static final long OBJID = 0x1E82C2D2l;
 	protected static final String NAME = "ManualControlCommand";
 	protected static String DESCRIPTION = "The output from the @ref ManualControlModule which descodes the receiver inputs.  Overriden by GCS for fly-by-wire control.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
index 5394810ca..0b47b3e10 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
@@ -341,7 +341,7 @@ public class ManualControlSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x6C188320;
+	protected static final long OBJID = 0x6C188320l;
 	protected static final String NAME = "ManualControlSettings";
 	protected static String DESCRIPTION = "Settings to indicate how to decode receiver input by @ref ManualControlModule.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
index 03f63ac5f..f51a083b0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerSettings.java
@@ -496,7 +496,7 @@ public class MixerSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x5D16D6C4;
+	protected static final long OBJID = 0x5D16D6C4l;
 	protected static final String NAME = "MixerSettings";
 	protected static String DESCRIPTION = "Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
index a6b471a18..8b7766a94 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/MixerStatus.java
@@ -163,7 +163,7 @@ public class MixerStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x124E28A;
+	protected static final long OBJID = 0x124E28Al;
 	protected static final String NAME = "MixerStatus";
 	protected static String DESCRIPTION = "Status for the matrix mixer showing the output of each mixer after all scaling";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java
index 3eb048acd..01bc062ff 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NEDPosition.java
@@ -135,7 +135,7 @@ public class NEDPosition extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x1FB15A00;
+	protected static final long OBJID = 0x1FB15A00l;
 	protected static final String NAME = "NEDPosition";
 	protected static String DESCRIPTION = "Contains the current position relative to @ref HomeLocation";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
index f1f7972e7..9520e65eb 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/NedAccel.java
@@ -135,7 +135,7 @@ public class NedAccel extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x7C7F5BC0;
+	protected static final long OBJID = 0x7C7F5BC0l;
 	protected static final String NAME = "NedAccel";
 	protected static String DESCRIPTION = "The projection of acceleration in the NED reference frame used by @ref Guidance.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
index 7d795626e..d856a3396 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ObjectPersistence.java
@@ -152,7 +152,7 @@ public class ObjectPersistence extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x99C63292;
+	protected static final long OBJID = 0x99C63292l;
 	protected static final String NAME = "ObjectPersistence";
 	protected static String DESCRIPTION = "Someone who knows please enter this";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java
index 3df1f6a41..b312badfc 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncSettings.java
@@ -132,7 +132,7 @@ public class OveroSyncSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xA1ABC278;
+	protected static final long OBJID = 0xA1ABC278l;
 	protected static final String NAME = "OveroSyncSettings";
 	protected static String DESCRIPTION = "Settings to control the behavior of the overo sync module";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
index e76e2cc63..0618c247c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
@@ -154,7 +154,7 @@ public class OveroSyncStats extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xD2085FAC;
+	protected static final long OBJID = 0xD2085FACl;
 	protected static final String NAME = "OveroSyncStats";
 	protected static String DESCRIPTION = "Maintains statistics on transfer rate to and from over";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java
index e1194d0ac..f7a00a5da 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathDesired.java
@@ -151,7 +151,7 @@ public class PathDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x5A4DC71A;
+	protected static final long OBJID = 0x5A4DC71Al;
 	protected static final String NAME = "PathDesired";
 	protected static String DESCRIPTION = "The endpoint or path the craft is trying to achieve.  Can come from @ref ManualControl or @ref PathPlanner ";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java
index ae65e035d..d309130a7 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathPlannerSettings.java
@@ -140,7 +140,7 @@ public class PathPlannerSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x290E45DA;
+	protected static final long OBJID = 0x290E45DAl;
 	protected static final String NAME = "PathPlannerSettings";
 	protected static String DESCRIPTION = "Settings for the @ref PathPlanner Module";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java
index e3c40bfcf..46cd3a998 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXSettings.java
@@ -315,7 +315,7 @@ public class PipXSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xBA192BCA;
+	protected static final long OBJID = 0xBA192BCAl;
 	protected static final String NAME = "PipXSettings";
 	protected static String DESCRIPTION = "PipXtreme configurations options.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java
index 28288a117..5525a21b6 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PipXStatus.java
@@ -290,7 +290,7 @@ public class PipXStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x3FC68A86;
+	protected static final long OBJID = 0x3FC68A86l;
 	protected static final String NAME = "PipXStatus";
 	protected static String DESCRIPTION = "PipXtreme device status.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
index 062c5f604..5fe8b497f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
@@ -135,7 +135,7 @@ public class PositionActual extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xFA9E2D42;
+	protected static final long OBJID = 0xFA9E2D42l;
 	protected static final String NAME = "PositionActual";
 	protected static String DESCRIPTION = "Contains the current position relative to @ref HomeLocation";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
index 6c5d46d14..b15d368a0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RateDesired.java
@@ -135,7 +135,7 @@ public class RateDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xCE8C826;
+	protected static final long OBJID = 0xCE8C826l;
 	protected static final String NAME = "RateDesired";
 	protected static String DESCRIPTION = "Status for the matrix mixer showing the output of each mixer after all scaling";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
index a6ae54bfc..4928d0913 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ReceiverActivity.java
@@ -141,7 +141,7 @@ public class ReceiverActivity extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x1E7C53DA;
+	protected static final long OBJID = 0x1E7C53DAl;
 	protected static final String NAME = "ReceiverActivity";
 	protected static String DESCRIPTION = "Monitors which receiver channels have been active within the last second.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
index b2fb3dcf2..9881cfe14 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
@@ -238,7 +238,7 @@ public class RevoCalibration extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xA2A63C7C;
+	protected static final long OBJID = 0xA2A63C7Cl;
 	protected static final String NAME = "RevoCalibration";
 	protected static String DESCRIPTION = "Settings for the INS to control the algorithm and what is updated";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java
index 7b07ac572..0147f72c1 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoSettings.java
@@ -132,7 +132,7 @@ public class RevoSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xE2DA70EA;
+	protected static final long OBJID = 0xE2DA70EAl;
 	protected static final String NAME = "RevoSettings";
 	protected static String DESCRIPTION = "Settings for the revo to control the algorithm and what is updated";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
index 13f0baf71..00a711775 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SonarAltitude.java
@@ -127,7 +127,7 @@ public class SonarAltitude extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x6C5A0CBC;
+	protected static final long OBJID = 0x6C5A0CBCl;
 	protected static final String NAME = "SonarAltitude";
 	protected static String DESCRIPTION = "The raw data from the ultrasound sonar sensor with altitude estimate.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
index 8a441ffe0..68cb82692 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
@@ -152,7 +152,7 @@ public class StabilizationDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xDE1EAAD6;
+	protected static final long OBJID = 0xDE1EAAD6l;
 	protected static final String NAME = "StabilizationDesired";
 	protected static String DESCRIPTION = "The desired attitude that @ref StabilizationModule will try and achieve if FlightMode is Stabilized.  Comes from @ref ManaulControlModule.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
index 93c7af131..c1270df59 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
@@ -302,7 +302,7 @@ public class StabilizationSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xBBC337D4;
+	protected static final long OBJID = 0xBBC337D4l;
 	protected static final String NAME = "StabilizationSettings";
 	protected static String DESCRIPTION = "PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
index 28ae79c5f..11d4bc4d5 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
@@ -166,7 +166,7 @@ public class SystemAlarms extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x737ADCF2;
+	protected static final long OBJID = 0x737ADCF2l;
 	protected static final String NAME = "SystemAlarms";
 	protected static String DESCRIPTION = "Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
index 2ed2ea8bb..aa4fad376 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemSettings.java
@@ -159,7 +159,7 @@ public class SystemSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xC72A326E;
+	protected static final long OBJID = 0xC72A326El;
 	protected static final String NAME = "SystemSettings";
 	protected static String DESCRIPTION = "Select airframe type.  Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
index 9c675a939..113bc8c25 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemStats.java
@@ -155,7 +155,7 @@ public class SystemStats extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x364D1406;
+	protected static final long OBJID = 0x364D1406l;
 	protected static final String NAME = "SystemStats";
 	protected static String DESCRIPTION = "CPU and memory usage from OpenPilot computer. ";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
index d1f246995..308f0b490 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
@@ -192,7 +192,7 @@ public class TaskInfo extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xB81CD2AE;
+	protected static final long OBJID = 0xB81CD2AEl;
 	protected static final String NAME = "TaskInfo";
 	protected static String DESCRIPTION = "Task information";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java
index b35a80b21..3f2264bf5 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TxPIDSettings.java
@@ -214,7 +214,7 @@ public class TxPIDSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x42B2D2AE;
+	protected static final long OBJID = 0x42B2D2AEl;
 	protected static final String NAME = "TxPIDSettings";
 	protected static String DESCRIPTION = "Settings used by @ref TxPID optional module to tune PID settings using R/C transmitter";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
index 24770de25..96ac3d72d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityActual.java
@@ -135,7 +135,7 @@ public class VelocityActual extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x5A08F61A;
+	protected static final long OBJID = 0x5A08F61Al;
 	protected static final String NAME = "VelocityActual";
 	protected static String DESCRIPTION = "Updated by @ref AHRSCommsModule and used within @ref GuidanceModule for velocity control";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
index 4e72cc640..1746c978a 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VelocityDesired.java
@@ -135,7 +135,7 @@ public class VelocityDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x9E946992;
+	protected static final long OBJID = 0x9E946992l;
 	protected static final String NAME = "VelocityDesired";
 	protected static String DESCRIPTION = "Used within @ref GuidanceModule to communicate between the task computing the desired velocity and the PID loop to achieve it (running at different rates).";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java
index 31c8be966..fa51e4512 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/VtolPathFollowerSettings.java
@@ -221,7 +221,7 @@ public class VtolPathFollowerSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x973991F6;
+	protected static final long OBJID = 0x973991F6l;
 	protected static final String NAME = "VtolPathFollowerSettings";
 	protected static String DESCRIPTION = "Settings for the @ref VtolPathFollower module";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
index 4ecd9d173..722006943 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WatchdogStatus.java
@@ -131,7 +131,7 @@ public class WatchdogStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xA207FA7C;
+	protected static final long OBJID = 0xA207FA7Cl;
 	protected static final String NAME = "WatchdogStatus";
 	protected static String DESCRIPTION = "For monitoring the flags in the watchdog and especially the bootup flags";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
index 8f9233dc0..97dab8a97 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
@@ -148,7 +148,7 @@ public class Waypoint extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x338C5F90;
+	protected static final long OBJID = 0x338C5F90l;
 	protected static final String NAME = "Waypoint";
 	protected static String DESCRIPTION = "A waypoint the aircraft can try and hit.  Used by the @ref PathPlanner module";
 	protected static final boolean ISSINGLEINST = 0 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java
index 8f1d9c8cd..cb4717dbc 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/WaypointActive.java
@@ -127,7 +127,7 @@ public class WaypointActive extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x1EA5B192;
+	protected static final long OBJID = 0x1EA5B192l;
 	protected static final String NAME = "WaypointActive";
 	protected static String DESCRIPTION = "Indicates the currently active waypoint";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
index da0f1d62e..cb6d15fe5 100644
--- a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
+++ b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjecttemplate.java
@@ -123,7 +123,7 @@ $(INITFIELDS)
 	}
 
 	// Constants
-	protected static final long OBJID = $(OBJIDHEX);
+	protected static final long OBJID = $(OBJIDHEX)l;
 	protected static final String NAME = "$(NAME)";
 	protected static String DESCRIPTION = "$(DESCRIPTION)";
 	protected static final boolean ISSINGLEINST = $(ISSINGLEINST) > 0;

From 31793093c6676d36717ca11394d36ac2c77cdf74 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 04:42:28 -0500
Subject: [PATCH 267/543] AndroidGCS: Updating and saving objects now works.

---
 .../org/openpilot/androidgcs/ObjectEditView.java  |  2 +-
 .../org/openpilot/androidgcs/ObjectEditor.java    | 15 ++++++++++++---
 2 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java b/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
index f88de99fd..8f3147c14 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
@@ -19,7 +19,7 @@ import android.widget.TextView;
 public class ObjectEditView extends GridLayout {
 
 	String objectName;
-	List<View> fields;
+	public List<View> fields;
 
 	public ObjectEditView(Context context) {
 		super(context);		
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java b/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
index 16256a975..a7617ca7d 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
@@ -7,13 +7,21 @@ import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectField;
 
 import android.os.Bundle;
+import android.util.Log;
+import android.view.View;
+import android.view.View.OnClickListener;
+import android.widget.Button;
+import android.widget.EditText;
+import android.widget.Spinner;
+import android.widget.Toast;
 
 public class ObjectEditor extends ObjectManagerActivity {
 
+	static final String TAG = "ObjectEditor"; 
 	String objectName;
-	int objectID;
-	int instID;
-	
+	long objectID;
+	long instID;
+
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
@@ -98,6 +106,7 @@ public class ObjectEditor extends ObjectManagerActivity {
 		if (obj == null)
 			return false;
 
+		Log.d(TAG, "Updating object id " + obj.getObjID());
 		ObjectEditView editView = (ObjectEditView) findViewById(R.id.object_edit_view);
 
 		int field_idx = 0;

From bfdb5749b3c83c7a129e0e253eddac53e33f38ba Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 04:44:54 -0500
Subject: [PATCH 268/543] Fixup: Lower the debugging output for uavtalk

---
 androidgcs/src/org/openpilot/uavtalk/UAVTalk.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 1ad53e53a..18c303734 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -12,7 +12,7 @@ import android.util.Log;
 public class UAVTalk extends Observable {
 
 	static final String TAG = "UAVTalk";
-	public static int LOGLEVEL = -1;
+	public static int LOGLEVEL = 0;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
@@ -349,7 +349,7 @@ public class UAVTalk extends Observable {
 			{
 				UAVObject rxObj = objMngr.getObject(rxObjId);
 				if (rxObj == null) {
-					Log.d(TAG, "Unknown ID: " + rxObjId);
+					if (DEBUG) Log.d(TAG, "Unknown ID: " + rxObjId);
 					stats.rxErrors++;
 					rxState = RxStateType.STATE_SYNC;
 					break;

From 91b2d667c1e7cd746227b0140e221f135205504d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 04:54:10 -0500
Subject: [PATCH 269/543] AndroidGCS: Hardcode some dimensions on the editor
 dialog so the keyboard fits more nicely with it.

---
 androidgcs/res/layout/object_editor.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/androidgcs/res/layout/object_editor.xml b/androidgcs/res/layout/object_editor.xml
index be6e219e8..062f64260 100644
--- a/androidgcs/res/layout/object_editor.xml
+++ b/androidgcs/res/layout/object_editor.xml
@@ -2,7 +2,7 @@
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
-    android:layout_height="match_parent"
+    android:layout_height="500dp"
     android:orientation="vertical"
     tools:context=".ObjectEditor" >
 
@@ -24,7 +24,7 @@
 	
 	<LinearLayout
 	    android:layout_width="match_parent"
-	    android:layout_height="wrap_content"
+	    android:layout_height="64dp"
 	    android:layout_weight="1"
 	    android:gravity="right" >
 

From f04930b8cfed4ecede7593266e80ea4de38ab0bf Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 12:18:48 -0500
Subject: [PATCH 270/543] AndroidGCS: Clean up messaging from TelemetryService

---
 .../androidgcs/OPTelemetryService.java        | 47 ++++++-------------
 1 file changed, 14 insertions(+), 33 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index 13e415c54..aa26181a9 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -10,14 +10,9 @@ import org.openpilot.uavtalk.UAVObjectManager;
 import org.openpilot.uavtalk.UAVTalk;
 import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
 
-import android.app.Notification;
-import android.app.NotificationManager;
-import android.app.PendingIntent;
 import android.app.Service;
-import android.content.Context;
 import android.content.Intent;
 import android.content.SharedPreferences;
-import android.net.Uri;
 import android.os.Binder;
 import android.os.Handler;
 import android.os.HandlerThread;
@@ -47,6 +42,7 @@ public class OPTelemetryService extends Service {
 	// Variables for local message handler thread
 	private Looper mServiceLooper;
 	private ServiceHandler mServiceHandler;
+	private static HandlerThread thread;
 
 	// Message ids
 	static final int MSG_START        = 0;
@@ -117,9 +113,9 @@ public class OPTelemetryService extends Service {
 				stopSelf();
 
 				break;
-			case MSG_TOAST:
-				Toast.makeText(OPTelemetryService.this, (String) msg.obj, Toast.LENGTH_SHORT);
-				break;
+            case MSG_TOAST:
+            	Toast.makeText(OPTelemetryService.this, (String) msg.obj, Toast.LENGTH_SHORT).show();
+            	break;
 			default:
 				System.out.println(msg.toString());
 				throw new Error("Invalid message");
@@ -130,8 +126,7 @@ public class OPTelemetryService extends Service {
 	public void startup() {
 		Toast.makeText(getApplicationContext(), "Telemetry service starting", Toast.LENGTH_SHORT).show();
 		
-		HandlerThread thread = new HandlerThread("TelemetryServiceHandler",
-				Process.THREAD_PRIORITY_BACKGROUND);
+		thread = new HandlerThread("TelemetryServiceHandler", Process.THREAD_PRIORITY_BACKGROUND);
 		thread.start();
 
 		// Get the HandlerThread's Looper and use it for our Handler 
@@ -139,8 +134,8 @@ public class OPTelemetryService extends Service {
 		mServiceHandler = new ServiceHandler(mServiceLooper);
 	
 		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
-		if(prefs.getBoolean("autoconnect", false) || true) {
-			Toast.makeText(getApplicationContext(), "Should auto connect", Toast.LENGTH_SHORT);
+		if(prefs.getBoolean("autoconnect", false)) {
+			Toast.makeText(getApplicationContext(), "Should auto connect", Toast.LENGTH_SHORT).show();
 			Message msg = mServiceHandler.obtainMessage();
 			msg.arg1 = MSG_CONNECT;
 			msg.arg2 = 0;
@@ -177,7 +172,7 @@ public class OPTelemetryService extends Service {
 			return (TelemTask) activeTelem;
 		}
 		public void openConnection() {
-			Toast.makeText(getApplicationContext(), "Requested open connection", Toast.LENGTH_SHORT);
+			Toast.makeText(getApplicationContext(), "Requested open connection", Toast.LENGTH_SHORT).show();
 			Message msg = mServiceHandler.obtainMessage();
 			msg.arg1 = MSG_CONNECT;
 			mServiceHandler.sendMessage(msg);
@@ -296,9 +291,10 @@ public class OPTelemetryService extends Service {
 				}
 			}
 			if( ! bt.getConnected() ) {
+				toastMessage("BT connection failed");
 				return;
 			}
-
+			toastMessage("BT Connected");
 
 			if (DEBUG) Log.d(TAG, "Connected via bluetooth");
 
@@ -352,8 +348,8 @@ public class OPTelemetryService extends Service {
 
 				tcp.connect(objMngr);
 
-				if (DEBUG) Log.d(TAG, "Done attempting connection");
 				if( tcp.getConnected() )
+					
 					break;
 
 				try {
@@ -364,10 +360,11 @@ public class OPTelemetryService extends Service {
 					return;
 				}
 			}
-			if( ! tcp.getConnected() ) {
+			if( ! tcp.getConnected() || terminate ) {
+				toastMessage("TCP connection failed");
 				return;
 			}
-
+			toastMessage("TCP Connected");
 
 			if (DEBUG) Log.d(TAG, "Connected via network");
 
@@ -395,20 +392,4 @@ public class OPTelemetryService extends Service {
 		}
 
 	};
-
-	void postNotification(int id, String message) {
-		String ns = Context.NOTIFICATION_SERVICE;
-		NotificationManager mNManager = (NotificationManager) getSystemService(ns);
-		final Notification msg = new Notification(R.drawable.icon, message, System.currentTimeMillis());
-
-		Context context = getApplicationContext(); 
-		CharSequence contentTitle = "OpenPilot";
-		CharSequence contentText = message; 
-		Intent msgIntent = new Intent(Intent.ACTION_VIEW, Uri.parse("http://forums.openpilot.org"));
-		PendingIntent intent = PendingIntent.getActivity(this, 0, msgIntent, Intent.FLAG_ACTIVITY_NEW_TASK);		
-
-		msg.setLatestEventInfo(context, contentTitle, contentText, intent);
-
-		mNManager.notify(id, msg);
-	}
 }

From ee54ca47f4b120addef0fedcbd20a8ff030dcf37 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 14:38:29 -0500
Subject: [PATCH 271/543] AndroidGCS: Fix the getDouble() method for enum
 fields and make the UAVO browser properly initialize enums in editing mode

---
 .../src/org/openpilot/androidgcs/ObjectEditView.java     | 1 +
 androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java | 9 ++++++++-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java b/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
index 8f3147c14..7946a357b 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
@@ -91,6 +91,7 @@ public class ObjectEditView extends GridLayout {
 			ArrayAdapter<String> adapter = new ArrayAdapter<String>(context, android.R.layout.simple_spinner_dropdown_item);
 			adapter.addAll(field.getOptions());
 			((Spinner) fieldValue).setAdapter(adapter);
+			((Spinner) fieldValue).setSelection((int) field.getDouble(idx));
 			break;
 		}
 		
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index 988642ff0..da5184be8 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -390,7 +390,14 @@ public class UAVObjectField {
     }
     
     public double getDouble() { return getDouble(0); };
-    public double getDouble(int index) {
+    @SuppressWarnings("unchecked")
+	public double getDouble(int index) {
+    	switch (type) {
+    	case ENUM:
+    		return ((List<Byte>)data).get(index);
+    	default:
+    		break;
+    	}
     	return ((Number) getValue(index)).doubleValue();
     }
     

From 898276530723ee12c3473ef6e44ca3e8f73b60f0 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 16:09:14 -0500
Subject: [PATCH 272/543] AndroidGCS: Clean up start page and improve the
 icons.

---
 androidgcs/AndroidManifest.xml                |    6 +-
 androidgcs/res/drawable-hdpi/ic_browser.png   |  Bin 0 -> 1269 bytes
 .../res/drawable-hdpi/ic_controller.png       |  Bin 0 -> 1322 bytes
 androidgcs/res/drawable-hdpi/ic_logging.png   |  Bin 0 -> 823 bytes
 .../drawable-hdpi/{icon.png => ic_logo.png}   |  Bin
 androidgcs/res/drawable-hdpi/ic_map.png       |  Bin 0 -> 1190 bytes
 androidgcs/res/drawable-hdpi/ic_pfd.png       |  Bin 0 -> 1086 bytes
 androidgcs/res/layout/gcs_home.xml            |   90 +-
 androidgcs/res/values/strings.xml             |    9 +-
 .../org/openpilot/androidgcs/HomePage.java    |    8 +
 .../hdpi/_pre_production/hdpi_icons.ai        | 4569 +++++++++++++++++
 artwork/Android/hdpi/ic_browser.png           |  Bin 0 -> 1269 bytes
 artwork/Android/hdpi/ic_controller.png        |  Bin 0 -> 1322 bytes
 artwork/Android/hdpi/ic_logging.png           |  Bin 0 -> 823 bytes
 artwork/Android/hdpi/ic_map.png               |  Bin 0 -> 1190 bytes
 artwork/Android/hdpi/ic_pfd.png               |  Bin 0 -> 1086 bytes
 16 files changed, 4652 insertions(+), 30 deletions(-)
 create mode 100644 androidgcs/res/drawable-hdpi/ic_browser.png
 create mode 100644 androidgcs/res/drawable-hdpi/ic_controller.png
 create mode 100644 androidgcs/res/drawable-hdpi/ic_logging.png
 rename androidgcs/res/drawable-hdpi/{icon.png => ic_logo.png} (100%)
 create mode 100644 androidgcs/res/drawable-hdpi/ic_map.png
 create mode 100644 androidgcs/res/drawable-hdpi/ic_pfd.png
 create mode 100644 artwork/Android/hdpi/_pre_production/hdpi_icons.ai
 create mode 100644 artwork/Android/hdpi/ic_browser.png
 create mode 100644 artwork/Android/hdpi/ic_controller.png
 create mode 100644 artwork/Android/hdpi/ic_logging.png
 create mode 100644 artwork/Android/hdpi/ic_map.png
 create mode 100644 artwork/Android/hdpi/ic_pfd.png

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 52bf9cb30..3c99cff0d 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -9,7 +9,7 @@
 	<uses-permission android:name="android.permission.BLUETOOTH" />
 	<uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
 
-	<application android:icon="@drawable/icon" android:label="@string/app_name" android:theme="@android:style/Theme.Holo">
+	<application android:icon="@drawable/ic_logo" android:label="@string/app_name" android:theme="@android:style/Theme.Holo">
 		<!-- for map overlay -->
 		<uses-library android:name="com.google.android.maps" />
 
@@ -21,11 +21,11 @@
 			</intent-filter>
 		</activity>
 
-
 		<activity android:name="ObjectBrowser" android:label="@string/object_browser_name" />
 		<activity android:name="PFD" android:label="PFD" />
+		<activity android:name="Controller" android:label="@string/object_browser_name" />
 		<activity android:name="Preferences" android:label="@string/preference_title" />
-		<activity android:name="UAVLocation" android:label="@string/location_name" />
+		<activity android:name="UAVLocation" android:label="@string/location_name"/>
 		<activity android:name="ObjectEditor" android:label="ObjectEditor"
 			android:theme="@android:style/Theme.Dialog" />
 
diff --git a/androidgcs/res/drawable-hdpi/ic_browser.png b/androidgcs/res/drawable-hdpi/ic_browser.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0f14656af6f9b9e0fb4215dd5bdafb5ba26011f
GIT binary patch
literal 1269
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z000*f0cW4mQUCw|8FWQhbW?9;ba!ELWdK2BZ(?O2No`?gWm08fWO;GPWjp`?1cFIK
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z2QUE?lm4?aQUU~;dd_e!UTRzEbf%^7eaXpW$S_QQJ@@0@={eI-rBb2wjm>2uN^(R9
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zo#hI;eXAiWU)50O+VtAw&3mQdJzv9)VJ)eyhg{{W3o6TeQEzV_mCNT|esxa85?`O}
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fseHonM}PqUVrmr{`u~BW00000NkvXXu0mjfn~+lm

literal 0
HcmV?d00001

diff --git a/androidgcs/res/drawable-hdpi/ic_controller.png b/androidgcs/res/drawable-hdpi/ic_controller.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd497f9254c7f79e0f240a5ef1225c6c8155f17d
GIT binary patch
literal 1322
zcmV+_1=aeAP)<h;3K|Lk000e1NJLTq003D4003DC1^@s6RSSr(00009a7bBm000*f
z000*f0cW4mQUCw|8FWQhbW?9;ba!ELWdK2BZ(?O2No`?gWm08fWO;GPWjp`?1h+{<
zK~#9!?4AF0qCgPGH$MKC4vr3_127F79mK03UIm&8jt-7=kZa(A9bgCA0aoDcnAztZ
z5Bvc$u=r-)+h-CDE+4)-J2SiJ)A4vzV1GY1OZ~9cZK}k&+D5nK^E@ixmnVRXfPV=a
zQak7tYS6oh2JEAP#b|A6xK4D7#YM1LVjzdYf>q5Y$YRVUkOi_p7Q4~BTZ3yI@5O@a
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diff --git a/androidgcs/res/drawable-hdpi/ic_logging.png b/androidgcs/res/drawable-hdpi/ic_logging.png
new file mode 100644
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diff --git a/androidgcs/res/drawable-hdpi/icon.png b/androidgcs/res/drawable-hdpi/ic_logo.png
similarity index 100%
rename from androidgcs/res/drawable-hdpi/icon.png
rename to androidgcs/res/drawable-hdpi/ic_logo.png
diff --git a/androidgcs/res/drawable-hdpi/ic_map.png b/androidgcs/res/drawable-hdpi/ic_map.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb148224af967f993f946aeeb771a522d497f992
GIT binary patch
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diff --git a/androidgcs/res/drawable-hdpi/ic_pfd.png b/androidgcs/res/drawable-hdpi/ic_pfd.png
new file mode 100644
index 0000000000000000000000000000000000000000..80bb1d92a5d07b8d72c1946a0513268d58037704
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/androidgcs/res/layout/gcs_home.xml b/androidgcs/res/layout/gcs_home.xml
index 0ff427bcd..b404b2ea2 100644
--- a/androidgcs/res/layout/gcs_home.xml
+++ b/androidgcs/res/layout/gcs_home.xml
@@ -1,37 +1,79 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent" >
+<GridLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:layout_alignParentLeft="true"
+    android:layout_gravity="center_horizontal" >
 
     <Button
         android:id="@+id/launch_object_browser"
-        android:layout_width="wrap_content"
+        android:layout_width="132dp"
         android:layout_height="wrap_content"
-        android:layout_alignParentTop="true"
-        android:layout_centerHorizontal="true"
-        android:drawableLeft="@drawable/browser_icon"
+        android:layout_column="0"
+        android:layout_gravity="center"
+        android:layout_row="0"
+        android:layout_rowSpan="2"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_browser"
         android:text="@string/object_browser_name" />
 
     <Button
-        android:id="@+id/launch_pfd"
-        android:layout_width="wrap_content"
+        android:id="@+id/launch_location"
+        android:layout_width="132dp"
         android:layout_height="wrap_content"
-        android:layout_alignLeft="@+id/launch_object_browser"
-        android:layout_alignRight="@+id/launch_object_browser"
-        android:layout_below="@+id/launch_object_browser"
-        android:drawableLeft="@drawable/browser_icon"
-        android:text="@string/pfd_name" >
-    </Button>
+        android:layout_column="1"
+        android:layout_gravity="center"
+        android:layout_row="0"
+        android:layout_rowSpan="2"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_map"
+        android:text="@string/location_name" />
 
     <Button
-        android:id="@+id/launch_location"
-        android:layout_width="wrap_content"
+        android:id="@+id/launch_pfd"
+        android:layout_width="132dp"
         android:layout_height="wrap_content"
-        android:layout_alignLeft="@+id/launch_object_browser"
-        android:layout_alignRight="@+id/launch_object_browser"
-        android:layout_below="@+id/launch_pfd"
-        android:drawableLeft="@drawable/browser_icon"
-        android:text="@string/location_name" >
-    </Button>
+        android:layout_column="2"
+        android:layout_gravity="center"
+        android:layout_row="0"
+        android:layout_rowSpan="2"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_pfd"
+        android:text="@string/pfd_name" />
 
-</RelativeLayout>
\ No newline at end of file
+    <Button
+        android:id="@+id/launch_controller"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="0"
+        android:layout_gravity="right"
+        android:layout_row="2"
+        android:layout_rowSpan="2"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_controller"
+        android:text="@string/controller_name" />
+
+    <Button
+        android:id="@+id/launch_logger"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="1"
+        android:layout_gravity="right"
+        android:layout_row="2"
+        android:layout_rowSpan="2"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_logging"
+        android:text="@string/logger_name" />
+    
+    <Space
+        android:layout_width="1dp"
+        android:layout_height="32dp"
+        android:layout_column="0"
+        android:layout_row="0" />
+
+    <Space
+        android:layout_width="100dp"
+        android:layout_height="69dp"
+        android:layout_row="1" />
+
+</GridLayout>
\ No newline at end of file
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index 6d69e4126..02c3d3923 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -1,9 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
 	<string name="app_name">OpenPilot GCS Home</string>
-	<string name="object_browser_name">OpenPilot Object Browser</string>
-	<string name="pfd_name">OpenPilot PFD</string>
-	<string name="location_name">OpenPilot Location</string>
+	<string name="object_browser_name">Browser</string>
+	<string name="pfd_name">PFD</string>
+	<string name="location_name">Map</string>
+	<string name="logger_name">Logging</string>
 	
 	<string name="menu_item_settings">Settings</string>
 	<string name="menu_item_connect">Connect</string>
@@ -24,4 +25,6 @@
 	<string name="update_button">Update</string>
 	<string name="save_button">Save</string>
 	<string name="send_button">Send</string>
+	<string name="controller_name">Controller</string>
+	<string name="manual_control_values_">Manual control values:</string>
 </resources>
diff --git a/androidgcs/src/org/openpilot/androidgcs/HomePage.java b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
index cf9664d14..a2a82924a 100644
--- a/androidgcs/src/org/openpilot/androidgcs/HomePage.java
+++ b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
@@ -33,6 +33,14 @@ public class HomePage extends ObjectManagerActivity {
 				startActivity(new Intent(HomePage.this, UAVLocation.class));	
 			}			
 		});
+
+		Button controller = (Button) findViewById(R.id.launch_controller);
+		controller.setOnClickListener(new OnClickListener() {
+			public void onClick(View arg0) {
+				startActivity(new Intent(HomePage.this, Controller.class));	
+			}			
+		});
+
 	}
 
 }
diff --git a/artwork/Android/hdpi/_pre_production/hdpi_icons.ai b/artwork/Android/hdpi/_pre_production/hdpi_icons.ai
new file mode 100644
index 000000000..9180d52f2
--- /dev/null
+++ b/artwork/Android/hdpi/_pre_production/hdpi_icons.ai
@@ -0,0 +1,4569 @@
+%PDF-1.5
%âãÏÓ
+1 0 obj
<</Metadata 2 0 R/OCProperties<</D<</ON[5 0 R 32 0 R 57 0 R 81 0 R 111 0 R 138 0 R 165 0 R]/Order 166 0 R/RBGroups[]>>/OCGs[5 0 R 32 0 R 57 0 R 81 0 R 111 0 R 138 0 R 165 0 R]>>/Pages 3 0 R/Type/Catalog>>
endobj
2 0 obj
<</Length 47292/Subtype/XML/Type/Metadata>>stream
+<?xpacket begin="" id="W5M0MpCehiHzreSzNTczkc9d"?>
+<x:xmpmeta xmlns:x="adobe:ns:meta/" x:xmptk="Adobe XMP Core 5.0-c060 61.134777, 2010/02/12-17:32:00        ">
+   <rdf:RDF xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#">
+      <rdf:Description rdf:about=""
+            xmlns:dc="http://purl.org/dc/elements/1.1/">
+         <dc:format>application/pdf</dc:format>
+         <dc:title>
+            <rdf:Alt>
+               <rdf:li xml:lang="x-default">Print</rdf:li>
+            </rdf:Alt>
+         </dc:title>
+      </rdf:Description>
+      <rdf:Description rdf:about=""
+            xmlns:xmp="http://ns.adobe.com/xap/1.0/"
+            xmlns:xmpGImg="http://ns.adobe.com/xap/1.0/g/img/">
+         <xmp:MetadataDate>2012-08-05T13:24:35-05:00</xmp:MetadataDate>
+         <xmp:ModifyDate>2012-08-05T13:24:35-05:00</xmp:ModifyDate>
+         <xmp:CreateDate>2012-08-05T12:59:48-05:00</xmp:CreateDate>
+         <xmp:CreatorTool>Adobe Illustrator CS5</xmp:CreatorTool>
+         <xmp:Thumbnails>
+            <rdf:Alt>
+               <rdf:li rdf:parseType="Resource">
+                  <xmpGImg:width>180</xmpGImg:width>
+                  <xmpGImg:height>256</xmpGImg:height>
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+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>0.000000</xmpG:cyan>
+                           <xmpG:magenta>0.000000</xmpG:magenta>
+                           <xmpG:yellow>0.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>Black</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>0.000000</xmpG:cyan>
+                           <xmpG:magenta>0.000000</xmpG:magenta>
+                           <xmpG:yellow>0.000000</xmpG:yellow>
+                           <xmpG:black>100.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>CMYK Red</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>0.000000</xmpG:cyan>
+                           <xmpG:magenta>100.000000</xmpG:magenta>
+                           <xmpG:yellow>100.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>CMYK Yellow</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>0.000000</xmpG:cyan>
+                           <xmpG:magenta>0.000000</xmpG:magenta>
+                           <xmpG:yellow>100.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>CMYK Green</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>100.000000</xmpG:cyan>
+                           <xmpG:magenta>0.000000</xmpG:magenta>
+                           <xmpG:yellow>100.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>CMYK Cyan</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>100.000000</xmpG:cyan>
+                           <xmpG:magenta>0.000000</xmpG:magenta>
+                           <xmpG:yellow>0.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>CMYK Blue</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>100.000000</xmpG:cyan>
+                           <xmpG:magenta>100.000000</xmpG:magenta>
+                           <xmpG:yellow>0.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>CMYK Magenta</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>0.000000</xmpG:cyan>
+                           <xmpG:magenta>100.000000</xmpG:magenta>
+                           <xmpG:yellow>0.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=15 M=100 Y=90 K=10</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>14.999998</xmpG:cyan>
+                           <xmpG:magenta>100.000000</xmpG:magenta>
+                           <xmpG:yellow>90.000000</xmpG:yellow>
+                           <xmpG:black>10.000002</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=0 M=90 Y=85 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>0.000000</xmpG:cyan>
+                           <xmpG:magenta>90.000000</xmpG:magenta>
+                           <xmpG:yellow>85.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=0 M=80 Y=95 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>0.000000</xmpG:cyan>
+                           <xmpG:magenta>80.000000</xmpG:magenta>
+                           <xmpG:yellow>95.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=0 M=50 Y=100 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>0.000000</xmpG:cyan>
+                           <xmpG:magenta>50.000000</xmpG:magenta>
+                           <xmpG:yellow>100.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=0 M=35 Y=85 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>0.000000</xmpG:cyan>
+                           <xmpG:magenta>35.000004</xmpG:magenta>
+                           <xmpG:yellow>85.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=5 M=0 Y=90 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>5.000001</xmpG:cyan>
+                           <xmpG:magenta>0.000000</xmpG:magenta>
+                           <xmpG:yellow>90.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=20 M=0 Y=100 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>19.999998</xmpG:cyan>
+                           <xmpG:magenta>0.000000</xmpG:magenta>
+                           <xmpG:yellow>100.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=50 M=0 Y=100 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>50.000000</xmpG:cyan>
+                           <xmpG:magenta>0.000000</xmpG:magenta>
+                           <xmpG:yellow>100.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=75 M=0 Y=100 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>75.000000</xmpG:cyan>
+                           <xmpG:magenta>0.000000</xmpG:magenta>
+                           <xmpG:yellow>100.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=85 M=10 Y=100 K=10</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>85.000000</xmpG:cyan>
+                           <xmpG:magenta>10.000002</xmpG:magenta>
+                           <xmpG:yellow>100.000000</xmpG:yellow>
+                           <xmpG:black>10.000002</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=90 M=30 Y=95 K=30</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>90.000000</xmpG:cyan>
+                           <xmpG:magenta>30.000002</xmpG:magenta>
+                           <xmpG:yellow>95.000000</xmpG:yellow>
+                           <xmpG:black>30.000002</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=75 M=0 Y=75 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>75.000000</xmpG:cyan>
+                           <xmpG:magenta>0.000000</xmpG:magenta>
+                           <xmpG:yellow>75.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=80 M=10 Y=45 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>80.000000</xmpG:cyan>
+                           <xmpG:magenta>10.000002</xmpG:magenta>
+                           <xmpG:yellow>45.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=70 M=15 Y=0 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>70.000000</xmpG:cyan>
+                           <xmpG:magenta>14.999998</xmpG:magenta>
+                           <xmpG:yellow>0.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=85 M=50 Y=0 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>85.000000</xmpG:cyan>
+                           <xmpG:magenta>50.000000</xmpG:magenta>
+                           <xmpG:yellow>0.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=100 M=95 Y=5 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>100.000000</xmpG:cyan>
+                           <xmpG:magenta>95.000000</xmpG:magenta>
+                           <xmpG:yellow>5.000001</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=100 M=100 Y=25 K=25</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>100.000000</xmpG:cyan>
+                           <xmpG:magenta>100.000000</xmpG:magenta>
+                           <xmpG:yellow>25.000000</xmpG:yellow>
+                           <xmpG:black>25.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=75 M=100 Y=0 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>75.000000</xmpG:cyan>
+                           <xmpG:magenta>100.000000</xmpG:magenta>
+                           <xmpG:yellow>0.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=50 M=100 Y=0 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>50.000000</xmpG:cyan>
+                           <xmpG:magenta>100.000000</xmpG:magenta>
+                           <xmpG:yellow>0.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=35 M=100 Y=35 K=10</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>35.000004</xmpG:cyan>
+                           <xmpG:magenta>100.000000</xmpG:magenta>
+                           <xmpG:yellow>35.000004</xmpG:yellow>
+                           <xmpG:black>10.000002</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=10 M=100 Y=50 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>10.000002</xmpG:cyan>
+                           <xmpG:magenta>100.000000</xmpG:magenta>
+                           <xmpG:yellow>50.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=0 M=95 Y=20 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>0.000000</xmpG:cyan>
+                           <xmpG:magenta>95.000000</xmpG:magenta>
+                           <xmpG:yellow>19.999998</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=25 M=25 Y=40 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>25.000000</xmpG:cyan>
+                           <xmpG:magenta>25.000000</xmpG:magenta>
+                           <xmpG:yellow>39.999996</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=40 M=45 Y=50 K=5</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>39.999996</xmpG:cyan>
+                           <xmpG:magenta>45.000000</xmpG:magenta>
+                           <xmpG:yellow>50.000000</xmpG:yellow>
+                           <xmpG:black>5.000001</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=50 M=50 Y=60 K=25</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>50.000000</xmpG:cyan>
+                           <xmpG:magenta>50.000000</xmpG:magenta>
+                           <xmpG:yellow>60.000004</xmpG:yellow>
+                           <xmpG:black>25.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=55 M=60 Y=65 K=40</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>55.000000</xmpG:cyan>
+                           <xmpG:magenta>60.000004</xmpG:magenta>
+                           <xmpG:yellow>65.000000</xmpG:yellow>
+                           <xmpG:black>39.999996</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=25 M=40 Y=65 K=0</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>25.000000</xmpG:cyan>
+                           <xmpG:magenta>39.999996</xmpG:magenta>
+                           <xmpG:yellow>65.000000</xmpG:yellow>
+                           <xmpG:black>0.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=30 M=50 Y=75 K=10</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>30.000002</xmpG:cyan>
+                           <xmpG:magenta>50.000000</xmpG:magenta>
+                           <xmpG:yellow>75.000000</xmpG:yellow>
+                           <xmpG:black>10.000002</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=35 M=60 Y=80 K=25</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>35.000004</xmpG:cyan>
+                           <xmpG:magenta>60.000004</xmpG:magenta>
+                           <xmpG:yellow>80.000000</xmpG:yellow>
+                           <xmpG:black>25.000000</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=40 M=65 Y=90 K=35</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>39.999996</xmpG:cyan>
+                           <xmpG:magenta>65.000000</xmpG:magenta>
+                           <xmpG:yellow>90.000000</xmpG:yellow>
+                           <xmpG:black>35.000004</xmpG:black>
+                        </rdf:li>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=40 M=70 Y=100 K=50</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>39.999996</xmpG:cyan>
+                           <xmpG:magenta>70.000000</xmpG:magenta>
+                           <xmpG:yellow>100.000000</xmpG:yellow>
+                           <xmpG:black>50.000000</xmpG:black>
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+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=50 M=70 Y=80 K=70</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
+                           <xmpG:type>PROCESS</xmpG:type>
+                           <xmpG:cyan>50.000000</xmpG:cyan>
+                           <xmpG:magenta>70.000000</xmpG:magenta>
+                           <xmpG:yellow>80.000000</xmpG:yellow>
+                           <xmpG:black>70.000000</xmpG:black>
+                        </rdf:li>
+                     </rdf:Seq>
+                  </xmpG:Colorants>
+               </rdf:li>
+               <rdf:li rdf:parseType="Resource">
+                  <xmpG:groupName>Grays</xmpG:groupName>
+                  <xmpG:groupType>1</xmpG:groupType>
+                  <xmpG:Colorants>
+                     <rdf:Seq>
+                        <rdf:li rdf:parseType="Resource">
+                           <xmpG:swatchName>C=0 M=0 Y=0 K=100</xmpG:swatchName>
+                           <xmpG:mode>CMYK</xmpG:mode>
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diff --git a/artwork/Android/hdpi/ic_logging.png b/artwork/Android/hdpi/ic_logging.png
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diff --git a/artwork/Android/hdpi/ic_map.png b/artwork/Android/hdpi/ic_map.png
new file mode 100644
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GIT binary patch
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diff --git a/artwork/Android/hdpi/ic_pfd.png b/artwork/Android/hdpi/ic_pfd.png
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literal 0
HcmV?d00001


From 410aec8c94e16a5a94e791e421a5e6c785096633 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 16:10:20 -0500
Subject: [PATCH 273/543] AndroidGCS: Controller gadget that uses virtual
 joypad to control UAV

---
 androidgcs/res/layout/controller.xml          |  28 +++
 androidgcs/res/layout/dualjoystick.xml        |  37 ++++
 .../org/openpilot/androidgcs/Controller.java  | 187 ++++++++++++++++++
 3 files changed, 252 insertions(+)
 create mode 100644 androidgcs/res/layout/controller.xml
 create mode 100644 androidgcs/res/layout/dualjoystick.xml
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/Controller.java

diff --git a/androidgcs/res/layout/controller.xml b/androidgcs/res/layout/controller.xml
new file mode 100644
index 000000000..d81cd0e09
--- /dev/null
+++ b/androidgcs/res/layout/controller.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="vertical" >
+
+    <TextView
+        android:id="@+id/textView1"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="@string/manual_control_values_"
+        android:textAppearance="?android:attr/textAppearanceLarge" />
+
+    <TextView
+        android:id="@+id/manualControlValues"
+        android:layout_width="wrap_content"
+        android:layout_height="240dp"
+        android:text=""
+        android:textAppearance="?android:attr/textAppearanceLarge" />
+    
+    <com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView
+        android:id="@+id/dualjoystickView"
+        android:layout_width="fill_parent"
+        android:layout_height="175dip"
+        android:layout_marginTop="5dip" >
+    </com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView>
+    
+</LinearLayout>
\ No newline at end of file
diff --git a/androidgcs/res/layout/dualjoystick.xml b/androidgcs/res/layout/dualjoystick.xml
new file mode 100644
index 000000000..3bbaba520
--- /dev/null
+++ b/androidgcs/res/layout/dualjoystick.xml
@@ -0,0 +1,37 @@
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+	android:orientation="vertical" android:layout_width="fill_parent"
+	android:layout_height="fill_parent">
+
+	<com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView
+		android:id="@+id/dualjoystickView" android:layout_gravity="center_horizontal"
+		android:layout_marginTop="5dip" android:layout_width="fill_parent"
+		android:layout_height="175dip" />
+
+	<TableLayout android:layout_width="wrap_content"
+		android:layout_height="wrap_content" android:layout_gravity="center_horizontal"
+		android:layout_marginTop="10dip">
+		<TableRow>
+			<TextView android:text="X" android:layout_width="50dip"
+				android:layout_height="wrap_content"></TextView>
+			<TextView android:text="" android:id="@+id/TextViewX1"
+				android:layout_width="150dip" android:layout_height="wrap_content"></TextView>
+
+			<TextView android:text="X" android:layout_width="50dip"
+				android:layout_height="wrap_content"></TextView>
+			<TextView android:text="" android:id="@+id/TextViewX2"
+				android:layout_width="100dip" android:layout_height="wrap_content"></TextView>
+		</TableRow>
+		<TableRow>
+			<TextView android:text="Y" android:layout_width="wrap_content"
+				android:layout_height="wrap_content"></TextView>
+			<TextView android:text="" android:id="@+id/TextViewY1"
+				android:layout_width="wrap_content" android:layout_height="wrap_content"></TextView>
+
+			<TextView android:text="Y" android:layout_width="wrap_content"
+				android:layout_height="wrap_content"></TextView>
+			<TextView android:text="" android:id="@+id/TextViewY2"
+				android:layout_width="wrap_content" android:layout_height="wrap_content"></TextView>
+		</TableRow>
+	</TableLayout>
+
+</LinearLayout>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/Controller.java b/androidgcs/src/org/openpilot/androidgcs/Controller.java
new file mode 100644
index 000000000..24a2929b7
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/Controller.java
@@ -0,0 +1,187 @@
+package org.openpilot.androidgcs;
+
+import java.util.Observable;
+import java.util.Observer;
+import java.util.Timer;
+import java.util.TimerTask;
+
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+import com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView;
+
+import android.os.Bundle;
+import android.os.Handler;
+import android.util.Log;
+import android.widget.TextView;
+import android.widget.Toast;
+
+public class Controller extends ObjectManagerActivity {
+	private final String TAG = "Controller";
+
+	private final int THROTTLE_CHANNEL = 0;
+	private final int ROLL_CHANNEL = 1;
+	private final int PITCH_CHANNEL = 2;
+	private final int YAW_CHANNEL = 3;
+	private final int FLIGHTMODE_CHANNEL = 4;
+	
+	private final int CHANNEL_MIN = 1000;
+	private final int CHANNEL_MAX = 2000;
+	private final int CHANNEL_NEUTRAL = 1500;
+	private final int CHANNEL_NEUTRAL_THROTTLE = 1100;
+	
+	private double throttle = 0.1, roll = 0.1, pitch = -0.1, yaw = 0;
+	private boolean updated;
+	
+	Timer sendTimer = new Timer();
+	
+	/** Called when the activity is first created. */
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		setContentView(R.layout.controller);
+		TextView manualView = (TextView) findViewById(R.id.manualControlValues);
+		if(manualView != null)
+			manualView.setText("Hello");
+	}
+
+	
+	@Override
+	void onOPConnected() {
+		Log.d(TAG, "onOPConnected()");
+		
+		// Subsribe to updates from ManualControlCommand and show the values for crude feedback
+		UAVDataObject manualControl = (UAVDataObject) objMngr.getObject("ManualControlCommand");
+		if(manualControl != null) {
+			manualControl.addUpdatedObserver(updatedObserver);
+		}
+		
+		activateGcsReceiver();
+		
+		TimerTask controllerTask = new TimerTask() {
+			public void run() {
+				uavobjHandler.post(new Runnable() {
+					@Override
+					public void run() {
+						//DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
+						
+						UAVObject gcsReceiver = objMngr.getObject("GCSReceiver");
+						if (gcsReceiver == null) {
+							Log.e(TAG, "No GCS Receiver object found");
+							return;
+						}
+						
+						UAVObjectField channels = gcsReceiver.getField("Channel");
+						if(channels == null) {
+							Log.e(TAG, "GCS Receiver object ill formatted");
+							return;
+						}
+						
+						channels.setValue(scaleChannel(throttle, CHANNEL_NEUTRAL_THROTTLE), THROTTLE_CHANNEL);
+						channels.setValue(scaleChannel(roll, CHANNEL_NEUTRAL), ROLL_CHANNEL);
+						channels.setValue(scaleChannel(pitch, CHANNEL_NEUTRAL), PITCH_CHANNEL);
+						channels.setValue(scaleChannel(yaw, CHANNEL_NEUTRAL), YAW_CHANNEL);
+						channels.setValue(scaleChannel(0, CHANNEL_NEUTRAL), FLIGHTMODE_CHANNEL);
+						
+						gcsReceiver.updated();
+						
+						Log.d(TAG, "Send update");
+						updated = false;
+					}
+				});
+			}
+		};
+		sendTimer.schedule(controllerTask, 500, 50);
+	}
+
+	/**
+	 * The callbacks from the UAVOs must run in the correct thread to update the
+	 * UI.  This is what using a runnable does.
+	 */
+	final Handler uavobjHandler = new Handler(); 
+	final Runnable updateText = new Runnable() {
+		public void run() {
+			updateManualControl();
+		}
+	};
+	
+	private final Observer updatedObserver = new Observer() {
+		public void update(Observable observable, Object data) {
+			uavobjHandler.post(updateText);
+		}				
+	};
+
+	/**
+	 * Show the string description of manual control command
+	 */
+	private void updateManualControl() {
+		UAVDataObject manualControl = (UAVDataObject) objMngr.getObject("ManualControlCommand");
+		TextView manualView = (TextView) findViewById(R.id.manualControlValues);
+		if (manualView != null && manualControl != null)
+			manualView.setText(manualControl.toStringData());
+	}
+	
+	/**
+	 * Active GCS receiver mode
+	 */
+	private void activateGcsReceiver() {
+		UAVObject manualControlSettings = objMngr.getObject("ManualControlSettings");
+		if (manualControlSettings == null) {
+			Toast.makeText(this, "Failed to get manual control settings", Toast.LENGTH_SHORT).show();
+			return;
+		}
+		
+		UAVObjectField channelGroups = manualControlSettings.getField("ChannelGroups");
+		UAVObjectField channelNumber = manualControlSettings.getField("ChannelNumber");
+		UAVObjectField channelMax = manualControlSettings.getField("ChannelMax");
+		UAVObjectField channelNeutral = manualControlSettings.getField("ChannelNeutral");
+		UAVObjectField channelMin = manualControlSettings.getField("ChannelMin");
+		if (channelGroups == null || channelMax == null || channelNeutral == null || 
+				channelMin == null || channelNumber == null) {
+			Toast.makeText(this,  "Manual control settings not formatted correctly", Toast.LENGTH_SHORT).show();
+			return;
+		}
+		
+		/* Configure the manual control module how the GCS controller expects
+		 * This order MUST correspond to the enumeration order of ChannelNumber in 
+		 * ManualControlSettings.
+		 */ 
+		int channels[] = { THROTTLE_CHANNEL, ROLL_CHANNEL, PITCH_CHANNEL, YAW_CHANNEL, FLIGHTMODE_CHANNEL };
+		for (int i = 0; i < channels.length; i++) {
+			channelGroups.setValue("GCS", channels[i]);
+			channelNumber.setValue(1 + channels[i], i); // Add 1 because this uses 0 for "NONE"
+			channelMin.setValue(CHANNEL_MIN, channels[i]);
+			channelMax.setValue(CHANNEL_MAX, channels[i]);
+			switch(channels[i]) {
+			case THROTTLE_CHANNEL:
+				channelNeutral.setValue(CHANNEL_NEUTRAL_THROTTLE, channels[i]);
+				break;
+			default:
+				channelNeutral.setValue(CHANNEL_NEUTRAL, channels[i]);
+			break;
+			}
+		}
+		
+		// Send settings to the UAV
+		manualControlSettings.updated();
+		
+		
+	}
+	
+	/**
+	 * Scale the channels to the output range the flight controller expects
+	 */
+	private float scaleChannel(double in, double neutral) {	
+		// Check bounds
+		if (in > 1) 
+			in = 1;
+		if (in < -1)
+			in = -1;
+		
+		if (in >= 0)
+			return (float) (neutral + (CHANNEL_MAX - neutral) * in);
+		return (float) (neutral + (neutral - CHANNEL_MIN) * in);
+	}
+
+}

From eb98baa6cdf0dfd20f9b3586cd7ac28ce579c8a7 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 16:11:40 -0500
Subject: [PATCH 274/543] AndroidGCS: Cleanup for some debugging output in
 telemetry.  Make uppdateRequested() a public method so anything can request a
 UAVO update.

---
 .../androidgcs/OPTelemetryService.java        |  1 -
 .../src/org/openpilot/uavtalk/Telemetry.java  |  2 --
 .../src/org/openpilot/uavtalk/UAVObject.java  |  2 +-
 .../src/org/openpilot/uavtalk/UAVTalk.java    | 23 +++++++------------
 4 files changed, 9 insertions(+), 19 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index aa26181a9..179f4f36c 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -135,7 +135,6 @@ public class OPTelemetryService extends Service {
 	
 		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
 		if(prefs.getBoolean("autoconnect", false)) {
-			Toast.makeText(getApplicationContext(), "Should auto connect", Toast.LENGTH_SHORT).show();
 			Message msg = mServiceHandler.obtainMessage();
 			msg.arg1 = MSG_CONNECT;
 			msg.arg2 = 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index ae1eb10b7..16a527088 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -457,8 +457,6 @@ public class Telemetry {
             if ( objInfo.obj.getObjID() != objMngr.getObject("GCSTelemetryStats").getObjID() )
             {
             	if (DEBUG) Log.d(TAG,"transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
-            	System.out.println(gcsStatsObj.toString());
-            	System.out.println(objInfo.obj.toString());
                 objInfo.obj.transactionCompleted(false);
                 return;
             }
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index da93e9889..cf195799f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -113,7 +113,7 @@ public abstract class UAVObject {
 			updateRequestedListeners.addObserver(o);
 		}
 	}
-	void updateRequested() {
+	public void updateRequested() {
 		synchronized(updateRequestedListeners) {
 			updateRequestedListeners.event();
 		}
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 18c303734..e75724c08 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -182,22 +182,15 @@ public class UAVTalk extends Observable {
 		try {
 			// inStream.wait();
 			val = inStream.read();
-		} /*
-		 * catch (InterruptedException e) { // TODO Auto-generated catch
-		 * block System.out.println("Connection was aborted\n");
-		 * e.printStackTrace(); break; }
-		 */catch (IOException e) {
-			 // TODO Auto-generated catch block
-			 System.out.println("Error reading from stream\n");
-			 e.printStackTrace();
-			 return false;
-		 }
-		 if (val == -1) {
-			 System.out.println("End of stream, terminating processInputStream thread");
-			 return false;
-		 }
+		} catch (IOException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+			return false;
+		}
+		if (val == -1) {
+			return false;
+		}
 
-		 //System.out.println("Received byte " + val + " in state + " + rxState);
 		 processInputByte(val);
 		 return true;
 	}

From 91bd93798d8c49bd11c17d646a15a1793e5dd2b5 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 16:12:25 -0500
Subject: [PATCH 275/543] AndroidGCS: UAVO browser requests an update when it
 displays objects to make sure they are current.  For some reason some
 settings aren't properly getting initialized on connection.

---
 androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index 9703c1d15..25e8fdab0 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -125,6 +125,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 
 				selected_index = position;
 				allObjects.get(position).addUpdatedObserver(updatedObserver);
+				allObjects.get(position).updateRequested();
 				updateObject();
 			}
 		});

From cc1d44b49b4dbfe79840d5b0d823cc6d33e099b0 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 16:18:38 -0500
Subject: [PATCH 276/543] Fixup: Typo in disconnected

---
 androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index 179f4f36c..8a46e43e3 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -97,7 +97,7 @@ public class OPTelemetryService extends Service {
 				activeTelem.start();
 				break;
 			case MSG_DISCONNECT:
-				Toast.makeText(getApplicationContext(), "Disconnct", Toast.LENGTH_SHORT).show();
+				Toast.makeText(getApplicationContext(), "Disconnect requested", Toast.LENGTH_SHORT).show();
 				terminate = true;
 				try {
 					activeTelem.join();

From 48701f325259f18217905ed57bf5c45319e320ae Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 16:25:54 -0500
Subject: [PATCH 277/543] Fixup: Make browser use a smaller column width for
 the list of objects than their contents

---
 androidgcs/res/layout/object_browser.xml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/androidgcs/res/layout/object_browser.xml b/androidgcs/res/layout/object_browser.xml
index 567c04f15..0e402daed 100644
--- a/androidgcs/res/layout/object_browser.xml
+++ b/androidgcs/res/layout/object_browser.xml
@@ -47,9 +47,9 @@
                 android:id="@+id/object_list"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:layout_weight="1"
-                android:drawSelectorOnTop="true" 
-                android:choiceMode="singleChoice"/>
+                android:layout_weight="2"
+                android:choiceMode="singleChoice"
+                android:drawSelectorOnTop="true" />
             
             <View
                 android:layout_width="1dip"

From 8b26696e771718e396dff9b0e2307cf715d05058 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 16:26:18 -0500
Subject: [PATCH 278/543] Fixup: Correct typo in controller

---
 androidgcs/src/org/openpilot/androidgcs/Controller.java | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/Controller.java b/androidgcs/src/org/openpilot/androidgcs/Controller.java
index 24a2929b7..3bf78197f 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Controller.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Controller.java
@@ -51,7 +51,7 @@ public class Controller extends ObjectManagerActivity {
 	void onOPConnected() {
 		Log.d(TAG, "onOPConnected()");
 		
-		// Subsribe to updates from ManualControlCommand and show the values for crude feedback
+		// Subscribe to updates from ManualControlCommand and show the values for crude feedback
 		UAVDataObject manualControl = (UAVDataObject) objMngr.getObject("ManualControlCommand");
 		if(manualControl != null) {
 			manualControl.addUpdatedObserver(updatedObserver);
@@ -63,9 +63,7 @@ public class Controller extends ObjectManagerActivity {
 			public void run() {
 				uavobjHandler.post(new Runnable() {
 					@Override
-					public void run() {
-						//DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
-						
+					public void run() {						
 						UAVObject gcsReceiver = objMngr.getObject("GCSReceiver");
 						if (gcsReceiver == null) {
 							Log.e(TAG, "No GCS Receiver object found");

From 87f6700d74732005a488bcab1916f29df17d632e Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 17:07:00 -0500
Subject: [PATCH 279/543] AndroidGCS: Respond to the virtual pad movements and
 stop transmitting updates when they are released.

---
 .../Widgets/Joystick/JoystickView.java        |  5 +-
 .../org/openpilot/androidgcs/Controller.java  | 72 +++++++++++++------
 2 files changed, 54 insertions(+), 23 deletions(-)

diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java
index bab74e5a7..88dc8815f 100644
--- a/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java
@@ -497,8 +497,9 @@ public class JoystickView extends View {
 					public void run() {
 						touchX += intervalsX;
 						touchY += intervalsY;
-						
-						reportOnMoved();
+	
+						// No longer reportOnMoved() in this method because we only
+						// want to receive inputs from the user
 						invalidate();
 						
 						if (moveListener != null && j == numberOfFrames - 1) {
diff --git a/androidgcs/src/org/openpilot/androidgcs/Controller.java b/androidgcs/src/org/openpilot/androidgcs/Controller.java
index 3bf78197f..91f046afa 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Controller.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Controller.java
@@ -10,6 +10,7 @@ import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectField;
 
 import com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView;
+import com.MobileAnarchy.Android.Widgets.Joystick.JoystickMovedListener;
 
 import android.os.Bundle;
 import android.os.Handler;
@@ -20,6 +21,8 @@ import android.widget.Toast;
 public class Controller extends ObjectManagerActivity {
 	private final String TAG = "Controller";
 
+	private final boolean DEBUG = false;
+
 	private final int THROTTLE_CHANNEL = 0;
 	private final int ROLL_CHANNEL = 1;
 	private final int PITCH_CHANNEL = 2;
@@ -33,6 +36,7 @@ public class Controller extends ObjectManagerActivity {
 	
 	private double throttle = 0.1, roll = 0.1, pitch = -0.1, yaw = 0;
 	private boolean updated;
+	private boolean leftJoystickHeld, rightJoystickHeld;
 	
 	Timer sendTimer = new Timer();
 	
@@ -59,32 +63,58 @@ public class Controller extends ObjectManagerActivity {
 		
 		activateGcsReceiver();
 		
+		DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
+
+		// Hardcode a Mode 1 listener for now
+		joystick.setOnJostickMovedListener(new JoystickMovedListener() {
+			public void OnMoved(int pan, int tilt) {
+				pitch = -(double) tilt / 10.0;
+				yaw = (double) pan / 10.0;
+				updated = true;
+				leftJoystickHeld = true;
+			}
+			public void OnReleased() { leftJoystickHeld = false; }
+			@Override
+			public void OnReturnedToCenter() { }
+		}, new JoystickMovedListener() {
+			public void OnMoved(int pan, int tilt) {
+				throttle = (double) (tilt + 10) / 20.0;
+				roll = (double) pan / 10.0;
+				updated = true;
+				rightJoystickHeld = true;
+			}
+			public void OnReleased() { rightJoystickHeld = false; }
+			@Override
+			public void OnReturnedToCenter() { }
+		}) ;
 		TimerTask controllerTask = new TimerTask() {
 			public void run() {
 				uavobjHandler.post(new Runnable() {
 					@Override
-					public void run() {						
-						UAVObject gcsReceiver = objMngr.getObject("GCSReceiver");
-						if (gcsReceiver == null) {
-							Log.e(TAG, "No GCS Receiver object found");
-							return;
+					public void run() {
+						if (leftJoystickHeld && rightJoystickHeld) {
+							UAVObject gcsReceiver = objMngr.getObject("GCSReceiver");
+							if (gcsReceiver == null) {
+								Log.e(TAG, "No GCS Receiver object found");
+								return;
+							}
+
+							UAVObjectField channels = gcsReceiver.getField("Channel");
+							if(channels == null) {
+								Log.e(TAG, "GCS Receiver object ill formatted");
+								return;
+							}
+
+							channels.setValue(scaleChannel(throttle, CHANNEL_NEUTRAL_THROTTLE), THROTTLE_CHANNEL);
+							channels.setValue(scaleChannel(roll, CHANNEL_NEUTRAL), ROLL_CHANNEL);
+							channels.setValue(scaleChannel(pitch, CHANNEL_NEUTRAL), PITCH_CHANNEL);
+							channels.setValue(scaleChannel(yaw, CHANNEL_NEUTRAL), YAW_CHANNEL);
+							channels.setValue(scaleChannel(0, CHANNEL_NEUTRAL), FLIGHTMODE_CHANNEL);
+
+							gcsReceiver.updated();
+
+							if (DEBUG) Log.d(TAG, "Send update" + gcsReceiver.toStringData());
 						}
-						
-						UAVObjectField channels = gcsReceiver.getField("Channel");
-						if(channels == null) {
-							Log.e(TAG, "GCS Receiver object ill formatted");
-							return;
-						}
-						
-						channels.setValue(scaleChannel(throttle, CHANNEL_NEUTRAL_THROTTLE), THROTTLE_CHANNEL);
-						channels.setValue(scaleChannel(roll, CHANNEL_NEUTRAL), ROLL_CHANNEL);
-						channels.setValue(scaleChannel(pitch, CHANNEL_NEUTRAL), PITCH_CHANNEL);
-						channels.setValue(scaleChannel(yaw, CHANNEL_NEUTRAL), YAW_CHANNEL);
-						channels.setValue(scaleChannel(0, CHANNEL_NEUTRAL), FLIGHTMODE_CHANNEL);
-						
-						gcsReceiver.updated();
-						
-						Log.d(TAG, "Send update");
 						updated = false;
 					}
 				});

From 6ff3378dbe6444dd9fe9c96f07cf2da169fdc9d3 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 18:17:26 -0500
Subject: [PATCH 280/543] AndroidGCS: Add load button to the object browser.

---
 androidgcs/res/layout/object_browser.xml      | 28 +++++++++++++------
 .../openpilot/androidgcs/ObjectBrowser.java   | 19 +++++++++++++
 2 files changed, 39 insertions(+), 8 deletions(-)

diff --git a/androidgcs/res/layout/object_browser.xml b/androidgcs/res/layout/object_browser.xml
index 0e402daed..8a7221fb6 100644
--- a/androidgcs/res/layout/object_browser.xml
+++ b/androidgcs/res/layout/object_browser.xml
@@ -78,14 +78,26 @@
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content" />
 
-                <Button
-                    android:id="@+id/editButton"
-                    android:layout_width="wrap_content"
-                    android:layout_height="wrap_content"
-                    android:layout_gravity="bottom|right"
-                    android:layout_marginBottom="32dp"
-                    android:layout_marginRight="12dp"
-                    android:text="Edit" />
+                <LinearLayout
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content" >
+
+                    <Button
+                        android:id="@+id/object_load_button"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="Load" />
+
+                    <Button
+                        android:id="@+id/editButton"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_gravity="right"
+                        android:layout_marginBottom="32dp"
+                        android:layout_marginRight="12dp"
+                        android:text="Edit" />
+
+                </LinearLayout>
 
             </LinearLayout>
         </LinearLayout>
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index 25e8fdab0..b27fef785 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -26,6 +26,7 @@ import android.widget.TextView;
 import android.widget.AdapterView.OnItemClickListener;
 
 import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObject;
 
 public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPreferenceChangeListener {
 
@@ -85,6 +86,24 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 				}
 			}
 		});
+		
+		((Button) findViewById(R.id.object_load_button)).setOnClickListener(new OnClickListener() {
+			@Override
+			public void onClick(View v) {
+				UAVObject objPer = objMngr.getObject("ObjectPersistence");
+
+				if (selected_index > 0 && objPer != null) {
+					objPer.getField("Operation").setValue("Load");
+					objPer.getField("Selection").setValue("SingleObject");
+					Log.d(TAG,"Loading with object id: " + allObjects.get(selected_index).getObjID());
+					objPer.getField("ObjectID").setValue(allObjects.get(selected_index).getObjID());
+					objPer.getField("InstanceID").setValue(0);
+					objPer.updated();
+					
+					allObjects.get(selected_index).updateRequested();
+				}
+			}
+		});
 
 		updateList();
 	}

From 4c1171e1fb6e766c2ac6c358497fea1b6d3e6fd4 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 18:41:07 -0500
Subject: [PATCH 281/543] AndroidGCS: Joystick can now control UAV

---
 androidgcs/AndroidManifest.xml                |  2 +-
 androidgcs/res/values/strings.xml             |  2 +-
 .../org/openpilot/androidgcs/Controller.java  | 44 +++++++++++++++----
 .../openpilot/uavtalk/TelemetryMonitor.java   |  2 +-
 4 files changed, 38 insertions(+), 12 deletions(-)

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 3c99cff0d..132e91c39 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -23,7 +23,7 @@
 
 		<activity android:name="ObjectBrowser" android:label="@string/object_browser_name" />
 		<activity android:name="PFD" android:label="PFD" />
-		<activity android:name="Controller" android:label="@string/object_browser_name" />
+		<activity android:name="Controller" android:label="@string/controller_name" />
 		<activity android:name="Preferences" android:label="@string/preference_title" />
 		<activity android:name="UAVLocation" android:label="@string/location_name"/>
 		<activity android:name="ObjectEditor" android:label="ObjectEditor"
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index 02c3d3923..58a54cc04 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -2,6 +2,7 @@
 <resources>
 	<string name="app_name">OpenPilot GCS Home</string>
 	<string name="object_browser_name">Browser</string>
+	<string name="controller_name">Controller</string>
 	<string name="pfd_name">PFD</string>
 	<string name="location_name">Map</string>
 	<string name="logger_name">Logging</string>
@@ -25,6 +26,5 @@
 	<string name="update_button">Update</string>
 	<string name="save_button">Save</string>
 	<string name="send_button">Send</string>
-	<string name="controller_name">Controller</string>
 	<string name="manual_control_values_">Manual control values:</string>
 </resources>
diff --git a/androidgcs/src/org/openpilot/androidgcs/Controller.java b/androidgcs/src/org/openpilot/androidgcs/Controller.java
index 91f046afa..d87bb5c06 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Controller.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Controller.java
@@ -11,6 +11,7 @@ import org.openpilot.uavtalk.UAVObjectField;
 
 import com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView;
 import com.MobileAnarchy.Android.Widgets.Joystick.JoystickMovedListener;
+import com.MobileAnarchy.Android.Widgets.Joystick.JoystickView;
 
 import android.os.Bundle;
 import android.os.Handler;
@@ -50,6 +51,18 @@ public class Controller extends ObjectManagerActivity {
 			manualView.setText("Hello");
 	}
 
+	Observer settingsUpdated = new Observer() {
+		@Override
+		public void update(Observable observable, Object data) {
+			// Once we have updated settings we can active the GCS receiver mode
+			Log.d(TAG,"Got update from settings");
+			activateGcsReceiver();
+			UAVDataObject manualControlSettings = (UAVDataObject) objMngr.getObject("ManualControlSettings");
+			if(manualControlSettings != null) {
+				manualControlSettings.removeUpdatedObserver(this);
+			}
+		}
+	};
 	
 	@Override
 	void onOPConnected() {
@@ -60,16 +73,25 @@ public class Controller extends ObjectManagerActivity {
 		if(manualControl != null) {
 			manualControl.addUpdatedObserver(updatedObserver);
 		}
-		
-		activateGcsReceiver();
-		
-		DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
 
+		
+		UAVDataObject manualControlSettings = (UAVDataObject) objMngr.getObject("ManualControlSettings");
+		if(manualControlSettings != null) {
+			Log.d(TAG, "Requested settings update");
+			manualControlSettings.addUpdatedObserver(updatedObserver);
+			manualControlSettings.updateRequested();
+		}		
+		
+		final double MOVEMENT_RANGE = 50.0;
+		DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
+		joystick.setMovementConstraint(JoystickView.CONSTRAIN_BOX);
+		joystick.setMovementRange((int)MOVEMENT_RANGE, (int)MOVEMENT_RANGE);
+		
 		// Hardcode a Mode 1 listener for now
 		joystick.setOnJostickMovedListener(new JoystickMovedListener() {
 			public void OnMoved(int pan, int tilt) {
-				pitch = -(double) tilt / 10.0;
-				yaw = (double) pan / 10.0;
+				pitch = (double) tilt / MOVEMENT_RANGE;
+				yaw = (double) pan / MOVEMENT_RANGE;
 				updated = true;
 				leftJoystickHeld = true;
 			}
@@ -78,8 +100,11 @@ public class Controller extends ObjectManagerActivity {
 			public void OnReturnedToCenter() { }
 		}, new JoystickMovedListener() {
 			public void OnMoved(int pan, int tilt) {
-				throttle = (double) (tilt + 10) / 20.0;
-				roll = (double) pan / 10.0;
+				throttle = (double) (-tilt + (MOVEMENT_RANGE -5)) / (MOVEMENT_RANGE - 5);
+				throttle *= 0.5;
+				if (throttle < 0)
+					throttle = -1;
+				roll = (double) pan / MOVEMENT_RANGE;
 				updated = true;
 				rightJoystickHeld = true;
 			}
@@ -120,7 +145,7 @@ public class Controller extends ObjectManagerActivity {
 				});
 			}
 		};
-		sendTimer.schedule(controllerTask, 500, 50);
+		sendTimer.schedule(controllerTask, 500, 100);
 	}
 
 	/**
@@ -155,6 +180,7 @@ public class Controller extends ObjectManagerActivity {
 	 */
 	private void activateGcsReceiver() {
 		UAVObject manualControlSettings = objMngr.getObject("ManualControlSettings");
+		
 		if (manualControlSettings == null) {
 			Toast.makeText(this, "Failed to get manual control settings", Toast.LENGTH_SHORT).show();
 			return;
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index d1d7a9c44..5f80ff779 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -159,7 +159,7 @@ public class TelemetryMonitor extends Observable{
 //	    objPending = null;
 	    
 	    if(!success) {
-	    	Log.e(TAG, "Transaction failed: " + obj.getName() + " sending again.");
+	    	//Log.e(TAG, "Transaction failed: " + obj.getName() + " sending again.");
 	    	return;
 	    }
 	    

From 5670a958a83926bede0c7e6f5803df823ba4f190 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 21:52:09 -0500
Subject: [PATCH 282/543] AndroidGCS: Propagate the exceptions from the low
 level UAVTalk methods up to the high level monitoring so it knows when the
 connection has been terminated.

---
 .../org/openpilot/androidgcs/TcpUAVTalk.java  |  31 +++++-
 .../src/org/openpilot/uavtalk/Telemetry.java  | 103 +++++++++++++++---
 .../openpilot/uavtalk/TelemetryMonitor.java   |  47 ++++++--
 .../src/org/openpilot/uavtalk/UAVObject.java  |   5 +
 .../src/org/openpilot/uavtalk/UAVTalk.java    |  89 +++++++--------
 .../tests/org/openpilot/uavtalk/TalkTest.java |   2 +-
 6 files changed, 196 insertions(+), 81 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
index 1f647bd99..cb21abb94 100644
--- a/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
@@ -24,13 +24,19 @@ public class TcpUAVTalk {
 	
 	private UAVTalk uavTalk;
 	private boolean connected; 
+	private Socket socket;
 	
+	/**
+	 * Construct a TcpUAVTalk object attached to the OPTelemetryService.  Gets the 
+	 * connection settings from the preferences.
+	 */
 	public TcpUAVTalk(Context caller) {
 		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(caller);
 		ip_address = prefs.getString("ip_address","127.0.0.1");
 		try {
 			port = Integer.decode(prefs.getString("port", ""));
 		} catch (NumberFormatException e) {
+			//TODO: Handle this exception
 		}
 
 		if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + ip_address);
@@ -38,6 +44,10 @@ public class TcpUAVTalk {
         connected = false;         
     }
 	
+	/**
+	 * Connect a TCP object to an object manager.  Returns true if already
+	 * connected, otherwise returns true if managed a successful socket.
+	 */
 	public boolean connect(UAVObjectManager objMngr) {
 		if( getConnected() ) 
 			return true;
@@ -45,6 +55,16 @@ public class TcpUAVTalk {
 			return false;
 		return true;		
 	}
+	
+	public void disconnect() {
+		try {
+			socket.close();
+		} catch (IOException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+		socket = null;
+	}
 
 	public boolean getConnected() {
 		return connected;
@@ -54,7 +74,10 @@ public class TcpUAVTalk {
 		return uavTalk;
 	}
 	
- 
+	/**
+	 * Opens a TCP socket to the address determined on construction.  If successful
+	 * creates a UAVTalk stream connection this socket to the passed in object manager
+	 */
 	private boolean openTelemetryTcp(UAVObjectManager objMngr) {
 		Log.d(TAG, "Opening connection to " + ip_address + " at address " + port);
 		
@@ -66,13 +89,11 @@ public class TcpUAVTalk {
 			e1.printStackTrace();
 			return false;
 		}
-		
-		Socket socket = null;
+
+		socket = null;
 		try {
 			socket = new Socket(serverAddr,port);
 		} catch (IOException e1) {
-			// TODO Auto-generated catch block
-			e1.printStackTrace();
 			return false;
 		}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 16a527088..06f820c85 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -1,5 +1,6 @@
 package org.openpilot.uavtalk;
 
+import java.io.IOException;
 import java.util.ArrayList;
 import java.util.LinkedList;
 import java.util.List;
@@ -88,7 +89,12 @@ public class Telemetry {
         // Listen to transaction completions
         utalk.addObserver(new Observer() {
 			public void update(Observable observable, Object data) {
-				transactionCompleted((UAVObject) data);				
+				try {
+					transactionCompleted((UAVObject) data);
+				} catch (IOException e) {
+					// Disconnect when stream fails
+					observable.deleteObserver(this);
+				}				
 			}        	
         });
         
@@ -117,18 +123,35 @@ public class Telemetry {
         transTimerTask = new TimerTask() {
 			@Override
 			public void run() {
-				transactionTimeout();
+				try {
+					transactionTimeout();
+				} catch (IOException e) {
+					cancel();
+				}
 			}        	
         };
         transTimer.schedule(transTimerTask, periodMs, periodMs);
     }
     
     synchronized void updateTimerSetPeriod(int periodMs) {
+    	if (updateTimer != null) {
+    		updateTimer.cancel();
+    		updateTimer = null;
+    	}
+    	if (updateTimerTask != null) {
+    		updateTimerTask.cancel();
+    		updateTimerTask = null;
+    	}
         updateTimer = new Timer();
         updateTimerTask = new TimerTask() {
 			@Override
 			public void run() {
-				processPeriodicUpdates();
+				try {
+					processPeriodicUpdates();
+				} catch (IOException e) {
+					updateTimerTask.cancel();
+					updateTimer.cancel();
+				}
 			}        	
         };
         updateTimer.schedule(updateTimerTask, periodMs, periodMs);
@@ -206,7 +229,12 @@ public class Telemetry {
             {
             	obj.addUnpackedObserver(new Observer() {
 					public void update(Observable observable, Object data) {
-	            		objectUnpacked( (UAVObject) data);
+	            		try {
+							objectUnpacked( (UAVObject) data);
+						} catch (IOException e) {
+							// TODO Auto-generated catch block
+							e.printStackTrace();
+						}
 	            	}            		
             	});
             }
@@ -214,7 +242,12 @@ public class Telemetry {
             {
             	obj.addUpdatedAutoObserver(new Observer() {
 					public void update(Observable observable, Object data) {
-						objectUpdatedAuto( (UAVObject) data);
+						try {
+							objectUpdatedAuto( (UAVObject) data);
+						} catch (IOException e) {
+							// TODO Auto-generated catch block
+							e.printStackTrace();
+						}
 	            	}            		            		
             	});
             }
@@ -222,7 +255,12 @@ public class Telemetry {
             {
             	obj.addUpdatedManualObserver(new Observer() {
 					public void update(Observable observable, Object data) {
-						objectUpdatedManual( (UAVObject) data);
+						try {
+							objectUpdatedManual( (UAVObject) data);
+						} catch (IOException e) {
+							// TODO Auto-generated catch block
+							e.printStackTrace();
+						}
 	            	}            		            		
             	});
             }
@@ -230,7 +268,12 @@ public class Telemetry {
             {
             	obj.addUpdateRequestedObserver(new Observer() {
 					public void update(Observable observable, Object data) {
-						updateRequested( (UAVObject) data);
+						try {
+							updateRequested( (UAVObject) data);
+						} catch (IOException e) {
+							// TODO Auto-generated catch block
+							e.printStackTrace();
+						}
 	            	}            		
             	});
             }
@@ -288,8 +331,9 @@ public class Telemetry {
 
     /**
      * Called when a transaction is successfully completed (uavtalk event)
+     * @throws IOException 
      */
-    private synchronized void transactionCompleted(UAVObject obj)
+    private synchronized void transactionCompleted(UAVObject obj) throws IOException
     {
     	if (DEBUG) Log.d(TAG,"UAVTalk transactionCompleted");
         // Check if there is a pending transaction and the objects match
@@ -311,8 +355,9 @@ public class Telemetry {
 
     /**
      * Called when a transaction is not completed within the timeout period (timer event)
+     * @throws IOException 
      */
-    private synchronized void transactionTimeout()
+    private synchronized void transactionTimeout() throws IOException
     {
     	if (DEBUG) Log.d(TAG,"Telemetry: transaction timeout.");
         transTimer.cancel();
@@ -342,8 +387,9 @@ public class Telemetry {
 
     /**
      * Start an object transaction with UAVTalk, all information is stored in transInfo
+     * @throws IOException 
      */
-    private synchronized void processObjectTransaction()
+    private synchronized void processObjectTransaction() throws IOException
     {
         if (transPending)
         {
@@ -375,8 +421,9 @@ public class Telemetry {
 
     /**
      * Process the event received from an object
+     * @throws IOException 
      */
-    private synchronized void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority)
+    private synchronized void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) throws IOException
     {
         // Push event into queue
     	if (DEBUG) Log.d(TAG, "Push event into queue for obj " + obj.getName() + " event " + event);
@@ -397,6 +444,7 @@ public class Telemetry {
                 ++txErrors;
                 obj.transactionCompleted(false);
                 Log.w(TAG,"Telemetry: priority event queue is full, event lost " + obj.getName());
+               new Exception().printStackTrace();
             }
         }
         else
@@ -421,8 +469,9 @@ public class Telemetry {
 
     /**
      * Process events from the object queue
+     * @throws IOException 
      */
-    private synchronized void processObjectQueue()
+    private synchronized void processObjectQueue() throws IOException
     {
       	if (DEBUG) Log.d(TAG, "Process object queue - Depth " + objQueue.size() + " priority " + objPriorityQueue.size());
 
@@ -505,8 +554,9 @@ public class Telemetry {
     /**
      * Check is any objects are pending for periodic updates
      * TODO: Clean-up
+     * @throws IOException 
      */
-    private synchronized void processPeriodicUpdates()
+    private synchronized void processPeriodicUpdates() throws IOException
     {
     	
     	if (DEBUG) Log.d(TAG, "processPeriodicUpdates()");
@@ -590,22 +640,22 @@ public class Telemetry {
         txRetries = 0;
     }
 
-    private synchronized void objectUpdatedAuto(UAVObject obj)
+    private synchronized void objectUpdatedAuto(UAVObject obj) throws IOException
     {
         processObjectUpdates(obj, EV_UPDATED, false, true);
     }
 
-    private synchronized void objectUpdatedManual(UAVObject obj)
+    private synchronized void objectUpdatedManual(UAVObject obj) throws IOException
     {
         processObjectUpdates(obj, EV_UPDATED_MANUAL, false, true);
     }
 
-    private synchronized void objectUnpacked(UAVObject obj)
+    private synchronized void objectUnpacked(UAVObject obj) throws IOException
     {
         processObjectUpdates(obj, EV_UNPACKED, false, true);
     }
 
-    public synchronized void updateRequested(UAVObject obj)
+    public synchronized void updateRequested(UAVObject obj) throws IOException
     {
         processObjectUpdates(obj, EV_UPDATE_REQ, false, true);
     }
@@ -620,6 +670,25 @@ public class Telemetry {
         registerObject(obj);
     }
     
+    /**
+     * Stop all the telemetry timers
+     */
+    public void stopTelemetry()
+    {
+    	if (updateTimerTask != null)
+    		updateTimerTask.cancel();
+    	updateTimerTask = null;
+    	if (updateTimer != null)
+    		updateTimer.cancel();
+    	updateTimer = null;
+    	if (transTimerTask != null)
+    		transTimerTask.cancel();
+    	transTimerTask = null;
+    	if (transTimer != null)
+    		transTimer.cancel();
+    	transTimer = null;
+    }
+
 	/**
 	 * Private variables
 	 */
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index 5f80ff779..9990bb308 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -1,5 +1,6 @@
 package org.openpilot.uavtalk;
 
+import java.io.IOException;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.ListIterator;
@@ -50,7 +51,14 @@ public class TelemetryMonitor extends Observable{
 
 	    flightStatsObj.addUpdatedObserver(new Observer() {
 			public void update(Observable observable, Object data) {
-				flightStatsUpdated((UAVObject) data);
+				try {
+					flightStatsUpdated((UAVObject) data);
+				} catch (IOException e) {
+					// The UAVTalk stream was broken, disconnect this signal
+					// TODO: Should this actually be disconnected.  Do we create a new TelemetryMonitor for this
+					// or fix the stream?
+					flightStatsObj.removeUpdatedObserver(this);
+				}
 			}	    	
 	    });
 
@@ -60,8 +68,9 @@ public class TelemetryMonitor extends Observable{
 
 	/**
 	 * Initiate object retrieval, initialize queue with objects to be retrieved.
+	 * @throws IOException 
 	 */
-	public synchronized void startRetrievingObjects()
+	public synchronized void startRetrievingObjects() throws IOException
 	{
 		if (DEBUG) Log.d(TAG, "Start retrieving objects");
 		
@@ -112,8 +121,9 @@ public class TelemetryMonitor extends Observable{
 
 	/**
 	 * Retrieve the next object in the queue
+	 * @throws IOException 
 	 */
-	public synchronized void retrieveNextObject()
+	public synchronized void retrieveNextObject() throws IOException
 	{
 	    // If queue is empty return
 	    if ( queue.isEmpty() )
@@ -133,11 +143,18 @@ public class TelemetryMonitor extends Observable{
 	    	    
 	    if (DEBUG) Log.d(TAG, "Retrieving object: " + obj.getName()) ;
 	    // Connect to object
+	    
+	    // TODO: Does this need to stay here permanently?  This appears to be used for setup mainly
 	    obj.addTransactionCompleted(new Observer() {
 			public void update(Observable observable, Object data) {
 				UAVObject.TransactionResult result = (UAVObject.TransactionResult) data;
 				if (DEBUG) Log.d(TAG,"Got transaction completed event from " + result.obj.getName() + " status: " + result.success);
-				transactionCompleted(result.obj, result.success);
+				try {
+					transactionCompleted(result.obj, result.success);
+				} catch (IOException e) {
+					// When the telemetry stream is broken disconnect these updates
+					observable.deleteObserver(this);
+				}
 			}	    	
 	    });
 
@@ -148,8 +165,9 @@ public class TelemetryMonitor extends Observable{
 
 	/**
 	 * Called by the retrieved object when a transaction is completed.
+	 * @throws IOException 
 	 */
-	public synchronized void transactionCompleted(UAVObject obj, boolean success)
+	public synchronized void transactionCompleted(UAVObject obj, boolean success) throws IOException
 	{
 	    //QMutexLocker locker(mutex);
 	    // Disconnect from sending object
@@ -176,8 +194,9 @@ public class TelemetryMonitor extends Observable{
 
 	/**
 	 * Called each time the flight stats object is updated by the autopilot
+	 * @throws IOException 
 	 */
-	public synchronized void flightStatsUpdated(UAVObject obj)
+	public synchronized void flightStatsUpdated(UAVObject obj) throws IOException
 	{
 	    // Force update if not yet connected
 	    gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
@@ -193,8 +212,9 @@ public class TelemetryMonitor extends Observable{
 
 	/**
 	 * Called periodically to update the statistics and connection status.
+	 * @throws IOException 
 	 */
-	public synchronized void processStatsUpdates()
+	public synchronized void processStatsUpdates() throws IOException
 	{
 	    // Get telemetry stats
 		if (DEBUG) Log.d(TAG, "processStatsUpdates()");
@@ -313,9 +333,20 @@ public class TelemetryMonitor extends Observable{
 	    periodicTask.scheduleAtFixedRate(new TimerTask() {
 			@Override
 			public void run() {
-				processStatsUpdates();				
+				try {
+					processStatsUpdates();
+				} catch (IOException e) {
+					// Once the stream has died stop trying to process these updates
+					periodicTask.cancel();
+				}				
 			}	    	
 	    }, currentPeriod, currentPeriod);
 	}
+	
+	public void stopMonitor()
+	{
+		periodicTask.cancel();
+		periodicTask = null;
+	}
 
 }
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index cf195799f..39769b29f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -45,6 +45,11 @@ public abstract class UAVObject {
 			transactionCompletedListeners.addObserver(o);
 		}
 	}
+	public void removeTransactionCompleted(Observer o) {
+		synchronized(transactionCompletedListeners) {
+			transactionCompletedListeners.deleteObserver(o);
+		}
+	}
 	void transactionCompleted(boolean status) {
 		synchronized(transactionCompletedListeners) {
 			transactionCompletedListeners.event(new TransactionResult(this,status));
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index e75724c08..003f7bccc 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -17,11 +17,12 @@ public class UAVTalk extends Observable {
 	public static boolean DEBUG = LOGLEVEL > 0;
 
 	private Thread inputProcessingThread = null;
+	
+	private boolean streamFailed = false;
 
 	/**
-	 * A reference to the thread for processing the incoming stream
-	 * 
-	 * @return
+	 * A reference to the thread for processing the incoming stream.  Currently this method is ONLY
+	 * used for unit testing
 	 */
 	public Thread getInputProcessThread() {
 		if (inputProcessingThread == null)
@@ -29,8 +30,13 @@ public class UAVTalk extends Observable {
 			inputProcessingThread = new Thread() {
 				public void run() {
 					while(true) {
-						if( !processInputStream() )
-							break;
+						try {
+							if( !processInputStream() )
+								break;
+						} catch (IOException e) {
+							// TODO Auto-generated catch block
+							e.printStackTrace();
+						}
 					}
 				}
 			};
@@ -175,18 +181,14 @@ public class UAVTalk extends Observable {
 
 	/**
 	 * Process any data in the queue
+	 * @throws IOException 
 	 */
-	public boolean processInputStream() {
+	public boolean processInputStream() throws IOException {
 		int val;
 
-		try {
-			// inStream.wait();
-			val = inStream.read();
-		} catch (IOException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-			return false;
-		}
+		//inStream.wait();
+		val = inStream.read();
+
 		if (val == -1) {
 			return false;
 		}
@@ -201,8 +203,9 @@ public class UAVTalk extends Observable {
 	 * would have been updated by the GCS. \param[in] obj Object to update
 	 * \param[in] allInstances If set true then all instances will be updated
 	 * \return Success (true), Failure (false)
+	 * @throws IOException 
 	 */
-	public boolean sendObjectRequest(UAVObject obj, boolean allInstances) {
+	public boolean sendObjectRequest(UAVObject obj, boolean allInstances) throws IOException {
 		// QMutexLocker locker(mutex);
 		return objectTransaction(obj, TYPE_OBJ_REQ, allInstances);
 	}
@@ -212,9 +215,10 @@ public class UAVTalk extends Observable {
 	 * Object to send \param[in] acked Selects if an ack is required \param[in]
 	 * allInstances If set true then all instances will be updated \return
 	 * Success (true), Failure (false)
+	 * @throws IOException 
 	 */
 	public synchronized boolean sendObject(UAVObject obj, boolean acked,
-			boolean allInstances) {
+			boolean allInstances) throws IOException {
 		if (acked) {
 			return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
 		} else {
@@ -235,9 +239,10 @@ public class UAVTalk extends Observable {
 	 * request object update TYPE_OBJ_ACK: send object with an ack \param[in]
 	 * allInstances If set true then all instances will be updated \return
 	 * Success (true), Failure (false)
+	 * @throws IOException 
 	 */
 	public boolean objectTransaction(UAVObject obj, int type,
-			boolean allInstances) {
+			boolean allInstances) throws IOException {
 		// Send object depending on if a response is needed
 		if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ) {
 			if (transmitObject(obj, type, allInstances)) {
@@ -257,8 +262,9 @@ public class UAVTalk extends Observable {
 	/**
 	 * Process an byte from the telemetry stream. \param[in] rxbyte Received
 	 * byte \return Success (true), Failure (false)
+	 * @throws IOException 
 	 */
-	public synchronized boolean processInputByte(int rxbyte) {
+	public synchronized boolean processInputByte(int rxbyte) throws IOException {
 		assert (objMngr != null);
 
 		// Update stats
@@ -471,9 +477,10 @@ public class UAVTalk extends Observable {
 	 * received object \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES
 	 * for all instances. \param[in] data Data buffer \param[in] length Buffer
 	 * length \return Success (true), Failure (false)
+	 * @throws IOException 
 	 */
 	public boolean receiveObject(int type, long objId, long instId,
-			ByteBuffer data) {
+			ByteBuffer data) throws IOException {
 		
 		if (DEBUG) Log.d(TAG, "Received object ID: " + objId);
 		assert (objMngr != null);
@@ -622,8 +629,9 @@ public class UAVTalk extends Observable {
 	 * @param[in] type Transaction type 
 	 * @param[in] allInstances True is all instances of the object are to be sent 
 	 * @return Success (true), Failure (false)
+	 * @throws IOException 
 	 */
-	public synchronized boolean transmitObject(UAVObject obj, int type, boolean allInstances) {
+	public synchronized boolean transmitObject(UAVObject obj, int type, boolean allInstances) throws IOException {
 		// If all instances are requested on a single instance object it is an
 		// error
 		if (allInstances && obj.isSingleInstance()) {
@@ -658,12 +666,13 @@ public class UAVTalk extends Observable {
 	}
 
 	/**
-	 * Send an object through the telemetry link. \param[in] obj Object handle
-	 * to send \param[in] type Transaction type \return Success (true), Failure
-	 * (false)
+	 * Send an object through the telemetry link.
+	 * @throws IOException 
+	 * @param[in] obj Object handle to send
+	 * @param[in] type Transaction type \return Success (true), Failure (false)
 	 */
 	public synchronized boolean transmitSingleObject(UAVObject obj, int type,
-			boolean allInstances) {
+			boolean allInstances) throws IOException {
 		int length;
 		int allInstId = ALL_INSTANCES;
 
@@ -682,8 +691,7 @@ public class UAVTalk extends Observable {
 		// Setup type and object id fields
 		bbuf.put((byte) (SYNC_VAL & 0xff));
 		bbuf.put((byte) (type & 0xff));
-		bbuf
-				.putShort((short) (length + 2 /* SYNC, Type */+ 2 /* Size */+ 4 /* ObjID */+ (obj
+		bbuf.putShort((short) (length + 2 /* SYNC, Type */+ 2 /* Size */+ 4 /* ObjID */+ (obj
 						.isSingleInstance() ? 0 : 2)));
 		bbuf.putInt((int)obj.getObjID());
 
@@ -714,31 +722,12 @@ public class UAVTalk extends Observable {
 		// Calculate checksum
 		bbuf.put((byte) (updateCRC(0, bbuf.array(), bbuf.position()) & 0xff));
 
-		try {
-			int packlen = bbuf.position();
-			bbuf.position(0);
-			byte[] dst = new byte[packlen];
-			bbuf.get(dst, 0, packlen);
-			outStream.write(dst);
-		} catch (IOException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-			return false;
-		}
+		int packlen = bbuf.position();
+		bbuf.position(0);
+		byte[] dst = new byte[packlen];
+		bbuf.get(dst, 0, packlen);
+		outStream.write(dst);
 
-		// //TODO: Need to use a different outStream type and check that the
-		// backlog isn't more than TX_BUFFER_SIZE
-		// // Send buffer, check that the transmit backlog does not grow above
-		// limit
-		// if ( io->bytesToWrite() < TX_BUFFER_SIZE )
-		// {
-		// io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
-		// }
-		// else
-		// {
-		// ++stats.txErrors;
-		// return false;
-		// }
 
 		// Update stats
 		++stats.txObjects;
diff --git a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
index 91f3aa198..1b66d9660 100644
--- a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
+++ b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
@@ -90,7 +90,7 @@ public class TalkTest {
 	}
 
 	@Test
-	public void testSendObjectRequest() {
+	public void testSendObjectRequest() throws IOException {
 		ByteArrayInputStream is = new ByteArrayInputStream(new byte[0], 0, 0);
 		ByteArrayOutputStream os = new ByteArrayOutputStream(100);
 		

From e359b96b09ce9f92ac9f17951a9785aae1fc21ed Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 21:53:54 -0500
Subject: [PATCH 283/543] AndroidGCS: After terminating the telemetry
 connection make sure to close the TCP socket or the android system will keep
 it active and block reconnections.

---
 .../androidgcs/OPTelemetryService.java        | 45 ++++++++++++++++---
 1 file changed, 39 insertions(+), 6 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index 8a46e43e3..fbbf63e77 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -1,5 +1,6 @@
 package org.openpilot.androidgcs;
 
+import java.io.IOException;
 import java.util.Observable;
 import java.util.Observer;
 
@@ -99,6 +100,7 @@ public class OPTelemetryService extends Service {
 			case MSG_DISCONNECT:
 				Toast.makeText(getApplicationContext(), "Disconnect requested", Toast.LENGTH_SHORT).show();
 				terminate = true;
+				activeTelem.interrupt();
 				try {
 					activeTelem.join();
 				} catch (InterruptedException e) {
@@ -123,6 +125,10 @@ public class OPTelemetryService extends Service {
 		}
 	};
 
+	/**
+	 * Called when the service starts.  It creates a thread to handle messages (e.g. connect and disconnect)
+	 * and based on the stored preference will send itself a connect signal if needed.
+	 */
 	public void startup() {
 		Toast.makeText(getApplicationContext(), "Telemetry service starting", Toast.LENGTH_SHORT).show();
 		
@@ -139,7 +145,7 @@ public class OPTelemetryService extends Service {
 			msg.arg1 = MSG_CONNECT;
 			msg.arg2 = 0;
 			mServiceHandler.sendMessage(msg);
-		}				
+		}
 
 	}
 	
@@ -193,6 +199,9 @@ public class OPTelemetryService extends Service {
 		mServiceHandler.sendMessage(msg);
 	}
 
+	/**
+	 * This is used by other processes to get a handle to the object manager
+	 */
 	public interface TelemTask {
 		public UAVObjectManager getObjectManager();
 	};
@@ -314,8 +323,14 @@ public class OPTelemetryService extends Service {
 
 			if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
 			while( !terminate ) {
-				if( !uavTalk.processInputStream() )
+				try {
+					if( !uavTalk.processInputStream() )
+						break;
+				} catch (IOException e) {
+					// This occurs when they communication stream fails
+					toastMessage("Connection dropped");
 					break;
+				}
 			}
 			if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
 		}
@@ -339,7 +354,7 @@ public class OPTelemetryService extends Service {
 		public void run() {			
 			if (DEBUG) Log.d(TAG, "Telemetry Thread started");
 
-			Looper.prepare();						
+			Looper.prepare();
 
 			TcpUAVTalk tcp = new TcpUAVTalk(OPTelemetryService.this);
 			for( int i = 0; i < 10; i++ ) {
@@ -376,18 +391,36 @@ public class OPTelemetryService extends Service {
 					if(mon.getConnected() /*&& mon.getObjectsUpdated()*/) {
 						Intent intent = new Intent();
 						intent.setAction(INTENT_ACTION_CONNECTED);
-						sendBroadcast(intent,null);					
+						sendBroadcast(intent,null);
 					}
-				}				
+				}	
 			});
 
 
 			if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
 			while( !terminate ) {
-				if( !uavTalk.processInputStream() )
+				try {
+					if( !uavTalk.processInputStream() )
+						break;
+				} catch (IOException e) {
+					e.printStackTrace();
+					toastMessage("TCP Stream interrupted");
 					break;
+				}
 			}
+			Looper.myLooper().quit();
+			
+			// Shut down all the attached
+			mon.stopMonitor();
+			mon = null;
+			tel.stopTelemetry();
+			tel = null;
+			
+			// Finally close the stream if it is still open
+			tcp.disconnect();
+			
 			if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
+			toastMessage("TCP Thread finished");
 		}
 
 	};

From b1780701d76ffd74398791261a6297a4c59a019d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 22:07:40 -0500
Subject: [PATCH 284/543] AndroidGCS: Use a timer when computing the update
 time for GCSTelemetryStats

---
 .../src/org/openpilot/uavtalk/TelemetryMonitor.java  | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index 9990bb308..4daa3003a 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -210,6 +210,7 @@ public class TelemetryMonitor extends Observable{
 	    }
 	}
 
+	private long lastStatsTime;
 	/**
 	 * Called periodically to update the statistics and connection status.
 	 * @throws IOException 
@@ -219,13 +220,16 @@ public class TelemetryMonitor extends Observable{
 	    // Get telemetry stats
 		if (DEBUG) Log.d(TAG, "processStatsUpdates()");
 	    Telemetry.TelemetryStats telStats = tel.getStats();
-	    tel.resetStats();
 
 	    if (DEBUG) Log.d(TAG, "processStatsUpdates() - stats reset");
 	    
+	    // Need to compute time because this update is not regular enough
+	    float dT = (float) (System.currentTimeMillis() - lastStatsTime) / 1000.0f;
+	    lastStatsTime = System.currentTimeMillis();
+
 	    // Update stats object 
-	    gcsStatsObj.getField("RxDataRate").setDouble( (float)telStats.rxBytes / ((float)currentPeriod/1000.0) );
-	    gcsStatsObj.getField("TxDataRate").setDouble( (float)telStats.txBytes / ((float)currentPeriod/1000.0) );
+	    gcsStatsObj.getField("RxDataRate").setDouble( (float)telStats.rxBytes / dT );
+	    gcsStatsObj.getField("TxDataRate").setDouble( (float)telStats.txBytes / dT );
 	    UAVObjectField field = gcsStatsObj.getField("RxFailures");
 	    field.setDouble(field.getDouble() + telStats.rxErrors);
 	    field = gcsStatsObj.getField("TxFailures");
@@ -233,6 +237,8 @@ public class TelemetryMonitor extends Observable{
 	    field = gcsStatsObj.getField("TxRetries");
 	    field.setDouble(field.getDouble() + telStats.txRetries);
 
+	    tel.resetStats();
+
 	    if (DEBUG) Log.d(TAG, "processStatsUpdates() - stats updated");
 	    
 	    // Check for a connection timeout

From 4997f1198ca1f813f81dba869d72c5473a5993e7 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 22:14:40 -0500
Subject: [PATCH 285/543] AndroidGCS: As soon as the controller is released set
 the throttle to -1

---
 .../src/org/openpilot/androidgcs/Controller.java       | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/Controller.java b/androidgcs/src/org/openpilot/androidgcs/Controller.java
index d87bb5c06..baa61229b 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Controller.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Controller.java
@@ -92,10 +92,9 @@ public class Controller extends ObjectManagerActivity {
 			public void OnMoved(int pan, int tilt) {
 				pitch = (double) tilt / MOVEMENT_RANGE;
 				yaw = (double) pan / MOVEMENT_RANGE;
-				updated = true;
 				leftJoystickHeld = true;
 			}
-			public void OnReleased() { leftJoystickHeld = false; }
+			public void OnReleased() { leftJoystickHeld = false; throttle = -1; updated = true; }
 			@Override
 			public void OnReturnedToCenter() { }
 		}, new JoystickMovedListener() {
@@ -105,10 +104,9 @@ public class Controller extends ObjectManagerActivity {
 				if (throttle < 0)
 					throttle = -1;
 				roll = (double) pan / MOVEMENT_RANGE;
-				updated = true;
 				rightJoystickHeld = true;
 			}
-			public void OnReleased() { rightJoystickHeld = false; }
+			public void OnReleased() { rightJoystickHeld = false; throttle = -1; updated = true; }
 			@Override
 			public void OnReturnedToCenter() { }
 		}) ;
@@ -117,7 +115,7 @@ public class Controller extends ObjectManagerActivity {
 				uavobjHandler.post(new Runnable() {
 					@Override
 					public void run() {
-						if (leftJoystickHeld && rightJoystickHeld) {
+						if ((leftJoystickHeld && rightJoystickHeld) || updated) {
 							UAVObject gcsReceiver = objMngr.getObject("GCSReceiver");
 							if (gcsReceiver == null) {
 								Log.e(TAG, "No GCS Receiver object found");
@@ -138,6 +136,8 @@ public class Controller extends ObjectManagerActivity {
 
 							gcsReceiver.updated();
 
+							updated = false;
+
 							if (DEBUG) Log.d(TAG, "Send update" + gcsReceiver.toStringData());
 						}
 						updated = false;

From bebeb78a0658cf5daab9962bdfbe5f1f8326c4f0 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 22:46:16 -0500
Subject: [PATCH 286/543] AndroidGCS: Update the API key for my debugging key. 
 I guess everyone testing will need to merge in their own key for hte location
 engine.

---
 androidgcs/res/layout/map_layout.xml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/androidgcs/res/layout/map_layout.xml b/androidgcs/res/layout/map_layout.xml
index 64c64b16e..a0cea291f 100644
--- a/androidgcs/res/layout/map_layout.xml
+++ b/androidgcs/res/layout/map_layout.xml
@@ -5,6 +5,8 @@
 	<com.google.android.maps.MapView
 		android:id="@+id/map_view" android:layout_width="fill_parent"
 		android:layout_height="fill_parent" android:enabled="true"
-		android:clickable="true" android:apiKey="0wrDHCybTiyzQZNBmbMVW9UU-8kzQfF7Ar1KhNw" />
+		android:clickable="true" android:apiKey="0ugzv7PkCKSo8cNXxn9A251sxOfROBdjHG0eQEw" />
+	<!--  Note: If you are testing this you will need to use a debugging api key -->
+	<!-- https://developers.google.com/maps/documentation/android/mapkey -->
 </LinearLayout>
 		
\ No newline at end of file

From d18b3bbbf6347fa0b9b2f5d1987ee223d0afd545 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 23:26:30 -0500
Subject: [PATCH 287/543] AndroidGCS: Add the device location to the map
 overlay.  Improve the icons for the UAV and home location.

---
 androidgcs/AndroidManifest.xml                |    1 +
 .../org/openpilot/androidgcs/UAVLocation.java |   49 +-
 .../hdpi/_pre_production/hdpi_icons.ai        | 4456 +++++++++--------
 .../hdpi/_pre_production/hdpi_icons.ai.zip    |  Bin 0 -> 1026749 bytes
 artwork/Android/hdpi/ic_browser.png           |  Bin 1269 -> 1276 bytes
 artwork/Android/hdpi/ic_controller.png        |  Bin 1322 -> 1337 bytes
 artwork/Android/hdpi/ic_home.png              |  Bin 0 -> 695 bytes
 artwork/Android/hdpi/ic_logging.png           |  Bin 823 -> 838 bytes
 artwork/Android/hdpi/ic_uav.png               |  Bin 0 -> 826 bytes
 9 files changed, 2273 insertions(+), 2233 deletions(-)
 create mode 100644 artwork/Android/hdpi/_pre_production/hdpi_icons.ai.zip
 create mode 100644 artwork/Android/hdpi/ic_home.png
 create mode 100644 artwork/Android/hdpi/ic_uav.png

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 132e91c39..dad23f2c2 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -8,6 +8,7 @@
 
 	<uses-permission android:name="android.permission.BLUETOOTH" />
 	<uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
+	<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />  
 
 	<application android:icon="@drawable/ic_logo" android:label="@string/app_name" android:theme="@android:style/Theme.Holo">
 		<!-- for map overlay -->
diff --git a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
index 72085c1d6..0c7757ee5 100644
--- a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
+++ b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
@@ -16,6 +16,7 @@ import com.google.android.maps.MapController;
 import com.google.android.maps.MapView; 
 import com.google.android.maps.Overlay;
 import com.google.android.maps.Projection;
+import com.google.android.maps.MyLocationOverlay;
 
 import android.content.BroadcastReceiver;
 import android.content.ComponentName;
@@ -23,6 +24,8 @@ import android.content.Context;
 import android.content.Intent;
 import android.content.IntentFilter;
 import android.content.ServiceConnection;
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
 import android.graphics.Canvas;
 import android.graphics.Paint;
 import android.graphics.Point;
@@ -69,6 +72,12 @@ public class UAVLocation extends MapActivity
 		List<Overlay> overlays = mapView.getOverlays();
 		UAVOverlay myOverlay = new UAVOverlay(); 
 		overlays.add(myOverlay); 
+		
+		MyLocationOverlay myLocationOverlay = new MyLocationOverlay(this, mapView);
+		myLocationOverlay.enableMyLocation();
+		myLocationOverlay.enableCompass();
+		overlays.add(myLocationOverlay);
+	    
 		mapView.postInvalidate();
 
 		// ObjectManager related stuff (can't inherit standard class)
@@ -110,12 +119,15 @@ public class UAVLocation extends MapActivity
 	}
 
 	public class UAVOverlay extends Overlay {
+		Bitmap homeSymbol = BitmapFactory.decodeResource(getResources(), R.drawable.ic_home);
+		Bitmap uavSymbol = BitmapFactory.decodeResource(getResources(), R.drawable.ic_uav);
 		@Override 
 		public void draw(Canvas canvas, MapView mapView, boolean shadow) {
 			
 			Projection projection = mapView.getProjection();
 			
-			if (shadow == false) { 
+			if (shadow == false) {
+
 				Point myPoint = new Point(); 
 				projection.toPixels(uavLocation, myPoint);
 				
@@ -125,15 +137,12 @@ public class UAVLocation extends MapActivity
 				paint.setARGB(250, 255, 0, 0); 
 				paint.setAntiAlias(true); 
 				paint.setFakeBoldText(true);
-				
-				// Create the circle 
-				int rad = 5; 
-				RectF oval = new RectF(myPoint.x-rad, myPoint.y-rad, myPoint.x+rad, myPoint.y+rad);
-				
+								
 				// Draw on the canvas 
-				canvas.drawOval(oval, paint); 
-				canvas.drawText("UAV", myPoint.x+rad, myPoint.y, paint);								
-
+				canvas.drawBitmap(uavSymbol, myPoint.x - uavSymbol.getWidth() / 2, 
+						myPoint.y - uavSymbol.getHeight() / 2, paint);
+				canvas.drawText("UAV", myPoint.x+uavSymbol.getWidth() / 2, myPoint.y, paint);								
+				
 				//// Draw Home
 				myPoint = new Point();
 				projection.toPixels(homeLocation, myPoint);
@@ -143,13 +152,9 @@ public class UAVLocation extends MapActivity
 				paint.setAntiAlias(true); 
 				paint.setFakeBoldText(true);
 				
-				// Create the circle 
-				rad = 5; 
-				oval = new RectF(myPoint.x-rad, myPoint.y-rad, myPoint.x+rad, myPoint.y+rad);
-				
-				// Draw on the canvas 
-				canvas.drawOval(oval, paint); 
-				canvas.drawText("Home", myPoint.x+rad, myPoint.y, paint);								
+				canvas.drawBitmap(homeSymbol, myPoint.x - homeSymbol.getWidth() / 2, 
+						myPoint.y - homeSymbol.getHeight() / 2, paint);
+				canvas.drawText("Home", myPoint.x+homeSymbol.getWidth(), myPoint.y, paint);								
 
 			} 
 		}
@@ -178,8 +183,7 @@ public class UAVLocation extends MapActivity
 					System.out.println("HomeLocation: " + homeLocation.toString());
 				}				
 			});
-		// Hacky - trigger an update
-		obj.updated();
+		obj.updateRequested();
 		
 		obj = objMngr.getObject("PositionActual");
 		if(obj != null)
@@ -188,9 +192,10 @@ public class UAVLocation extends MapActivity
 					UAVDataObject obj = (UAVDataObject) data;
 					Double north = obj.getField("North").getDouble();
 					Double east = obj.getField("East").getDouble();
-					// TODO: Correct convertion from NED to LLA.  This is erroneous conversion from cm to deg
-					uavLocation = new GeoPoint((int) (homeLocation.getLatitudeE6() + north / 100 * 1e6 / 78847),
-							(int) (homeLocation.getLongitudeE6() + east / 100 * 1e6 / 78847));
+
+					// TODO: Correct convertion from NED to LLA.  This is erroneous conversion from m to deg
+					uavLocation = new GeoPoint((int) (homeLocation.getLatitudeE6() + (20+north) * 1e6 / 78847),
+							(int) (homeLocation.getLongitudeE6() + east* 1e6 / 78847));
 					runOnUiThread(new Runnable() {
 						public void run() {
 							mapView.invalidate();
@@ -248,7 +253,7 @@ public class UAVLocation extends MapActivity
 			if (DEBUG) Log.d(TAG,"Service bound");
 			mBound = true;
 			binder = (LocalBinder) service;
-			
+
 			if(binder.isConnected()) {
 				TelemTask task;
 				if((task = binder.getTelemTask(0)) != null) {
diff --git a/artwork/Android/hdpi/_pre_production/hdpi_icons.ai b/artwork/Android/hdpi/_pre_production/hdpi_icons.ai
index 9180d52f2..6d4c7bce9 100644
--- a/artwork/Android/hdpi/_pre_production/hdpi_icons.ai
+++ b/artwork/Android/hdpi/_pre_production/hdpi_icons.ai
@@ -1,5 +1,5 @@
 %PDF-1.5
%âãÏÓ
-1 0 obj
<</Metadata 2 0 R/OCProperties<</D<</ON[5 0 R 32 0 R 57 0 R 81 0 R 111 0 R 138 0 R 165 0 R]/Order 166 0 R/RBGroups[]>>/OCGs[5 0 R 32 0 R 57 0 R 81 0 R 111 0 R 138 0 R 165 0 R]>>/Pages 3 0 R/Type/Catalog>>
endobj
2 0 obj
<</Length 47292/Subtype/XML/Type/Metadata>>stream
+1 0 obj
<</Metadata 2 0 R/OCProperties<</D<</ON[5 0 R 32 0 R 57 0 R 81 0 R 111 0 R 138 0 R 165 0 R 195 0 R]/Order 196 0 R/RBGroups[]>>/OCGs[5 0 R 32 0 R 57 0 R 81 0 R 111 0 R 138 0 R 165 0 R 195 0 R]>>/Pages 3 0 R/Type/Catalog>>
endobj
2 0 obj
<</Length 49337/Subtype/XML/Type/Metadata>>stream
 <?xpacket begin="" id="W5M0MpCehiHzreSzNTczkc9d"?>
 <x:xmpmeta xmlns:x="adobe:ns:meta/" x:xmptk="Adobe XMP Core 5.0-c060 61.134777, 2010/02/12-17:32:00        ">
    <rdf:RDF xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#">
@@ -15,17 +15,17 @@
       <rdf:Description rdf:about=""
             xmlns:xmp="http://ns.adobe.com/xap/1.0/"
             xmlns:xmpGImg="http://ns.adobe.com/xap/1.0/g/img/">
-         <xmp:MetadataDate>2012-08-05T13:24:35-05:00</xmp:MetadataDate>
-         <xmp:ModifyDate>2012-08-05T13:24:35-05:00</xmp:ModifyDate>
+         <xmp:MetadataDate>2012-08-05T23:46:46-05:00</xmp:MetadataDate>
+         <xmp:ModifyDate>2012-08-05T23:46:46-05:00</xmp:ModifyDate>
          <xmp:CreateDate>2012-08-05T12:59:48-05:00</xmp:CreateDate>
          <xmp:CreatorTool>Adobe Illustrator CS5</xmp:CreatorTool>
          <xmp:Thumbnails>
             <rdf:Alt>
                <rdf:li rdf:parseType="Resource">
-                  <xmpGImg:width>180</xmpGImg:width>
-                  <xmpGImg:height>256</xmpGImg:height>
+                  <xmpGImg:width>256</xmpGImg:width>
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@@ -34,7 +34,7 @@
             xmlns:xmpMM="http://ns.adobe.com/xap/1.0/mm/"
             xmlns:stRef="http://ns.adobe.com/xap/1.0/sType/ResourceRef#"
             xmlns:stEvt="http://ns.adobe.com/xap/1.0/sType/ResourceEvent#">
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diff --git a/artwork/Android/hdpi/ic_browser.png b/artwork/Android/hdpi/ic_browser.png
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z*U!aPw6%zz3-o_T#PZe8dz-vy0TWU_xT-CnMiWatU(Iy#5eaIfY#4s7fnV_RTyE<^
z6KAWyTN)oS{6BvB+{jlmK{toD2;H<6%gFL1kHCNYywje%Nq_s0Gu^l<Q?_MV%cKF_
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tssCFo-*3r+V+LG&Q&yPDH!Oby7yvf$7-HS-k|O{B002ovPDHLkV1lugK5+m5

delta 1191
zcmV;Y1X%n03H1q(UVnl~L_t(|+U%XrP7_fS#!vYZXb?KZ0#Tz7SrAsRaoyqz$kLtq
z1n>s*4a6sqjr+cUP@={ifd?=F6qEk5Gg1NsntIM~FJ5X}>2#*0@O{b2WXLc~e?9l(
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zKnCPHrM_z%v&j?c1W?r$FXYm^i6fI?7k~@_G9W{M49I{C`M((H^kiQaLW?SfI6iR5
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zLS`6N71T+ePJcb3GGF2?|D8RZ<qEoet0602)llc!^xEXjd!^z%U&D@JEvc@DT;;0^
zD$9IPZ*L!!%jaHxbxy?+U!Ux68d<)5;~`i1YQjegprN55vaAS)MHAy=w6(QOw&T$B
z^ivv*M(J0vNQHdC{aKT$<>x7t>AM|=T;;0?KP_NjV1M8e>iF0g_4n7m#Npw4ZcILT
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zI?ej}oPT=l$#y`tTJ=@Qv_=*Xlw^cFl6d&Q-9J1mQ8t$&hqK&+pLc$CVfyN5)N08B
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zgDe?4J3Djv&*rvB>`ZJ$TZ{Pl{`VhraPU)h=YN|$UrV<-!-Ipj4sbm`ALE&iSK)qg
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zEv3Bm_~gXhFO^DeAz(M?Mz{S+J3_H&Q$Am~S~DC9Q6`ghL)SvbVzG`Dn0FOqseTu*
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zg&GNKDs(%t&T`k!#a6Vnh@T7eXw>r6&-<FZXaN&aKDePRphgo*Jzq_C@(~GYq--00
zu7O|i^S!<OD@~lO0&i)2$ngL4`AZ{TO$Xf^-Xe6<S}Y^W6FdU{@$*i5@(%s&Lw`<p
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FV1iz|M700_

diff --git a/artwork/Android/hdpi/ic_controller.png b/artwork/Android/hdpi/ic_controller.png
index cd497f9254c7f79e0f240a5ef1225c6c8155f17d..327c7f54561dde3dda659e81368b40147e0db2df 100644
GIT binary patch
delta 1259
zcmV<H1Qh$K3b_i9UVp|(L_t(|+U%YGb=oix#}&#S{SSA7IuqatYLf-(4MHafod7aH
z*`Uq_bb(?vFdM)IW&)~9P7l@3=7)V}%e=ey6d({IfB5Qjcaq7&@px2Vf7hFtzFFut
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zSqwh_av&_&Y-AvdF`GaZ$O2jHN*i7qT<dr*5?m+Kxdrf8i;~4%2xKvVERe+nvOpHd
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zCq4m=IC}wGs(Kw==o0{cw;_g{5*=@=``7R2qTn{DGJiD}`_(;U9FDI9hZ<XcxT(FG
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z7RX`(Ss)8!F@Y?Q#RRfI7RX|??PS{8g>PL5BZf?<A(vhVBPQ-bAPZzMa>%)0;D?+E
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V!57@SP<sFX002ovPDHLkV1nH+O6dRq

delta 1244
zcmV<21S9*o3aSc_UVpbqL_t(|+U%YGb)rBJ$2UIymky2&qysPw938}~AYKKU3XTqr
zbdYP{f*oK7+5uMJ?U>o;9uNEhGqCt(-rHvq4K5$PJ3BMG=+p6dRA7HUH%tAn)@`c9
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z0R|tubUX-nL4S8fZeCx*QT@LnzS1YOy7L(G=XsQy2t|D@0GDP1$vySmEBy?{>Mly+
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zS`8Bu7R}R|8i8H;+G3=TbFXCJMUAcc#ieQ;bUtyqc42`o8d6r<jm)qpV@}SjV(i+6
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zvd4Hk8~w_N1>01<e08qt#;V^BVclZvn{jXW9t5%lyEF>2e5moC0ikO5>Rh}xtJQ;s
zkArOqKt&Z5U+i0jATyC&t(9PEUk;&Cry*ZZd)`OUrcaYkZV|`=Sxg`cWPvOukOi`s
zKo-aXS**3)TDu6W8)3wd2{q)}8&zS%#9atvfh<N2xfBfikPE@UW~Y0=C%B7eD?C^%
zwSDqJ5%0+rQ}4L<<m)Sy!K`onmG4aLW~bZQ3}CQ-0t^6}Si!<v%$o@S0000<MNUMn
GLSTZr$XdSu

diff --git a/artwork/Android/hdpi/ic_home.png b/artwork/Android/hdpi/ic_home.png
new file mode 100644
index 0000000000000000000000000000000000000000..5afd63f17b719cd8856188f788beca97ba05c25a
GIT binary patch
literal 695
zcmV;o0!aOdP)<h;3K|Lk000e1NJLTq001cf001Hg1^@s6!l&>x00009a7bBm000*f
z000*f0cW4mQUCw|8FWQhbW?9;ba!ELWdK2BZ(?O2No`?gWm08fWO;GPWjp`?0z^qf
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literal 0
HcmV?d00001

diff --git a/artwork/Android/hdpi/ic_logging.png b/artwork/Android/hdpi/ic_logging.png
index 4791e4293e4106a3b9f73de4b82d313827425e7f..e2947140f98625640885f1f3802b1d6c61751d3e 100644
GIT binary patch
delta 730
zcmV<00ww*o2F3=EUVqa`L_t(|+U%XZPTNovfSs118}$<u+!sJHGa*sfyU@84S=qu?
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zBqJG+{7hK(-?R=!<H<F;9y%#n@*9bdc%@t*8Ocz(<UeRAU-BIqO5^80$<0RnyE}lw
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M07*qoM6N<$g0)<AHUIzs

delta 714
zcmV;*0yX`{2Db)~UVp?%L_t(|+U%XZPTNovfE~n6^8{4x3m}<2Bno>MI(H%~TiD8&
zOzlc0x|XGTtfbi+2_68eZ(w+W^c-@odV3X6erzSk-zOdU@A?XTIX*tNkX)P1W|1-)
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diff --git a/artwork/Android/hdpi/ic_uav.png b/artwork/Android/hdpi/ic_uav.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d49ed85726333791dadf9e693be8857a578e730
GIT binary patch
literal 826
zcmV-A1I7G_P)<h;3K|Lk000e1NJLTq001cf001cn1^@s6s9*s000009a7bBm000*f
z000*f0cW4mQUCw|8FWQhbW?9;ba!ELWdK2BZ(?O2No`?gWm08fWO;GPWjp`?0>?>2
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zUKsz~4<`A#mSg7#*mdCG(^v%{Js-;V2Vw)GmSdnAC;^{F2O%y6RsP?aD4rGgeF}*y
zgi&{Y{K2I0<1ZsTWIz0322s951d0I~KOTq|K&wfd;L|TAhIc<v^RFxe!zsKC40dLQ
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z2^kKeDu6bS_m9@yqmCSP<ftRbYY%cd2>nzr;`z;B$^T0TT9XVOM?%|!jiA<yBHwQY
zCBEO_st#I{47?+uAr^z9T6F-*I}V1B^dcbdFc=&uOhBIEv`N)LR8Wf=y}>$IGR|89
z^6v(NBey|&b-2LV0e2**Ukq)JzQfWTT|$k%J3xQ|0Ej-@+>fG+PXGV_07*qoM6N<$
Ef);dCk^lez

literal 0
HcmV?d00001


From e80aad99c09a8ee9fe41331d24f5b2c81e50e9ef Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 00:35:53 -0500
Subject: [PATCH 288/543] AndroidGCS: Correct the equation for converting
 PositionActual (NED) to world coordinates

---
 .../org/openpilot/androidgcs/UAVLocation.java | 40 +++++++++++++++----
 1 file changed, 32 insertions(+), 8 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
index 0c7757ee5..3a5c36b3a 100644
--- a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
+++ b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
@@ -29,7 +29,6 @@ import android.graphics.BitmapFactory;
 import android.graphics.Canvas;
 import android.graphics.Paint;
 import android.graphics.Point;
-import android.graphics.RectF;
 import android.os.Bundle;
 import android.os.IBinder;
 import android.util.Log;
@@ -189,13 +188,7 @@ public class UAVLocation extends MapActivity
 		if(obj != null)
 			obj.addUpdatedObserver(new Observer() {
 				public void update(Observable observable, Object data) {
-					UAVDataObject obj = (UAVDataObject) data;
-					Double north = obj.getField("North").getDouble();
-					Double east = obj.getField("East").getDouble();
-
-					// TODO: Correct convertion from NED to LLA.  This is erroneous conversion from m to deg
-					uavLocation = new GeoPoint((int) (homeLocation.getLatitudeE6() + (20+north) * 1e6 / 78847),
-							(int) (homeLocation.getLongitudeE6() + east* 1e6 / 78847));
+					uavLocation = getUavLocation();
 					runOnUiThread(new Runnable() {
 						public void run() {
 							mapView.invalidate();
@@ -205,6 +198,37 @@ public class UAVLocation extends MapActivity
 			});
 
 	}
+
+	private GeoPoint getUavLocation() {
+		UAVObject pos = (UAVObject) objMngr.getObject("PositionActual");
+		if (pos == null)
+			return new GeoPoint(0,0);
+		
+		UAVObject home = (UAVObject) objMngr.getObject("HomeLocation");
+		if (home == null) 
+			return new GeoPoint(0,0);
+		
+		double lat, lon, alt;
+		lat = home.getField("Latitude").getDouble() / 10.0e6;
+		lon = home.getField("Longitude").getDouble() / 10.0e6;
+		alt = home.getField("Altitude").getDouble();
+
+		// Get the home coordinates
+		double T0, T1;
+		T0 = alt+6.378137E6;
+		T1 = Math.cos(lat * Math.PI / 180.0)*(alt+6.378137E6);
+		
+		// Get the NED coordinates
+		double NED0, NED1;
+		NED0 = pos.getField("North").getDouble();
+		NED1 = pos.getField("East").getDouble();
+		
+		// Compute the LLA coordinates
+		lat = lat + (NED0 / T0) * 180.0 / Math.PI;
+		lon = lon + (NED1 / T1) * 180.0 / Math.PI;
+
+		return new GeoPoint((int) (lat * 1e6), (int) (lon * 1e6));
+	}
 	
 	void onOPDisconnected() {
 		

From 3f881454da27e05e86816f0a6e65cbfefd245e36 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 01:15:29 -0500
Subject: [PATCH 289/543] AndroidGCS: Update preferences to the new Fragment
 API

---
 .../org/openpilot/androidgcs/Preferences.java | 21 ++++++++++++++-----
 1 file changed, 16 insertions(+), 5 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/Preferences.java b/androidgcs/src/org/openpilot/androidgcs/Preferences.java
index 913de0f73..8a27e805c 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Preferences.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Preferences.java
@@ -2,11 +2,22 @@ package org.openpilot.androidgcs;
 
 import android.os.Bundle;
 import android.preference.PreferenceActivity;
+import android.preference.PreferenceFragment;
 
 public class Preferences extends PreferenceActivity {
-	  @Override
-	  protected void onCreate(Bundle savedInstanceState) { 
-	    super.onCreate(savedInstanceState);
-	    addPreferencesFromResource(R.xml.preferences); 
-	  }
+	@Override
+	protected void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		// Display the fragment as the main content.
+        getFragmentManager().beginTransaction().replace(android.R.id.content,
+                new PrefsFragment()).commit();
+	}
+	public static class PrefsFragment extends PreferenceFragment {
+		@Override
+		public void onCreate(Bundle savedInstanceState) {
+			super.onCreate(savedInstanceState);
+			// Load the preferences from an XML resource
+			addPreferencesFromResource(R.xml.preferences);
+		}
+	}
 }

From 7a214dc6cb7fc7508d27052689299fa73856bd60 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 01:17:19 -0500
Subject: [PATCH 290/543] AndroidGCS: Clean up some warnings in UAVO templates

---
 .../org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java | 3 +--
 .../src/libs/juavobjects/templates/uavobjectsinittemplate.java | 3 +--
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
index 7968c37c3..9219524c5 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
@@ -28,7 +28,6 @@
 
 package org.openpilot.uavtalk.uavobjects;
 
-import org.openpilot.uavtalk.uavobjects.*;
 import org.openpilot.uavtalk.UAVObjectManager;
 
 public class UAVObjectsInitialize {
@@ -112,4 +111,4 @@ public class UAVObjectsInitialize {
 			e.printStackTrace();
 		}
 	}
-}
\ No newline at end of file
+}
diff --git a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjectsinittemplate.java b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjectsinittemplate.java
index 7f9edb791..1e4a4d513 100644
--- a/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjectsinittemplate.java
+++ b/ground/openpilotgcs/src/libs/juavobjects/templates/uavobjectsinittemplate.java
@@ -28,7 +28,6 @@
 
 package org.openpilot.uavtalk.uavobjects;
 
-import org.openpilot.uavtalk.uavobjects.*;
 import org.openpilot.uavtalk.UAVObjectManager;
 
 public class UAVObjectsInitialize {
@@ -40,4 +39,4 @@ $(OBJINIT)
 			e.printStackTrace();
 		}
 	}
-}
\ No newline at end of file
+}

From 13392d0f20e368fe812e2cea2909ec26f1018ecd Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 01:26:10 -0500
Subject: [PATCH 291/543] AndroidGCS: Get rid of remaining warnings

---
 .../Android/Widgets/DockPanel/DockPanel.java           |  8 ++++----
 .../Android/Widgets/Joystick/JoystickView.java         | 10 ++++------
 .../Android/Widgets/TilesLayout/TilesLayout.java       |  5 +----
 .../Android/Widgets/TilesLayout/TilesLayoutPreset.java |  2 --
 androidgcs/src/org/openpilot/uavtalk/UAVTalk.java      |  2 --
 .../tests/org/openpilot/uavtalk/DataObjectTest.java    |  2 --
 .../tests/org/openpilot/uavtalk/ObjMngrTest.java       |  2 --
 androidgcs/tests/org/openpilot/uavtalk/TalkTest.java   |  6 ------
 .../org/openpilot/uavtalk/TelemetryMonitorTest.java    |  9 +--------
 9 files changed, 10 insertions(+), 36 deletions(-)

diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/DockPanel/DockPanel.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DockPanel/DockPanel.java
index e2397394e..bbc6dd276 100644
--- a/androidgcs/src/com/MobileAnarchy/Android/Widgets/DockPanel/DockPanel.java
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/DockPanel/DockPanel.java
@@ -82,16 +82,16 @@ public class DockPanel extends LinearLayout {
 		if (position == DockPosition.LEFT || position == DockPosition.RIGHT) {
 			handleContainer.setLayoutParams(new LayoutParams(
 					android.view.ViewGroup.LayoutParams.WRAP_CONTENT,
-					android.view.ViewGroup.LayoutParams.FILL_PARENT, 1));
+					android.view.ViewGroup.LayoutParams.MATCH_PARENT, 1));
 			contentPlaceHolder.setLayoutParams(new LayoutParams(
 					android.view.ViewGroup.LayoutParams.WRAP_CONTENT,
-					android.view.ViewGroup.LayoutParams.FILL_PARENT, 1));
+					android.view.ViewGroup.LayoutParams.MATCH_PARENT, 1));
 		} else {
 			handleContainer.setLayoutParams(new LayoutParams(
-					android.view.ViewGroup.LayoutParams.FILL_PARENT,
+					android.view.ViewGroup.LayoutParams.MATCH_PARENT,
 					android.view.ViewGroup.LayoutParams.WRAP_CONTENT, 1));
 			contentPlaceHolder.setLayoutParams(new LayoutParams(
-					android.view.ViewGroup.LayoutParams.FILL_PARENT,
+					android.view.ViewGroup.LayoutParams.MATCH_PARENT,
 					android.view.ViewGroup.LayoutParams.WRAP_CONTENT, 1));
 		}
 
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java
index 88dc8815f..a61fdfd1a 100644
--- a/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java
@@ -4,8 +4,8 @@ import android.content.Context;
 import android.graphics.Canvas;
 import android.graphics.Color;
 import android.graphics.Paint;
-import android.os.Handler;
 import android.util.AttributeSet;
+import android.util.FloatMath;
 import android.util.Log;
 import android.view.HapticFeedbackConstants;
 import android.view.MotionEvent;
@@ -70,8 +70,8 @@ public class JoystickView extends View {
 	private int cX, cY;
 
 	//Size of the view in view coordinates
-	private int dimX, dimY;
-
+	private int dimX;
+	
 	//Cartesian coordinates of last touch point - joystick center is (0,0)
 	private int cartX, cartY;
 	
@@ -242,8 +242,6 @@ public class JoystickView extends View {
 		int d = Math.min(getMeasuredWidth(), getMeasuredHeight());
 
 		dimX = d;
-		dimY = d;
-
 		cX = d / 2;
 		cY = d / 2;
 		
@@ -315,7 +313,7 @@ public class JoystickView extends View {
 	private void constrainCircle() {
 		float diffX = touchX;
 		float diffY = touchY;
-		double radial = Math.sqrt((diffX*diffX) + (diffY*diffY));
+		double radial = FloatMath.sqrt((diffX*diffX) + (diffY*diffY));
 		if ( radial > movementRadius ) {
 			touchX = (int)((diffX / radial) * movementRadius);
 			touchY = (int)((diffY / radial) * movementRadius);
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayout.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayout.java
index c1728faff..b6086e0ca 100644
--- a/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayout.java
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayout.java
@@ -3,10 +3,7 @@ package com.MobileAnarchy.Android.Widgets.TilesLayout;
 import java.util.ArrayList;
 import java.util.List;
 
-import android.R;
 import android.content.Context;
-import android.graphics.Color;
-import android.os.Handler;
 import android.util.AttributeSet;
 import android.util.Log;
 import android.view.Gravity;
@@ -108,7 +105,7 @@ public class TilesLayout extends FrameLayout {
 
 	private void Init(AttributeSet attrs) {
 		animatedTransitionDuration = 750;
-		tileBackgroundResourceId = R.drawable.edit_text;
+		tileBackgroundResourceId = android.R.drawable.edit_text;
 		tiles = new ArrayList<SingleTileLayout>();
 	}
 	
diff --git a/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayoutPreset.java b/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayoutPreset.java
index 76a13d73b..27c5514c4 100644
--- a/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayoutPreset.java
+++ b/androidgcs/src/com/MobileAnarchy/Android/Widgets/TilesLayout/TilesLayoutPreset.java
@@ -13,14 +13,12 @@ public class TilesLayoutPreset {
 	// =========================================
 
 	private List<TilePosition> _positions;
-	private String _presetName;
 
 	// =========================================
 	// Constructors
 	// =========================================
 
 	public TilesLayoutPreset(String name) {
-		_presetName = name;
 		_positions = new LinkedList<TilePosition>();
 	}
 	
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 003f7bccc..478fa5ac0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -18,8 +18,6 @@ public class UAVTalk extends Observable {
 
 	private Thread inputProcessingThread = null;
 	
-	private boolean streamFailed = false;
-
 	/**
 	 * A reference to the thread for processing the incoming stream.  Currently this method is ONLY
 	 * used for unit testing
diff --git a/androidgcs/tests/org/openpilot/uavtalk/DataObjectTest.java b/androidgcs/tests/org/openpilot/uavtalk/DataObjectTest.java
index 0f8106cc5..3efa7d300 100644
--- a/androidgcs/tests/org/openpilot/uavtalk/DataObjectTest.java
+++ b/androidgcs/tests/org/openpilot/uavtalk/DataObjectTest.java
@@ -10,8 +10,6 @@ import org.junit.Test;
 import org.openpilot.uavtalk.uavobjects.ActuatorCommand;
 import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
 
-import android.database.Observable;
-
 public class DataObjectTest {
 
  boolean succeed = false;
diff --git a/androidgcs/tests/org/openpilot/uavtalk/ObjMngrTest.java b/androidgcs/tests/org/openpilot/uavtalk/ObjMngrTest.java
index 0131d1246..57e641c96 100644
--- a/androidgcs/tests/org/openpilot/uavtalk/ObjMngrTest.java
+++ b/androidgcs/tests/org/openpilot/uavtalk/ObjMngrTest.java
@@ -1,7 +1,5 @@
 package org.openpilot.uavtalk;
 
-import static org.junit.Assert.*;
-
 import org.junit.BeforeClass;
 import org.junit.Test;
 import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
diff --git a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
index 1b66d9660..5e6186442 100644
--- a/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
+++ b/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
@@ -4,14 +4,8 @@ import static org.junit.Assert.*;
 import java.io.ByteArrayInputStream;
 import java.io.ByteArrayOutputStream;
 import java.io.IOException;
-import java.io.InputStream;
-import java.io.InputStreamReader;
-import java.io.OutputStream;
-import java.io.OutputStreamWriter;
-import java.net.DatagramSocket;
 import java.net.InetAddress;
 import java.net.Socket;
-import java.nio.ByteBuffer;
 import java.util.Observable;
 import java.util.Observer;
 
diff --git a/androidgcs/tests/org/openpilot/uavtalk/TelemetryMonitorTest.java b/androidgcs/tests/org/openpilot/uavtalk/TelemetryMonitorTest.java
index 1fc02d145..0b0cc1d73 100644
--- a/androidgcs/tests/org/openpilot/uavtalk/TelemetryMonitorTest.java
+++ b/androidgcs/tests/org/openpilot/uavtalk/TelemetryMonitorTest.java
@@ -3,17 +3,9 @@ package org.openpilot.uavtalk;
 import static org.junit.Assert.*;
 
 import java.io.IOException;
-import java.io.InputStream;
-import java.io.InputStreamReader;
-import java.io.OutputStream;
-import java.net.DatagramSocket;
 import java.net.InetAddress;
 import java.net.Socket;
-import java.nio.ByteBuffer;
-import java.util.Observable;
-import java.util.Observer;
 
-import org.junit.BeforeClass;
 import org.junit.Test;
 import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
 import org.openpilot.uavtalk.UAVTalk;
@@ -53,6 +45,7 @@ public class TelemetryMonitorTest {
 		inputStream.start();
 		
 		Telemetry tel = new Telemetry(talk, objMngr);
+		@SuppressWarnings("unused")
 		TelemetryMonitor mon = new TelemetryMonitor(objMngr,tel);
 		
 		Thread.sleep(10000);

From 51765f4033f9bc59bbbb0f8159fa9731f502b065 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 02:37:28 -0500
Subject: [PATCH 292/543] AndroidGCS: Missed some map icons

---
 androidgcs/res/drawable-hdpi/ic_home.png | Bin 0 -> 695 bytes
 androidgcs/res/drawable-hdpi/ic_uav.png  | Bin 0 -> 826 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 androidgcs/res/drawable-hdpi/ic_home.png
 create mode 100644 androidgcs/res/drawable-hdpi/ic_uav.png

diff --git a/androidgcs/res/drawable-hdpi/ic_home.png b/androidgcs/res/drawable-hdpi/ic_home.png
new file mode 100644
index 0000000000000000000000000000000000000000..5afd63f17b719cd8856188f788beca97ba05c25a
GIT binary patch
literal 695
zcmV;o0!aOdP)<h;3K|Lk000e1NJLTq001cf001Hg1^@s6!l&>x00009a7bBm000*f
z000*f0cW4mQUCw|8FWQhbW?9;ba!ELWdK2BZ(?O2No`?gWm08fWO;GPWjp`?0z^qf
zK~#9!#Fo7;1VI>wcV^EaA<+pHp%tA%)FdP#(FmcDpcNE!MB+0#@lpDUMk9)gPC`fc
z1Flk$D6T*yIlqy)WHM&vW^dkQlPB+f-R^V0nR)M6u~>{KHpW;3%8op20SkEc1Ie=~
zBq2D0G6VL(3#bDV;2F=K|5r)KwV`Z)JjfYtX$NCq4ez=Bb4ds;qV#}0@b0=5jDrGL
z!TSoSOUm@NftYW%4l#Xe0;Avr?>tXU5`vp@Q5<RMF%Q|&{xE0+lfJ2XNkXm*WgT3C
zCx;mGkQ7@zm;zUL|89_^Y%5}DIXF&`mg|~YyXCx|hDScJBm{d=#Ns%Ut2b#{%(IGi
zH2~gh?dq4L(v&~J1wmT2s_%DzJ}?KTd#j|<ln-T7t~4!^h<eT@D^l$TuVA^fuzn<E
zTiF7S;4a0qe2xXJU=XarFDFhc$;o@5v=!>KOd>uEiMh&TYjOQrG>ZnDLRvbr;KnrX
z%l1i31tEBvVp=6SZL2%u)9_`Vq)1DJ8$KU}N+uPF3?e2$UQX0kGA2sPcFaSQ<cg$e
zczx4~G$~UhNisAoTMd@v@;-{RT-PFM$&j?vW1eP`m8Ru_M3N^+%}0uKPKrfS<uP<D
zp%hm-hp1nnNoE6vkUPZG{f{(~43*+ad*kv?c93M2NKBQ|Yavv!nkcQ<A{kRGoGejV
zu|+g^b!U_$ZBpDbtyuXIu|YaWvPS!(!4srqyA~VdNs}x$x8ekFsySIplvYOh5*h8h
db-2F;7ytvgjSxnw`>_B3002ovPDHLkV1fc;CCmT-

literal 0
HcmV?d00001

diff --git a/androidgcs/res/drawable-hdpi/ic_uav.png b/androidgcs/res/drawable-hdpi/ic_uav.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d49ed85726333791dadf9e693be8857a578e730
GIT binary patch
literal 826
zcmV-A1I7G_P)<h;3K|Lk000e1NJLTq001cf001cn1^@s6s9*s000009a7bBm000*f
z000*f0cW4mQUCw|8FWQhbW?9;ba!ELWdK2BZ(?O2No`?gWm08fWO;GPWjp`?0>?>2
zK~#9!V*LOAKLe#;%hs)&Kq?rB&5?xf0P$KMZ|^6Rn$JWf2j-(W5Cl|!I1eZ<GvJN{
z0t+CP#vum_;Q@D~9szk3N-bbvpd#RYdQ+3_!z+!y>|Ad?sTd!ombuh$<Tn_D`PUC#
zrtjaS8K?}X5#1*#l&8HTfkn(EJPvsZDuxC{nglv@39zWS#QNriJj;i-4F7*{eg_J#
z1B&mbhWU)tD9mBtnxaMnkg5mbgIf1*I1HvVNpmpj$Wcd*I+EOS658CdKx!<2s=AZV
zf|@P>=msGm<pspTP$5t|bU)Ay?-)04*#c`1VykmO4qZY*ISDEoLHGf%oLoSH13_)k
z7%WntN?{Tcw7rL`QD6=<K#y3<WIcW>0I>lO3w+L079g=zkE=bJ%7Wgae({Ax^Y<S{
zUKsz~4<`A#mSg7#*mdCG(^v%{Js-;V2Vw)GmSdnAC;^{F2O%y6RsP?aD4rGgeF}*y
zgi&{Y{K2I0<1ZsTWIz0322s951d0I~KOTq|K&wfd;L|TAhIc<v^RFxe!zsKC40dLQ
zHw+Aj`kaI1-*;$h1|N8U6oN2t5#&cuJ&sQ!JM(`b4j?9!yYC=3@f8Grp|_~lHK#fg
zY|VVmWB{c>1!xF@9GGyf#_9qzBN58gjd+xN2jy;1Z!Qm-NHN-jz}($IY{mhmK?SHo
zKR_KwZ0-)m<C!H)(0=hGXo#Y>s3($G+<`I)DAXsA*d7HnjMstkDUvXVJsT)@k_D>h
z2^kKeDu6bS_m9@yqmCSP<ftRbYY%cd2>nzr;`z;B$^T0TT9XVOM?%|!jiA<yBHwQY
zCBEO_st#I{47?+uAr^z9T6F-*I}V1B^dcbdFc=&uOhBIEv`N)LR8Wf=y}>$IGR|89
z^6v(NBey|&b-2LV0e2**Ukq)JzQfWTT|$k%J3xQ|0Ej-@+>fG+PXGV_07*qoM6N<$
Ef);dCk^lez

literal 0
HcmV?d00001


From 0274c8c860ace211deab2076d320c6a35b9c123b Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 02:39:27 -0500
Subject: [PATCH 293/543] AndroidGCS: Check in the stubs for a logging activity
 which will eventually move into the service and this will become the control
 interface.

---
 androidgcs/AndroidManifest.xml                |  4 +-
 androidgcs/res/layout/logger.xml              |  7 ++
 .../org/openpilot/androidgcs/HomePage.java    |  7 ++
 .../src/org/openpilot/androidgcs/Logger.java  | 37 ++++++++++
 .../androidgcs/ObjectManagerActivity.java     | 67 +++++++++++++++++--
 5 files changed, 116 insertions(+), 6 deletions(-)
 create mode 100644 androidgcs/res/layout/logger.xml
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/Logger.java

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index dad23f2c2..8fa646a95 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -26,9 +26,11 @@
 		<activity android:name="PFD" android:label="PFD" />
 		<activity android:name="Controller" android:label="@string/controller_name" />
 		<activity android:name="Preferences" android:label="@string/preference_title" />
-		<activity android:name="UAVLocation" android:label="@string/location_name"/>
+		<activity android:name="UAVLocation" android:label="@string/location_name" />
 		<activity android:name="ObjectEditor" android:label="ObjectEditor"
 			android:theme="@android:style/Theme.Dialog" />
+		<activity android:name="Logger" android:label="Logger"
+		    android:theme="@android:style/Theme.Dialog" />
 
 		<receiver android:name="TelemetryWidget">
 			<intent-filter>
diff --git a/androidgcs/res/layout/logger.xml b/androidgcs/res/layout/logger.xml
new file mode 100644
index 000000000..204c100a8
--- /dev/null
+++ b/androidgcs/res/layout/logger.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<ListView xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent" >
+    
+
+</ListView>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/HomePage.java b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
index a2a82924a..c67605ee6 100644
--- a/androidgcs/src/org/openpilot/androidgcs/HomePage.java
+++ b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
@@ -41,6 +41,13 @@ public class HomePage extends ObjectManagerActivity {
 			}			
 		});
 
+		Button logger = (Button) findViewById(R.id.launch_logger);
+		logger.setOnClickListener(new OnClickListener() {
+			public void onClick(View arg0) {
+				startActivity(new Intent(HomePage.this, Logger.class));	
+			}
+		});
+
 	}
 
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/Logger.java b/androidgcs/src/org/openpilot/androidgcs/Logger.java
new file mode 100644
index 000000000..43c9a9de7
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/Logger.java
@@ -0,0 +1,37 @@
+package org.openpilot.androidgcs;
+
+import java.util.List;
+
+import org.openpilot.uavtalk.UAVObject;
+
+import android.os.Bundle;
+import android.util.Log;
+
+
+public class Logger extends ObjectManagerActivity {
+	
+	final String TAG = "Logger";
+
+	/** Called when the activity is first created. */
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		setContentView(R.layout.logger);
+	}
+	
+	@Override
+	void onOPConnected() {
+		Log.d(TAG, "onOPConnected()");
+		
+		List<List<UAVObject>> allObjects = objMngr.getObjects();
+		registerObjectUpdates(allObjects);
+	}		
+	
+	/**
+	 * Called whenever any objects subscribed to via registerObjects 
+	 */
+	@Override
+	protected void objectUpdated(UAVObject obj) {
+		Log.d(TAG,"Updated: " + obj.toString());
+	}
+}
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index 5027d4d24..fe6d807b4 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -1,7 +1,13 @@
 package org.openpilot.androidgcs;
 
+import java.util.List;
+import java.util.ListIterator;
+import java.util.Observable;
+import java.util.Observer;
+
 import org.openpilot.androidgcs.OPTelemetryService.LocalBinder;
 import org.openpilot.androidgcs.OPTelemetryService.TelemTask;
+import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectManager;
 
 import android.app.Activity;
@@ -12,6 +18,7 @@ import android.content.Intent;
 import android.content.IntentFilter;
 import android.content.ServiceConnection;
 import android.os.Bundle;
+import android.os.Handler;
 import android.os.IBinder;
 import android.util.Log;
 import android.view.Menu;
@@ -24,11 +31,15 @@ public abstract class ObjectManagerActivity extends Activity {
 	private static int LOGLEVEL = 0;
 //	private static boolean WARN = LOGLEVEL > 1;
 	private static boolean DEBUG = LOGLEVEL > 0;
-
+	
+	//! Object manager, populated by parent for the children to use
 	UAVObjectManager objMngr;
-    boolean mBound = false;
-    boolean mConnected = false;
-    LocalBinder binder;
+	//! Indicates if the activity is bound to the service
+	boolean mBound = false;
+	//! Indicates if telemetry is connected
+	boolean mConnected = false;
+	//! The binder to access the telemetry task, and thus the object manager
+	LocalBinder binder;
     
 
 	/** Called when the activity is first created. */
@@ -42,7 +53,6 @@ public abstract class ObjectManagerActivity extends Activity {
 				Log.d(TAG, "Received intent");
 				TelemTask task;
 				if(intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_CONNECTED) == 0) {
-					
 					if(binder  == null)
 						return;
 					if((task = binder.getTelemTask(0)) == null)
@@ -67,10 +77,57 @@ public abstract class ObjectManagerActivity extends Activity {
 		registerReceiver(connectedReceiver, filter);
 	}
 	
+	/**
+	 * Called whenever any objects subscribed to via registerObjects 
+	 */
+	protected void objectUpdated(UAVObject obj) {
+		
+	}
+	
+	/**
+	 * A message handler and a custom Observer to use it which calls
+	 * objectUpdated with the right object type
+	 */
+	final Handler uavobjHandler = new Handler(); 	
+	private class UpdatedObserver implements Observer  {
+		UAVObject obj;
+		UpdatedObserver(UAVObject obj) { this.obj = obj; };
+		public void update(Observable observable, Object data) {
+			uavobjHandler.post(new Runnable() {
+				@Override
+				public void run() { objectUpdated(obj); }
+			});
+		}
+	};
+
+	/**
+	 * Register an activity to receive updates from this object
+	 * 
+	 * the objectUpdated() method will be called in the original UI thread
+	 */
+	protected void registerObjectUpdates(UAVObject object) {
+		object.addUpdatedObserver(new UpdatedObserver(object));
+	}
+	protected void registerObjectUpdates(List<List<UAVObject>> objects) {
+		ListIterator<List<UAVObject>> li = objects.listIterator();
+		while(li.hasNext()) {
+			ListIterator<UAVObject> li2 = li.next().listIterator();
+			while(li2.hasNext())
+				registerObjectUpdates(li2.next());
+		}
+	}
+	
+	/**
+	 * Called when either the telemetry establishes a connection or
+	 * if it already has on creation of this activity
+	 */
 	void onOPConnected() {
 		
 	}
 	
+	/**
+	 * Called when telemetry drops the connection
+	 */
 	void onOPDisconnected() {
 		
 	}

From c9124d5676522c4b4d87ec682bb747c3a062849c Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 02:40:32 -0500
Subject: [PATCH 294/543] AndroidGCS: Class to facilitate selecting a bluetooth
 device in the preferences pane

---
 .../androidgcs/BluetoothDevicePreference.java | 33 +++++++++++++++++++
 .../androidgcs/BluetoothUAVTalk.java          |  7 ++--
 2 files changed, 37 insertions(+), 3 deletions(-)
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java

diff --git a/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java b/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java
new file mode 100644
index 000000000..8f0905fa8
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java
@@ -0,0 +1,33 @@
+package org.openpilot.androidgcs;
+
+import android.bluetooth.*;
+import android.content.Context;
+import android.preference.ListPreference;
+import android.util.AttributeSet;
+
+import java.util.Set;
+
+public class BluetoothDevicePreference extends ListPreference {
+
+    public BluetoothDevicePreference(Context context, AttributeSet attrs) {
+        super(context, attrs);
+
+        BluetoothAdapter bta = BluetoothAdapter.getDefaultAdapter();
+        Set<BluetoothDevice> pairedDevices = bta.getBondedDevices();
+        CharSequence[] entries = new CharSequence[pairedDevices.size()];
+        CharSequence[] entryValues = new CharSequence[pairedDevices.size()];
+        int i = 0;
+        for (BluetoothDevice dev : pairedDevices) {
+            entries[i] = dev.getName();
+            entryValues[i] = dev.getAddress();
+            i++;
+        }
+        setEntries(entries);
+        setEntryValues(entryValues);
+    }
+
+    public BluetoothDevicePreference(Context context) {
+        this(context, null);
+    }
+
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
index c00db0bea..b2c622238 100644
--- a/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
@@ -99,8 +99,9 @@ import android.util.Log;
 		    for (BluetoothDevice device : pairedDevices) {
 		        // Add the name and address to an array adapter to show in a ListView
 		        //mArrayAdapter.add(device.getName() + "\n" + device.getAddress());
-		    	Log.d(TAG, "Paired device: " + device.getName());
-		    	if(device.getName().compareTo(device_name) == 0) {
+		    	Log.d(TAG, "Paired device: " + device.getAddress() + " compared to " + device_name);
+		    	if(device.getAddress().compareTo(device_name) == 0) {
+		    		Log.d(TAG, "Found device: " + device.getName());
 		    		this.device = device;
 		    		return;
 		    	}
@@ -110,7 +111,7 @@ import android.util.Log;
     }
 
 	private boolean openTelemetryBluetooth(UAVObjectManager objMngr) {
-		Log.d(TAG, "Opening conncetion to " + device.getName());
+		Log.d(TAG, "Opening connection to " + device.getName());
 		socket = null;
 		connected = false;
 		try {

From f986a83ef646f0056ede527c17d7f58f62db2656 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 04:04:05 -0500
Subject: [PATCH 295/543] AndroidGCS: Unregister from the broadcast receiver
 when destroying ObjectManagerActivity.

---
 .../openpilot/androidgcs/ObjectManagerActivity.java   | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index fe6d807b4..ee24012d2 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -40,14 +40,15 @@ public abstract class ObjectManagerActivity extends Activity {
 	boolean mConnected = false;
 	//! The binder to access the telemetry task, and thus the object manager
 	LocalBinder binder;
-    
+	//! Store the broadcast receiver to unregister it
+	BroadcastReceiver connectedReceiver;
 
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
 		
-		BroadcastReceiver connectedReceiver = new BroadcastReceiver() {
+		connectedReceiver = new BroadcastReceiver() {
 			@Override
 			public void onReceive(Context context, Intent intent) {
 				Log.d(TAG, "Received intent");
@@ -164,6 +165,12 @@ public abstract class ObjectManagerActivity extends Activity {
 		bindService(intent, mConnection, Context.BIND_AUTO_CREATE);
 	}
 	
+	@Override
+	public void onStop() {
+		super.onStop();
+		unbindService(mConnection);
+		unregisterReceiver(connectedReceiver);
+	}
 	public void onBind() {
 		
 	}

From eb13db4126df9548d491d25e71a9fd5b8afd7c09 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 04:05:01 -0500
Subject: [PATCH 296/543] AndroidGCS: Get the logger writing a list of updated
 objects

---
 androidgcs/AndroidManifest.xml                |  3 +-
 .../src/org/openpilot/androidgcs/Logger.java  | 91 +++++++++++++++++--
 .../androidgcs/ObjectManagerActivity.java     |  4 +
 3 files changed, 89 insertions(+), 9 deletions(-)

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 8fa646a95..d6d85d5e7 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -8,7 +8,8 @@
 
 	<uses-permission android:name="android.permission.BLUETOOTH" />
 	<uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
-	<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />  
+	<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
+	<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/>  
 
 	<application android:icon="@drawable/ic_logo" android:label="@string/app_name" android:theme="@android:style/Theme.Holo">
 		<!-- for map overlay -->
diff --git a/androidgcs/src/org/openpilot/androidgcs/Logger.java b/androidgcs/src/org/openpilot/androidgcs/Logger.java
index 43c9a9de7..9f9a17dd0 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Logger.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Logger.java
@@ -1,10 +1,16 @@
 package org.openpilot.androidgcs;
 
-import java.util.List;
+import java.io.BufferedWriter;
+import java.io.File;
+import java.io.FileWriter;
+import java.io.IOException;
+import java.text.SimpleDateFormat;
+import java.util.Date;
 
 import org.openpilot.uavtalk.UAVObject;
 
 import android.os.Bundle;
+import android.os.Environment;
 import android.util.Log;
 
 
@@ -12,6 +18,13 @@ public class Logger extends ObjectManagerActivity {
 	
 	final String TAG = "Logger";
 
+	final boolean VERBOSE = false;
+	final boolean DEBUG = true;
+	
+	private File file;
+	private boolean logging;
+	private BufferedWriter out;
+
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
@@ -19,19 +32,81 @@ public class Logger extends ObjectManagerActivity {
 		setContentView(R.layout.logger);
 	}
 	
+	private void onStartLogging() {
+		
+		File root = Environment.getExternalStorageDirectory();
+		
+		Date d = new Date();
+		String date = (new SimpleDateFormat("yyyyMMdd_hhmmss")).format(d);
+		String fileName = "/logs/logs_" + date + ".uav";
+		
+		file = new File(root, fileName);
+		if (DEBUG) Log.d(TAG, "Trying for file: " + file.getAbsolutePath());
+		try {
+			if (root.canWrite()){
+				FileWriter filewriter = new FileWriter(file);
+				out = new BufferedWriter(filewriter);
+				logging = true;
+			} else {
+				Log.e(TAG, "Unwriteable address");
+			}
+		} catch (IOException e) {
+			Log.e(TAG, "Could not write file " + e.getMessage());
+		}
+		
+		// TODO: if logging succeeded then retrieve all settings
+	}
+	
+	private void onStopLogging() {
+		if (DEBUG) Log.d(TAG, "Stop logging");
+		logging = false;
+		try {
+			out.close();
+		} catch (IOException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+	}
+	
 	@Override
 	void onOPConnected() {
-		Log.d(TAG, "onOPConnected()");
-		
-		List<List<UAVObject>> allObjects = objMngr.getObjects();
-		registerObjectUpdates(allObjects);
-	}		
-	
+		if (DEBUG) Log.d(TAG, "onOPConnected()");
+		onStartLogging();
+		registerObjectUpdates(objMngr.getObjects());
+	}
+
+	@Override
+	void onOPDisconnected() {
+		if (DEBUG) Log.d(TAG, "onOPDisconnected()");
+		onStopLogging();
+	}
+
+	@Override
+	public void onPause()
+	{
+	    super.onPause();
+	    onStopLogging();
+	}
+
+	@Override
+	public void onResume()
+	{
+	    super.onResume();
+	    onStartLogging();
+	}
 	/**
 	 * Called whenever any objects subscribed to via registerObjects 
 	 */
 	@Override
 	protected void objectUpdated(UAVObject obj) {
-		Log.d(TAG,"Updated: " + obj.toString());
+		if (logging) {
+			if (VERBOSE) Log.v(TAG,"Updated: " + obj.toString());
+			try {
+				out.write(obj + "\n");
+			} catch (IOException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+		}
 	}
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index ee24012d2..bfa76569f 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -165,12 +165,16 @@ public abstract class ObjectManagerActivity extends Activity {
 		bindService(intent, mConnection, Context.BIND_AUTO_CREATE);
 	}
 	
+	/**
+	 * When stopping disconnect form the service and the broadcast receiver
+	 */
 	@Override
 	public void onStop() {
 		super.onStop();
 		unbindService(mConnection);
 		unregisterReceiver(connectedReceiver);
 	}
+
 	public void onBind() {
 		
 	}

From 01a8c4a7e1e72b1d27b41b06a45b550f3432f201 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 04:47:29 -0500
Subject: [PATCH 297/543] AndroidGCS: Write logging in the format consistent
 with how we record on the ground station and can parse from matlab.

---
 .../src/org/openpilot/androidgcs/Logger.java  | 33 ++++++++++++++-----
 1 file changed, 25 insertions(+), 8 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/Logger.java b/androidgcs/src/org/openpilot/androidgcs/Logger.java
index 9f9a17dd0..323e28323 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Logger.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Logger.java
@@ -1,13 +1,13 @@
 package org.openpilot.androidgcs;
 
-import java.io.BufferedWriter;
 import java.io.File;
-import java.io.FileWriter;
+import java.io.FileOutputStream;
 import java.io.IOException;
 import java.text.SimpleDateFormat;
 import java.util.Date;
 
 import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVTalk;
 
 import android.os.Bundle;
 import android.os.Environment;
@@ -23,7 +23,8 @@ public class Logger extends ObjectManagerActivity {
 	
 	private File file;
 	private boolean logging;
-	private BufferedWriter out;
+	private FileOutputStream fileStream;
+	private UAVTalk uavTalk;
 
 	/** Called when the activity is first created. */
 	@Override
@@ -38,14 +39,14 @@ public class Logger extends ObjectManagerActivity {
 		
 		Date d = new Date();
 		String date = (new SimpleDateFormat("yyyyMMdd_hhmmss")).format(d);
-		String fileName = "/logs/logs_" + date + ".uav";
+		String fileName = "/logs/logs_" + date + ".opl";
 		
 		file = new File(root, fileName);
 		if (DEBUG) Log.d(TAG, "Trying for file: " + file.getAbsolutePath());
 		try {
 			if (root.canWrite()){
-				FileWriter filewriter = new FileWriter(file);
-				out = new BufferedWriter(filewriter);
+				fileStream = new FileOutputStream(file);
+				uavTalk = new UAVTalk(null, fileStream, objMngr);
 				logging = true;
 			} else {
 				Log.e(TAG, "Unwriteable address");
@@ -61,7 +62,7 @@ public class Logger extends ObjectManagerActivity {
 		if (DEBUG) Log.d(TAG, "Stop logging");
 		logging = false;
 		try {
-			out.close();
+			fileStream.close();
 		} catch (IOException e) {
 			// TODO Auto-generated catch block
 			e.printStackTrace();
@@ -102,7 +103,23 @@ public class Logger extends ObjectManagerActivity {
 		if (logging) {
 			if (VERBOSE) Log.v(TAG,"Updated: " + obj.toString());
 			try {
-				out.write(obj + "\n");
+				long time = System.currentTimeMillis();
+				fileStream.write((byte)(time & 0xff));
+				fileStream.write((byte)((time & 0x0000ff00) >> 8));
+				fileStream.write((byte)((time & 0x00ff0000) >> 16));
+				fileStream.write((byte)((time & 0xff000000) >> 24));
+
+				long size = obj.getNumBytes();
+				fileStream.write((byte)(size & 0x00000000000000ffl) >> 0);
+				fileStream.write((byte)(size & 0x000000000000ff00l) >> 8);
+				fileStream.write((byte)(size & 0x0000000000ff0000l) >> 16);
+				fileStream.write((byte)(size & 0x00000000ff000000l) >> 24);
+				fileStream.write((byte)(size & 0x000000ff00000000l) >> 32);
+				fileStream.write((byte)(size & 0x0000ff0000000000l) >> 40);
+				fileStream.write((byte)(size & 0x00ff000000000000l) >> 48);
+				fileStream.write((byte)(size & 0xff00000000000000l) >> 56);
+				
+				uavTalk.sendObject(obj, false, false);
 			} catch (IOException e) {
 				// TODO Auto-generated catch block
 				e.printStackTrace();

From a5933b7af5bf17d6e0124f18b32492c4d192accf Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 05:56:53 -0500
Subject: [PATCH 298/543] AndroidGCS: Logger now displays the number of bytes
 and objects logged.

---
 androidgcs/res/layout/logger.xml              | 62 +++++++++++++++++--
 .../src/org/openpilot/androidgcs/Logger.java  | 12 ++++
 2 files changed, 69 insertions(+), 5 deletions(-)

diff --git a/androidgcs/res/layout/logger.xml b/androidgcs/res/layout/logger.xml
index 204c100a8..52d92ec6e 100644
--- a/androidgcs/res/layout/logger.xml
+++ b/androidgcs/res/layout/logger.xml
@@ -1,7 +1,59 @@
 <?xml version="1.0" encoding="utf-8"?>
-<ListView xmlns:android="http://schemas.android.com/apk/res/android"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent" >
-    
+<GridLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:layout_alignParentLeft="true"
+    android:layout_gravity="center_horizontal" >
 
-</ListView>
\ No newline at end of file
+    <TextView
+        android:id="@+id/logger_number_of_objects_title"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="0"
+        android:layout_gravity="center"
+        android:layout_row="0"
+        android:layout_rowSpan="1"
+        android:text="@string/number_of_objects" />
+
+    <TextView
+        android:id="@+id/logger_number_of_objects"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="1"
+        android:layout_gravity="center"
+        android:layout_row="0"
+        android:layout_rowSpan="1"
+        android:text="" />
+    
+    <TextView
+        android:id="@+id/logger_number_of_bytes_title"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="0"
+        android:layout_gravity="center"
+        android:layout_row="1"
+        android:layout_rowSpan="1"
+        android:text="@string/number_of_bytes" />
+ 
+    <TextView
+        android:id="@+id/logger_number_of_bytes"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="1"
+        android:layout_gravity="center"
+        android:layout_row="1"
+        android:layout_rowSpan="1"
+        android:text="" />
+    
+    <Space
+        android:layout_width="1dp"
+        android:layout_height="32dp"
+        android:layout_column="0"
+        android:layout_row="0" />
+
+    <Space
+        android:layout_width="100dp"
+        android:layout_height="69dp"
+        android:layout_row="1" />
+
+</GridLayout>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/Logger.java b/androidgcs/src/org/openpilot/androidgcs/Logger.java
index 323e28323..6fedeb095 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Logger.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Logger.java
@@ -12,6 +12,7 @@ import org.openpilot.uavtalk.UAVTalk;
 import android.os.Bundle;
 import android.os.Environment;
 import android.util.Log;
+import android.widget.TextView;
 
 
 public class Logger extends ObjectManagerActivity {
@@ -25,6 +26,9 @@ public class Logger extends ObjectManagerActivity {
 	private boolean logging;
 	private FileOutputStream fileStream;
 	private UAVTalk uavTalk;
+	
+	private int writtenBytes;
+	private int writtenObjects;
 
 	/** Called when the activity is first created. */
 	@Override
@@ -48,6 +52,8 @@ public class Logger extends ObjectManagerActivity {
 				fileStream = new FileOutputStream(file);
 				uavTalk = new UAVTalk(null, fileStream, objMngr);
 				logging = true;
+				writtenBytes = 0;
+				writtenObjects = 0;
 			} else {
 				Log.e(TAG, "Unwriteable address");
 			}
@@ -124,6 +130,12 @@ public class Logger extends ObjectManagerActivity {
 				// TODO Auto-generated catch block
 				e.printStackTrace();
 			}
+			
+			writtenBytes += obj.getNumBytes();
+			writtenObjects ++;
+
+			((TextView) findViewById(R.id.logger_number_of_bytes)).setText(Integer.valueOf(writtenBytes).toString());
+			((TextView) findViewById(R.id.logger_number_of_objects)).setText(Integer.valueOf(writtenObjects).toString());			
 		}
 	}
 }

From 0601fd8b339fe7a8c6389c666cf76c3b71812a0f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 05:57:56 -0500
Subject: [PATCH 299/543] AndroidGCS: Add a launcher icon for the SystemAlarms
 gadget

---
 androidgcs/res/drawable-hdpi/ic_alarms.png | Bin 0 -> 2357 bytes
 androidgcs/res/drawable-hdpi/ic_uav.png    | Bin 826 -> 800 bytes
 androidgcs/res/layout/gcs_home.xml         |  12 +++++++++
 androidgcs/res/layout/pfd.xml              |  30 ++++++---------------
 androidgcs/res/values/strings.xml          |   3 +++
 5 files changed, 23 insertions(+), 22 deletions(-)
 create mode 100644 androidgcs/res/drawable-hdpi/ic_alarms.png

diff --git a/androidgcs/res/drawable-hdpi/ic_alarms.png b/androidgcs/res/drawable-hdpi/ic_alarms.png
new file mode 100644
index 0000000000000000000000000000000000000000..b83c17e6d4586a6d37c3a17dc6444310b75ee753
GIT binary patch
literal 2357
zcmV-53Ci|~P)<h;3K|Lk000e1NJLTq003D4003DC1^@s6RSSr(00009a7bBm000*f
z000*f0cW4mQUCw|8FWQhbW?9;ba!ELWdK2BZ(?O2No`?gWm08fWO;GPWjp`?2*OE3
zK~#9!?48YzB2^H;A22X5%m8jSdU9c7VoZ$7nCPk}m_2zLJbD`DFW6aQqPJxeFP_A|
zVA;e!fHhv-VG?6Z*29d(ix-&~Z<z2gz`zV(RZ~6N`*{69(+%C@tK@~D`RMK+)m8PX
z>h%OBlL>ovc$8v{Rbk|qltrZlqkL~CS5h|wetcF#z%>|I$;VN70-%fdM-WC)0(M3A
zz(Q=RkPDKBYf?}lOL18wWC>Y9mLeg0N7gL9?~yjRmcnoXSF<{KlbS5eg@i0cLiV5I
z^R4{$`yZG9JAiR~=bg8!60-AvF(P^ZBf+LA$drWa9NauSRA8hvo0F*3pv_HblNW=V
zfr0VsAqQBMZ42>lUP9KfyJQ;vGMOOcO#q|zAHri%Lgus=9!_CAwD9(f3E(|?`q)X(
zp0~+Vf85s7!e}&Fh(scZU@*wm)=W=l+X7&w0o}Z}ldE1!$Yd7_G}1=zJwHEJh9ZFg
z1K?~OMkEr3r!yC7R<N&<05HlECjfg2GHGm)V%oH=FPTi(a4=8?0!P^Kc$}e@Ya<Vc
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zIGH$BpM*kdnP4!G#=eou%S*!#DzJw`wzav5z_*tPc%_i(M9T)+i%_dHYH;#RE~;p0
zpI=^FC?E%eAsdfJLe1`UI;_|0e+tj;FAMO>AOqmC&WSP#$Ix_Cd9WJ5MVczVIFWEz
z8EAtMc(>PM7x2i-Xmt7NG66dVnWnKNEAMT0I&Z<lYcnqd0++F9^dEp!CkI%B@0}|Y
z(*jQ>lM3v!Zr9A5oRG8ieC{I8ER<rpaKeh`=MMtn+e9L<22nuTc4VOgJC#Z)W?~@N
zFGwH8uHF^nwHY5?{*O>mjhs)v-=Eozo*zMI!z?ESwHR%+j>OPZ_##1snJpM4(n5sY
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z*b=f!u(dU}+Y+)nu+^FyYPPTb5t#4pI_tNI$UKnqZr^yrhmvs`a*oOW)pz}EvV<%}
zLY9#KCy<*GgKJV(A(tf!S46#`D+^M4>m$j;ali$&z8IKLcO~^SVBbVaGFsR~yi^_k
bPk;dc?87lh85kHz00000NkvXXu0mjf((_M4

literal 0
HcmV?d00001

diff --git a/androidgcs/res/drawable-hdpi/ic_uav.png b/androidgcs/res/drawable-hdpi/ic_uav.png
index 8d49ed85726333791dadf9e693be8857a578e730..169c54f82a97784f2e5bbc1f2255b2bdbb3d76ba 100644
GIT binary patch
delta 718
zcmV;<0x|u%2A~FzUVp7gL_t(|+G70w|33qzfRT}r6G#OEu{o0P9Uxu{H2(?3=2PlO
zr~~tXSQ?A;cOafbsY96<C<hie90&ri5M~%?N9qxfSE1Ab76vMU2zMt<NiJ56uYdo)
znYC%xVQQI64M%>1F}PTndAXVX1EZdintrEBbf2V9p7xFe=6~EvcpUN+R16J@GzoO*
z5@1nuNt%OEUWDN<12;1xsOVV-6yHBs(j+`YuPJJr12TO<Ay`2r2U06d(j1IBa@3Kd
zjwH7Tf;P7-kQxi1s_rDTpr#7|x<Lp?c>%F7R0!0(+YfZZI~F|cK|P=x$e~L}u<HPn
zen6rFL5<}YEPt&hbD-QLCTM#PS9=hoNRL>{WIcW>0I>lO3w+L079g=zkE=bJ3Tm!Q
zMi%uBh|*+b=i-H{5|Dg(L&oDAp%6UyG*$sf&qoqlXfM6E0Z1p{)2R93oWi#!7d4T^
zHmsa;3U9T@EhwSE%*F)|Stc%U67eM>Pz=!c@j$!)h=1$xY5K=501OBTbYc9C{PW}6
z8<gl^`Su;!n!yKPY0w`@>>?0<0OEsqi<dt?g#P^cCWJRhKr;=#CO%QE8E6`u01ZKq
z0~2_s-@QO&u5QGm<U7cbGC-UMO{5s@L7)RWh|M@gEyqCV5`;gTtFgL3Lhc4-90wfI
zOPHYD&3{SIelmKCdLoI%9VnCRhlVIA%{)-UcpVVGLlOqDX9ML<vOpC*A;Upb1<)k5
zf3)r%b>yfcM;%FCdyo^<SWy3dk3sYEH6dtCGHAwvVC}(RP-_O%Sb)~WjX?1O(1Lnk
zLlPQdF*vGK2cW#;V2Exn0`d-n!I8oQ<S9;@)JGUIC)Csf)yug99g=Se$iEv5(Y=iU
zGRuGqtR3*^hDJH4;hc(={y+`~&Err!(hCq^0C8E^g37%J=Kufz07*qoM6N<$f=R|V
AIsgCw

delta 744
zcmV<E0vG+D2D%22UVq0)L_t(|+G70w|33qzV9VC6oIolVh|Q6N?*Q>yA8+p`l$y^(
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zAhA`Ct38^^g5IKj@r6b6_a8=H82{Z5Ci%LSW9JCib>QIBSOp+GAIkR!VgsX=W1t!+
z0iQ+(Aua_~{@<D?o)!3g3W+O(QFnj*!KCryFC#o;KY#pU22s951d0I~KOTq|K&wfd
z;L|TAhIc<v^RFxe!zsKC40dLQHw+Aj`kaI1-*;$h1|N8U6oN2t5#&cuJ&sQ!JM(`b
z4j?9!yYC=3@f8Grp|_~lHK#fgY|VVmWB{c>1!xF@9GGyf#_9qzBN58gjd+xN2jy;1
zZ!Qm-NPjWfgTUO~L2SkWra=X$Lq9+rNNny7#^aeKOwfMuBxs1Dx2PwQSlod!2`JPj
zkk}ptHH_DR@+p!qh&>x9cajCF=m{APqAGwkkoS+)-J^~ib>yfc$!iaCItcw#Fyi^m
zV9EbW2wIa29!EmkgN>lpj3VD}1|`1V;HnN<lVJ?JBcUM{gQHq?0LnWKhLH3kAn!03
z94Smdp5nAg)j?EHiyFPbI#@E!TLSX$27@EFL3?$$z}f+KB&c5uZI8ag(j8qwjlMfT
afB^uAKHJ=nqKr=f0000<MNUMnLSTXsH$&tA

diff --git a/androidgcs/res/layout/gcs_home.xml b/androidgcs/res/layout/gcs_home.xml
index b404b2ea2..3d0ff6429 100644
--- a/androidgcs/res/layout/gcs_home.xml
+++ b/androidgcs/res/layout/gcs_home.xml
@@ -64,6 +64,18 @@
         android:background="@android:color/transparent"
         android:drawableTop="@drawable/ic_logging"
         android:text="@string/logger_name" />
+
+        <Button
+        android:id="@+id/launch_alarms"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="2"
+        android:layout_gravity="right"
+        android:layout_row="2"
+        android:layout_rowSpan="2"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_alarms"
+        android:text="@string/alarms" />
     
     <Space
         android:layout_width="1dp"
diff --git a/androidgcs/res/layout/pfd.xml b/androidgcs/res/layout/pfd.xml
index 5291f2724..155fe6109 100644
--- a/androidgcs/res/layout/pfd.xml
+++ b/androidgcs/res/layout/pfd.xml
@@ -3,28 +3,14 @@
     android:layout_width="match_parent"
     android:layout_height="match_parent"
     android:orientation="vertical" >
+    
+    <org.openpilot.androidgcs.CompassView
+        android:id="@+id/compass_view"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content" />
 
-    <LinearLayout
-        android:layout_width="match_parent"
-        android:layout_height="wrap_content" >
-
-        <org.openpilot.androidgcs.CompassView
-            android:id="@+id/compass_view"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content" />
-
-        <org.openpilot.androidgcs.AttitudeView
-            android:id="@+id/attitude_view"
-            android:layout_width="fill_parent"
-            android:layout_height="fill_parent" />
-
-    </LinearLayout>
-
-    <com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView
-        android:id="@+id/dualjoystickView"
+    <org.openpilot.androidgcs.AttitudeView
+        android:id="@+id/attitude_view"
         android:layout_width="fill_parent"
-        android:layout_height="175dip"
-        android:layout_marginTop="5dip" >
-    </com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView>
-
+        android:layout_height="fill_parent" />
 </LinearLayout>
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index 58a54cc04..3e0b88b7d 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -27,4 +27,7 @@
 	<string name="save_button">Save</string>
 	<string name="send_button">Send</string>
 	<string name="manual_control_values_">Manual control values:</string>
+	<string name="number_of_objects">Number of objects</string>
+	<string name="number_of_bytes">Number of bytes</string>
+	<string name="alarms">Alarms</string>
 </resources>

From 578689748b664834f59ed8880137cbc5ac585afb Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 06:59:48 -0500
Subject: [PATCH 300/543] AndroidGCS: Artwork for a telemetry monitor in the
 action bar

---
 androidgcs/res/drawable-hdpi/ic_telemetry.png |  Bin 0 -> 1447 bytes
 androidgcs/res/menu/status_menu.xml           |    5 +
 .../hdpi/_pre_production/hdpi_icons.ai        | 4751 +++++++++--------
 artwork/Android/hdpi/ic_alarms.png            |  Bin 0 -> 2357 bytes
 artwork/Android/hdpi/ic_browser.png           |  Bin 1276 -> 1269 bytes
 artwork/Android/hdpi/ic_controller.png        |  Bin 1337 -> 1322 bytes
 artwork/Android/hdpi/ic_logging.png           |  Bin 838 -> 823 bytes
 artwork/Android/hdpi/ic_telemetry.png         |  Bin 0 -> 1447 bytes
 artwork/Android/hdpi/ic_uav.png               |  Bin 826 -> 797 bytes
 9 files changed, 2515 insertions(+), 2241 deletions(-)
 create mode 100644 androidgcs/res/drawable-hdpi/ic_telemetry.png
 create mode 100644 androidgcs/res/menu/status_menu.xml
 create mode 100644 artwork/Android/hdpi/ic_alarms.png
 create mode 100644 artwork/Android/hdpi/ic_telemetry.png

diff --git a/androidgcs/res/drawable-hdpi/ic_telemetry.png b/androidgcs/res/drawable-hdpi/ic_telemetry.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3842a6cb990cbdfe53cfa196133467a39c1d7c8
GIT binary patch
literal 1447
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literal 0
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diff --git a/artwork/Android/hdpi/ic_browser.png b/artwork/Android/hdpi/ic_browser.png
index 3513da64cde71cb094f5b8693c94be9ad9c7ea0c..d0f14656af6f9b9e0fb4215dd5bdafb5ba26011f 100644
GIT binary patch
delta 1191
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delta 1179
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diff --git a/artwork/Android/hdpi/ic_controller.png b/artwork/Android/hdpi/ic_controller.png
index 327c7f54561dde3dda659e81368b40147e0db2df..cd497f9254c7f79e0f240a5ef1225c6c8155f17d 100644
GIT binary patch
delta 1244
zcmV<21S9*o3aSc_UVpbqL_t(|+U%YGb)rBJ$2UIymky2&qysPw938}~AYKKU3XTqr
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delta 1259
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V!57@SP<sFX002ovPDHLkV1nH+O6dRq

diff --git a/artwork/Android/hdpi/ic_logging.png b/artwork/Android/hdpi/ic_logging.png
index e2947140f98625640885f1f3802b1d6c61751d3e..4791e4293e4106a3b9f73de4b82d313827425e7f 100644
GIT binary patch
delta 714
zcmV;*0yX`{2Db)~UVp?%L_t(|+U%XZPTNovfE~n6^8{4x3m}<2Bno>MI(H%~TiD8&
zOzlc0x|XGTtfbi+2_68eZ(w+W^c-@odV3X6erzSk-zOdU@A?XTIX*tNkX)P1W|1-)
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w34Eg~HSfFC?yJ9iGj%ic9{1A;R{jbw0D(i-pN$a|g8%>k07*qoM6N<$g1Bc`VgLXD

delta 730
zcmV<00ww*o2F3=EUVqa`L_t(|+U%XZPTNovfSs118}$<u+!sJHGa*sfyU@84S=qu?
z#$;+&GPP@2vd2oAy^-hx)ao0!eS&aKbFO-^0?LoA1o``<ga59t(8uw~xe=0Uv)L?A
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M07*qoM6N<$g0)<AHUIzs

diff --git a/artwork/Android/hdpi/ic_telemetry.png b/artwork/Android/hdpi/ic_telemetry.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3842a6cb990cbdfe53cfa196133467a39c1d7c8
GIT binary patch
literal 1447
zcmV;Y1z7rtP)<h;3K|Lk000e1NJLTq003D4003DC1^@s6RSSr(00009a7bBm000*f
z000*f0cW4mQUCw|8FWQhbW?9;ba!ELWdK2BZ(?O2No`?gWm08fWO;GPWjp`?1vE)S
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zSwz~HLH88AN2_~dN1OHOW3u%aXG;+4$ri}AXmz<z83#bWp?L=0!GLuSEKyF;zcs4y
zdzeO%E=*8Y8TzX<7p|27`Yf6*{E`8#4KSsdt(<m(tdl1gpe-fni}vb$r6weR^)XV%
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z0=PZI)H(xAm*sZ&q?T$^@15}bqX0aLbkSmfd7tH(91pv5Kztmjqsuq5iySGszwr1d
zE2x~@_5`e7LtNESHpA-~ufc0*Kb%gYra-=p3;hX4U2Ho6##OukuAw)f`!4)vh1Wul
z4dk6eY`aj^i{R?vvFIkLR>*jB^N~pY`$-@RWRXA?$O2g;kOi_xAPZ!HEE329Ss;r9
zauejcp4{PIBM{xtRMn8_I<bAiRnmn(7RVxj+yuyrf}u7oWRSb?1>sSPy4N7{&;D)~
z(3NWzZ0D&HE5BRaK|>Rcj_?^u6to92z@)1J3;-_B^Ag<EF0B9n002ovPDHLkV1n-U
Bn}7fS

literal 0
HcmV?d00001

diff --git a/artwork/Android/hdpi/ic_uav.png b/artwork/Android/hdpi/ic_uav.png
index 8d49ed85726333791dadf9e693be8857a578e730..969e5433125d415becbef44f77184712f6a50625 100644
GIT binary patch
delta 715
zcmV;+0yO=)2Au|wUVo}dL_t(|+G70w|33qzfRT}r6G#OEu{o0P9Uxu{H2(?3=2PlO
zr~~tXSQ?A;cOafbsY96<C<hie90&ri5M~%?N9qxfSE1Ab76vMU2zMt<NiJ56uYdo)
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z5@1nuNt%OEUWDN<12;1xsOVV-6yHBs(j+`YuPJJr12TO<Ay`2r2U06d(j1IBa@3Kd
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zMi%uBh|*+b=i-H{5|Dg(L&oDAp%6UyG*$sf&qoqlXfM6E0Z1p{)2R93oWi#!7d4T^
zHmsa;3U9T@EhwSE%*F)|Stc%U67eM>Pz=!c@j$!)h=1$xY5K=501OBTbYc9C{PW}6
z8<gl^`Su;!n!yKPY0w`@>>?0<0OEsqi<dt?g#P^cCWJRhKr;=#CO%QE8E6`u01ZKq
z0~2_s-@QO&u5QGm<U7cbGC-UMO{5s@L7)RWh|M@gEyqCV5`;gTtFgL3Lhc4-90wfI
zOPHYD&3{SIelmKCdLoI%9VnCRhlVIA%{)-UcpVVGLlOqDX9ML<vOpC*A;Upb1<)k5
zf3)r%b>yfcM;%FCdyo^<SWy3dk3sYEH6dtCGHAwvVC}(RP-_O%Sb)~WjX?1O(1Lnk
zLlPQdF*vGK2cW#;V2Exn0`d-n!I8oQ<S9;@)I=CFC)Csf)yug99g=Se$iEv5(Y=iU
xGRuGq41Dee^^2kHQS=Z4IeZB<`tAS$1^{3%+FN^V8Dsze002ovPDHLkV1hvZGQI!+

delta 744
zcmV<E0vG+A2D%22UVq0)L_t(|+G70w|33qzV9VC6oIolVh|Q6N?*Q>yA8+p`l$y^(
zB?soCIS>R?fH)5*FEikd1Of{nmc}6m3*iBGq#glz6-q5&VW1-5etJ`r?ZYdLzwBIZ
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zM~*s@+;S4y+_FGwEP$%IlhA^iE&%8TAt2=i#KKS^P&;%#&<*bxH*eVjYY$?pb3qPW
zLP9wSDjPxg0e`TZTtI>YL2c0(EK;CKVG<Lxy@#t&U=B1uk66oOJ$@?yu>lYZe9lxB
zAhA`Ct38^^g5IKj@r6b6_a8=H82{Z5Ci%LSW9JCib>QIBSOp+GAIkR!VgsX=W1t!+
z0iQ+(Aua_~{@<D?o)!3g3W+O(QFnj*!KCryFC#o;KY#pU22s951d0I~KOTq|K&wfd
z;L|TAhIc<v^RFxe!zsKC40dLQHw+Aj`kaI1-*;$h1|N8U6oN2t5#&cuJ&sQ!JM(`b
z4j?9!yYC=3@f8Grp|_~lHK#fgY|VVmWB{c>1!xF@9GGyf#_9qzBN58gjd+xN2jy;1
zZ!Qm-NPjWfgTUO~L2SkWra=X$Lq9+rNNny7#^aeKOwfMuBxs1Dx2PwQSlod!2`JPj
zkk}ptHH_DR@+p!qh&>x9cajCF=m{APqAGwkkoS+)-J^~ib>yfc$!iaCItcw#Fyi^m
zV9EbW2wIa29!EmkgN>lpj3VD}1|`1V;HnN<lVJ?JBcUM{gQHq?0LnWKhLH3kAn!03
z94Smdp5nAg)j?EHiyFPbI#@E!TLSX$27@EFL3?$$z}f+KB&c5uZI8ag(j8qwjlMfT
afB^uAKHJ=nqKr=f0000<MNUMnLSTXje?#E_


From f3dd96ed1de51486dcb8622ccec05b9fb982a64a Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 08:32:07 -0500
Subject: [PATCH 301/543] AndroidGCS: Add a telemetry monitor to the action bar
 that shows the TX/RX data rate.  Right now seem to have a bug when going into
 the same widget twice it crashes teh second time.

---
 androidgcs/res/layout/telemetry_stats.xml     | 31 +++++++++++
 androidgcs/res/menu/status_menu.xml           |  8 ++-
 androidgcs/res/values/strings.xml             |  2 +
 .../org/openpilot/androidgcs/Controller.java  |  4 +-
 .../src/org/openpilot/androidgcs/Logger.java  |  2 +
 .../openpilot/androidgcs/ObjectBrowser.java   |  3 +-
 .../androidgcs/ObjectManagerActivity.java     | 49 ++++++++++++++++-
 .../src/org/openpilot/androidgcs/PFD.java     | 55 ++++++++++---------
 8 files changed, 122 insertions(+), 32 deletions(-)
 create mode 100644 androidgcs/res/layout/telemetry_stats.xml

diff --git a/androidgcs/res/layout/telemetry_stats.xml b/androidgcs/res/layout/telemetry_stats.xml
new file mode 100644
index 000000000..442609c1e
--- /dev/null
+++ b/androidgcs/res/layout/telemetry_stats.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/searchProgressWrapper"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="horizontal" >
+    
+	<TextView
+        android:id="@+id/telemetry_stats_rx_rate_label"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="@string/rxrate" />
+    
+	<TextView
+        android:id="@+id/telemetry_stats_rx_rate"
+        android:layout_width="64dp"
+        android:layout_height="wrap_content"
+        android:text="" />
+    
+    <TextView
+        android:id="@+id/telemetry_stats_tx_rate_label"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="@string/txrate" />
+
+   	<TextView
+        android:id="@+id/telemetry_stats_tx_rate"
+        android:layout_width="64dp"
+        android:layout_height="wrap_content"
+        android:text="" />
+</LinearLayout>
\ No newline at end of file
diff --git a/androidgcs/res/menu/status_menu.xml b/androidgcs/res/menu/status_menu.xml
index 7e59b8445..b9865e891 100644
--- a/androidgcs/res/menu/status_menu.xml
+++ b/androidgcs/res/menu/status_menu.xml
@@ -1,5 +1,9 @@
 <?xml version="1.0" encoding="utf-8"?>
-<menu xmlns:android="http://schemas.android.com/apk/res/android" >
-    
+<menu xmlns:android="http://schemas.android.com/apk/res/android">
 
+    <item   android:id="@+id/menuItemProgress"
+        android:title="Progress"
+        android:actionLayout="@layout/telemetry_stats"
+        android:showAsAction="always" />
+        
 </menu>
\ No newline at end of file
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index 3e0b88b7d..18de8b766 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -30,4 +30,6 @@
 	<string name="number_of_objects">Number of objects</string>
 	<string name="number_of_bytes">Number of bytes</string>
 	<string name="alarms">Alarms</string>
+	<string name="txrate">TxRate: </string>
+	<string name="rxrate">RxRate: </string>
 </resources>
diff --git a/androidgcs/src/org/openpilot/androidgcs/Controller.java b/androidgcs/src/org/openpilot/androidgcs/Controller.java
index baa61229b..b40e37f93 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Controller.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Controller.java
@@ -66,8 +66,8 @@ public class Controller extends ObjectManagerActivity {
 	
 	@Override
 	void onOPConnected() {
-		Log.d(TAG, "onOPConnected()");
-		
+		super.onOPConnected();
+
 		// Subscribe to updates from ManualControlCommand and show the values for crude feedback
 		UAVDataObject manualControl = (UAVDataObject) objMngr.getObject("ManualControlCommand");
 		if(manualControl != null) {
diff --git a/androidgcs/src/org/openpilot/androidgcs/Logger.java b/androidgcs/src/org/openpilot/androidgcs/Logger.java
index 6fedeb095..8ad3d20df 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Logger.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Logger.java
@@ -77,6 +77,8 @@ public class Logger extends ObjectManagerActivity {
 	
 	@Override
 	void onOPConnected() {
+		super.onOPConnected();
+		
 		if (DEBUG) Log.d(TAG, "onOPConnected()");
 		onStartLogging();
 		registerObjectUpdates(objMngr.getObjects());
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index b27fef785..95aa34810 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -53,14 +53,15 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
-		super.onCreate(savedInstanceState);
 		setContentView(R.layout.object_browser);		
 		prefs = PreferenceManager.getDefaultSharedPreferences(this);
 		prefs.registerOnSharedPreferenceChangeListener(this);
+		super.onCreate(savedInstanceState);
 	}
 
 	@Override
 	void onOPConnected() {
+		super.onOPConnected();
 		Log.d(TAG, "onOPConnected()");
 		
 		OnCheckedChangeListener checkListener = new OnCheckedChangeListener() {
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index bfa76569f..a314cffdc 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -24,6 +24,7 @@ import android.util.Log;
 import android.view.Menu;
 import android.view.MenuInflater;
 import android.view.MenuItem;
+import android.widget.TextView;
 
 public abstract class ObjectManagerActivity extends Activity {
 
@@ -42,7 +43,9 @@ public abstract class ObjectManagerActivity extends Activity {
 	LocalBinder binder;
 	//! Store the broadcast receiver to unregister it
 	BroadcastReceiver connectedReceiver;
-
+	//! Indicate if this activity has already connected it's telemetry callbacks
+	private boolean telemetryStatsConnected = false;
+	
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
@@ -118,19 +121,60 @@ public abstract class ObjectManagerActivity extends Activity {
 		}
 	}
 	
+	private void updateStats() {
+		UAVObject stats = objMngr.getObject("GCSTelemetryStats");
+		TextView rxRate = (TextView) findViewById(R.id.telemetry_stats_rx_rate);
+		TextView txRate = (TextView) findViewById(R.id.telemetry_stats_tx_rate);
+		if (rxRate != null)
+			rxRate.setText(Integer.valueOf((int) stats.getField("RxDataRate").getDouble()).toString());
+		if (rxRate != null)
+			txRate.setText(Integer.valueOf((int) stats.getField("TxDataRate").getDouble()).toString());
+
+	}
+	
+	final Observer telemetryObserver = new Observer() {
+		public void update(Observable observable, Object data) {
+			uavobjHandler.post(new Runnable() {
+				@Override
+				public void run() {
+					updateStats();
+				}
+			});
+		}
+	};
+	
 	/**
 	 * Called when either the telemetry establishes a connection or
 	 * if it already has on creation of this activity
+	 * 
+	 * This should be called by all inherited classes if they want the telemetry bar etc
 	 */
 	void onOPConnected() {
+		if ( telemetryStatsConnected )
+			return;
 		
+		// We are not using the objectUpdated mechanism in place so that all the children
+		// don't have to sort through the messages.
+		UAVObject stats = objMngr.getObject("GCSTelemetryStats");
+		if (stats == null)
+			return;
+		
+		stats.addUpdatedObserver(telemetryObserver);
+		telemetryStatsConnected = true;
+		updateStats();
 	}
 	
 	/**
 	 * Called when telemetry drops the connection
+	 * 
+	 * This should be called by all inherited classes if they want the telemetry bar etc
 	 */
 	void onOPDisconnected() {
-		
+		// Indicate no connection
+		TextView rxRate = (TextView) findViewById(R.id.telemetry_stats_rx_rate);
+		TextView txRate = (TextView) findViewById(R.id.telemetry_stats_tx_rate);
+		rxRate.setText("");
+		txRate.setText("");
 	}
 	
 	@Override
@@ -154,6 +198,7 @@ public abstract class ObjectManagerActivity extends Activity {
 	@Override
 	public boolean onCreateOptionsMenu(Menu menu) {
 		MenuInflater inflater = getMenuInflater();
+		inflater.inflate(R.menu.status_menu, menu);
 		inflater.inflate(R.menu.options_menu, menu);
 		return true;
 	}
diff --git a/androidgcs/src/org/openpilot/androidgcs/PFD.java b/androidgcs/src/org/openpilot/androidgcs/PFD.java
index e0d1b9f24..654e6d695 100644
--- a/androidgcs/src/org/openpilot/androidgcs/PFD.java
+++ b/androidgcs/src/org/openpilot/androidgcs/PFD.java
@@ -1,31 +1,42 @@
 package org.openpilot.androidgcs;
 
-import java.util.Observable;
-import java.util.Observer;
-
-import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObject;
 
 import android.os.Bundle;
 
 public class PFD extends ObjectManagerActivity {
 
+	final long MIN_UPDATE_PERIOD = 50;
+	long lastUpdateMs;
 	double heading;
 	double roll;
 	double pitch;
 
-	Runnable update = new Runnable() {
-		public void run() {
-			CompassView compass = (CompassView) findViewById(R.id.compass_view);
-			compass.setBearing((int) heading);
-			compass.invalidate();
+	/**
+	 * Update the UI whenever the attitude is updated
+	 */
+	protected void objectUpdated(UAVObject obj) {
+		// Throttle the UI redraws.  Eventually this should maybe come from a periodic task
+		if ((System.currentTimeMillis() - lastUpdateMs) < MIN_UPDATE_PERIOD)
+			return;
+		if (obj.getName().compareTo("AttitudeActual") != 0)
+			return;
 
-			AttitudeView attitude = (AttitudeView) findViewById(R.id.attitude_view);
-			attitude.setRoll(roll / 180 * Math.PI);
-			attitude.setPitch(pitch / 180 * Math.PI);
-			attitude.invalidate();
-		}		
-	};
+		lastUpdateMs = System.currentTimeMillis(); 
+
+		heading = obj.getField("Yaw").getDouble();
+		pitch = obj.getField("Pitch").getDouble();
+		roll = obj.getField("Roll").getDouble();
+
+		CompassView compass = (CompassView) findViewById(R.id.compass_view);
+		compass.setBearing((int) heading);
+		compass.invalidate();
+
+		AttitudeView attitude = (AttitudeView) findViewById(R.id.attitude_view);
+		attitude.setRoll(roll / 180 * Math.PI);
+		attitude.setPitch(pitch / 180 * Math.PI);
+		attitude.invalidate();
+	}
 
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
@@ -35,17 +46,11 @@ public class PFD extends ObjectManagerActivity {
 
 	@Override
 	void onOPConnected() {
+		super.onOPConnected();
 
+		// Connect the update method to AttitudeActual
 		UAVObject obj = objMngr.getObject("AttitudeActual");
-		if(obj != null)
-			obj.addUpdatedObserver(new Observer() {				
-				public void update(Observable observable, Object data) {
-					UAVDataObject obj = (UAVDataObject) data;
-					heading = obj.getField("Yaw").getDouble();
-					pitch = obj.getField("Pitch").getDouble();
-					roll = obj.getField("Roll").getDouble();
-					runOnUiThread(update);
-				}
-			});
+		if (obj != null)
+			registerObjectUpdates(obj);
 	}				
 }

From 3eb84e188e70281eb1b042ebf9873dd913965c8f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 08:49:54 -0500
Subject: [PATCH 302/543] AndroidGCS: Revert a line of
 c24164d661b292cfad5be1e40fe0f9244ec7fffc which will probably bring back a
 memory leak but stops crashing when you reopen the same activity

Bug introduced here again!
---
 .../src/org/openpilot/androidgcs/ObjectManagerActivity.java     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index a314cffdc..330217c8c 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -217,7 +217,7 @@ public abstract class ObjectManagerActivity extends Activity {
 	public void onStop() {
 		super.onStop();
 		unbindService(mConnection);
-		unregisterReceiver(connectedReceiver);
+		//unregisterReceiver(connectedReceiver);
 	}
 
 	public void onBind() {

From a3038af4ad57a5dc564ceec3a1fe6246a333475b Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 09:04:58 -0500
Subject: [PATCH 303/543] AndroidGCS: An ugly system alarms gadget that lists
 all the alarm values

---
 androidgcs/AndroidManifest.xml                |  1 +
 androidgcs/res/layout/system_alarms.xml       | 12 +++++
 .../org/openpilot/androidgcs/HomePage.java    |  6 +++
 .../androidgcs/SystemAlarmActivity.java       | 45 +++++++++++++++++++
 4 files changed, 64 insertions(+)
 create mode 100644 androidgcs/res/layout/system_alarms.xml
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index d6d85d5e7..f6a728378 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -28,6 +28,7 @@
 		<activity android:name="Controller" android:label="@string/controller_name" />
 		<activity android:name="Preferences" android:label="@string/preference_title" />
 		<activity android:name="UAVLocation" android:label="@string/location_name" />
+		<activity android:name="SystemAlarmActivity" android:label="System Alarms" />
 		<activity android:name="ObjectEditor" android:label="ObjectEditor"
 			android:theme="@android:style/Theme.Dialog" />
 		<activity android:name="Logger" android:label="Logger"
diff --git a/androidgcs/res/layout/system_alarms.xml b/androidgcs/res/layout/system_alarms.xml
new file mode 100644
index 000000000..040088cb1
--- /dev/null
+++ b/androidgcs/res/layout/system_alarms.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent" >
+
+    <TextView
+        xmlns:android="http://schemas.android.com/apk/res/android"
+        android:id="@+id/system_alarms_status"
+        android:layout_width="fill_parent"
+        android:layout_height="fill_parent" />
+
+</LinearLayout>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/HomePage.java b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
index c67605ee6..500afeec3 100644
--- a/androidgcs/src/org/openpilot/androidgcs/HomePage.java
+++ b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
@@ -48,6 +48,12 @@ public class HomePage extends ObjectManagerActivity {
 			}
 		});
 
+		Button alarms = (Button) findViewById(R.id.launch_alarms);
+		alarms.setOnClickListener(new OnClickListener() {
+			public void onClick(View arg0) {
+				startActivity(new Intent(HomePage.this, SystemAlarmActivity.class));	
+			}
+		});
 	}
 
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java b/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java
new file mode 100644
index 000000000..b69c2a297
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java
@@ -0,0 +1,45 @@
+package org.openpilot.androidgcs;
+
+import java.util.List;
+
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+import android.os.Bundle;
+import android.widget.TextView;
+
+public class SystemAlarmActivity extends ObjectManagerActivity {
+	/**
+	 * Update the UI whenever the attitude is updated
+	 */
+	protected void objectUpdated(UAVObject obj) {
+		if (obj.getName().compareTo("SystemAlarms") != 0)
+			return;
+
+		TextView alarms = (TextView) findViewById(R.id.system_alarms_status);
+		UAVObjectField a = obj.getField("Alarm");
+		List<String> names = a.getElementNames();
+		String contents = new String();
+		for (int i = 0; i < names.size(); i++) {
+			contents += names.get(i) + " : " + a.getValue(i).toString() + "\n";
+		}
+		alarms.setText(contents);
+	}
+
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		setContentView(R.layout.system_alarms);
+	}	
+
+	@Override
+	void onOPConnected() {
+		super.onOPConnected();
+		
+		// Connect the update method to AttitudeActual
+		UAVObject obj = objMngr.getObject("SystemAlarms");
+		if (obj != null)
+			registerObjectUpdates(obj);
+		objectUpdated(obj);
+	}			
+}

From 19b5cf461637588de821f9e11a8be8a291edbe91 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 13:52:42 -0500
Subject: [PATCH 304/543] AndroidGCS: In the SystemAlarms display rank fields
 by alarm severity.  Also make hte fake telemetry object generate alarms.

---
 androidgcs/res/layout/system_alarms.xml                |  6 ++++--
 .../org/openpilot/androidgcs/OPTelemetryService.java   | 10 +++++++++-
 .../org/openpilot/androidgcs/SystemAlarmActivity.java  | 10 ++++++++--
 3 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/androidgcs/res/layout/system_alarms.xml b/androidgcs/res/layout/system_alarms.xml
index 040088cb1..a25c575dd 100644
--- a/androidgcs/res/layout/system_alarms.xml
+++ b/androidgcs/res/layout/system_alarms.xml
@@ -1,12 +1,14 @@
 <?xml version="1.0" encoding="utf-8"?>
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="match_parent"
-    android:layout_height="match_parent" >
+    android:layout_height="match_parent"
+    android:layout_gravity="center" >
 
     <TextView
         xmlns:android="http://schemas.android.com/apk/res/android"
         android:id="@+id/system_alarms_status"
         android:layout_width="fill_parent"
-        android:layout_height="fill_parent" />
+        android:layout_height="fill_parent"
+        android:layout_gravity="center" />
 
 </LinearLayout>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index fbbf63e77..3309cf2b6 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -228,7 +228,14 @@ public class OPTelemetryService extends Service {
 			UAVDataObject attitudeActual = (UAVDataObject) objMngr.getObject("AttitudeActual");
 			UAVDataObject homeLocation = (UAVDataObject) objMngr.getObject("HomeLocation");
 			UAVDataObject positionActual = (UAVDataObject) objMngr.getObject("PositionActual");
-
+			UAVDataObject systemAlarms = (UAVDataObject) objMngr.getObject("SystemAlarms");
+			
+			systemAlarms.getField("Alarm").setValue("Warning",0);
+			systemAlarms.getField("Alarm").setValue("OK",1);
+			systemAlarms.getField("Alarm").setValue("Critical",2);
+			systemAlarms.getField("Alarm").setValue("Error",3);
+			systemAlarms.updated();
+			
 			homeLocation.getField("Latitude").setDouble(379420315);
 			homeLocation.getField("Longitude").setDouble(-88330078);
 			homeLocation.getField("Be").setDouble(26702.78710938,0);
@@ -250,6 +257,7 @@ public class OPTelemetryService extends Service {
 				roll = (roll + 10) % 180;
 				pitch = (pitch + 10) % 180;
 				yaw = (yaw + 10) % 360;
+				
 				systemStats.updated();
 				attitudeActual.updated();
 				positionActual.updated();
diff --git a/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java b/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java
index b69c2a297..63c0a6ac4 100644
--- a/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java
@@ -20,8 +20,14 @@ public class SystemAlarmActivity extends ObjectManagerActivity {
 		UAVObjectField a = obj.getField("Alarm");
 		List<String> names = a.getElementNames();
 		String contents = new String();
-		for (int i = 0; i < names.size(); i++) {
-			contents += names.get(i) + " : " + a.getValue(i).toString() + "\n";
+		List <String> options = a.getOptions();
+		
+		// Rank the alarms by order of severity, skip uninitialized
+		for (int j = options.size() - 1; j > 0; j--) {
+			for (int i = 0; i < names.size(); i++) {
+				if(a.getDouble(i) == j)
+					contents += names.get(i) + " : " + a.getValue(i).toString() + "\n";
+			}
 		}
 		alarms.setText(contents);
 	}

From 2963fd2658984625a8c5b3f841f43851456318bc Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Mon, 6 Aug 2012 22:55:35 +0100
Subject: [PATCH 305/543] GCS - Increased tabbed widget width on the config
 page.

---
 ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
index 19d568702..e2ca7c7ea 100644
--- a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
+++ b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
@@ -56,7 +56,7 @@ MyTabbedStackWidget::MyTabbedStackWidget(QWidget *parent, bool isVertical, bool
         m_listWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
     }
     if (m_iconAbove && m_vertical)
-        m_listWidget->setFixedWidth(90); // this should be computed instead
+        m_listWidget->setFixedWidth(120); // this should be computed instead
 
     toplevelLayout->setSpacing(0);
     toplevelLayout->setContentsMargins(0, 0, 0, 0);

From 0f0e5faba05bd24a9d3076f9ee9461f36ae34774 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 6 Aug 2012 16:58:56 -0500
Subject: [PATCH 306/543] AndroidGCS: Update objects to match next

---
 .../uavobjects/AltitudeHoldSettings.java      |  12 +-
 .../uavtalk/uavobjects/FirmwareIAPObj.java    |   2 +-
 .../uavobjects/FlightBatterySettings.java     |  13 +-
 .../uavobjects/FlightBatteryState.java        |   7 +-
 .../uavtalk/uavobjects/FlightStatus.java      |   4 +-
 .../uavtalk/uavobjects/GuidanceSettings.java  | 210 ++++++++++++++++++
 .../uavtalk/uavobjects/HomeLocation.java      |  32 ++-
 .../uavtalk/uavobjects/HwSettings.java        |  12 +-
 .../uavobjects/ManualControlSettings.java     |  29 +--
 .../uavtalk/uavobjects/OveroSyncStats.java    |  14 +-
 .../uavtalk/uavobjects/PositionActual.java    |   4 +-
 .../uavtalk/uavobjects/PositionDesired.java   | 146 ++++++++++++
 .../uavtalk/uavobjects/RevoCalibration.java   |  39 +---
 .../uavtalk/uavobjects/SystemAlarms.java      |   6 +-
 .../uavtalk/uavobjects/TaskInfo.java          |  14 +-
 .../uavobjects/UAVObjectsInitialize.java      |  13 --
 16 files changed, 435 insertions(+), 122 deletions(-)
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java

diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
index afe2ec487..6b5c6d2a6 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java
@@ -123,12 +123,12 @@ public class AltitudeHoldSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("Kp").setValue(0.03);
-		getField("Ki").setValue(0);
-		getField("Kd").setValue(0.03);
-		getField("Ka").setValue(0.005);
-		getField("PressureNoise").setValue(0.4);
-		getField("AccelNoise").setValue(5);
+		getField("Kp").setValue(0.025);
+		getField("Ki").setValue(0.025);
+		getField("Kd").setValue(0.25);
+		getField("Ka").setValue(0);
+		getField("PressureNoise").setValue(0.01);
+		getField("AccelNoise").setValue(10);
 		getField("AccelDrift").setValue(0.001);
 
 	}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
index 48d211ae9..90a9e8893 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java
@@ -157,7 +157,7 @@ public class FirmwareIAPObj extends UAVDataObject {
 		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
 		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
 		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
-		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
 		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
     	metadata.flightTelemetryUpdatePeriod = 0;
     	metadata.gcsTelemetryUpdatePeriod = 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
index 69a17e773..4baefffac 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java
@@ -80,12 +80,9 @@ public class FlightBatterySettings extends UAVDataObject {
 		fields.add( new UAVObjectField("NbCells", "", UAVObjectField.FieldType.UINT8, NbCellsElemNames, null) );
 
 		List<String> SensorTypeElemNames = new ArrayList<String>();
-		SensorTypeElemNames.add("BatteryCurrent");
-		SensorTypeElemNames.add("BatteryVoltage");
-		SensorTypeElemNames.add("BoardVoltage");
+		SensorTypeElemNames.add("0");
 		List<String> SensorTypeEnumOptions = new ArrayList<String>();
-		SensorTypeEnumOptions.add("Disabled");
-		SensorTypeEnumOptions.add("Enabled");
+		SensorTypeEnumOptions.add("None");
 		fields.add( new UAVObjectField("SensorType", "", UAVObjectField.FieldType.ENUM, SensorTypeElemNames, SensorTypeEnumOptions) );
 
 
@@ -139,9 +136,7 @@ public class FlightBatterySettings extends UAVDataObject {
 		getField("SensorCalibrations").setValue(1,1);
 		getField("Type").setValue("LiPo");
 		getField("NbCells").setValue(3);
-		getField("SensorType").setValue("Disabled",0);
-		getField("SensorType").setValue("Disabled",1);
-		getField("SensorType").setValue("Disabled",2);
+		getField("SensorType").setValue("None");
 
 	}
 
@@ -170,7 +165,7 @@ public class FlightBatterySettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x94AC6AD2l;
+	protected static final long OBJID = 0xF172BB18l;
 	protected static final String NAME = "FlightBatterySettings";
 	protected static String DESCRIPTION = "Flight Battery configuration.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
index 796da0c18..7a8f895f2 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java
@@ -59,10 +59,6 @@ public class FlightBatteryState extends UAVDataObject {
 		CurrentElemNames.add("0");
 		fields.add( new UAVObjectField("Current", "A", UAVObjectField.FieldType.FLOAT32, CurrentElemNames, null) );
 
-		List<String> BoardSupplyVoltageElemNames = new ArrayList<String>();
-		BoardSupplyVoltageElemNames.add("0");
-		fields.add( new UAVObjectField("BoardSupplyVoltage", "V", UAVObjectField.FieldType.FLOAT32, BoardSupplyVoltageElemNames, null) );
-
 		List<String> PeakCurrentElemNames = new ArrayList<String>();
 		PeakCurrentElemNames.add("0");
 		fields.add( new UAVObjectField("PeakCurrent", "A", UAVObjectField.FieldType.FLOAT32, PeakCurrentElemNames, null) );
@@ -125,7 +121,6 @@ public class FlightBatteryState extends UAVDataObject {
 	{
 		getField("Voltage").setValue(0);
 		getField("Current").setValue(0);
-		getField("BoardSupplyVoltage").setValue(0);
 		getField("PeakCurrent").setValue(0);
 		getField("AvgCurrent").setValue(0);
 		getField("ConsumedEnergy").setValue(0);
@@ -158,7 +153,7 @@ public class FlightBatteryState extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xD2083596l;
+	protected static final long OBJID = 0x8C0D756l;
 	protected static final String NAME = "FlightBatteryState";
 	protected static String DESCRIPTION = "Battery status information.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
index 6497e45a9..cdf2f39f2 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
@@ -69,8 +69,6 @@ public class FlightStatus extends UAVDataObject {
 		FlightModeEnumOptions.add("AltitudeHold");
 		FlightModeEnumOptions.add("VelocityControl");
 		FlightModeEnumOptions.add("PositionHold");
-		FlightModeEnumOptions.add("PathPlanner");
-		FlightModeEnumOptions.add("RTH");
 		fields.add( new UAVObjectField("FlightMode", "", UAVObjectField.FieldType.ENUM, FlightModeElemNames, FlightModeEnumOptions) );
 
 
@@ -146,7 +144,7 @@ public class FlightStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x884FEF66l;
+	protected static final long OBJID = 0xE7A476DAl;
 	protected static final String NAME = "FlightStatus";
 	protected static String DESCRIPTION = "Contains major flight status information for other modules.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
new file mode 100644
index 000000000..7bf3f5a02
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java
@@ -0,0 +1,210 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the @ref GuidanceModule
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the @ref GuidanceModule
+
+generated from guidancesettings.xml
+ **/
+public class GuidanceSettings extends UAVDataObject {
+
+	public GuidanceSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> HorizontalPosPIElemNames = new ArrayList<String>();
+		HorizontalPosPIElemNames.add("Kp");
+		HorizontalPosPIElemNames.add("Ki");
+		HorizontalPosPIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("HorizontalPosPI", "(m/s)/m", UAVObjectField.FieldType.FLOAT32, HorizontalPosPIElemNames, null) );
+
+		List<String> HorizontalVelPIDElemNames = new ArrayList<String>();
+		HorizontalVelPIDElemNames.add("Kp");
+		HorizontalVelPIDElemNames.add("Ki");
+		HorizontalVelPIDElemNames.add("Kd");
+		HorizontalVelPIDElemNames.add("ILimit");
+		fields.add( new UAVObjectField("HorizontalVelPID", "deg/(m/s)", UAVObjectField.FieldType.FLOAT32, HorizontalVelPIDElemNames, null) );
+
+		List<String> VerticalPosPIElemNames = new ArrayList<String>();
+		VerticalPosPIElemNames.add("Kp");
+		VerticalPosPIElemNames.add("Ki");
+		VerticalPosPIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("VerticalPosPI", "", UAVObjectField.FieldType.FLOAT32, VerticalPosPIElemNames, null) );
+
+		List<String> VerticalVelPIDElemNames = new ArrayList<String>();
+		VerticalVelPIDElemNames.add("Kp");
+		VerticalVelPIDElemNames.add("Ki");
+		VerticalVelPIDElemNames.add("Kd");
+		VerticalVelPIDElemNames.add("ILimit");
+		fields.add( new UAVObjectField("VerticalVelPID", "", UAVObjectField.FieldType.FLOAT32, VerticalVelPIDElemNames, null) );
+
+		List<String> MaxRollPitchElemNames = new ArrayList<String>();
+		MaxRollPitchElemNames.add("0");
+		fields.add( new UAVObjectField("MaxRollPitch", "deg", UAVObjectField.FieldType.FLOAT32, MaxRollPitchElemNames, null) );
+
+		List<String> UpdatePeriodElemNames = new ArrayList<String>();
+		UpdatePeriodElemNames.add("0");
+		fields.add( new UAVObjectField("UpdatePeriod", "", UAVObjectField.FieldType.INT32, UpdatePeriodElemNames, null) );
+
+		List<String> HorizontalVelMaxElemNames = new ArrayList<String>();
+		HorizontalVelMaxElemNames.add("0");
+		fields.add( new UAVObjectField("HorizontalVelMax", "m/s", UAVObjectField.FieldType.UINT16, HorizontalVelMaxElemNames, null) );
+
+		List<String> VerticalVelMaxElemNames = new ArrayList<String>();
+		VerticalVelMaxElemNames.add("0");
+		fields.add( new UAVObjectField("VerticalVelMax", "m/s", UAVObjectField.FieldType.UINT16, VerticalVelMaxElemNames, null) );
+
+		List<String> GuidanceModeElemNames = new ArrayList<String>();
+		GuidanceModeElemNames.add("0");
+		List<String> GuidanceModeEnumOptions = new ArrayList<String>();
+		GuidanceModeEnumOptions.add("DUAL_LOOP");
+		GuidanceModeEnumOptions.add("VELOCITY_CONTROL");
+		fields.add( new UAVObjectField("GuidanceMode", "", UAVObjectField.FieldType.ENUM, GuidanceModeElemNames, GuidanceModeEnumOptions) );
+
+		List<String> ThrottleControlElemNames = new ArrayList<String>();
+		ThrottleControlElemNames.add("0");
+		List<String> ThrottleControlEnumOptions = new ArrayList<String>();
+		ThrottleControlEnumOptions.add("FALSE");
+		ThrottleControlEnumOptions.add("TRUE");
+		fields.add( new UAVObjectField("ThrottleControl", "", UAVObjectField.FieldType.ENUM, ThrottleControlElemNames, ThrottleControlEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("HorizontalPosPI").setValue(0.1,0);
+		getField("HorizontalPosPI").setValue(0.001,1);
+		getField("HorizontalPosPI").setValue(300,2);
+		getField("HorizontalVelPID").setValue(0.05,0);
+		getField("HorizontalVelPID").setValue(0.002,1);
+		getField("HorizontalVelPID").setValue(0,2);
+		getField("HorizontalVelPID").setValue(1000,3);
+		getField("VerticalPosPI").setValue(0.1,0);
+		getField("VerticalPosPI").setValue(0.001,1);
+		getField("VerticalPosPI").setValue(200,2);
+		getField("VerticalVelPID").setValue(0.1,0);
+		getField("VerticalVelPID").setValue(0,1);
+		getField("VerticalVelPID").setValue(0,2);
+		getField("VerticalVelPID").setValue(0,3);
+		getField("MaxRollPitch").setValue(10);
+		getField("UpdatePeriod").setValue(100);
+		getField("HorizontalVelMax").setValue(300);
+		getField("VerticalVelMax").setValue(150);
+		getField("GuidanceMode").setValue("DUAL_LOOP");
+		getField("ThrottleControl").setValue("FALSE");
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(long instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			GuidanceSettings obj = new GuidanceSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public GuidanceSettings GetInstance(UAVObjectManager objMngr, long instID)
+	{
+	    return (GuidanceSettings)(objMngr.getObject(GuidanceSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final long OBJID = 0x6EA79FB4l;
+	protected static final String NAME = "GuidanceSettings";
+	protected static String DESCRIPTION = "Settings for the @ref GuidanceModule";
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
+	protected static int NUMBYTES = 0;
+
+
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
index f4f976fa0..1b340f64d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java
@@ -63,6 +63,24 @@ public class HomeLocation extends UAVDataObject {
 		AltitudeElemNames.add("0");
 		fields.add( new UAVObjectField("Altitude", "m over geoid", UAVObjectField.FieldType.FLOAT32, AltitudeElemNames, null) );
 
+		List<String> ECEFElemNames = new ArrayList<String>();
+		ECEFElemNames.add("0");
+		ECEFElemNames.add("1");
+		ECEFElemNames.add("2");
+		fields.add( new UAVObjectField("ECEF", "cm", UAVObjectField.FieldType.INT32, ECEFElemNames, null) );
+
+		List<String> RNEElemNames = new ArrayList<String>();
+		RNEElemNames.add("0");
+		RNEElemNames.add("1");
+		RNEElemNames.add("2");
+		RNEElemNames.add("3");
+		RNEElemNames.add("4");
+		RNEElemNames.add("5");
+		RNEElemNames.add("6");
+		RNEElemNames.add("7");
+		RNEElemNames.add("8");
+		fields.add( new UAVObjectField("RNE", "", UAVObjectField.FieldType.FLOAT32, RNEElemNames, null) );
+
 		List<String> BeElemNames = new ArrayList<String>();
 		BeElemNames.add("0");
 		BeElemNames.add("1");
@@ -127,6 +145,18 @@ public class HomeLocation extends UAVDataObject {
 		getField("Latitude").setValue(0);
 		getField("Longitude").setValue(0);
 		getField("Altitude").setValue(0);
+		getField("ECEF").setValue(0,0);
+		getField("ECEF").setValue(0,1);
+		getField("ECEF").setValue(0,2);
+		getField("RNE").setValue(0,0);
+		getField("RNE").setValue(0,1);
+		getField("RNE").setValue(0,2);
+		getField("RNE").setValue(0,3);
+		getField("RNE").setValue(0,4);
+		getField("RNE").setValue(0,5);
+		getField("RNE").setValue(0,6);
+		getField("RNE").setValue(0,7);
+		getField("RNE").setValue(0,8);
 		getField("Be").setValue(0,0);
 		getField("Be").setValue(0,1);
 		getField("Be").setValue(0,2);
@@ -160,7 +190,7 @@ public class HomeLocation extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x6185DC6El;
+	protected static final long OBJID = 0x5BB3AEFCl;
 	protected static final String NAME = "HomeLocation";
 	protected static String DESCRIPTION = "HomeLocation setting which contains the constants to tranlate from longitutde and latitude to NED reference frame.  Automatically set by @ref GPSModule after acquiring a 3D lock.  Used by @ref AHRSCommsModule.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
index b478bcd5b..2d24ffeeb 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
@@ -211,12 +211,7 @@ public class HwSettings extends UAVDataObject {
 		OptionalModulesElemNames.add("ComUsbBridge");
 		OptionalModulesElemNames.add("Fault");
 		OptionalModulesElemNames.add("Altitude");
-		OptionalModulesElemNames.add("Airspeed");
 		OptionalModulesElemNames.add("TxPID");
-		OptionalModulesElemNames.add("VtolPathFollower");
-		OptionalModulesElemNames.add("FixedWingPathFollower");
-		OptionalModulesElemNames.add("Battery");
-		OptionalModulesElemNames.add("Overo");
 		List<String> OptionalModulesEnumOptions = new ArrayList<String>();
 		OptionalModulesEnumOptions.add("Disabled");
 		OptionalModulesEnumOptions.add("Enabled");
@@ -290,11 +285,6 @@ public class HwSettings extends UAVDataObject {
 		getField("OptionalModules").setValue("Disabled",3);
 		getField("OptionalModules").setValue("Disabled",4);
 		getField("OptionalModules").setValue("Disabled",5);
-		getField("OptionalModules").setValue("Disabled",6);
-		getField("OptionalModules").setValue("Disabled",7);
-		getField("OptionalModules").setValue("Disabled",8);
-		getField("OptionalModules").setValue("Disabled",9);
-		getField("OptionalModules").setValue("Disabled",10);
 		getField("DSMxBind").setValue(0);
 
 	}
@@ -324,7 +314,7 @@ public class HwSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x5D950E50l;
+	protected static final long OBJID = 0x9408E9F0l;
 	protected static final String NAME = "HwSettings";
 	protected static String DESCRIPTION = "Selection of optional hardware configurations.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
index 0b47b3e10..afdd204b4 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
@@ -179,10 +179,17 @@ public class ManualControlSettings extends UAVDataObject {
 		Stabilization3SettingsEnumOptions.add("VirtualBar");
 		fields.add( new UAVObjectField("Stabilization3Settings", "", UAVObjectField.FieldType.ENUM, Stabilization3SettingsElemNames, Stabilization3SettingsEnumOptions) );
 
+		List<String> FlightModeNumberElemNames = new ArrayList<String>();
+		FlightModeNumberElemNames.add("0");
+		fields.add( new UAVObjectField("FlightModeNumber", "", UAVObjectField.FieldType.UINT8, FlightModeNumberElemNames, null) );
+
 		List<String> FlightModePositionElemNames = new ArrayList<String>();
 		FlightModePositionElemNames.add("0");
 		FlightModePositionElemNames.add("1");
 		FlightModePositionElemNames.add("2");
+		FlightModePositionElemNames.add("3");
+		FlightModePositionElemNames.add("4");
+		FlightModePositionElemNames.add("5");
 		List<String> FlightModePositionEnumOptions = new ArrayList<String>();
 		FlightModePositionEnumOptions.add("Manual");
 		FlightModePositionEnumOptions.add("Stabilized1");
@@ -191,22 +198,8 @@ public class ManualControlSettings extends UAVDataObject {
 		FlightModePositionEnumOptions.add("AltitudeHold");
 		FlightModePositionEnumOptions.add("VelocityControl");
 		FlightModePositionEnumOptions.add("PositionHold");
-		FlightModePositionEnumOptions.add("PathPlanner");
-		FlightModePositionEnumOptions.add("RTH");
-		FlightModePositionEnumOptions.add("Land");
 		fields.add( new UAVObjectField("FlightModePosition", "", UAVObjectField.FieldType.ENUM, FlightModePositionElemNames, FlightModePositionEnumOptions) );
 
-		List<String> FlightModeNumberElemNames = new ArrayList<String>();
-		FlightModeNumberElemNames.add("0");
-		fields.add( new UAVObjectField("FlightModeNumber", "", UAVObjectField.FieldType.UINT8, FlightModeNumberElemNames, null) );
-
-		List<String> FailsafeBehaviorElemNames = new ArrayList<String>();
-		FailsafeBehaviorElemNames.add("0");
-		List<String> FailsafeBehaviorEnumOptions = new ArrayList<String>();
-		FailsafeBehaviorEnumOptions.add("None");
-		FailsafeBehaviorEnumOptions.add("RTH");
-		fields.add( new UAVObjectField("FailsafeBehavior", "", UAVObjectField.FieldType.ENUM, FailsafeBehaviorElemNames, FailsafeBehaviorEnumOptions) );
-
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -308,11 +301,13 @@ public class ManualControlSettings extends UAVDataObject {
 		getField("Stabilization3Settings").setValue("Attitude",0);
 		getField("Stabilization3Settings").setValue("Attitude",1);
 		getField("Stabilization3Settings").setValue("Rate",2);
+		getField("FlightModeNumber").setValue(3);
 		getField("FlightModePosition").setValue("Manual",0);
 		getField("FlightModePosition").setValue("Stabilized1",1);
 		getField("FlightModePosition").setValue("Stabilized2",2);
-		getField("FlightModeNumber").setValue(3);
-		getField("FailsafeBehavior").setValue("None");
+		getField("FlightModePosition").setValue("Stabilized3",3);
+		getField("FlightModePosition").setValue("AltitudeHold",4);
+		getField("FlightModePosition").setValue("PositionHold",5);
 
 	}
 
@@ -341,7 +336,7 @@ public class ManualControlSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x6C188320l;
+	protected static final long OBJID = 0x7672339El;
 	protected static final String NAME = "ManualControlSettings";
 	protected static String DESCRIPTION = "Settings to indicate how to decode receiver input by @ref ManualControlModule.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
index 0618c247c..26985df6c 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java
@@ -59,22 +59,10 @@ public class OveroSyncStats extends UAVDataObject {
 		ReceivedElemNames.add("0");
 		fields.add( new UAVObjectField("Received", "B/s", UAVObjectField.FieldType.UINT32, ReceivedElemNames, null) );
 
-		List<String> FramesyncErrorsElemNames = new ArrayList<String>();
-		FramesyncErrorsElemNames.add("0");
-		fields.add( new UAVObjectField("FramesyncErrors", "count", UAVObjectField.FieldType.UINT32, FramesyncErrorsElemNames, null) );
-
-		List<String> UnderrunErrorsElemNames = new ArrayList<String>();
-		UnderrunErrorsElemNames.add("0");
-		fields.add( new UAVObjectField("UnderrunErrors", "count", UAVObjectField.FieldType.UINT32, UnderrunErrorsElemNames, null) );
-
 		List<String> DroppedUpdatesElemNames = new ArrayList<String>();
 		DroppedUpdatesElemNames.add("0");
 		fields.add( new UAVObjectField("DroppedUpdates", "", UAVObjectField.FieldType.UINT32, DroppedUpdatesElemNames, null) );
 
-		List<String> PacketsElemNames = new ArrayList<String>();
-		PacketsElemNames.add("0");
-		fields.add( new UAVObjectField("Packets", "", UAVObjectField.FieldType.UINT32, PacketsElemNames, null) );
-
 		List<String> ConnectedElemNames = new ArrayList<String>();
 		ConnectedElemNames.add("0");
 		List<String> ConnectedEnumOptions = new ArrayList<String>();
@@ -154,7 +142,7 @@ public class OveroSyncStats extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xD2085FACl;
+	protected static final long OBJID = 0x388468B8l;
 	protected static final String NAME = "OveroSyncStats";
 	protected static String DESCRIPTION = "Maintains statistics on transfer rate to and from over";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
index 5fe8b497f..bf8837ae9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java
@@ -92,9 +92,9 @@ public class PositionActual extends UAVDataObject {
 		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
 		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
 		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
-		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
     	metadata.flightTelemetryUpdatePeriod = 1000;
-    	metadata.gcsTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
     	metadata.loggingUpdatePeriod = 1000;
  
 		return metadata;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java
new file mode 100644
index 000000000..967e298e6
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java
@@ -0,0 +1,146 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The position the craft is trying t achieve.  Can come from GCS or @ref PathPlanner 
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The position the craft is trying t achieve.  Can come from GCS or @ref PathPlanner 
+
+generated from positiondesired.xml
+ **/
+public class PositionDesired extends UAVDataObject {
+
+	public PositionDesired() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> NorthElemNames = new ArrayList<String>();
+		NorthElemNames.add("0");
+		fields.add( new UAVObjectField("North", "m", UAVObjectField.FieldType.FLOAT32, NorthElemNames, null) );
+
+		List<String> EastElemNames = new ArrayList<String>();
+		EastElemNames.add("0");
+		fields.add( new UAVObjectField("East", "m", UAVObjectField.FieldType.FLOAT32, EastElemNames, null) );
+
+		List<String> DownElemNames = new ArrayList<String>();
+		DownElemNames.add("0");
+		fields.add( new UAVObjectField("Down", "m", UAVObjectField.FieldType.FLOAT32, DownElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(long instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			PositionDesired obj = new PositionDesired();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public PositionDesired GetInstance(UAVObjectManager objMngr, long instID)
+	{
+	    return (PositionDesired)(objMngr.getObject(PositionDesired.OBJID, instID));
+	}
+
+	// Constants
+	protected static final long OBJID = 0x778DBE24l;
+	protected static final String NAME = "PositionDesired";
+	protected static String DESCRIPTION = "The position the craft is trying t achieve.  Can come from GCS or @ref PathPlanner ";
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
+	protected static int NUMBYTES = 0;
+
+
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
index 9881cfe14..41ce4a4b6 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java
@@ -111,24 +111,11 @@ public class RevoCalibration extends UAVDataObject {
 		mag_varElemNames.add("Z");
 		fields.add( new UAVObjectField("mag_var", "mGau^2", UAVObjectField.FieldType.FLOAT32, mag_varElemNames, null) );
 
-		List<String> gps_varElemNames = new ArrayList<String>();
-		gps_varElemNames.add("Pos");
-		gps_varElemNames.add("Vel");
-		fields.add( new UAVObjectField("gps_var", "m^2", UAVObjectField.FieldType.FLOAT32, gps_varElemNames, null) );
-
-		List<String> baro_varElemNames = new ArrayList<String>();
-		baro_varElemNames.add("0");
-		fields.add( new UAVObjectField("baro_var", "m^2", UAVObjectField.FieldType.FLOAT32, baro_varElemNames, null) );
-
-		List<String> MagBiasNullingRateElemNames = new ArrayList<String>();
-		MagBiasNullingRateElemNames.add("0");
-		fields.add( new UAVObjectField("MagBiasNullingRate", "", UAVObjectField.FieldType.FLOAT32, MagBiasNullingRateElemNames, null) );
-
 		List<String> BiasCorrectedRawElemNames = new ArrayList<String>();
 		BiasCorrectedRawElemNames.add("0");
 		List<String> BiasCorrectedRawEnumOptions = new ArrayList<String>();
-		BiasCorrectedRawEnumOptions.add("FALSE");
 		BiasCorrectedRawEnumOptions.add("TRUE");
+		BiasCorrectedRawEnumOptions.add("FALSE");
 		fields.add( new UAVObjectField("BiasCorrectedRaw", "", UAVObjectField.FieldType.ENUM, BiasCorrectedRawElemNames, BiasCorrectedRawEnumOptions) );
 
 
@@ -181,18 +168,18 @@ public class RevoCalibration extends UAVDataObject {
 		getField("accel_scale").setValue(1,0);
 		getField("accel_scale").setValue(1,1);
 		getField("accel_scale").setValue(1,2);
-		getField("accel_var").setValue(0.01,0);
-		getField("accel_var").setValue(0.01,1);
-		getField("accel_var").setValue(0.01,2);
+		getField("accel_var").setValue(1,0);
+		getField("accel_var").setValue(1,1);
+		getField("accel_var").setValue(1,2);
 		getField("gyro_bias").setValue(0,0);
 		getField("gyro_bias").setValue(0,1);
 		getField("gyro_bias").setValue(0,2);
 		getField("gyro_scale").setValue(1,0);
 		getField("gyro_scale").setValue(1,1);
 		getField("gyro_scale").setValue(1,2);
-		getField("gyro_var").setValue(0.01,0);
-		getField("gyro_var").setValue(0.01,1);
-		getField("gyro_var").setValue(0.01,2);
+		getField("gyro_var").setValue(1,0);
+		getField("gyro_var").setValue(1,1);
+		getField("gyro_var").setValue(1,2);
 		getField("gyro_tempcoeff").setValue(1,0);
 		getField("gyro_tempcoeff").setValue(1,1);
 		getField("gyro_tempcoeff").setValue(1,2);
@@ -202,13 +189,9 @@ public class RevoCalibration extends UAVDataObject {
 		getField("mag_scale").setValue(1,0);
 		getField("mag_scale").setValue(1,1);
 		getField("mag_scale").setValue(1,2);
-		getField("mag_var").setValue(0.01,0);
-		getField("mag_var").setValue(0.01,1);
-		getField("mag_var").setValue(10,2);
-		getField("gps_var").setValue(1,0);
-		getField("gps_var").setValue(1,1);
-		getField("baro_var").setValue(1);
-		getField("MagBiasNullingRate").setValue(0);
+		getField("mag_var").setValue(50,0);
+		getField("mag_var").setValue(50,1);
+		getField("mag_var").setValue(50,2);
 		getField("BiasCorrectedRaw").setValue("TRUE");
 
 	}
@@ -238,7 +221,7 @@ public class RevoCalibration extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xA2A63C7Cl;
+	protected static final long OBJID = 0xC26D37B2l;
 	protected static final String NAME = "RevoCalibration";
 	protected static String DESCRIPTION = "Settings for the INS to control the algorithm and what is updated";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
index 11d4bc4d5..97505641e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
@@ -56,6 +56,7 @@ public class SystemAlarms extends UAVDataObject {
 		AlarmElemNames.add("StackOverflow");
 		AlarmElemNames.add("CPUOverload");
 		AlarmElemNames.add("EventSystem");
+		AlarmElemNames.add("SDCard");
 		AlarmElemNames.add("Telemetry");
 		AlarmElemNames.add("ManualControl");
 		AlarmElemNames.add("Actuator");
@@ -63,12 +64,12 @@ public class SystemAlarms extends UAVDataObject {
 		AlarmElemNames.add("Sensors");
 		AlarmElemNames.add("Stabilization");
 		AlarmElemNames.add("Guidance");
+		AlarmElemNames.add("AHRSComms");
 		AlarmElemNames.add("Battery");
 		AlarmElemNames.add("FlightTime");
 		AlarmElemNames.add("I2C");
 		AlarmElemNames.add("GPS");
 		AlarmElemNames.add("BootFault");
-		AlarmElemNames.add("Power");
 		List<String> AlarmEnumOptions = new ArrayList<String>();
 		AlarmEnumOptions.add("Uninitialised");
 		AlarmEnumOptions.add("OK");
@@ -138,6 +139,7 @@ public class SystemAlarms extends UAVDataObject {
 		getField("Alarm").setValue("Uninitialised",14);
 		getField("Alarm").setValue("Uninitialised",15);
 		getField("Alarm").setValue("Uninitialised",16);
+		getField("Alarm").setValue("Uninitialised",17);
 
 	}
 
@@ -166,7 +168,7 @@ public class SystemAlarms extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x737ADCF2l;
+	protected static final long OBJID = 0x9C7CBFEl;
 	protected static final String NAME = "SystemAlarms";
 	protected static String DESCRIPTION = "Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
index 308f0b490..f9baf33de 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
@@ -62,11 +62,9 @@ public class TaskInfo extends UAVDataObject {
 		StackRemainingElemNames.add("GPS");
 		StackRemainingElemNames.add("ManualControl");
 		StackRemainingElemNames.add("Altitude");
-		StackRemainingElemNames.add("Airspeed");
 		StackRemainingElemNames.add("Stabilization");
 		StackRemainingElemNames.add("AltitudeHold");
-		StackRemainingElemNames.add("PathPlanner");
-		StackRemainingElemNames.add("PathFollower");
+		StackRemainingElemNames.add("Guidance");
 		StackRemainingElemNames.add("FlightPlan");
 		StackRemainingElemNames.add("Com2UsbBridge");
 		StackRemainingElemNames.add("Usb2ComBridge");
@@ -84,11 +82,9 @@ public class TaskInfo extends UAVDataObject {
 		RunningElemNames.add("GPS");
 		RunningElemNames.add("ManualControl");
 		RunningElemNames.add("Altitude");
-		RunningElemNames.add("Airspeed");
 		RunningElemNames.add("Stabilization");
 		RunningElemNames.add("AltitudeHold");
-		RunningElemNames.add("PathPlanner");
-		RunningElemNames.add("PathFollower");
+		RunningElemNames.add("Guidance");
 		RunningElemNames.add("FlightPlan");
 		RunningElemNames.add("Com2UsbBridge");
 		RunningElemNames.add("Usb2ComBridge");
@@ -109,11 +105,9 @@ public class TaskInfo extends UAVDataObject {
 		RunningTimeElemNames.add("GPS");
 		RunningTimeElemNames.add("ManualControl");
 		RunningTimeElemNames.add("Altitude");
-		RunningTimeElemNames.add("Airspeed");
 		RunningTimeElemNames.add("Stabilization");
 		RunningTimeElemNames.add("AltitudeHold");
-		RunningTimeElemNames.add("PathPlanner");
-		RunningTimeElemNames.add("PathFollower");
+		RunningTimeElemNames.add("Guidance");
 		RunningTimeElemNames.add("FlightPlan");
 		RunningTimeElemNames.add("Com2UsbBridge");
 		RunningTimeElemNames.add("Usb2ComBridge");
@@ -192,7 +186,7 @@ public class TaskInfo extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xB81CD2AEl;
+	protected static final long OBJID = 0x51172B8Al;
 	protected static final String NAME = "TaskInfo";
 	protected static String DESCRIPTION = "Task information";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
index 9219524c5..88300d54e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
@@ -44,15 +44,11 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new AltitudeHoldSettings() );
 			objMngr.registerObject( new AttitudeActual() );
 			objMngr.registerObject( new AttitudeSettings() );
-			objMngr.registerObject( new AttitudeSimulated() );
-			objMngr.registerObject( new BaroAirspeed() );
 			objMngr.registerObject( new BaroAltitude() );
 			objMngr.registerObject( new CameraDesired() );
 			objMngr.registerObject( new CameraStabSettings() );
 			objMngr.registerObject( new FaultSettings() );
 			objMngr.registerObject( new FirmwareIAPObj() );
-			objMngr.registerObject( new FixedWingPathFollowerSettings() );
-			objMngr.registerObject( new FixedWingPathFollowerStatus() );
 			objMngr.registerObject( new FlightBatterySettings() );
 			objMngr.registerObject( new FlightBatteryState() );
 			objMngr.registerObject( new FlightPlanControl() );
@@ -72,26 +68,20 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new HomeLocation() );
 			objMngr.registerObject( new HwSettings() );
 			objMngr.registerObject( new I2CStats() );
-			objMngr.registerObject( new MagBias() );
 			objMngr.registerObject( new Magnetometer() );
 			objMngr.registerObject( new ManualControlCommand() );
 			objMngr.registerObject( new ManualControlSettings() );
 			objMngr.registerObject( new MixerSettings() );
 			objMngr.registerObject( new MixerStatus() );
 			objMngr.registerObject( new NedAccel() );
-			objMngr.registerObject( new NEDPosition() );
 			objMngr.registerObject( new ObjectPersistence() );
-			objMngr.registerObject( new OveroSyncSettings() );
 			objMngr.registerObject( new OveroSyncStats() );
-			objMngr.registerObject( new PathDesired() );
-			objMngr.registerObject( new PathPlannerSettings() );
 			objMngr.registerObject( new PipXSettings() );
 			objMngr.registerObject( new PipXStatus() );
 			objMngr.registerObject( new PositionActual() );
 			objMngr.registerObject( new RateDesired() );
 			objMngr.registerObject( new ReceiverActivity() );
 			objMngr.registerObject( new RevoCalibration() );
-			objMngr.registerObject( new RevoSettings() );
 			objMngr.registerObject( new SonarAltitude() );
 			objMngr.registerObject( new StabilizationDesired() );
 			objMngr.registerObject( new StabilizationSettings() );
@@ -102,10 +92,7 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new TxPIDSettings() );
 			objMngr.registerObject( new VelocityActual() );
 			objMngr.registerObject( new VelocityDesired() );
-			objMngr.registerObject( new VtolPathFollowerSettings() );
 			objMngr.registerObject( new WatchdogStatus() );
-			objMngr.registerObject( new Waypoint() );
-			objMngr.registerObject( new WaypointActive() );
 	
 		} catch (Exception e) {
 			e.printStackTrace();

From f75d710bcdfa134d1de9a9b744b2a6d246a6040c Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Mon, 6 Aug 2012 20:07:50 -0700
Subject: [PATCH 307/543] fixed save area in camerastab ui form to make skinny

---
 .../src/plugins/config/camerastabilization.ui | 279 ++++++++++--------
 .../src/plugins/config/stabilization.ui       |   2 +-
 2 files changed, 152 insertions(+), 129 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
index e911acdb0..d3406ef23 100644
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -131,8 +131,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>792</width>
-            <height>677</height>
+            <width>790</width>
+            <height>678</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -918,136 +918,159 @@ value.</string>
     </widget>
    </item>
    <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <property name="spacing">
-      <number>4</number>
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
      </property>
-     <item>
-      <spacer name="horizontalSpacer">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>425</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="camerastabilizationHelp">
-       <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="font">
-        <font>
-         <kerning>true</kerning>
-        </font>
-       </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="shortcut">
-        <string>Ctrl+S</string>
-       </property>
-       <property name="default">
-        <bool>false</bool>
-       </property>
-       <property name="flat">
-        <bool>true</bool>
-       </property>
-       <property name="objrelation" stdset="0">
-        <stringlist>
-         <string>button:help</string>
-         <string>url:http://wiki.openpilot.org/x/cACrAQ</string>
-        </stringlist>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="camerastabilizationResetToDefaults">
-       <property name="minimumSize">
-        <size>
-         <width>140</width>
-         <height>28</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Load default CameraStabilization settings except output channels
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>45</height>
+      </size>
+     </property>
+     <property name="title">
+      <string/>
+     </property>
+     <layout class="QHBoxLayout" name="horizontalLayout_2">
+      <property name="spacing">
+       <number>4</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <item>
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>456</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QPushButton" name="camerastabilizationHelp">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>25</width>
+          <height>25</height>
+         </size>
+        </property>
+        <property name="font">
+         <font>
+          <kerning>true</kerning>
+         </font>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="icon">
+         <iconset resource="../coreplugin/core.qrc">
+          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>25</width>
+          <height>25</height>
+         </size>
+        </property>
+        <property name="shortcut">
+         <string>Ctrl+S</string>
+        </property>
+        <property name="default">
+         <bool>false</bool>
+        </property>
+        <property name="flat">
+         <bool>true</bool>
+        </property>
+        <property name="objrelation" stdset="0">
+         <stringlist>
+          <string>button:help</string>
+          <string>url:http://wiki.openpilot.org/x/cACrAQ</string>
+         </stringlist>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="camerastabilizationResetToDefaults">
+        <property name="minimumSize">
+         <size>
+          <width>140</width>
+          <height>16</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Load default CameraStabilization settings except output channels
 
 Loaded settings are not applied automatically. You have to click the
 Apply or Save button afterwards.</string>
-       </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
-       <property name="text">
-        <string>Reset To Defaults</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="camerastabilizationSaveRAM">
-       <property name="minimumSize">
-        <size>
-         <width>78</width>
-         <height>28</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Send settings to the board but do not save to the non-volatile memory</string>
-       </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
-       <property name="text">
-        <string>Apply</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="camerastabilizationSaveSD">
-       <property name="minimumSize">
-        <size>
-         <width>71</width>
-         <height>28</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Send settings to the board and save to the non-volatile memory</string>
-       </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
-       <property name="text">
-        <string>Save</string>
-       </property>
-       <property name="checked">
-        <bool>false</bool>
-       </property>
-      </widget>
-     </item>
-    </layout>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Reset To Defaults</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="camerastabilizationSaveRAM">
+        <property name="minimumSize">
+         <size>
+          <width>78</width>
+          <height>16</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Send settings to the board but do not save to the non-volatile memory</string>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Apply</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="camerastabilizationSaveSD">
+        <property name="minimumSize">
+         <size>
+          <width>71</width>
+          <height>16</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Send settings to the board and save to the non-volatile memory</string>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Save</string>
+        </property>
+        <property name="checked">
+         <bool>false</bool>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
    </item>
   </layout>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index d0bc5a6d2..6d48c8bda 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -25570,7 +25570,7 @@ automatically every 300ms, which will help for fast tuning.</string>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
-          <width>269</width>
+          <width>450</width>
           <height>20</height>
          </size>
         </property>

From 9dca82a6db931a76b3ab4f0ac2104a8239ce6d9c Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Tue, 7 Aug 2012 12:25:04 +0100
Subject: [PATCH 308/543] GCS-Created new stylesheet rule for the config plugin
 list Reverted increase of list width.

---
 ground/openpilotgcs/src/app/stylesheets/linux.qss          | 1 +
 ground/openpilotgcs/src/app/stylesheets/macos.qss          | 1 +
 ground/openpilotgcs/src/app/stylesheets/windows.qss        | 1 +
 ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp | 2 +-
 4 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/app/stylesheets/linux.qss b/ground/openpilotgcs/src/app/stylesheets/linux.qss
index e69de29bb..3b0ade073 100644
--- a/ground/openpilotgcs/src/app/stylesheets/linux.qss
+++ b/ground/openpilotgcs/src/app/stylesheets/linux.qss
@@ -0,0 +1 @@
+MyListWidget {font-size: 11px;}
diff --git a/ground/openpilotgcs/src/app/stylesheets/macos.qss b/ground/openpilotgcs/src/app/stylesheets/macos.qss
index e69de29bb..3b0ade073 100644
--- a/ground/openpilotgcs/src/app/stylesheets/macos.qss
+++ b/ground/openpilotgcs/src/app/stylesheets/macos.qss
@@ -0,0 +1 @@
+MyListWidget {font-size: 11px;}
diff --git a/ground/openpilotgcs/src/app/stylesheets/windows.qss b/ground/openpilotgcs/src/app/stylesheets/windows.qss
index e69de29bb..3b0ade073 100644
--- a/ground/openpilotgcs/src/app/stylesheets/windows.qss
+++ b/ground/openpilotgcs/src/app/stylesheets/windows.qss
@@ -0,0 +1 @@
+MyListWidget {font-size: 11px;}
diff --git a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
index e2ca7c7ea..19d568702 100644
--- a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
+++ b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
@@ -56,7 +56,7 @@ MyTabbedStackWidget::MyTabbedStackWidget(QWidget *parent, bool isVertical, bool
         m_listWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
     }
     if (m_iconAbove && m_vertical)
-        m_listWidget->setFixedWidth(120); // this should be computed instead
+        m_listWidget->setFixedWidth(90); // this should be computed instead
 
     toplevelLayout->setSpacing(0);
     toplevelLayout->setContentsMargins(0, 0, 0, 0);

From 36707aef67d2a9651533a8256ed3192417c681ff Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Tue, 7 Aug 2012 11:33:21 -0700
Subject: [PATCH 309/543] fixed save area in all forms, shrunk down the output
 form upper groupbox a bit

---
 .../src/plugins/config/airframe.ui            | 170 ++++-----
 .../src/plugins/config/camerastabilization.ui |   9 +-
 .../src/plugins/config/cc_hw_settings.ui      | 336 +++++++++---------
 .../openpilotgcs/src/plugins/config/input.ui  | 202 ++++++-----
 .../openpilotgcs/src/plugins/config/output.ui | 210 +++++------
 .../src/plugins/config/stabilization.ui       |  37 +-
 .../openpilotgcs/src/plugins/config/txpid.ui  | 233 ++++++------
 7 files changed, 630 insertions(+), 567 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index aa62479cf..5a5d615f9 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>833</width>
-    <height>852</height>
+    <height>659</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -119,8 +119,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>779</width>
-            <height>691</height>
+            <width>778</width>
+            <height>584</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_2">
@@ -2755,8 +2755,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>247</width>
-            <height>301</height>
+            <width>779</width>
+            <height>516</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
@@ -3101,90 +3101,98 @@ p, li { white-space: pre-wrap; }
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>75</height>
+       <height>45</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>45</height>
       </size>
      </property>
      <property name="title">
       <string/>
      </property>
-     <layout class="QVBoxLayout" name="verticalLayout">
+     <layout class="QHBoxLayout" name="horizontalLayout_2">
+      <property name="spacing">
+       <number>4</number>
+      </property>
+      <property name="leftMargin">
+       <number>12</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
       <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_2">
-        <property name="spacing">
-         <number>4</number>
+       <spacer name="horizontalSpacer_10">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
         </property>
-        <property name="sizeConstraint">
-         <enum>QLayout::SetFixedSize</enum>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>607</width>
+          <height>13</height>
+         </size>
         </property>
-        <item>
-         <spacer name="horizontalSpacer_10">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>10</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <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>32</width>
-            <height>32</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>Takes you to the wiki page</string>
-          </property>
-          <property name="text">
-           <string/>
-          </property>
-          <property name="icon">
-           <iconset resource="../coreplugin/core.qrc">
-            <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-          </property>
-          <property name="iconSize">
-           <size>
-            <width>32</width>
-            <height>32</height>
-           </size>
-          </property>
-          <property name="flat">
-           <bool>true</bool>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="saveAircraftToRAM">
-          <property name="toolTip">
-           <string>Send to board, but don't save permanently (flash or SD).</string>
-          </property>
-          <property name="text">
-           <string>Apply</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="saveAircraftToSD">
-          <property name="toolTip">
-           <string>Applies and Saves all settings to flash or SD depending on board.</string>
-          </property>
-          <property name="text">
-           <string>Save</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
+       </spacer>
+      </item>
+      <item>
+       <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>25</width>
+          <height>26</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Takes you to the wiki page</string>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="icon">
+         <iconset resource="../coreplugin/core.qrc">
+          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>25</width>
+          <height>25</height>
+         </size>
+        </property>
+        <property name="flat">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="saveAircraftToRAM">
+        <property name="toolTip">
+         <string>Send to board, but don't save permanently (flash or SD).</string>
+        </property>
+        <property name="text">
+         <string>Apply</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="saveAircraftToSD">
+        <property name="toolTip">
+         <string>Applies and Saves all settings to flash or SD depending on board.</string>
+        </property>
+        <property name="text">
+         <string>Save</string>
+        </property>
+       </widget>
       </item>
      </layout>
     </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
index d3406ef23..e4e9dcefc 100644
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -10,13 +10,16 @@
     <height>845</height>
    </rect>
   </property>
+  <property name="contextMenuPolicy">
+   <enum>Qt::DefaultContextMenu</enum>
+  </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <property name="autoFillBackground">
    <bool>false</bool>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_6">
+  <layout class="QVBoxLayout" name="verticalLayout_6" stretch="0,0,0">
    <property name="spacing">
     <number>12</number>
    </property>
@@ -967,8 +970,8 @@ value.</string>
         </property>
         <property name="maximumSize">
          <size>
-          <width>25</width>
-          <height>25</height>
+          <width>32</width>
+          <height>26</height>
          </size>
         </property>
         <property name="font">
diff --git a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
index a7f78b623..eb1ce75ad 100644
--- a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
+++ b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>592</width>
-    <height>763</height>
+    <width>588</width>
+    <height>746</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -107,8 +107,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>562</width>
-            <height>567</height>
+            <width>558</width>
+            <height>580</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -385,7 +385,7 @@
    <item>
     <widget class="QGroupBox" name="groupBox">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
@@ -393,174 +393,182 @@
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>75</height>
+       <height>45</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>45</height>
       </size>
      </property>
      <property name="title">
       <string/>
      </property>
-     <layout class="QVBoxLayout" name="verticalLayout_4">
+     <layout class="QHBoxLayout" name="horizontalLayout_2">
+      <property name="spacing">
+       <number>4</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
       <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_2">
-        <property name="spacing">
-         <number>4</number>
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
         </property>
-        <item>
-         <spacer name="horizontalSpacer">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QPushButton" name="cchwHelp">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="minimumSize">
-           <size>
-            <width>32</width>
-            <height>32</height>
-           </size>
-          </property>
-          <property name="maximumSize">
-           <size>
-            <width>32</width>
-            <height>32</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>Takes you to the wiki page</string>
-          </property>
-          <property name="text">
-           <string/>
-          </property>
-          <property name="icon">
-           <iconset resource="../coreplugin/core.qrc">
-            <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-          </property>
-          <property name="iconSize">
-           <size>
-            <width>32</width>
-            <height>32</height>
-           </size>
-          </property>
-          <property name="flat">
-           <bool>true</bool>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="saveTelemetryToRAM">
-          <property name="palette">
-           <palette>
-            <active>
-             <colorrole role="Base">
-              <brush brushstyle="SolidPattern">
-               <color alpha="0">
-                <red>255</red>
-                <green>255</green>
-                <blue>255</blue>
-               </color>
-              </brush>
-             </colorrole>
-             <colorrole role="Window">
-              <brush brushstyle="SolidPattern">
-               <color alpha="255">
-                <red>232</red>
-                <green>232</green>
-                <blue>232</blue>
-               </color>
-              </brush>
-             </colorrole>
-            </active>
-            <inactive>
-             <colorrole role="Base">
-              <brush brushstyle="SolidPattern">
-               <color alpha="0">
-                <red>255</red>
-                <green>255</green>
-                <blue>255</blue>
-               </color>
-              </brush>
-             </colorrole>
-             <colorrole role="Window">
-              <brush brushstyle="SolidPattern">
-               <color alpha="255">
-                <red>232</red>
-                <green>232</green>
-                <blue>232</blue>
-               </color>
-              </brush>
-             </colorrole>
-            </inactive>
-            <disabled>
-             <colorrole role="Base">
-              <brush brushstyle="SolidPattern">
-               <color alpha="255">
-                <red>232</red>
-                <green>232</green>
-                <blue>232</blue>
-               </color>
-              </brush>
-             </colorrole>
-             <colorrole role="Window">
-              <brush brushstyle="SolidPattern">
-               <color alpha="255">
-                <red>232</red>
-                <green>232</green>
-                <blue>232</blue>
-               </color>
-              </brush>
-             </colorrole>
-            </disabled>
-           </palette>
-          </property>
-          <property name="toolTip">
-           <string>Send to OpenPilot but don't write in SD.
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>369</width>
+          <height>16</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QPushButton" name="cchwHelp">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>25</width>
+          <height>26</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>25</width>
+          <height>26</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Takes you to the wiki page</string>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="icon">
+         <iconset resource="../coreplugin/core.qrc">
+          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>25</width>
+          <height>25</height>
+         </size>
+        </property>
+        <property name="flat">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="saveTelemetryToRAM">
+        <property name="palette">
+         <palette>
+          <active>
+           <colorrole role="Base">
+            <brush brushstyle="SolidPattern">
+             <color alpha="0">
+              <red>255</red>
+              <green>255</green>
+              <blue>255</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Window">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>232</red>
+              <green>232</green>
+              <blue>232</blue>
+             </color>
+            </brush>
+           </colorrole>
+          </active>
+          <inactive>
+           <colorrole role="Base">
+            <brush brushstyle="SolidPattern">
+             <color alpha="0">
+              <red>255</red>
+              <green>255</green>
+              <blue>255</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Window">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>232</red>
+              <green>232</green>
+              <blue>232</blue>
+             </color>
+            </brush>
+           </colorrole>
+          </inactive>
+          <disabled>
+           <colorrole role="Base">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>232</red>
+              <green>232</green>
+              <blue>232</blue>
+             </color>
+            </brush>
+           </colorrole>
+           <colorrole role="Window">
+            <brush brushstyle="SolidPattern">
+             <color alpha="255">
+              <red>232</red>
+              <green>232</green>
+              <blue>232</blue>
+             </color>
+            </brush>
+           </colorrole>
+          </disabled>
+         </palette>
+        </property>
+        <property name="toolTip">
+         <string>Send to OpenPilot but don't write in SD.
 Beware of not locking yourself out!</string>
-          </property>
-          <property name="autoFillBackground">
-           <bool>false</bool>
-          </property>
-          <property name="styleSheet">
-           <string notr="true"/>
-          </property>
-          <property name="text">
-           <string>Apply</string>
-          </property>
-          <property name="checkable">
-           <bool>false</bool>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="saveTelemetryToSD">
-          <property name="toolTip">
-           <string>Applies and Saves all settings to SD.
+        </property>
+        <property name="autoFillBackground">
+         <bool>false</bool>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Apply</string>
+        </property>
+        <property name="checkable">
+         <bool>false</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="saveTelemetryToSD">
+        <property name="toolTip">
+         <string>Applies and Saves all settings to SD.
 Beware of not locking yourself out!</string>
-          </property>
-          <property name="autoFillBackground">
-           <bool>false</bool>
-          </property>
-          <property name="styleSheet">
-           <string notr="true"/>
-          </property>
-          <property name="text">
-           <string>Save</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
+        </property>
+        <property name="autoFillBackground">
+         <bool>false</bool>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Save</string>
+        </property>
+       </widget>
       </item>
      </layout>
     </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index e40e232f7..4dcc31f4f 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>702</width>
-    <height>920</height>
+    <height>764</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -108,7 +108,7 @@
             <x>0</x>
             <y>0</y>
             <width>672</width>
-            <height>783</height>
+            <height>657</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout">
@@ -740,8 +740,8 @@ font:bold;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>540</width>
-            <height>510</height>
+            <width>672</width>
+            <height>795</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_7">
@@ -1265,8 +1265,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>529</width>
-            <height>165</height>
+            <width>672</width>
+            <height>795</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
@@ -1393,104 +1393,112 @@ margin:1px;</string>
    </item>
    <item>
     <widget class="QGroupBox" name="groupBox_3">
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>45</height>
+      </size>
+     </property>
      <property name="title">
       <string/>
      </property>
-     <layout class="QVBoxLayout" name="verticalLayout">
+     <layout class="QHBoxLayout" name="horizontalLayout_5">
+      <property name="spacing">
+       <number>4</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
       <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_5">
-        <property name="spacing">
-         <number>4</number>
+       <spacer name="horizontalSpacer_5">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
         </property>
-        <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="toolTip">
-           <string>Takes you to the wiki page</string>
-          </property>
-          <property name="text">
-           <string/>
-          </property>
-          <property name="icon">
-           <iconset resource="../coreplugin/core.qrc">
-            <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-          </property>
-          <property name="iconSize">
-           <size>
-            <width>32</width>
-            <height>32</height>
-           </size>
-          </property>
-          <property name="flat">
-           <bool>true</bool>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="saveRCInputToRAM">
-          <property name="minimumSize">
-           <size>
-            <width>60</width>
-            <height>28</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>Send to OpenPilot but don't write in SD.
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>483</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QPushButton" name="inputHelp">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>25</width>
+          <height>26</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Takes you to the wiki page</string>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="icon">
+         <iconset resource="../coreplugin/core.qrc">
+          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>25</width>
+          <height>25</height>
+         </size>
+        </property>
+        <property name="flat">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="saveRCInputToRAM">
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>28</height>
+         </size>
+        </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="styleSheet">
-           <string notr="true"/>
-          </property>
-          <property name="text">
-           <string>Apply</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="saveRCInputToSD">
-          <property name="minimumSize">
-           <size>
-            <width>60</width>
-            <height>28</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>Be sure to set the Neutral position on all sliders before sending!
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Apply</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="saveRCInputToSD">
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>28</height>
+         </size>
+        </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="styleSheet">
-           <string notr="true"/>
-          </property>
-          <property name="text">
-           <string>Save</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Save</string>
+        </property>
+       </widget>
       </item>
      </layout>
     </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/output.ui b/ground/openpilotgcs/src/plugins/config/output.ui
index dbddcda3b..f3dd12c27 100644
--- a/ground/openpilotgcs/src/plugins/config/output.ui
+++ b/ground/openpilotgcs/src/plugins/config/output.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>811</width>
-    <height>937</height>
+    <height>895</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -114,7 +114,7 @@
             <x>0</x>
             <y>0</y>
             <width>781</width>
-            <height>800</height>
+            <height>788</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
@@ -129,13 +129,19 @@
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>78</height>
+               <height>60</height>
               </size>
              </property>
              <property name="title">
               <string/>
              </property>
              <layout class="QGridLayout" name="gridLayout">
+              <property name="topMargin">
+               <number>0</number>
+              </property>
+              <property name="bottomMargin">
+               <number>0</number>
+              </property>
               <item row="0" column="0">
                <spacer name="horizontalSpacer_3">
                 <property name="orientation">
@@ -926,113 +932,115 @@ margin:1px;</string>
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>75</height>
+       <height>45</height>
       </size>
      </property>
      <property name="title">
       <string/>
      </property>
-     <layout class="QVBoxLayout" name="verticalLayout_2">
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <property name="spacing">
+       <number>4</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
       <item>
-       <layout class="QHBoxLayout" name="horizontalLayout">
-        <property name="spacing">
-         <number>4</number>
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
         </property>
-        <item>
-         <spacer name="horizontalSpacer">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QPushButton" name="outputHelp">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="minimumSize">
-           <size>
-            <width>32</width>
-            <height>32</height>
-           </size>
-          </property>
-          <property name="maximumSize">
-           <size>
-            <width>32</width>
-            <height>32</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>Takes you to the wiki page</string>
-          </property>
-          <property name="text">
-           <string/>
-          </property>
-          <property name="icon">
-           <iconset resource="../coreplugin/core.qrc">
-            <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-          </property>
-          <property name="iconSize">
-           <size>
-            <width>32</width>
-            <height>32</height>
-           </size>
-          </property>
-          <property name="flat">
-           <bool>true</bool>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="saveRCOutputToRAM">
-          <property name="minimumSize">
-           <size>
-            <width>60</width>
-            <height>28</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>Send to OpenPilot but don't write in SD.
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>592</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QPushButton" name="outputHelp">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>25</width>
+          <height>26</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>25</width>
+          <height>26</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Takes you to the wiki page</string>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="icon">
+         <iconset resource="../coreplugin/core.qrc">
+          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>25</width>
+          <height>25</height>
+         </size>
+        </property>
+        <property name="flat">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="saveRCOutputToRAM">
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>28</height>
+         </size>
+        </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="styleSheet">
-           <string notr="true"/>
-          </property>
-          <property name="text">
-           <string>Apply</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="saveRCOutputToSD">
-          <property name="minimumSize">
-           <size>
-            <width>60</width>
-            <height>28</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>Be sure to set the Neutral position on all sliders before sending!
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Apply</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="saveRCOutputToSD">
+        <property name="minimumSize">
+         <size>
+          <width>60</width>
+          <height>28</height>
+         </size>
+        </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="styleSheet">
-           <string notr="true"/>
-          </property>
-          <property name="text">
-           <string>Save</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Save</string>
+        </property>
+       </widget>
       </item>
      </layout>
     </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 6d48c8bda..739a2329e 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -6,12 +6,12 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>942</width>
-    <height>703</height>
+    <width>864</width>
+    <height>635</height>
    </rect>
   </property>
   <property name="sizePolicy">
-   <sizepolicy hsizetype="MinimumExpanding" vsizetype="Expanding">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
     <horstretch>0</horstretch>
     <verstretch>0</verstretch>
    </sizepolicy>
@@ -453,6 +453,9 @@
    <bool>false</bool>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_2">
+   <property name="spacing">
+    <number>12</number>
+   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="sizePolicy">
@@ -594,8 +597,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>912</width>
-            <height>602</height>
+            <width>834</width>
+            <height>532</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_12" stretch="0,0,0,0,0">
@@ -6929,8 +6932,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>912</width>
-            <height>602</height>
+            <width>819</width>
+            <height>579</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -16782,8 +16785,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>912</width>
-            <height>602</height>
+            <width>830</width>
+            <height>543</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_9">
@@ -25592,8 +25595,8 @@ automatically every 300ms, which will help for fast tuning.</string>
         </property>
         <property name="maximumSize">
          <size>
-          <width>32</width>
-          <height>32</height>
+          <width>25</width>
+          <height>26</height>
          </size>
         </property>
         <property name="toolTip">
@@ -25629,7 +25632,7 @@ automatically every 300ms, which will help for fast tuning.</string>
       <item>
        <widget class="QPushButton" name="stabilizationReloadBoardData_6">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -25637,7 +25640,7 @@ automatically every 300ms, which will help for fast tuning.</string>
         <property name="minimumSize">
          <size>
           <width>140</width>
-          <height>16</height>
+          <height>32</height>
          </size>
         </property>
         <property name="maximumSize">
@@ -25680,8 +25683,8 @@ Useful if you have accidentally changed some settings.</string>
         </property>
         <property name="minimumSize">
          <size>
-          <width>60</width>
-          <height>16</height>
+          <width>78</width>
+          <height>32</height>
          </size>
         </property>
         <property name="maximumSize">
@@ -25716,8 +25719,8 @@ Useful if you have accidentally changed some settings.</string>
         </property>
         <property name="minimumSize">
          <size>
-          <width>60</width>
-          <height>16</height>
+          <width>71</width>
+          <height>32</height>
          </size>
         </property>
         <property name="maximumSize">
diff --git a/ground/openpilotgcs/src/plugins/config/txpid.ui b/ground/openpilotgcs/src/plugins/config/txpid.ui
index 089d30d7f..78c15a829 100644
--- a/ground/openpilotgcs/src/plugins/config/txpid.ui
+++ b/ground/openpilotgcs/src/plugins/config/txpid.ui
@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>708</width>
-    <height>880</height>
+    <width>789</width>
+    <height>715</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>TxPID</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_3">
+  <layout class="QVBoxLayout" name="verticalLayout">
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -107,8 +107,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>678</width>
-            <height>678</height>
+            <width>759</width>
+            <height>543</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
@@ -178,7 +178,7 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.</str
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>100</height>
+               <height>293</height>
               </size>
              </property>
              <property name="title">
@@ -636,7 +636,7 @@ margin:1px;</string>
    <item>
     <widget class="QGroupBox" name="groupBox">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
@@ -644,115 +644,140 @@ margin:1px;</string>
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>75</height>
+       <height>45</height>
       </size>
      </property>
      <property name="maximumSize">
       <size>
        <width>16777215</width>
-       <height>79</height>
+       <height>45</height>
       </size>
      </property>
      <property name="title">
       <string/>
      </property>
-     <layout class="QVBoxLayout" name="verticalLayout">
+     <layout class="QHBoxLayout" name="horizontalLayout_2">
+      <property name="spacing">
+       <number>4</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
       <item>
-       <layout class="QHBoxLayout" name="submitButtons">
-        <property name="spacing">
-         <number>4</number>
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
         </property>
-        <item>
-         <widget class="QFrame" name="frame">
-          <property name="frameShape">
-           <enum>QFrame::StyledPanel</enum>
-          </property>
-          <property name="frameShadow">
-           <enum>QFrame::Raised</enum>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <spacer name="horizontalSpacer">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QPushButton" name="pushButton">
-          <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>
-          <property name="objrelation" stdset="0">
-           <stringlist>
-            <string>button:help</string>
-            <string>url:http://wiki.openpilot.org/x/DACiAQ</string>
-           </stringlist>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="Apply">
-          <property name="minimumSize">
-           <size>
-            <width>60</width>
-            <height>28</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>Send settings to the board but do not save to the non-volatile memory</string>
-          </property>
-          <property name="styleSheet">
-           <string notr="true"/>
-          </property>
-          <property name="text">
-           <string>Apply</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="Save">
-          <property name="minimumSize">
-           <size>
-            <width>60</width>
-            <height>28</height>
-           </size>
-          </property>
-          <property name="toolTip">
-           <string>Send settings to the board and save to the non-volatile memory</string>
-          </property>
-          <property name="styleSheet">
-           <string notr="true"/>
-          </property>
-          <property name="text">
-           <string>Save</string>
-          </property>
-          <property name="checked">
-           <bool>false</bool>
-          </property>
-         </widget>
-        </item>
-       </layout>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>570</width>
+          <height>13</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QPushButton" name="pushButton">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>25</width>
+          <height>25</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>25</width>
+          <height>25</height>
+         </size>
+        </property>
+        <property name="baseSize">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="autoFillBackground">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="icon">
+         <iconset resource="../coreplugin/core.qrc">
+          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+        </property>
+        <property name="iconSize">
+         <size>
+          <width>25</width>
+          <height>25</height>
+         </size>
+        </property>
+        <property name="autoDefault">
+         <bool>false</bool>
+        </property>
+        <property name="default">
+         <bool>false</bool>
+        </property>
+        <property name="flat">
+         <bool>true</bool>
+        </property>
+        <property name="objrelation" stdset="0">
+         <stringlist>
+          <string>button:help</string>
+          <string>url:http://wiki.openpilot.org/x/DACiAQ</string>
+         </stringlist>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="Apply">
+        <property name="minimumSize">
+         <size>
+          <width>78</width>
+          <height>32</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Send settings to the board but do not save to the non-volatile memory</string>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Apply</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="Save">
+        <property name="minimumSize">
+         <size>
+          <width>71</width>
+          <height>32</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Send settings to the board and save to the non-volatile memory</string>
+        </property>
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>Save</string>
+        </property>
+        <property name="checked">
+         <bool>false</bool>
+        </property>
+       </widget>
       </item>
      </layout>
     </widget>

From 820162fa27ca4f8276212cbb8d6399fd47fc0d22 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Tue, 7 Aug 2012 13:53:13 -0700
Subject: [PATCH 310/543] fixed aircraft page, specifically multirotor page so
 it works better

---
 .../src/plugins/config/airframe.ui            | 1441 ++++++++---------
 1 file changed, 671 insertions(+), 770 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 5a5d615f9..152abdd07 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>833</width>
-    <height>659</height>
+    <width>978</width>
+    <height>703</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -119,12 +119,18 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>778</width>
-            <height>584</height>
+            <width>924</width>
+            <height>572</height>
            </rect>
           </property>
-          <layout class="QGridLayout" name="gridLayout_2">
-           <item row="0" column="0">
+          <layout class="QVBoxLayout" name="verticalLayout">
+           <property name="spacing">
+            <number>12</number>
+           </property>
+           <property name="margin">
+            <number>0</number>
+           </property>
+           <item>
             <layout class="QHBoxLayout" name="horizontalLayout">
              <property name="sizeConstraint">
               <enum>QLayout::SetFixedSize</enum>
@@ -171,22 +177,51 @@
                </property>
               </spacer>
              </item>
+             <item>
+              <widget class="QLabel" name="mrStatusLabel">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="text">
+                <string>Mixer OK</string>
+               </property>
+              </widget>
+             </item>
             </layout>
            </item>
-           <item row="3" column="0">
+           <item>
+            <widget class="Line" name="line">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+            </widget>
+           </item>
+           <item>
             <widget class="QStackedWidget" name="airframesWidget">
              <property name="sizePolicy">
-              <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
                <verstretch>0</verstretch>
               </sizepolicy>
              </property>
              <property name="maximumSize">
               <size>
-               <width>775</width>
+               <width>16777215</width>
                <height>16777215</height>
               </size>
              </property>
+             <property name="frameShape">
+              <enum>QFrame::NoFrame</enum>
+             </property>
              <property name="currentIndex">
               <number>1</number>
              </property>
@@ -671,761 +706,663 @@ margin:1px;</string>
               </layout>
              </widget>
              <widget class="QWidget" name="multiRotor">
-              <layout class="QVBoxLayout" name="verticalLayout_4" stretch="1">
-               <item>
-                <layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0">
-                 <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0">
-                   <item>
-                    <layout class="QVBoxLayout" name="verticalLayout_24">
-                     <item>
-                      <layout class="QHBoxLayout" name="horizontalLayout_5">
-                       <item>
-                        <widget class="QLabel" name="label_15">
-                         <property name="font">
-                          <font>
-                           <weight>75</weight>
-                           <bold>true</bold>
-                          </font>
-                         </property>
-                         <property name="text">
-                          <string>Frame type:</string>
-                         </property>
-                        </widget>
-                       </item>
-                       <item>
-                        <widget class="QComboBox" name="multirotorFrameType">
-                         <property name="toolTip">
-                          <string>Select the Multirotor frame type here.</string>
-                         </property>
-                        </widget>
-                       </item>
-                       <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>
-                      </layout>
-                     </item>
-                     <item>
-                      <layout class="QHBoxLayout" name="horizontalLayout_22">
-                       <item>
-                        <layout class="QVBoxLayout" name="verticalLayout_20">
-                         <item>
-                          <layout class="QHBoxLayout" name="horizontalLayout_25">
-                           <item>
-                            <widget class="QLabel" name="label_4">
-                             <property name="font">
-                              <font>
-                               <weight>75</weight>
-                               <bold>true</bold>
-                              </font>
-                             </property>
-                             <property name="text">
-                              <string>Mix Level</string>
-                             </property>
-                            </widget>
-                           </item>
-                           <item>
-                            <spacer name="horizontalSpacer_17">
-                             <property name="orientation">
-                              <enum>Qt::Horizontal</enum>
-                             </property>
-                             <property name="sizeHint" stdset="0">
-                              <size>
-                               <width>40</width>
-                               <height>20</height>
-                              </size>
-                             </property>
-                            </spacer>
-                           </item>
-                          </layout>
-                         </item>
-                         <item>
-                          <layout class="QHBoxLayout" name="horizontalLayout_19">
-                           <item>
-                            <layout class="QVBoxLayout" name="verticalLayout_22">
-                             <item>
-                              <widget class="QLabel" name="mrRollMixValue">
-                               <property name="minimumSize">
-                                <size>
-                                 <width>30</width>
-                                 <height>0</height>
-                                </size>
-                               </property>
-                               <property name="text">
-                                <string>100</string>
-                               </property>
-                               <property name="alignment">
-                                <set>Qt::AlignCenter</set>
-                               </property>
-                              </widget>
-                             </item>
-                             <item>
-                              <widget class="QSlider" name="mrRollMixLevel">
-                               <property name="minimumSize">
-                                <size>
-                                 <width>35</width>
-                                 <height>0</height>
-                                </size>
-                               </property>
-                               <property name="toolTip">
-                                <string>Weight of Roll mixing in percent.
-Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
-                               </property>
-                               <property name="maximum">
-                                <number>100</number>
-                               </property>
-                               <property name="value">
-                                <number>100</number>
-                               </property>
-                               <property name="orientation">
-                                <enum>Qt::Vertical</enum>
-                               </property>
-                              </widget>
-                             </item>
-                             <item>
-                              <widget class="QLabel" name="label_42">
-                               <property name="styleSheet">
-                                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                               </property>
-                               <property name="text">
-                                <string>Roll</string>
-                               </property>
-                               <property name="alignment">
-                                <set>Qt::AlignCenter</set>
-                               </property>
-                              </widget>
-                             </item>
-                            </layout>
-                           </item>
-                           <item>
-                            <layout class="QVBoxLayout" name="verticalLayout_23">
-                             <item>
-                              <widget class="QLabel" name="mrPitchMixValue">
-                               <property name="minimumSize">
-                                <size>
-                                 <width>0</width>
-                                 <height>0</height>
-                                </size>
-                               </property>
-                               <property name="text">
-                                <string>100</string>
-                               </property>
-                               <property name="alignment">
-                                <set>Qt::AlignCenter</set>
-                               </property>
-                              </widget>
-                             </item>
-                             <item>
-                              <widget class="QSlider" name="mrPitchMixLevel">
-                               <property name="minimumSize">
-                                <size>
-                                 <width>35</width>
-                                 <height>0</height>
-                                </size>
-                               </property>
-                               <property name="toolTip">
-                                <string>Weight of Pitch mixing in percent.
-Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
-                               </property>
-                               <property name="maximum">
-                                <number>100</number>
-                               </property>
-                               <property name="value">
-                                <number>100</number>
-                               </property>
-                               <property name="orientation">
-                                <enum>Qt::Vertical</enum>
-                               </property>
-                              </widget>
-                             </item>
-                             <item>
-                              <widget class="QLabel" name="label_40">
-                               <property name="styleSheet">
-                                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                               </property>
-                               <property name="text">
-                                <string>Pitch</string>
-                               </property>
-                               <property name="alignment">
-                                <set>Qt::AlignCenter</set>
-                               </property>
-                              </widget>
-                             </item>
-                            </layout>
-                           </item>
-                           <item>
-                            <layout class="QVBoxLayout" name="verticalLayout_21">
-                             <item>
-                              <widget class="QLabel" name="mrYawMixValue">
-                               <property name="minimumSize">
-                                <size>
-                                 <width>0</width>
-                                 <height>0</height>
-                                </size>
-                               </property>
-                               <property name="text">
-                                <string>50</string>
-                               </property>
-                               <property name="alignment">
-                                <set>Qt::AlignCenter</set>
-                               </property>
-                              </widget>
-                             </item>
-                             <item>
-                              <widget class="QSlider" name="mrYawMixLevel">
-                               <property name="minimumSize">
-                                <size>
-                                 <width>40</width>
-                                 <height>0</height>
-                                </size>
-                               </property>
-                               <property name="toolTip">
-                                <string>Weight of Yaw mixing in percent.
-Typical value is 50% for + or X configuration on quads.</string>
-                               </property>
-                               <property name="minimum">
-                                <number>-100</number>
-                               </property>
-                               <property name="maximum">
-                                <number>100</number>
-                               </property>
-                               <property name="value">
-                                <number>50</number>
-                               </property>
-                               <property name="orientation">
-                                <enum>Qt::Vertical</enum>
-                               </property>
-                              </widget>
-                             </item>
-                             <item>
-                              <widget class="QLabel" name="label_6">
-                               <property name="autoFillBackground">
-                                <bool>false</bool>
-                               </property>
-                               <property name="styleSheet">
-                                <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                               </property>
-                               <property name="text">
-                                <string>Yaw</string>
-                               </property>
-                               <property name="alignment">
-                                <set>Qt::AlignCenter</set>
-                               </property>
-                              </widget>
-                             </item>
-                            </layout>
-                           </item>
-                          </layout>
-                         </item>
-                        </layout>
-                       </item>
-                       <item>
-                        <widget class="QGraphicsView" name="quadShape">
-                         <property name="sizePolicy">
-                          <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-                           <horstretch>0</horstretch>
-                           <verstretch>0</verstretch>
-                          </sizepolicy>
-                         </property>
-                         <property name="minimumSize">
-                          <size>
-                           <width>80</width>
-                           <height>80</height>
-                          </size>
-                         </property>
-                         <property name="styleSheet">
-                          <string notr="true">background:transparent</string>
-                         </property>
-                         <property name="frameShape">
-                          <enum>QFrame::NoFrame</enum>
-                         </property>
-                         <property name="frameShadow">
-                          <enum>QFrame::Plain</enum>
-                         </property>
-                        </widget>
-                       </item>
-                      </layout>
-                     </item>
-                    </layout>
-                   </item>
-                   <item>
-                    <widget class="QGroupBox" name="groupBox_6">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="minimumSize">
-                      <size>
-                       <width>300</width>
-                       <height>300</height>
-                      </size>
-                     </property>
-                     <property name="title">
-                      <string>Throttle Curve</string>
-                     </property>
-                     <layout class="QVBoxLayout" name="verticalLayout_9">
+              <layout class="QGridLayout" name="gridLayout_3" columnstretch="1,1,1">
+               <item row="0" column="1">
+                <widget class="QGroupBox" name="groupBox_9">
+                 <property name="title">
+                  <string>Mix Level</string>
+                 </property>
+                 <layout class="QHBoxLayout" name="horizontalLayout_5">
+                  <item>
+                   <layout class="QHBoxLayout" name="horizontalLayout_19">
+                    <item>
+                     <layout class="QVBoxLayout" name="verticalLayout_22">
                       <item>
-                       <widget class="MixerCurve" name="multiThrottleCurve" native="true">
-                        <property name="sizePolicy">
-                         <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                          <horstretch>0</horstretch>
-                          <verstretch>0</verstretch>
-                         </sizepolicy>
+                       <widget class="QLabel" name="mrRollMixValue">
+                        <property name="minimumSize">
+                         <size>
+                          <width>30</width>
+                          <height>0</height>
+                         </size>
                         </property>
+                        <property name="text">
+                         <string>100</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QSlider" name="mrRollMixLevel">
+                        <property name="minimumSize">
+                         <size>
+                          <width>35</width>
+                          <height>0</height>
+                         </size>
+                        </property>
+                        <property name="toolTip">
+                         <string>Weight of Roll mixing in percent.
+Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
+                        </property>
+                        <property name="maximum">
+                         <number>100</number>
+                        </property>
+                        <property name="value">
+                         <number>100</number>
+                        </property>
+                        <property name="orientation">
+                         <enum>Qt::Vertical</enum>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QLabel" name="label_42">
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                        </property>
+                        <property name="text">
+                         <string>Roll</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                     </layout>
+                    </item>
+                    <item>
+                     <layout class="QVBoxLayout" name="verticalLayout_23">
+                      <item>
+                       <widget class="QLabel" name="mrPitchMixValue">
                         <property name="minimumSize">
                          <size>
                           <width>0</width>
                           <height>0</height>
                          </size>
                         </property>
-                        <property name="sizeIncrement">
+                        <property name="text">
+                         <string>100</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QSlider" name="mrPitchMixLevel">
+                        <property name="minimumSize">
                          <size>
-                          <width>10</width>
-                          <height>10</height>
+                          <width>35</width>
+                          <height>0</height>
                          </size>
                         </property>
-                        <property name="baseSize">
-                         <size>
-                          <width>300</width>
-                          <height>350</height>
-                         </size>
+                        <property name="toolTip">
+                         <string>Weight of Pitch mixing in percent.
+Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
                         </property>
+                        <property name="maximum">
+                         <number>100</number>
+                        </property>
+                        <property name="value">
+                         <number>100</number>
+                        </property>
+                        <property name="orientation">
+                         <enum>Qt::Vertical</enum>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QLabel" name="label_40">
                         <property name="styleSheet">
-                         <string notr="true">background:transparent</string>
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                        </property>
+                        <property name="text">
+                         <string>Pitch</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
                         </property>
                        </widget>
                       </item>
                      </layout>
-                    </widget>
-                   </item>
-                  </layout>
-                 </item>
-                 <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_6" stretch="1,0,3">
-                   <property name="spacing">
-                    <number>10</number>
-                   </property>
-                   <item>
-                    <layout class="QVBoxLayout" name="verticalLayout_10">
-                     <item>
-                      <layout class="QHBoxLayout" name="horizontalLayout_26">
-                       <item>
-                        <widget class="QLabel" name="label_23">
-                         <property name="font">
-                          <font>
-                           <weight>75</weight>
-                           <bold>true</bold>
-                          </font>
-                         </property>
-                         <property name="text">
-                          <string>Tricopter Yaw</string>
-                         </property>
-                        </widget>
-                       </item>
-                       <item>
-                        <spacer name="horizontalSpacer_18">
-                         <property name="orientation">
-                          <enum>Qt::Horizontal</enum>
-                         </property>
-                         <property name="sizeType">
-                          <enum>QSizePolicy::Preferred</enum>
-                         </property>
-                         <property name="sizeHint" stdset="0">
-                          <size>
-                           <width>40</width>
-                           <height>20</height>
-                          </size>
-                         </property>
-                        </spacer>
-                       </item>
-                      </layout>
-                     </item>
-                     <item>
-                      <widget class="QLabel" name="label_2">
-                       <property name="styleSheet">
-                        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                       </property>
-                       <property name="text">
-                        <string>channel:</string>
-                       </property>
-                      </widget>
-                     </item>
-                     <item>
-                      <widget class="QComboBox" name="triYawChannelBox">
-                       <property name="enabled">
-                        <bool>false</bool>
-                       </property>
-                       <property name="sizePolicy">
-                        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
-                         <horstretch>0</horstretch>
-                         <verstretch>0</verstretch>
-                        </sizepolicy>
-                       </property>
-                       <property name="minimumSize">
-                        <size>
-                         <width>40</width>
-                         <height>0</height>
-                        </size>
-                       </property>
-                      </widget>
-                     </item>
-                     <item>
-                      <spacer name="verticalSpacer_4">
-                       <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>
-                    <spacer name="horizontalSpacer_9">
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                     <property name="sizeHint" stdset="0">
-                      <size>
-                       <width>10</width>
-                       <height>20</height>
-                      </size>
-                     </property>
-                    </spacer>
-                   </item>
-                   <item>
-                    <widget class="QGroupBox" name="groupBox">
-                     <property name="title">
-                      <string>Motor output channels</string>
-                     </property>
-                     <layout class="QHBoxLayout" name="horizontalLayout_10">
-                      <property name="spacing">
-                       <number>1</number>
-                      </property>
-                      <property name="margin">
-                       <number>1</number>
-                      </property>
+                    </item>
+                    <item>
+                     <layout class="QVBoxLayout" name="verticalLayout_21">
                       <item>
-                       <layout class="QFormLayout" name="formLayout_2">
-                        <property name="sizeConstraint">
-                         <enum>QLayout::SetMaximumSize</enum>
+                       <widget class="QLabel" name="mrYawMixValue">
+                        <property name="minimumSize">
+                         <size>
+                          <width>0</width>
+                          <height>0</height>
+                         </size>
                         </property>
-                        <property name="fieldGrowthPolicy">
-                         <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+                        <property name="text">
+                         <string>50</string>
                         </property>
-                        <property name="verticalSpacing">
-                         <number>3</number>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
                         </property>
-                        <item row="1" column="0">
-                         <widget class="QLabel" name="MotorOutputLabel1">
-                          <property name="styleSheet">
-                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                          </property>
-                          <property name="text">
-                           <string>1</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="1" column="1">
-                         <widget class="QComboBox" name="multiMotorChannelBox1">
-                          <property name="toolTip">
-                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="2" column="0">
-                         <widget class="QLabel" name="label_8">
-                          <property name="styleSheet">
-                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                          </property>
-                          <property name="text">
-                           <string>2</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="2" column="1">
-                         <widget class="QComboBox" name="multiMotorChannelBox2">
-                          <property name="toolTip">
-                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="3" column="0">
-                         <widget class="QLabel" name="label_9">
-                          <property name="styleSheet">
-                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                          </property>
-                          <property name="text">
-                           <string>3</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="3" column="1">
-                         <widget class="QComboBox" name="multiMotorChannelBox3">
-                          <property name="toolTip">
-                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="4" column="0">
-                         <widget class="QLabel" name="label_10">
-                          <property name="styleSheet">
-                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                          </property>
-                          <property name="text">
-                           <string>4</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="4" column="1">
-                         <widget class="QComboBox" name="multiMotorChannelBox4">
-                          <property name="toolTip">
-                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="0" column="1">
-                         <spacer name="verticalSpacer_8">
-                          <property name="orientation">
-                           <enum>Qt::Vertical</enum>
-                          </property>
-                          <property name="sizeType">
-                           <enum>QSizePolicy::Fixed</enum>
-                          </property>
-                          <property name="sizeHint" stdset="0">
-                           <size>
-                            <width>0</width>
-                            <height>20</height>
-                           </size>
-                          </property>
-                         </spacer>
-                        </item>
-                       </layout>
+                       </widget>
                       </item>
                       <item>
-                       <layout class="QFormLayout" name="formLayout_4">
-                        <property name="sizeConstraint">
-                         <enum>QLayout::SetMaximumSize</enum>
+                       <widget class="QSlider" name="mrYawMixLevel">
+                        <property name="minimumSize">
+                         <size>
+                          <width>40</width>
+                          <height>0</height>
+                         </size>
                         </property>
-                        <property name="fieldGrowthPolicy">
-                         <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+                        <property name="toolTip">
+                         <string>Weight of Yaw mixing in percent.
+Typical value is 50% for + or X configuration on quads.</string>
                         </property>
-                        <property name="verticalSpacing">
-                         <number>3</number>
+                        <property name="minimum">
+                         <number>-100</number>
                         </property>
-                        <item row="1" column="0">
-                         <widget class="QLabel" name="label_11">
-                          <property name="styleSheet">
-                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                        <property name="maximum">
+                         <number>100</number>
+                        </property>
+                        <property name="value">
+                         <number>50</number>
+                        </property>
+                        <property name="orientation">
+                         <enum>Qt::Vertical</enum>
+                        </property>
+                       </widget>
+                      </item>
+                      <item>
+                       <widget class="QLabel" name="label_6">
+                        <property name="autoFillBackground">
+                         <bool>false</bool>
+                        </property>
+                        <property name="styleSheet">
+                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-                          </property>
-                          <property name="text">
-                           <string>5</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="1" column="1">
-                         <widget class="QComboBox" name="multiMotorChannelBox5">
-                          <property name="enabled">
-                           <bool>false</bool>
-                          </property>
-                          <property name="sizePolicy">
-                           <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                            <horstretch>0</horstretch>
-                            <verstretch>0</verstretch>
-                           </sizepolicy>
-                          </property>
-                          <property name="toolTip">
-                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="2" column="0">
-                         <widget class="QLabel" name="label_12">
-                          <property name="styleSheet">
-                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                          </property>
-                          <property name="text">
-                           <string>6</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="2" column="1">
-                         <widget class="QComboBox" name="multiMotorChannelBox6">
-                          <property name="enabled">
-                           <bool>false</bool>
-                          </property>
-                          <property name="toolTip">
-                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="3" column="0">
-                         <widget class="QLabel" name="label_16">
-                          <property name="styleSheet">
-                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                          </property>
-                          <property name="text">
-                           <string>7</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="3" column="1">
-                         <widget class="QComboBox" name="multiMotorChannelBox7">
-                          <property name="enabled">
-                           <bool>false</bool>
-                          </property>
-                          <property name="toolTip">
-                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="4" column="0">
-                         <widget class="QLabel" name="label_17">
-                          <property name="styleSheet">
-                           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                          </property>
-                          <property name="text">
-                           <string>8</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="4" column="1">
-                         <widget class="QComboBox" name="multiMotorChannelBox8">
-                          <property name="enabled">
-                           <bool>false</bool>
-                          </property>
-                          <property name="toolTip">
-                           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
-                          </property>
-                         </widget>
-                        </item>
-                        <item row="0" column="1">
-                         <spacer name="verticalSpacer_9">
-                          <property name="orientation">
-                           <enum>Qt::Vertical</enum>
-                          </property>
-                          <property name="sizeType">
-                           <enum>QSizePolicy::Fixed</enum>
-                          </property>
-                          <property name="sizeHint" stdset="0">
-                           <size>
-                            <width>20</width>
-                            <height>20</height>
-                           </size>
-                          </property>
-                         </spacer>
-                        </item>
-                       </layout>
+                        </property>
+                        <property name="text">
+                         <string>Yaw</string>
+                        </property>
+                        <property name="alignment">
+                         <set>Qt::AlignCenter</set>
+                        </property>
+                       </widget>
                       </item>
                      </layout>
-                    </widget>
-                   </item>
-                  </layout>
-                 </item>
-                 <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_20">
-                   <item>
-                    <spacer name="horizontalSpacer_12">
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                     <property name="sizeType">
-                      <enum>QSizePolicy::Expanding</enum>
-                     </property>
-                     <property name="sizeHint" stdset="0">
-                      <size>
-                       <width>40</width>
-                       <height>20</height>
-                      </size>
-                     </property>
-                    </spacer>
-                   </item>
-                   <item>
-                    <widget class="QLabel" name="mrStatusLabel">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="font">
-                      <font>
-                       <weight>75</weight>
-                       <bold>true</bold>
-                      </font>
-                     </property>
-                     <property name="text">
-                      <string>Mixer OK</string>
-                     </property>
-                    </widget>
-                   </item>
-                  </layout>
-                 </item>
-                </layout>
+                    </item>
+                   </layout>
+                  </item>
+                 </layout>
+                </widget>
+               </item>
+               <item row="1" column="0">
+                <widget class="QGroupBox" name="groupBox_11">
+                 <property name="title">
+                  <string>Tricopter Yaw</string>
+                 </property>
+                 <layout class="QVBoxLayout" name="verticalLayout_4">
+                  <item>
+                   <widget class="QLabel" name="label_2">
+                    <property name="styleSheet">
+                     <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                    </property>
+                    <property name="text">
+                     <string>channel:</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QComboBox" name="triYawChannelBox">
+                    <property name="enabled">
+                     <bool>false</bool>
+                    </property>
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>40</width>
+                      <height>0</height>
+                     </size>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <spacer name="verticalSpacer_4">
+                    <property name="orientation">
+                     <enum>Qt::Vertical</enum>
+                    </property>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>20</width>
+                      <height>40</height>
+                     </size>
+                    </property>
+                   </spacer>
+                  </item>
+                 </layout>
+                </widget>
+               </item>
+               <item row="0" column="2">
+                <widget class="QGroupBox" name="groupBox_6">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="minimumSize">
+                  <size>
+                   <width>300</width>
+                   <height>300</height>
+                  </size>
+                 </property>
+                 <property name="title">
+                  <string>Throttle Curve</string>
+                 </property>
+                 <layout class="QVBoxLayout" name="verticalLayout_9">
+                  <item>
+                   <widget class="MixerCurve" name="multiThrottleCurve" native="true">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>0</width>
+                      <height>0</height>
+                     </size>
+                    </property>
+                    <property name="sizeIncrement">
+                     <size>
+                      <width>10</width>
+                      <height>10</height>
+                     </size>
+                    </property>
+                    <property name="baseSize">
+                     <size>
+                      <width>300</width>
+                      <height>350</height>
+                     </size>
+                    </property>
+                    <property name="styleSheet">
+                     <string notr="true">background:transparent</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </widget>
+               </item>
+               <item row="1" column="1" colspan="2">
+                <widget class="QGroupBox" name="groupBox">
+                 <property name="title">
+                  <string>Motor output channels</string>
+                 </property>
+                 <layout class="QHBoxLayout" name="horizontalLayout_10">
+                  <property name="spacing">
+                   <number>1</number>
+                  </property>
+                  <property name="margin">
+                   <number>1</number>
+                  </property>
+                  <item>
+                   <layout class="QFormLayout" name="formLayout_2">
+                    <property name="sizeConstraint">
+                     <enum>QLayout::SetMaximumSize</enum>
+                    </property>
+                    <property name="fieldGrowthPolicy">
+                     <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+                    </property>
+                    <property name="verticalSpacing">
+                     <number>3</number>
+                    </property>
+                    <item row="1" column="0">
+                     <widget class="QLabel" name="MotorOutputLabel1">
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                      </property>
+                      <property name="text">
+                       <string>1</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="1">
+                     <widget class="QComboBox" name="multiMotorChannelBox1">
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="0">
+                     <widget class="QLabel" name="label_8">
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                      </property>
+                      <property name="text">
+                       <string>2</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="1">
+                     <widget class="QComboBox" name="multiMotorChannelBox2">
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="3" column="0">
+                     <widget class="QLabel" name="label_9">
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                      </property>
+                      <property name="text">
+                       <string>3</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="3" column="1">
+                     <widget class="QComboBox" name="multiMotorChannelBox3">
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="4" column="0">
+                     <widget class="QLabel" name="label_10">
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                      </property>
+                      <property name="text">
+                       <string>4</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="4" column="1">
+                     <widget class="QComboBox" name="multiMotorChannelBox4">
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="0" column="1">
+                     <spacer name="verticalSpacer_8">
+                      <property name="orientation">
+                       <enum>Qt::Vertical</enum>
+                      </property>
+                      <property name="sizeType">
+                       <enum>QSizePolicy::Fixed</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>0</width>
+                        <height>20</height>
+                       </size>
+                      </property>
+                     </spacer>
+                    </item>
+                   </layout>
+                  </item>
+                  <item>
+                   <layout class="QFormLayout" name="formLayout_4">
+                    <property name="sizeConstraint">
+                     <enum>QLayout::SetMaximumSize</enum>
+                    </property>
+                    <property name="fieldGrowthPolicy">
+                     <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+                    </property>
+                    <property name="verticalSpacing">
+                     <number>3</number>
+                    </property>
+                    <item row="1" column="0">
+                     <widget class="QLabel" name="label_11">
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                      </property>
+                      <property name="text">
+                       <string>5</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="1">
+                     <widget class="QComboBox" name="multiMotorChannelBox5">
+                      <property name="enabled">
+                       <bool>false</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="0">
+                     <widget class="QLabel" name="label_12">
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                      </property>
+                      <property name="text">
+                       <string>6</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="1">
+                     <widget class="QComboBox" name="multiMotorChannelBox6">
+                      <property name="enabled">
+                       <bool>false</bool>
+                      </property>
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="3" column="0">
+                     <widget class="QLabel" name="label_16">
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                      </property>
+                      <property name="text">
+                       <string>7</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="3" column="1">
+                     <widget class="QComboBox" name="multiMotorChannelBox7">
+                      <property name="enabled">
+                       <bool>false</bool>
+                      </property>
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="4" column="0">
+                     <widget class="QLabel" name="label_17">
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                      </property>
+                      <property name="text">
+                       <string>8</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="4" column="1">
+                     <widget class="QComboBox" name="multiMotorChannelBox8">
+                      <property name="enabled">
+                       <bool>false</bool>
+                      </property>
+                      <property name="toolTip">
+                       <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="0" column="1">
+                     <spacer name="verticalSpacer_9">
+                      <property name="orientation">
+                       <enum>Qt::Vertical</enum>
+                      </property>
+                      <property name="sizeType">
+                       <enum>QSizePolicy::Fixed</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>20</width>
+                        <height>20</height>
+                       </size>
+                      </property>
+                     </spacer>
+                    </item>
+                   </layout>
+                  </item>
+                 </layout>
+                </widget>
+               </item>
+               <item row="2" column="1">
+                <spacer name="verticalSpacer_6">
+                 <property name="orientation">
+                  <enum>Qt::Vertical</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>20</width>
+                   <height>40</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+               <item row="0" column="0">
+                <widget class="QGroupBox" name="groupBox_10">
+                 <property name="title">
+                  <string>Frame Type</string>
+                 </property>
+                 <layout class="QGridLayout" name="gridLayout_2">
+                  <item row="0" column="0">
+                   <spacer name="horizontalSpacer">
+                    <property name="orientation">
+                     <enum>Qt::Horizontal</enum>
+                    </property>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>40</width>
+                      <height>20</height>
+                     </size>
+                    </property>
+                   </spacer>
+                  </item>
+                  <item row="0" column="1">
+                   <widget class="QComboBox" name="multirotorFrameType">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>45</width>
+                      <height>0</height>
+                     </size>
+                    </property>
+                    <property name="toolTip">
+                     <string>Select the Multirotor frame type here.</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="0" column="2">
+                   <spacer name="horizontalSpacer_5">
+                    <property name="orientation">
+                     <enum>Qt::Horizontal</enum>
+                    </property>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>40</width>
+                      <height>20</height>
+                     </size>
+                    </property>
+                   </spacer>
+                  </item>
+                  <item row="1" column="0" colspan="3">
+                   <widget class="QGraphicsView" name="quadShape">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>80</width>
+                      <height>80</height>
+                     </size>
+                    </property>
+                    <property name="styleSheet">
+                     <string notr="true">background:transparent</string>
+                    </property>
+                    <property name="frameShape">
+                     <enum>QFrame::NoFrame</enum>
+                    </property>
+                    <property name="frameShadow">
+                     <enum>QFrame::Plain</enum>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </widget>
                </item>
               </layout>
              </widget>
@@ -2625,42 +2562,6 @@ margin:1px;</string>
              </widget>
             </widget>
            </item>
-           <item row="1" column="0">
-            <widget class="Line" name="line">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-            </widget>
-           </item>
-           <item row="0" column="1">
-            <spacer name="horizontalSpacer">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item row="3" column="1">
-            <spacer name="horizontalSpacer_6">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::Expanding</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
           </layout>
          </widget>
         </widget>
@@ -2755,8 +2656,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>779</width>
-            <height>516</height>
+            <width>924</width>
+            <height>560</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">

From 0d079f205978364c2eada2b3f56acfb10202be25 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Tue, 7 Aug 2012 14:29:16 -0700
Subject: [PATCH 311/543] fixed aircraft page, were some minor adjustments I
 wanted to make

---
 .../src/plugins/config/airframe.ui            | 309 ++++++++++--------
 1 file changed, 176 insertions(+), 133 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 152abdd07..952ceb36a 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>978</width>
-    <height>703</height>
+    <width>958</width>
+    <height>657</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -24,9 +24,18 @@
        <string>Mixer Settings</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0">
-       <property name="margin">
+       <property name="leftMargin">
         <number>12</number>
        </property>
+       <property name="topMargin">
+        <number>0</number>
+       </property>
+       <property name="rightMargin">
+        <number>12</number>
+       </property>
+       <property name="bottomMargin">
+        <number>0</number>
+       </property>
        <item>
         <widget class="QScrollArea" name="scrollArea">
          <property name="sizePolicy">
@@ -119,8 +128,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>924</width>
-            <height>572</height>
+            <width>904</width>
+            <height>550</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -177,25 +186,6 @@
                </property>
               </spacer>
              </item>
-             <item>
-              <widget class="QLabel" name="mrStatusLabel">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="font">
-                <font>
-                 <weight>75</weight>
-                 <bold>true</bold>
-                </font>
-               </property>
-               <property name="text">
-                <string>Mixer OK</string>
-               </property>
-              </widget>
-             </item>
             </layout>
            </item>
            <item>
@@ -706,7 +696,7 @@ margin:1px;</string>
               </layout>
              </widget>
              <widget class="QWidget" name="multiRotor">
-              <layout class="QGridLayout" name="gridLayout_3" columnstretch="1,1,1">
+              <layout class="QGridLayout" name="gridLayout_3">
                <item row="0" column="1">
                 <widget class="QGroupBox" name="groupBox_9">
                  <property name="title">
@@ -906,61 +896,6 @@ margin:1px;</string>
                  </layout>
                 </widget>
                </item>
-               <item row="1" column="0">
-                <widget class="QGroupBox" name="groupBox_11">
-                 <property name="title">
-                  <string>Tricopter Yaw</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_4">
-                  <item>
-                   <widget class="QLabel" name="label_2">
-                    <property name="styleSheet">
-                     <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                    </property>
-                    <property name="text">
-                     <string>channel:</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QComboBox" name="triYawChannelBox">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>40</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <spacer name="verticalSpacer_4">
-                    <property name="orientation">
-                     <enum>Qt::Vertical</enum>
-                    </property>
-                    <property name="sizeHint" stdset="0">
-                     <size>
-                      <width>20</width>
-                      <height>40</height>
-                     </size>
-                    </property>
-                   </spacer>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
                <item row="0" column="2">
                 <widget class="QGroupBox" name="groupBox_6">
                  <property name="sizePolicy">
@@ -1013,18 +948,109 @@ margin:1px;</string>
                  </layout>
                 </widget>
                </item>
-               <item row="1" column="1" colspan="2">
+               <item row="2" column="0">
+                <widget class="QGroupBox" name="groupBox_11">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="minimumSize">
+                  <size>
+                   <width>0</width>
+                   <height>124</height>
+                  </size>
+                 </property>
+                 <property name="title">
+                  <string>Tricopter Yaw</string>
+                 </property>
+                 <layout class="QVBoxLayout" name="verticalLayout_4">
+                  <item>
+                   <widget class="QLabel" name="label_2">
+                    <property name="styleSheet">
+                     <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                    </property>
+                    <property name="text">
+                     <string>channel:</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QComboBox" name="triYawChannelBox">
+                    <property name="enabled">
+                     <bool>false</bool>
+                    </property>
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>40</width>
+                      <height>0</height>
+                     </size>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <spacer name="verticalSpacer_4">
+                    <property name="orientation">
+                     <enum>Qt::Vertical</enum>
+                    </property>
+                    <property name="sizeType">
+                     <enum>QSizePolicy::Fixed</enum>
+                    </property>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>20</width>
+                      <height>20</height>
+                     </size>
+                    </property>
+                   </spacer>
+                  </item>
+                 </layout>
+                </widget>
+               </item>
+               <item row="2" column="1" colspan="2">
                 <widget class="QGroupBox" name="groupBox">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="minimumSize">
+                  <size>
+                   <width>0</width>
+                   <height>124</height>
+                  </size>
+                 </property>
                  <property name="title">
                   <string>Motor output channels</string>
                  </property>
                  <layout class="QHBoxLayout" name="horizontalLayout_10">
                   <property name="spacing">
+                   <number>4</number>
+                  </property>
+                  <property name="leftMargin">
                    <number>1</number>
                   </property>
-                  <property name="margin">
+                  <property name="topMargin">
                    <number>1</number>
                   </property>
+                  <property name="rightMargin">
+                   <number>1</number>
+                  </property>
+                  <property name="bottomMargin">
+                   <number>6</number>
+                  </property>
                   <item>
                    <layout class="QFormLayout" name="formLayout_2">
                     <property name="sizeConstraint">
@@ -1036,7 +1062,7 @@ margin:1px;</string>
                     <property name="verticalSpacing">
                      <number>3</number>
                     </property>
-                    <item row="1" column="0">
+                    <item row="0" column="0">
                      <widget class="QLabel" name="MotorOutputLabel1">
                       <property name="styleSheet">
                        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@@ -1050,14 +1076,14 @@ margin:1px;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="1" column="1">
+                    <item row="0" column="1">
                      <widget class="QComboBox" name="multiMotorChannelBox1">
                       <property name="toolTip">
                        <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="2" column="0">
+                    <item row="1" column="0">
                      <widget class="QLabel" name="label_8">
                       <property name="styleSheet">
                        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@@ -1071,14 +1097,14 @@ margin:1px;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="2" column="1">
+                    <item row="1" column="1">
                      <widget class="QComboBox" name="multiMotorChannelBox2">
                       <property name="toolTip">
                        <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="3" column="0">
+                    <item row="2" column="0">
                      <widget class="QLabel" name="label_9">
                       <property name="styleSheet">
                        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@@ -1092,14 +1118,14 @@ margin:1px;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="3" column="1">
+                    <item row="2" column="1">
                      <widget class="QComboBox" name="multiMotorChannelBox3">
                       <property name="toolTip">
                        <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="4" column="0">
+                    <item row="3" column="0">
                      <widget class="QLabel" name="label_10">
                       <property name="styleSheet">
                        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@@ -1113,29 +1139,13 @@ margin:1px;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="4" column="1">
+                    <item row="3" column="1">
                      <widget class="QComboBox" name="multiMotorChannelBox4">
                       <property name="toolTip">
                        <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="0" column="1">
-                     <spacer name="verticalSpacer_8">
-                      <property name="orientation">
-                       <enum>Qt::Vertical</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>0</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
                    </layout>
                   </item>
                   <item>
@@ -1149,7 +1159,7 @@ margin:1px;</string>
                     <property name="verticalSpacing">
                      <number>3</number>
                     </property>
-                    <item row="1" column="0">
+                    <item row="0" column="0">
                      <widget class="QLabel" name="label_11">
                       <property name="styleSheet">
                        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@@ -1163,7 +1173,7 @@ margin:1px;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="1" column="1">
+                    <item row="0" column="1">
                      <widget class="QComboBox" name="multiMotorChannelBox5">
                       <property name="enabled">
                        <bool>false</bool>
@@ -1179,7 +1189,7 @@ margin:1px;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="2" column="0">
+                    <item row="1" column="0">
                      <widget class="QLabel" name="label_12">
                       <property name="styleSheet">
                        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@@ -1193,7 +1203,7 @@ margin:1px;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="2" column="1">
+                    <item row="1" column="1">
                      <widget class="QComboBox" name="multiMotorChannelBox6">
                       <property name="enabled">
                        <bool>false</bool>
@@ -1203,7 +1213,7 @@ margin:1px;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="3" column="0">
+                    <item row="2" column="0">
                      <widget class="QLabel" name="label_16">
                       <property name="styleSheet">
                        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@@ -1217,7 +1227,7 @@ margin:1px;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="3" column="1">
+                    <item row="2" column="1">
                      <widget class="QComboBox" name="multiMotorChannelBox7">
                       <property name="enabled">
                        <bool>false</bool>
@@ -1227,7 +1237,7 @@ margin:1px;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="4" column="0">
+                    <item row="3" column="0">
                      <widget class="QLabel" name="label_17">
                       <property name="styleSheet">
                        <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@@ -1241,7 +1251,7 @@ margin:1px;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="4" column="1">
+                    <item row="3" column="1">
                      <widget class="QComboBox" name="multiMotorChannelBox8">
                       <property name="enabled">
                        <bool>false</bool>
@@ -1251,28 +1261,12 @@ margin:1px;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="0" column="1">
-                     <spacer name="verticalSpacer_9">
-                      <property name="orientation">
-                       <enum>Qt::Vertical</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>20</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
                    </layout>
                   </item>
                  </layout>
                 </widget>
                </item>
-               <item row="2" column="1">
+               <item row="4" column="1">
                 <spacer name="verticalSpacer_6">
                  <property name="orientation">
                   <enum>Qt::Vertical</enum>
@@ -1285,6 +1279,19 @@ margin:1px;</string>
                  </property>
                 </spacer>
                </item>
+               <item row="1" column="0">
+                <spacer name="verticalSpacer_7">
+                 <property name="orientation">
+                  <enum>Qt::Vertical</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>20</width>
+                   <height>0</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
                <item row="0" column="0">
                 <widget class="QGroupBox" name="groupBox_10">
                  <property name="title">
@@ -1364,6 +1371,42 @@ margin:1px;</string>
                  </layout>
                 </widget>
                </item>
+               <item row="3" column="2">
+                <layout class="QHBoxLayout" name="horizontalLayout_6">
+                 <item>
+                  <spacer name="horizontalSpacer_6">
+                   <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="QLabel" name="mrStatusLabel">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="text">
+                    <string>Mixer OK</string>
+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </item>
               </layout>
              </widget>
              <widget class="QWidget" name="ccpmHeli">
@@ -2656,8 +2699,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>924</width>
-            <height>560</height>
+            <width>904</width>
+            <height>535</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">

From ee217ad17e310a882c2c2b3ff691bfe0ad09ff28 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Tue, 7 Aug 2012 20:53:02 -0700
Subject: [PATCH 312/543] fixed aircraft page, with different layout

---
 .../src/plugins/config/airframe.ui            | 332 ++++++++++--------
 1 file changed, 183 insertions(+), 149 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 952ceb36a..de0e70591 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>958</width>
-    <height>657</height>
+    <width>862</width>
+    <height>598</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_12">
+  <layout class="QVBoxLayout" name="verticalLayout_10">
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -128,8 +128,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>904</width>
-            <height>550</height>
+            <width>808</width>
+            <height>491</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -696,9 +696,139 @@ margin:1px;</string>
               </layout>
              </widget>
              <widget class="QWidget" name="multiRotor">
-              <layout class="QGridLayout" name="gridLayout_3">
+              <layout class="QGridLayout" name="gridLayout_2">
+               <item row="0" column="0">
+                <widget class="QGroupBox" name="groupBox_10">
+                 <property name="title">
+                  <string>Frame Type</string>
+                 </property>
+                 <layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,1,0">
+                  <item>
+                   <layout class="QHBoxLayout" name="horizontalLayout_7">
+                    <property name="sizeConstraint">
+                     <enum>QLayout::SetFixedSize</enum>
+                    </property>
+                    <item>
+                     <spacer name="horizontalSpacer">
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>40</width>
+                        <height>13</height>
+                       </size>
+                      </property>
+                     </spacer>
+                    </item>
+                    <item>
+                     <widget class="QComboBox" name="multirotorFrameType">
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Fixed" vsizetype="Minimum">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>45</width>
+                        <height>25</height>
+                       </size>
+                      </property>
+                      <property name="maximumSize">
+                       <size>
+                        <width>16777215</width>
+                        <height>25</height>
+                       </size>
+                      </property>
+                      <property name="toolTip">
+                       <string>Select the Multirotor frame type here.</string>
+                      </property>
+                     </widget>
+                    </item>
+                    <item>
+                     <spacer name="horizontalSpacer_5">
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>40</width>
+                        <height>13</height>
+                       </size>
+                      </property>
+                     </spacer>
+                    </item>
+                   </layout>
+                  </item>
+                  <item>
+                   <spacer name="verticalSpacer_6">
+                    <property name="orientation">
+                     <enum>Qt::Vertical</enum>
+                    </property>
+                    <property name="sizeType">
+                     <enum>QSizePolicy::Fixed</enum>
+                    </property>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>20</width>
+                      <height>8</height>
+                     </size>
+                    </property>
+                   </spacer>
+                  </item>
+                  <item>
+                   <widget class="QGraphicsView" name="quadShape">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>120</width>
+                      <height>120</height>
+                     </size>
+                    </property>
+                    <property name="styleSheet">
+                     <string notr="true">background:transparent</string>
+                    </property>
+                    <property name="frameShape">
+                     <enum>QFrame::NoFrame</enum>
+                    </property>
+                    <property name="frameShadow">
+                     <enum>QFrame::Plain</enum>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <spacer name="verticalSpacer_7">
+                    <property name="orientation">
+                     <enum>Qt::Vertical</enum>
+                    </property>
+                    <property name="sizeType">
+                     <enum>QSizePolicy::Fixed</enum>
+                    </property>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>20</width>
+                      <height>8</height>
+                     </size>
+                    </property>
+                   </spacer>
+                  </item>
+                 </layout>
+                </widget>
+               </item>
                <item row="0" column="1">
                 <widget class="QGroupBox" name="groupBox_9">
+                 <property name="maximumSize">
+                  <size>
+                   <width>250</width>
+                   <height>16777215</height>
+                  </size>
+                 </property>
                  <property name="title">
                   <string>Mix Level</string>
                  </property>
@@ -948,77 +1078,7 @@ margin:1px;</string>
                  </layout>
                 </widget>
                </item>
-               <item row="2" column="0">
-                <widget class="QGroupBox" name="groupBox_11">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="minimumSize">
-                  <size>
-                   <width>0</width>
-                   <height>124</height>
-                  </size>
-                 </property>
-                 <property name="title">
-                  <string>Tricopter Yaw</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_4">
-                  <item>
-                   <widget class="QLabel" name="label_2">
-                    <property name="styleSheet">
-                     <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                    </property>
-                    <property name="text">
-                     <string>channel:</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QComboBox" name="triYawChannelBox">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>40</width>
-                      <height>0</height>
-                     </size>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <spacer name="verticalSpacer_4">
-                    <property name="orientation">
-                     <enum>Qt::Vertical</enum>
-                    </property>
-                    <property name="sizeType">
-                     <enum>QSizePolicy::Fixed</enum>
-                    </property>
-                    <property name="sizeHint" stdset="0">
-                     <size>
-                      <width>20</width>
-                      <height>20</height>
-                     </size>
-                    </property>
-                   </spacer>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-               <item row="2" column="1" colspan="2">
+               <item row="1" column="0">
                 <widget class="QGroupBox" name="groupBox">
                  <property name="sizePolicy">
                   <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
@@ -1266,112 +1326,83 @@ margin:1px;</string>
                  </layout>
                 </widget>
                </item>
-               <item row="4" column="1">
-                <spacer name="verticalSpacer_6">
-                 <property name="orientation">
-                  <enum>Qt::Vertical</enum>
+               <item row="1" column="1">
+                <widget class="QGroupBox" name="groupBox_11">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
                  </property>
-                 <property name="sizeHint" stdset="0">
+                 <property name="minimumSize">
                   <size>
-                   <width>20</width>
-                   <height>40</height>
+                   <width>0</width>
+                   <height>124</height>
                   </size>
                  </property>
-                </spacer>
-               </item>
-               <item row="1" column="0">
-                <spacer name="verticalSpacer_7">
-                 <property name="orientation">
-                  <enum>Qt::Vertical</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
+                 <property name="maximumSize">
                   <size>
-                   <width>20</width>
-                   <height>0</height>
+                   <width>250</width>
+                   <height>16777215</height>
                   </size>
                  </property>
-                </spacer>
-               </item>
-               <item row="0" column="0">
-                <widget class="QGroupBox" name="groupBox_10">
                  <property name="title">
-                  <string>Frame Type</string>
+                  <string>Tricopter Yaw</string>
                  </property>
-                 <layout class="QGridLayout" name="gridLayout_2">
-                  <item row="0" column="0">
-                   <spacer name="horizontalSpacer">
-                    <property name="orientation">
-                     <enum>Qt::Horizontal</enum>
+                 <layout class="QVBoxLayout" name="verticalLayout_4">
+                  <item>
+                   <widget class="QLabel" name="label_2">
+                    <property name="styleSheet">
+                     <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
                     </property>
-                    <property name="sizeHint" stdset="0">
-                     <size>
-                      <width>40</width>
-                      <height>20</height>
-                     </size>
+                    <property name="text">
+                     <string>channel:</string>
                     </property>
-                   </spacer>
+                   </widget>
                   </item>
-                  <item row="0" column="1">
-                   <widget class="QComboBox" name="multirotorFrameType">
+                  <item>
+                   <widget class="QComboBox" name="triYawChannelBox">
+                    <property name="enabled">
+                     <bool>false</bool>
+                    </property>
                     <property name="sizePolicy">
-                     <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
                       <horstretch>0</horstretch>
                       <verstretch>0</verstretch>
                      </sizepolicy>
                     </property>
                     <property name="minimumSize">
                      <size>
-                      <width>45</width>
+                      <width>40</width>
                       <height>0</height>
                      </size>
                     </property>
-                    <property name="toolTip">
-                     <string>Select the Multirotor frame type here.</string>
-                    </property>
                    </widget>
                   </item>
-                  <item row="0" column="2">
-                   <spacer name="horizontalSpacer_5">
+                  <item>
+                   <spacer name="verticalSpacer_4">
                     <property name="orientation">
-                     <enum>Qt::Horizontal</enum>
+                     <enum>Qt::Vertical</enum>
+                    </property>
+                    <property name="sizeType">
+                     <enum>QSizePolicy::Fixed</enum>
                     </property>
                     <property name="sizeHint" stdset="0">
                      <size>
-                      <width>40</width>
+                      <width>20</width>
                       <height>20</height>
                      </size>
                     </property>
                    </spacer>
                   </item>
-                  <item row="1" column="0" colspan="3">
-                   <widget class="QGraphicsView" name="quadShape">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>80</width>
-                      <height>80</height>
-                     </size>
-                    </property>
-                    <property name="styleSheet">
-                     <string notr="true">background:transparent</string>
-                    </property>
-                    <property name="frameShape">
-                     <enum>QFrame::NoFrame</enum>
-                    </property>
-                    <property name="frameShadow">
-                     <enum>QFrame::Plain</enum>
-                    </property>
-                   </widget>
-                  </item>
                  </layout>
                 </widget>
                </item>
-               <item row="3" column="2">
+               <item row="1" column="2">
                 <layout class="QHBoxLayout" name="horizontalLayout_6">
                  <item>
                   <spacer name="horizontalSpacer_6">
@@ -1403,6 +1434,9 @@ margin:1px;</string>
                    <property name="text">
                     <string>Mixer OK</string>
                    </property>
+                   <property name="alignment">
+                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+                   </property>
                   </widget>
                  </item>
                 </layout>
@@ -2699,8 +2733,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>904</width>
-            <height>535</height>
+            <width>902</width>
+            <height>595</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">

From 6bed9fcb3c07044fe236fdd26fe4e3c78a3da9c6 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 08:37:35 -0500
Subject: [PATCH 313/543] AndroidGCS: Create a fragment API.

The ObjectManagerFragment will automatically registers against the
activity to be notified when an onOPConnected or onOPDisconnected method
occurs.  The Fragment API also duplicates the registerObjectUpdates(UAVObject)
method from ObjectManagerActivity so that it's objectUpdated() method is called
whenever and using the appropriate UI thread.
---
 androidgcs/res/layout/system_alarms.xml       |   6 ++
 .../res/layout/system_alarms_fragment.xml     |  18 ++++
 .../androidgcs/ObjectManagerActivity.java     |  52 ++++++++-
 .../androidgcs/ObjectManagerFragment.java     | 102 ++++++++++++++++++
 .../androidgcs/SystemAlarmActivity.java       |  45 +-------
 .../androidgcs/SystemAlarmsFragment.java      |  62 +++++++++++
 6 files changed, 243 insertions(+), 42 deletions(-)
 create mode 100644 androidgcs/res/layout/system_alarms_fragment.xml
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java

diff --git a/androidgcs/res/layout/system_alarms.xml b/androidgcs/res/layout/system_alarms.xml
index a25c575dd..e67990427 100644
--- a/androidgcs/res/layout/system_alarms.xml
+++ b/androidgcs/res/layout/system_alarms.xml
@@ -4,6 +4,12 @@
     android:layout_height="match_parent"
     android:layout_gravity="center" >
 
+    <fragment
+        android:name="org.openpilot.androidgcs.SystemAlarmsFragment"
+        android:id="@+id/viewer"
+        android:layout_width="wrap_content"
+        android:layout_height="match_parent" />
+
     <TextView
         xmlns:android="http://schemas.android.com/apk/res/android"
         android:id="@+id/system_alarms_status"
diff --git a/androidgcs/res/layout/system_alarms_fragment.xml b/androidgcs/res/layout/system_alarms_fragment.xml
new file mode 100644
index 000000000..f6f39e0ba
--- /dev/null
+++ b/androidgcs/res/layout/system_alarms_fragment.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="vertical" >
+
+    <ProgressBar
+        android:id="@+id/progressBar3"
+        style="?android:attr/progressBarStyleHorizontal"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content" />
+
+    <TextView
+        android:id="@+id/system_alarms_fragment_field"
+        android:layout_width="200dip"
+        android:layout_height="match_parent" />
+
+</LinearLayout>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index 330217c8c..6a9273cc1 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -29,7 +29,7 @@ import android.widget.TextView;
 public abstract class ObjectManagerActivity extends Activity {
 
 	private final String TAG = "ObjectManagerActivity";
-	private static int LOGLEVEL = 0;
+	private static int LOGLEVEL = 1;
 //	private static boolean WARN = LOGLEVEL > 1;
 	private static boolean DEBUG = LOGLEVEL > 0;
 	
@@ -162,6 +162,9 @@ public abstract class ObjectManagerActivity extends Activity {
 		stats.addUpdatedObserver(telemetryObserver);
 		telemetryStatsConnected = true;
 		updateStats();
+		
+		if (DEBUG) Log.d(TAG, "Notifying listeners about connection.  There are " + connectionListeners.countObservers());		
+		connectionListeners.connected();
 	}
 	
 	/**
@@ -175,6 +178,9 @@ public abstract class ObjectManagerActivity extends Activity {
 		TextView txRate = (TextView) findViewById(R.id.telemetry_stats_tx_rate);
 		rxRate.setText("");
 		txRate.setText("");
+		
+		// Providing a null update triggers a disconnect on fragments
+		connectionListeners.disconnected();
 	}
 	
 	@Override
@@ -223,6 +229,50 @@ public abstract class ObjectManagerActivity extends Activity {
 	public void onBind() {
 		
 	}
+	
+
+	/**
+	 * Callbacks so ObjectManagerFragments get the onOPConnected and onOPDisconnected signals
+	 */
+	class ConnectionObserver extends Observable  {
+		public void disconnected() {
+			synchronized(this) {
+				setChanged();
+				notifyObservers();
+			}
+		}
+		public void connected() {
+			synchronized(this) {
+				setChanged();
+				notifyObservers(objMngr);
+			}
+		}
+	};
+	private ConnectionObserver connectionListeners = new ConnectionObserver();
+	public class OnConnectionListener implements Observer {
+		
+		// Local reference of the fragment to notify, store in constructor
+		ObjectManagerFragment fragment;
+		OnConnectionListener(ObjectManagerFragment fragment) { this.fragment = fragment; };
+
+		// Whenever the observer is updated either conenct or disconnect based on the data
+		@Override
+		public void update(Observable observable, Object data) {
+			Log.d(TAG, "onConnectionListener called");
+			if (data == null)
+				fragment.onOPDisconnected();
+			else
+				fragment.onOPConnected(objMngr);
+		}
+		
+	} ;
+	void addOnConnectionListenerFragment(ObjectManagerFragment frag) {
+		connectionListeners.addObserver(new OnConnectionListener(frag));
+		if (DEBUG) Log.d(TAG, "Connecting " + frag + " there are now " + connectionListeners.countObservers());
+		if (mConnected)
+			frag.onOPConnected(objMngr);
+	}
+
 
 	/** Defines callbacks for service binding, passed to bindService() */
 	private ServiceConnection mConnection = new ServiceConnection() {
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java
new file mode 100644
index 000000000..822e6b8b6
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java
@@ -0,0 +1,102 @@
+package org.openpilot.androidgcs;
+
+import java.util.List;
+import java.util.ListIterator;
+import java.util.Observable;
+import java.util.Observer;
+
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVObjectManager;
+
+import android.app.Activity;
+import android.app.Fragment;
+import android.os.Bundle;
+import android.os.Handler;
+import android.util.Log;
+
+public class ObjectManagerFragment extends Fragment {
+	
+	private static final String TAG = ObjectManagerFragment.class.getSimpleName();
+	private static int LOGLEVEL = 1;
+//	private static boolean WARN = LOGLEVEL > 1;
+	private static boolean DEBUG = LOGLEVEL > 0;
+    
+	UAVObjectManager objMngr;
+
+	/** Called when the activity is first created. */
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		if (DEBUG) Log.d(TAG, "Created an ObjectManagerFragment");
+		// For an activity this registers against the telemetry service intents.  Fragments must be notified by their
+		// parent activity
+	}
+    
+	/**
+	 * Attach to the parent activity so it can notify us when the connection
+	 * changed
+	 */
+    public void onAttach(Activity activity) {
+        super.onAttach(activity);
+        if (DEBUG) Log.d(TAG,"onAttach");
+        
+        ((ObjectManagerActivity)activity).addOnConnectionListenerFragment(this);
+    }
+    
+	// The below methods should all be called by the parent activity at the appropriate times
+	void onOPConnected(UAVObjectManager objMngr) {
+		this.objMngr = objMngr;
+		if (DEBUG) Log.d(TAG,"onOPConnected");
+	}
+	
+	void onOPDisconnected() {
+		objMngr = null;
+		if (DEBUG) Log.d(TAG,"onOPDisconnected");
+	}
+		
+	public void onBind() {
+		
+	}
+
+	
+	/**
+	 * Called whenever any objects subscribed to via registerObjects 
+	 */
+	protected void objectUpdated(UAVObject obj) {
+		
+	}
+	
+	/**
+	 * A message handler and a custom Observer to use it which calls
+	 * objectUpdated with the right object type
+	 */
+	final Handler uavobjHandler = new Handler(); 	
+	private class UpdatedObserver implements Observer  {
+		UAVObject obj;
+		UpdatedObserver(UAVObject obj) { this.obj = obj; };
+		public void update(Observable observable, Object data) {
+			uavobjHandler.post(new Runnable() {
+				@Override
+				public void run() { objectUpdated(obj); }
+			});
+		}
+	};
+
+	/**
+	 * Register an activity to receive updates from this object
+	 * 
+	 * the objectUpdated() method will be called in the original UI thread
+	 */
+	protected void registerObjectUpdates(UAVObject object) {
+		object.addUpdatedObserver(new UpdatedObserver(object));
+	}
+	protected void registerObjectUpdates(List<List<UAVObject>> objects) {
+		ListIterator<List<UAVObject>> li = objects.listIterator();
+		while(li.hasNext()) {
+			ListIterator<UAVObject> li2 = li.next().listIterator();
+			while(li2.hasNext())
+				registerObjectUpdates(li2.next());
+		}
+	}
+	
+}
diff --git a/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java b/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java
index 63c0a6ac4..bb93db465 100644
--- a/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java
@@ -1,51 +1,14 @@
 package org.openpilot.androidgcs;
 
-import java.util.List;
-
-import org.openpilot.uavtalk.UAVObject;
-import org.openpilot.uavtalk.UAVObjectField;
-
 import android.os.Bundle;
-import android.widget.TextView;
 
+/**
+ * All the work for this activity is performed by it's fragment
+ */
 public class SystemAlarmActivity extends ObjectManagerActivity {
-	/**
-	 * Update the UI whenever the attitude is updated
-	 */
-	protected void objectUpdated(UAVObject obj) {
-		if (obj.getName().compareTo("SystemAlarms") != 0)
-			return;
-
-		TextView alarms = (TextView) findViewById(R.id.system_alarms_status);
-		UAVObjectField a = obj.getField("Alarm");
-		List<String> names = a.getElementNames();
-		String contents = new String();
-		List <String> options = a.getOptions();
-		
-		// Rank the alarms by order of severity, skip uninitialized
-		for (int j = options.size() - 1; j > 0; j--) {
-			for (int i = 0; i < names.size(); i++) {
-				if(a.getDouble(i) == j)
-					contents += names.get(i) + " : " + a.getValue(i).toString() + "\n";
-			}
-		}
-		alarms.setText(contents);
-	}
-
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
 		setContentView(R.layout.system_alarms);
-	}	
-
-	@Override
-	void onOPConnected() {
-		super.onOPConnected();
-		
-		// Connect the update method to AttitudeActual
-		UAVObject obj = objMngr.getObject("SystemAlarms");
-		if (obj != null)
-			registerObjectUpdates(obj);
-		objectUpdated(obj);
-	}			
+	}
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java b/androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java
new file mode 100644
index 000000000..2ecda18f8
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java
@@ -0,0 +1,62 @@
+package org.openpilot.androidgcs;
+
+import java.util.List;
+
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVObjectField;
+import org.openpilot.uavtalk.UAVObjectManager;
+
+import android.os.Bundle;
+import android.util.Log;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.TextView;
+
+public class SystemAlarmsFragment extends ObjectManagerFragment {
+	
+	private static final String TAG = SystemAlarmsFragment.class.getSimpleName();
+
+	//@Override
+    public View onCreateView(LayoutInflater inflater, ViewGroup container,
+                             Bundle savedInstanceState) {
+        // Inflate the layout for this fragment
+        return inflater.inflate(R.layout.system_alarms_fragment, container, false);
+    }
+    
+    public void onOPConnected(UAVObjectManager objMngr) {
+    	super.onOPConnected(objMngr);
+    	Log.d(TAG,"On connected");
+    	
+    	UAVObject obj = objMngr.getObject("SystemAlarms");
+		if (obj != null)
+			registerObjectUpdates(obj);
+		objectUpdated(obj);
+    }
+    
+	/**
+	 * Called whenever any objects subscribed to via registerObjects 
+	 */
+    @Override
+	protected void objectUpdated(UAVObject obj) {
+    	Log.d(TAG, "Updated");
+		if (obj.getName().compareTo("SystemAlarms") == 0) {
+			TextView alarms = (TextView) getActivity().findViewById(R.id.system_alarms_fragment_field);
+			UAVObjectField a = obj.getField("Alarm");
+			List<String> names = a.getElementNames();
+			String contents = new String();
+			List <String> options = a.getOptions();
+			
+			// Rank the alarms by order of severity, skip uninitialized
+			for (int j = options.size() - 1; j > 0; j--) {
+				for (int i = 0; i < names.size(); i++) {
+					if(a.getDouble(i) == j)
+						contents += names.get(i) + " : " + a.getValue(i).toString() + "\n";
+				}
+			}
+			alarms.setText(contents);
+		}
+	}
+	
+
+}

From babe4d9f0e4cf6f81e260443694ac26346009dad Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 08:55:58 -0500
Subject: [PATCH 314/543] AndroidGCS: Make the fragment object updated
 callbacks register in the main activity method and use the main activity
 handler to consolidate things into one place.

---
 .../androidgcs/ObjectManagerActivity.java     | 95 ++++++++++++-------
 .../androidgcs/ObjectManagerFragment.java     | 60 ++++--------
 2 files changed, 76 insertions(+), 79 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index 6a9273cc1..24fddb8da 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -32,7 +32,7 @@ public abstract class ObjectManagerActivity extends Activity {
 	private static int LOGLEVEL = 1;
 //	private static boolean WARN = LOGLEVEL > 1;
 	private static boolean DEBUG = LOGLEVEL > 0;
-	
+
 	//! Object manager, populated by parent for the children to use
 	UAVObjectManager objMngr;
 	//! Indicates if the activity is bound to the service
@@ -45,12 +45,12 @@ public abstract class ObjectManagerActivity extends Activity {
 	BroadcastReceiver connectedReceiver;
 	//! Indicate if this activity has already connected it's telemetry callbacks
 	private boolean telemetryStatsConnected = false;
-	
+
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
-		
+
 		connectedReceiver = new BroadcastReceiver() {
 			@Override
 			public void onReceive(Context context, Intent intent) {
@@ -71,31 +71,32 @@ public abstract class ObjectManagerActivity extends Activity {
 					onOPDisconnected();
 					Log.d(TAG, "Disonnected()");
 				}
-			}			
+			}
 		};
-		
+
 		IntentFilter filter = new IntentFilter();
 		filter.addCategory(OPTelemetryService.INTENT_CATEGORY_GCS);
 		filter.addAction(OPTelemetryService.INTENT_ACTION_CONNECTED);
 		filter.addAction(OPTelemetryService.INTENT_ACTION_DISCONNECTED);
 		registerReceiver(connectedReceiver, filter);
 	}
-	
+
 	/**
-	 * Called whenever any objects subscribed to via registerObjects 
+	 * Called whenever any objects subscribed to via registerObjects
 	 */
 	protected void objectUpdated(UAVObject obj) {
-		
+
 	}
-	
+
 	/**
 	 * A message handler and a custom Observer to use it which calls
 	 * objectUpdated with the right object type
 	 */
-	final Handler uavobjHandler = new Handler(); 	
-	private class UpdatedObserver implements Observer  {
+	final Handler uavobjHandler = new Handler();
+	private class ActivityUpdatedObserver implements Observer  {
 		UAVObject obj;
-		UpdatedObserver(UAVObject obj) { this.obj = obj; };
+		ActivityUpdatedObserver(UAVObject obj) { this.obj = obj; };
+		@Override
 		public void update(Observable observable, Object data) {
 			uavobjHandler.post(new Runnable() {
 				@Override
@@ -103,14 +104,33 @@ public abstract class ObjectManagerActivity extends Activity {
 			});
 		}
 	};
+	private class FragmentUpdatedObserver implements Observer  {
+		UAVObject obj;
+		ObjectManagerFragment frag;
+		FragmentUpdatedObserver(UAVObject obj, ObjectManagerFragment frag) {
+			this.obj = obj;
+			this.frag = frag;
+		};
+		@Override
+		public void update(Observable observable, Object data) {
+			uavobjHandler.post(new Runnable() {
+				@Override
+				public void run() { frag.objectUpdated(obj); }
+			});
+		}
+	};
+
 
 	/**
 	 * Register an activity to receive updates from this object
-	 * 
+	 *
 	 * the objectUpdated() method will be called in the original UI thread
 	 */
 	protected void registerObjectUpdates(UAVObject object) {
-		object.addUpdatedObserver(new UpdatedObserver(object));
+		object.addUpdatedObserver(new ActivityUpdatedObserver(object));
+	}
+	protected void registerObjectUpdates(UAVObject object, ObjectManagerFragment frag) {
+		object.addUpdatedObserver(new FragmentUpdatedObserver(object, frag));
 	}
 	protected void registerObjectUpdates(List<List<UAVObject>> objects) {
 		ListIterator<List<UAVObject>> li = objects.listIterator();
@@ -120,7 +140,7 @@ public abstract class ObjectManagerActivity extends Activity {
 				registerObjectUpdates(li2.next());
 		}
 	}
-	
+
 	private void updateStats() {
 		UAVObject stats = objMngr.getObject("GCSTelemetryStats");
 		TextView rxRate = (TextView) findViewById(R.id.telemetry_stats_rx_rate);
@@ -131,8 +151,9 @@ public abstract class ObjectManagerActivity extends Activity {
 			txRate.setText(Integer.valueOf((int) stats.getField("TxDataRate").getDouble()).toString());
 
 	}
-	
+
 	final Observer telemetryObserver = new Observer() {
+		@Override
 		public void update(Observable observable, Object data) {
 			uavobjHandler.post(new Runnable() {
 				@Override
@@ -142,34 +163,34 @@ public abstract class ObjectManagerActivity extends Activity {
 			});
 		}
 	};
-	
+
 	/**
 	 * Called when either the telemetry establishes a connection or
 	 * if it already has on creation of this activity
-	 * 
+	 *
 	 * This should be called by all inherited classes if they want the telemetry bar etc
 	 */
 	void onOPConnected() {
 		if ( telemetryStatsConnected )
 			return;
-		
+
 		// We are not using the objectUpdated mechanism in place so that all the children
 		// don't have to sort through the messages.
 		UAVObject stats = objMngr.getObject("GCSTelemetryStats");
 		if (stats == null)
 			return;
-		
+
 		stats.addUpdatedObserver(telemetryObserver);
 		telemetryStatsConnected = true;
 		updateStats();
-		
-		if (DEBUG) Log.d(TAG, "Notifying listeners about connection.  There are " + connectionListeners.countObservers());		
+
+		if (DEBUG) Log.d(TAG, "Notifying listeners about connection.  There are " + connectionListeners.countObservers());
 		connectionListeners.connected();
 	}
-	
+
 	/**
 	 * Called when telemetry drops the connection
-	 * 
+	 *
 	 * This should be called by all inherited classes if they want the telemetry bar etc
 	 */
 	void onOPDisconnected() {
@@ -178,11 +199,11 @@ public abstract class ObjectManagerActivity extends Activity {
 		TextView txRate = (TextView) findViewById(R.id.telemetry_stats_tx_rate);
 		rxRate.setText("");
 		txRate.setText("");
-		
+
 		// Providing a null update triggers a disconnect on fragments
 		connectionListeners.disconnected();
 	}
-	
+
 	@Override
 	public boolean onOptionsItemSelected(MenuItem item) {
 		switch(item.getItemId()) {
@@ -215,7 +236,7 @@ public abstract class ObjectManagerActivity extends Activity {
 		Intent intent = new Intent(this, OPTelemetryService.class);
 		bindService(intent, mConnection, Context.BIND_AUTO_CREATE);
 	}
-	
+
 	/**
 	 * When stopping disconnect form the service and the broadcast receiver
 	 */
@@ -227,9 +248,9 @@ public abstract class ObjectManagerActivity extends Activity {
 	}
 
 	public void onBind() {
-		
+
 	}
-	
+
 
 	/**
 	 * Callbacks so ObjectManagerFragments get the onOPConnected and onOPDisconnected signals
@@ -248,9 +269,9 @@ public abstract class ObjectManagerActivity extends Activity {
 			}
 		}
 	};
-	private ConnectionObserver connectionListeners = new ConnectionObserver();
+	private final ConnectionObserver connectionListeners = new ConnectionObserver();
 	public class OnConnectionListener implements Observer {
-		
+
 		// Local reference of the fragment to notify, store in constructor
 		ObjectManagerFragment fragment;
 		OnConnectionListener(ObjectManagerFragment fragment) { this.fragment = fragment; };
@@ -264,7 +285,7 @@ public abstract class ObjectManagerActivity extends Activity {
 			else
 				fragment.onOPConnected(objMngr);
 		}
-		
+
 	} ;
 	void addOnConnectionListenerFragment(ObjectManagerFragment frag) {
 		connectionListeners.addObserver(new OnConnectionListener(frag));
@@ -275,13 +296,14 @@ public abstract class ObjectManagerActivity extends Activity {
 
 
 	/** Defines callbacks for service binding, passed to bindService() */
-	private ServiceConnection mConnection = new ServiceConnection() {
+	private final ServiceConnection mConnection = new ServiceConnection() {
+		@Override
 		public void onServiceConnected(ComponentName arg0, IBinder service) {
-			// We've bound to LocalService, cast the IBinder and attempt to open a connection			
+			// We've bound to LocalService, cast the IBinder and attempt to open a connection
 			if (DEBUG) Log.d(TAG,"Service bound");
 			mBound = true;
 			binder = (LocalBinder) service;
-			
+
 			if(binder.isConnected()) {
 				TelemTask task;
 				if((task = binder.getTelemTask(0)) != null) {
@@ -289,10 +311,11 @@ public abstract class ObjectManagerActivity extends Activity {
 					mConnected = true;
 					onOPConnected();
 				}
-			
+
 			}
 		}
 
+		@Override
 		public void onServiceDisconnected(ComponentName name) {
 			mBound = false;
 			binder = null;
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java
index 822e6b8b6..0a1fdec4e 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java
@@ -1,17 +1,11 @@
 package org.openpilot.androidgcs;
 
-import java.util.List;
-import java.util.ListIterator;
-import java.util.Observable;
-import java.util.Observer;
-
 import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectManager;
 
 import android.app.Activity;
 import android.app.Fragment;
 import android.os.Bundle;
-import android.os.Handler;
 import android.util.Log;
 
 public class ObjectManagerFragment extends Fragment {
@@ -40,63 +34,43 @@ public class ObjectManagerFragment extends Fragment {
         super.onAttach(activity);
         if (DEBUG) Log.d(TAG,"onAttach");
         
-        ((ObjectManagerActivity)activity).addOnConnectionListenerFragment(this);
+        ObjectManagerActivity castActivity = null;
+        try {
+        	castActivity = (ObjectManagerActivity)activity;
+        } catch (ClassCastException e) {
+        	throw new android.app.Fragment.InstantiationException(
+        			"Attaching a ObjectManagerFragment to an activity failed because the parent activity is not a ObjectManagerActivity",
+        			e);
+        }
+        castActivity.addOnConnectionListenerFragment(this);
     }
     
+    
 	// The below methods should all be called by the parent activity at the appropriate times
-	void onOPConnected(UAVObjectManager objMngr) {
+    protected void onOPConnected(UAVObjectManager objMngr) {
 		this.objMngr = objMngr;
 		if (DEBUG) Log.d(TAG,"onOPConnected");
 	}
 	
-	void onOPDisconnected() {
+	protected void onOPDisconnected() {
 		objMngr = null;
 		if (DEBUG) Log.d(TAG,"onOPDisconnected");
 	}
 		
-	public void onBind() {
-		
-	}
-
-	
 	/**
 	 * Called whenever any objects subscribed to via registerObjects 
 	 */
 	protected void objectUpdated(UAVObject obj) {
 		
-	}
-	
-	/**
-	 * A message handler and a custom Observer to use it which calls
-	 * objectUpdated with the right object type
-	 */
-	final Handler uavobjHandler = new Handler(); 	
-	private class UpdatedObserver implements Observer  {
-		UAVObject obj;
-		UpdatedObserver(UAVObject obj) { this.obj = obj; };
-		public void update(Observable observable, Object data) {
-			uavobjHandler.post(new Runnable() {
-				@Override
-				public void run() { objectUpdated(obj); }
-			});
-		}
-	};
+	}	
 
 	/**
-	 * Register an activity to receive updates from this object
-	 * 
-	 * the objectUpdated() method will be called in the original UI thread
+	 * Register on the activities object monitor handler so that updates
+	 * occur within that UI thread.  No need to maintain a handler for
+	 * each fragment.
 	 */
 	protected void registerObjectUpdates(UAVObject object) {
-		object.addUpdatedObserver(new UpdatedObserver(object));
-	}
-	protected void registerObjectUpdates(List<List<UAVObject>> objects) {
-		ListIterator<List<UAVObject>> li = objects.listIterator();
-		while(li.hasNext()) {
-			ListIterator<UAVObject> li2 = li.next().listIterator();
-			while(li2.hasNext())
-				registerObjectUpdates(li2.next());
-		}
+		((ObjectManagerActivity) getActivity()).registerObjectUpdates(object, this);
 	}
 	
 }

From 200848692220f0fb03c24557c1be4226038ef56e Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 09:00:31 -0500
Subject: [PATCH 315/543] AndroidGCS: Remove unused file

---
 androidgcs/src/org/openpilot/uavtalk/TelemetryManager.java | 5 -----
 1 file changed, 5 deletions(-)
 delete mode 100644 androidgcs/src/org/openpilot/uavtalk/TelemetryManager.java

diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryManager.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryManager.java
deleted file mode 100644
index 7540a1423..000000000
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryManager.java
+++ /dev/null
@@ -1,5 +0,0 @@
-package org.openpilot.uavtalk;
-
-public class TelemetryManager {
-
-}

From dc6b3af7078622bec5e0a47d1230c1368649b608 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 09:05:42 -0500
Subject: [PATCH 316/543] AndroidGCS: Add copyright headers to the
 UAVTalk/UAVObject/Telemetry implementations.

---
 .../src/org/openpilot/uavtalk/Telemetry.java  | 117 ++++++++-----
 .../openpilot/uavtalk/TelemetryMonitor.java   |  93 ++++++----
 .../org/openpilot/uavtalk/UAVDataObject.java  |  36 +++-
 .../org/openpilot/uavtalk/UAVMetaObject.java  |  42 ++++-
 .../src/org/openpilot/uavtalk/UAVObject.java  |  80 ++++++---
 .../org/openpilot/uavtalk/UAVObjectField.java | 160 ++++++++++--------
 .../openpilot/uavtalk/UAVObjectManager.java   |  71 +++++---
 .../src/org/openpilot/uavtalk/UAVTalk.java    |  63 +++++--
 8 files changed, 436 insertions(+), 226 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 06f820c85..2bb754979 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -1,3 +1,27 @@
+/**
+ ******************************************************************************
+ * @file       Telemetry.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Port of Telemetry.cpp from the GCS.  Handles transactions on the
+ *             UAVTalk channel.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 import java.io.IOException;
@@ -14,7 +38,7 @@ import java.util.TimerTask;
 import android.util.Log;
 
 public class Telemetry {
-	
+
 	private final String TAG = "Telemetry";
 	public static int LOGLEVEL = 0;
 	public static boolean WARN = LOGLEVEL > 2;
@@ -31,7 +55,7 @@ public class Telemetry {
         public int rxErrors;
         public int txRetries;
     } ;
-    
+
     class ObjectTimeInfo {
         UAVObject obj;
         int updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
@@ -51,7 +75,7 @@ public class Telemetry {
         int retriesRemaining;
         boolean acked;
     } ;
-    
+
     /**
      * Events generated by objects.  Not enum because used in mask.
      */
@@ -59,7 +83,7 @@ public class Telemetry {
     private static final int EV_UPDATED = 0x02;        /** Object data updated by changing the data structure */
     private static final int EV_UPDATED_MANUAL = 0x04; /** Object update event manually generated */
     private static final int EV_UPDATE_REQ = 0x08;     /** Request to update object data */
-    
+
     /**
      * Constructor
      */
@@ -71,33 +95,36 @@ public class Telemetry {
         // Process all objects in the list
         List< List<UAVObject> > objs = objMngr.getObjects();
         ListIterator<List<UAVObject>> li = objs.listIterator();
-        while(li.hasNext()) 
+        while(li.hasNext())
         	registerObject(li.next().get(0)); // we only need to register one instance per object type
 
         // Listen to new object creations
         objMngr.addNewInstanceObserver(new Observer() {
+			@Override
 			public void update(Observable observable, Object data) {
-        		newInstance((UAVObject) data);        		
+        		newInstance((UAVObject) data);
 			}
         });
         objMngr.addNewObjectObserver(new Observer() {
+			@Override
 			public void update(Observable observable, Object data) {
-        		newObject((UAVObject) data);        		
-        	}        	
+        		newObject((UAVObject) data);
+        	}
         });
 
         // Listen to transaction completions
         utalk.addObserver(new Observer() {
+			@Override
 			public void update(Observable observable, Object data) {
 				try {
 					transactionCompleted((UAVObject) data);
 				} catch (IOException e) {
 					// Disconnect when stream fails
 					observable.deleteObserver(this);
-				}				
-			}        	
+				}
+			}
         });
-        
+
         // Get GCS stats object
         gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
 
@@ -110,16 +137,16 @@ public class Telemetry {
         txErrors = 0;
         txRetries = 0;
     }
-    
+
     synchronized void transTimerSetPeriod(int periodMs) {
     	if(transTimerTask != null)
     		transTimerTask.cancel();
-    	
-    	if(transTimer != null) 
+
+    	if(transTimer != null)
     		transTimer.purge();
 
    		transTimer = new Timer();
-    	
+
         transTimerTask = new TimerTask() {
 			@Override
 			public void run() {
@@ -128,11 +155,11 @@ public class Telemetry {
 				} catch (IOException e) {
 					cancel();
 				}
-			}        	
+			}
         };
         transTimer.schedule(transTimerTask, periodMs, periodMs);
     }
-    
+
     synchronized void updateTimerSetPeriod(int periodMs) {
     	if (updateTimer != null) {
     		updateTimer.cancel();
@@ -152,7 +179,7 @@ public class Telemetry {
 					updateTimerTask.cancel();
 					updateTimer.cancel();
 				}
-			}        	
+			}
         };
         updateTimer.schedule(updateTimerTask, periodMs, periodMs);
 
@@ -223,11 +250,12 @@ public class Telemetry {
         	obj = li.next();
             //TODO: Disconnect all
             // obj.disconnect(this);
-        	
+
             // Connect only the selected events
             if ( (eventMask&EV_UNPACKED) != 0)
             {
             	obj.addUnpackedObserver(new Observer() {
+					@Override
 					public void update(Observable observable, Object data) {
 	            		try {
 							objectUnpacked( (UAVObject) data);
@@ -235,12 +263,13 @@ public class Telemetry {
 							// TODO Auto-generated catch block
 							e.printStackTrace();
 						}
-	            	}            		
+	            	}
             	});
             }
             if ( (eventMask&EV_UPDATED) != 0)
             {
             	obj.addUpdatedAutoObserver(new Observer() {
+					@Override
 					public void update(Observable observable, Object data) {
 						try {
 							objectUpdatedAuto( (UAVObject) data);
@@ -248,12 +277,13 @@ public class Telemetry {
 							// TODO Auto-generated catch block
 							e.printStackTrace();
 						}
-	            	}            		            		
+	            	}
             	});
             }
             if ( (eventMask&EV_UPDATED_MANUAL) != 0)
             {
             	obj.addUpdatedManualObserver(new Observer() {
+					@Override
 					public void update(Observable observable, Object data) {
 						try {
 							objectUpdatedManual( (UAVObject) data);
@@ -261,12 +291,13 @@ public class Telemetry {
 							// TODO Auto-generated catch block
 							e.printStackTrace();
 						}
-	            	}            		            		
+	            	}
             	});
             }
             if ( (eventMask&EV_UPDATE_REQ) != 0)
             {
             	obj.addUpdateRequestedObserver(new Observer() {
+					@Override
 					public void update(Observable observable, Object data) {
 						try {
 							updateRequested( (UAVObject) data);
@@ -274,7 +305,7 @@ public class Telemetry {
 							// TODO Auto-generated catch block
 							e.printStackTrace();
 						}
-	            	}            		
+	            	}
             	});
             }
         }
@@ -331,7 +362,7 @@ public class Telemetry {
 
     /**
      * Called when a transaction is successfully completed (uavtalk event)
-     * @throws IOException 
+     * @throws IOException
      */
     private synchronized void transactionCompleted(UAVObject obj) throws IOException
     {
@@ -355,7 +386,7 @@ public class Telemetry {
 
     /**
      * Called when a transaction is not completed within the timeout period (timer event)
-     * @throws IOException 
+     * @throws IOException
      */
     private synchronized void transactionTimeout() throws IOException
     {
@@ -387,7 +418,7 @@ public class Telemetry {
 
     /**
      * Start an object transaction with UAVTalk, all information is stored in transInfo
-     * @throws IOException 
+     * @throws IOException
      */
     private synchronized void processObjectTransaction() throws IOException
     {
@@ -421,7 +452,7 @@ public class Telemetry {
 
     /**
      * Process the event received from an object
-     * @throws IOException 
+     * @throws IOException
      */
     private synchronized void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) throws IOException
     {
@@ -450,7 +481,7 @@ public class Telemetry {
         else
         {
             if ( objQueue.size() < MAX_QUEUE_SIZE )
-            {            
+            {
                 objQueue.add(objInfo);
             }
             else
@@ -469,7 +500,7 @@ public class Telemetry {
 
     /**
      * Process events from the object queue
-     * @throws IOException 
+     * @throws IOException
      */
     private synchronized void processObjectQueue() throws IOException
     {
@@ -536,7 +567,7 @@ public class Telemetry {
         }
 
         // If this is a metaobject then make necessary telemetry updates
-        if (objInfo.obj.isMetadata()) 
+        if (objInfo.obj.isMetadata())
         {
         	UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
             updateObject( metaobj.getParentObject() );
@@ -554,11 +585,11 @@ public class Telemetry {
     /**
      * Check is any objects are pending for periodic updates
      * TODO: Clean-up
-     * @throws IOException 
+     * @throws IOException
      */
     private synchronized void processPeriodicUpdates() throws IOException
     {
-    	
+
     	if (DEBUG) Log.d(TAG, "processPeriodicUpdates()");
         // Stop timer
     	updateTimer.cancel();
@@ -669,7 +700,7 @@ public class Telemetry {
     {
         registerObject(obj);
     }
-    
+
     /**
      * Stop all the telemetry timers
      */
@@ -692,24 +723,24 @@ public class Telemetry {
 	/**
 	 * Private variables
 	 */
-    private UAVObjectManager objMngr;
-    private UAVTalk utalk;
+    private final UAVObjectManager objMngr;
+    private final UAVTalk utalk;
     private UAVObject gcsStatsObj;
-    private List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
-    private Queue<ObjectQueueInfo> objQueue = new LinkedList<ObjectQueueInfo>();
-    private Queue<ObjectQueueInfo> objPriorityQueue = new LinkedList<ObjectQueueInfo>();
-    private ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
+    private final List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
+    private final Queue<ObjectQueueInfo> objQueue = new LinkedList<ObjectQueueInfo>();
+    private final Queue<ObjectQueueInfo> objPriorityQueue = new LinkedList<ObjectQueueInfo>();
+    private final ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
     private boolean transPending;
-    
+
     private Timer updateTimer;
     private TimerTask updateTimerTask;
     private Timer transTimer;
     private TimerTask transTimerTask;
-    
+
     private int timeToNextUpdateMs;
     private int txErrors;
     private int txRetries;
-    
+
     /**
      * Private constants
      */
@@ -718,7 +749,7 @@ public class Telemetry {
     private static final int MAX_UPDATE_PERIOD_MS = 1000;
     private static final int MIN_UPDATE_PERIOD_MS = 1;
     private static final int MAX_QUEUE_SIZE = 20;
-    
+
 
 
 }
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index 4daa3003a..233836e8a 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -1,3 +1,28 @@
+/**
+ ******************************************************************************
+ * @file       TelemetryMonitor.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      High level monitoring of telemetry to handle connection and
+ *             disconnection and then signal the rest of the application.
+ *             This also makes sure to fetch all objects on initial connection.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 import java.io.IOException;
@@ -22,22 +47,22 @@ public class TelemetryMonitor extends Observable{
     static final int STATS_CONNECT_PERIOD_MS = 1000;
     static final int CONNECTION_TIMEOUT_MS = 8000;
 
-	private UAVObjectManager objMngr;
-	private Telemetry tel;
+	private final UAVObjectManager objMngr;
+	private final Telemetry tel;
 //	private UAVObject objPending;
 	private UAVObject gcsStatsObj;
 	private UAVObject flightStatsObj;
 	private Timer periodicTask;
 	private int currentPeriod;
 	private long lastUpdateTime;
-	private List<UAVObject> queue;
-	
+	private final List<UAVObject> queue;
+
 	private boolean connected = false;
 	private boolean objects_updated = false;
-	
+
 	public boolean getConnected() { return connected; };
 	public boolean getObjectsUpdated() { return objects_updated; };
-	
+
 	public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel)
 	{
 	    this.objMngr = objMngr;
@@ -50,6 +75,7 @@ public class TelemetryMonitor extends Observable{
 	    flightStatsObj = objMngr.getObject("FlightTelemetryStats");
 
 	    flightStatsObj.addUpdatedObserver(new Observer() {
+			@Override
 			public void update(Observable observable, Object data) {
 				try {
 					flightStatsUpdated((UAVObject) data);
@@ -59,7 +85,7 @@ public class TelemetryMonitor extends Observable{
 					// or fix the stream?
 					flightStatsObj.removeUpdatedObserver(this);
 				}
-			}	    	
+			}
 	    });
 
 	    // Start update timer
@@ -68,17 +94,17 @@ public class TelemetryMonitor extends Observable{
 
 	/**
 	 * Initiate object retrieval, initialize queue with objects to be retrieved.
-	 * @throws IOException 
+	 * @throws IOException
 	 */
 	public synchronized void startRetrievingObjects() throws IOException
 	{
 		if (DEBUG) Log.d(TAG, "Start retrieving objects");
-		
+
 	    // Clear object queue
 	    queue.clear();
 	    // Get all objects, add metaobjects, settings and data objects with OnChange update mode to the queue
 	    List< List<UAVObject> > objs = objMngr.getObjects();
-	    
+
 	    ListIterator<List<UAVObject>> objListIterator = objs.listIterator();
 	    while( objListIterator.hasNext() )
 	    {
@@ -121,7 +147,7 @@ public class TelemetryMonitor extends Observable{
 
 	/**
 	 * Retrieve the next object in the queue
-	 * @throws IOException 
+	 * @throws IOException
 	 */
 	public synchronized void retrieveNextObject() throws IOException
 	{
@@ -136,16 +162,17 @@ public class TelemetryMonitor extends Observable{
 	    }
 	    // Get next object from the queue
 	    UAVObject obj = queue.remove(0);
-	    
+
 	    if(obj == null) {
 	    	throw new Error("Got null object forom transaction queue");
 	    }
-	    	    
+
 	    if (DEBUG) Log.d(TAG, "Retrieving object: " + obj.getName()) ;
 	    // Connect to object
-	    
+
 	    // TODO: Does this need to stay here permanently?  This appears to be used for setup mainly
 	    obj.addTransactionCompleted(new Observer() {
+			@Override
 			public void update(Observable observable, Object data) {
 				UAVObject.TransactionResult result = (UAVObject.TransactionResult) data;
 				if (DEBUG) Log.d(TAG,"Got transaction completed event from " + result.obj.getName() + " status: " + result.success);
@@ -155,7 +182,7 @@ public class TelemetryMonitor extends Observable{
 					// When the telemetry stream is broken disconnect these updates
 					observable.deleteObserver(this);
 				}
-			}	    	
+			}
 	    });
 
 	    // Request update
@@ -165,7 +192,7 @@ public class TelemetryMonitor extends Observable{
 
 	/**
 	 * Called by the retrieved object when a transaction is completed.
-	 * @throws IOException 
+	 * @throws IOException
 	 */
 	public synchronized void transactionCompleted(UAVObject obj, boolean success) throws IOException
 	{
@@ -175,12 +202,12 @@ public class TelemetryMonitor extends Observable{
 		// TODO: Need to be able to disconnect signals
 	    //obj->disconnect(this);
 //	    objPending = null;
-	    
+
 	    if(!success) {
 	    	//Log.e(TAG, "Transaction failed: " + obj.getName() + " sending again.");
 	    	return;
 	    }
-	    
+
 	    // Process next object if telemetry is still available
 	    if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
 	    {
@@ -194,7 +221,7 @@ public class TelemetryMonitor extends Observable{
 
 	/**
 	 * Called each time the flight stats object is updated by the autopilot
-	 * @throws IOException 
+	 * @throws IOException
 	 */
 	public synchronized void flightStatsUpdated(UAVObject obj) throws IOException
 	{
@@ -213,7 +240,7 @@ public class TelemetryMonitor extends Observable{
 	private long lastStatsTime;
 	/**
 	 * Called periodically to update the statistics and connection status.
-	 * @throws IOException 
+	 * @throws IOException
 	 */
 	public synchronized void processStatsUpdates() throws IOException
 	{
@@ -222,14 +249,14 @@ public class TelemetryMonitor extends Observable{
 	    Telemetry.TelemetryStats telStats = tel.getStats();
 
 	    if (DEBUG) Log.d(TAG, "processStatsUpdates() - stats reset");
-	    
+
 	    // Need to compute time because this update is not regular enough
-	    float dT = (float) (System.currentTimeMillis() - lastStatsTime) / 1000.0f;
+	    float dT = (System.currentTimeMillis() - lastStatsTime) / 1000.0f;
 	    lastStatsTime = System.currentTimeMillis();
 
-	    // Update stats object 
-	    gcsStatsObj.getField("RxDataRate").setDouble( (float)telStats.rxBytes / dT );
-	    gcsStatsObj.getField("TxDataRate").setDouble( (float)telStats.txBytes / dT );
+	    // Update stats object
+	    gcsStatsObj.getField("RxDataRate").setDouble( telStats.rxBytes / dT );
+	    gcsStatsObj.getField("TxDataRate").setDouble( telStats.txBytes / dT );
 	    UAVObjectField field = gcsStatsObj.getField("RxFailures");
 	    field.setDouble(field.getDouble() + telStats.rxErrors);
 	    field = gcsStatsObj.getField("TxFailures");
@@ -240,7 +267,7 @@ public class TelemetryMonitor extends Observable{
 	    tel.resetStats();
 
 	    if (DEBUG) Log.d(TAG, "processStatsUpdates() - stats updated");
-	    
+
 	    // Check for a connection timeout
 	    boolean connectionTimeout;
 	    if ( telStats.rxObjects > 0 )
@@ -266,7 +293,7 @@ public class TelemetryMonitor extends Observable{
 	    }
 	    UAVObjectField statusField = gcsStatsObj.getField("Status");
 	    String oldStatus = new String((String) statusField.getValue());
-	    
+
 	    if (DEBUG) Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
 
 	    if ( oldStatus.compareTo("Disconnected") == 0 )
@@ -294,11 +321,11 @@ public class TelemetryMonitor extends Observable{
 
 	    // Force telemetry update if not yet connected
 	    boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
-	    
+
 	    boolean gcsConnected = statusField.getValue().equals("Connected");
 	    boolean gcsDisconnected = statusField.getValue().equals("Disconnected");
 	    boolean flightConnected = flightStatsObj.getField("Status").equals("Connected");
-	    
+
 	    if (  !gcsConnected || !flightConnected )
 	    {
 	    	if (DEBUG) Log.d(TAG,"Sending gcs status");
@@ -323,7 +350,7 @@ public class TelemetryMonitor extends Observable{
 	    	objects_updated = false;
 	        setChanged();
 	    }
-	    
+
 	    if (DEBUG) Log.d(TAG, "processStatsUpdates() - before notify");
         notifyObservers();
         if (DEBUG) Log.d(TAG, "processStatsUpdates() - after notify");
@@ -344,11 +371,11 @@ public class TelemetryMonitor extends Observable{
 				} catch (IOException e) {
 					// Once the stream has died stop trying to process these updates
 					periodicTask.cancel();
-				}				
-			}	    	
+				}
+			}
 	    }, currentPeriod, currentPeriod);
 	}
-	
+
 	public void stopMonitor()
 	{
 		periodicTask.cancel();
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
index e8ae6e50e..83b1bba68 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
@@ -1,11 +1,34 @@
+/**
+ ******************************************************************************
+ * @file       UAVDataObject.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      The base object for all UAVO data.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 public abstract class UAVDataObject extends UAVObject {
-	
+
 	/**
 	 * @brief Constructor for UAVDataObject
 	 * @param objID the object id to be created
-	 * @param isSingleInst 
+	 * @param isSingleInst
 	 * @param isSet
 	 * @param name
 	 */
@@ -24,6 +47,7 @@ public abstract class UAVDataObject extends UAVObject {
 	    super.initialize(instID);
 	}
 
+	@Override
 	public boolean isMetadata() { return false; };
 	/**
 	 * Assign a metaobject
@@ -45,6 +69,7 @@ public abstract class UAVDataObject extends UAVObject {
 	/**
 	 * Set the object's metadata
 	 */
+	@Override
 	public void setMetadata(Metadata mdata)
 	{
 	    if ( mobj != null )
@@ -56,6 +81,7 @@ public abstract class UAVDataObject extends UAVObject {
 	/**
 	 * Get the object's metadata
 	 */
+	@Override
 	public Metadata getMetadata()
 	{
 	    if ( mobj != null)
@@ -75,13 +101,13 @@ public abstract class UAVDataObject extends UAVObject {
 	{
 	    return mobj;
 	}
-	    
+
     // TODO: Make abstract
     public UAVDataObject clone(long instID) {
 		return (UAVDataObject) super.clone();
     }
-    
+
     private UAVMetaObject mobj;
-    private boolean isSet;
+    private final boolean isSet;
 
 }
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
index 5f938bbac..cef39480d 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       UAVMetaObject.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Base object for all UAVO meta data
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 import java.nio.ByteBuffer;
@@ -10,7 +33,7 @@ public class UAVMetaObject extends UAVObject {
 	public UAVMetaObject(long objID, String name, UAVDataObject parent) throws Exception {
 		super(objID, true, name);
 		this.parent = parent;
-		
+
 		ownMetadata = new Metadata();
 
 		ownMetadata.flags = 0; // TODO: Fix flags
@@ -27,7 +50,7 @@ public class UAVMetaObject extends UAVObject {
 		modesBitField.add("FlightUpdateOnChange");
 		modesBitField.add("GCSUpdatePeriodic");
 		modesBitField.add("GCSUpdateOnChange");
-		
+
 		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
 		fields.add( new UAVObjectField("Modes", "", UAVObjectField.FieldType.BITFIELD, 1, modesBitField) );
 	    fields.add( new UAVObjectField("Flight Telemetry Update Period", "ms", UAVObjectField.FieldType.UINT16, 1, null) );
@@ -47,12 +70,12 @@ public class UAVMetaObject extends UAVObject {
 		initializeFields(fields, ByteBuffer.allocate(numBytes), numBytes);
 
 		// Setup metadata of parent
-		parentMetadata = parent.getDefaultMetadata();	
+		parentMetadata = parent.getDefaultMetadata();
 	}
-	
+
 	@Override
-	public boolean isMetadata() { 
-		return true; 
+	public boolean isMetadata() {
+		return true;
 	};
 
 	/**
@@ -67,6 +90,7 @@ public class UAVMetaObject extends UAVObject {
 	 * Set the metadata of the metaobject, this function will
 	 * do nothing since metaobjects have read-only metadata.
 	 */
+	@Override
 	public void setMetadata(Metadata mdata)
 	{
 		return; // can not update metaobject's metadata
@@ -75,6 +99,7 @@ public class UAVMetaObject extends UAVObject {
 	/**
 	 * Get the metadata of the metaobject
 	 */
+	@Override
 	public Metadata getMetadata()
 	{
 		return ownMetadata;
@@ -83,6 +108,7 @@ public class UAVMetaObject extends UAVObject {
 	/**
 	 * Get the default metadata
 	 */
+	@Override
 	public Metadata getDefaultMetadata()
 	{
 		return ownMetadata;
@@ -110,8 +136,8 @@ public class UAVMetaObject extends UAVObject {
 	}
 
 
-	private UAVObject parent;
-	private Metadata ownMetadata;
+	private final UAVObject parent;
+	private final Metadata ownMetadata;
 	private Metadata parentMetadata;
 
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index 39769b29f..b905f8387 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -1,17 +1,40 @@
+/**
+ ******************************************************************************
+ * @file       UAVObject.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Base object for UAVDataObject and UAVMetaObject.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 import java.nio.ByteBuffer;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.ListIterator;
-import java.util.Observer;
 import java.util.Observable;
+import java.util.Observer;
 
 public abstract class UAVObject {
-	
-	public class CallbackListener extends Observable {		
-		private UAVObject parent;
-		
+
+	public class CallbackListener extends Observable {
+		private final UAVObject parent;
+
 		public CallbackListener(UAVObject parent) {
 			this.parent = parent;
 		}
@@ -29,7 +52,7 @@ public abstract class UAVObject {
 			}
 		}
 	}
-	
+
 	public class TransactionResult {
 		public UAVObject obj;
 		public boolean success;
@@ -38,8 +61,8 @@ public abstract class UAVObject {
 			this.success = success;
 		}
 	}
-	
-	private CallbackListener transactionCompletedListeners = new CallbackListener(this);
+
+	private final CallbackListener transactionCompletedListeners = new CallbackListener(this);
 	public void addTransactionCompleted(Observer o) {
 		synchronized(transactionCompletedListeners) {
 			transactionCompletedListeners.addObserver(o);
@@ -55,8 +78,8 @@ public abstract class UAVObject {
 			transactionCompletedListeners.event(new TransactionResult(this,status));
 		}
 	}
-	
-	private CallbackListener updatedListeners = new CallbackListener(this);
+
+	private final CallbackListener updatedListeners = new CallbackListener(this);
 	public void removeUpdatedObserver(Observer o) {
 		synchronized(updatedListeners) {
 			updatedListeners.deleteObserver(o);
@@ -75,8 +98,8 @@ public abstract class UAVObject {
 			updatedManual();
 	}
 	public void updated() { updated(true); };
-	
-	private CallbackListener unpackedListeners = new CallbackListener(this);
+
+	private final CallbackListener unpackedListeners = new CallbackListener(this);
 	public void addUnpackedObserver(Observer o) {
 		synchronized(unpackedListeners) {
 			unpackedListeners.addObserver(o);
@@ -88,7 +111,7 @@ public abstract class UAVObject {
 		}
 	}
 
-	private CallbackListener updatedAutoListeners = new CallbackListener(this);
+	private final CallbackListener updatedAutoListeners = new CallbackListener(this);
 	public void addUpdatedAutoObserver(Observer o) {
 		synchronized(updatedAutoListeners) {
 			updatedAutoListeners.addObserver(o);
@@ -100,7 +123,7 @@ public abstract class UAVObject {
 		}
 	}
 
-	private CallbackListener updatedManualListeners = new CallbackListener(this);
+	private final CallbackListener updatedManualListeners = new CallbackListener(this);
 	public void addUpdatedManualObserver(Observer o) {
 		synchronized(updatedManualListeners) {
 			updatedManualListeners.addObserver(o);
@@ -112,7 +135,7 @@ public abstract class UAVObject {
 		}
 	}
 
-	private CallbackListener updateRequestedListeners = new CallbackListener(this);
+	private final CallbackListener updateRequestedListeners = new CallbackListener(this);
 	public void addUpdateRequestedObserver(Observer o) {
 		synchronized(updateRequestedListeners) {
 			updateRequestedListeners.addObserver(o);
@@ -125,7 +148,7 @@ public abstract class UAVObject {
 	}
 
 	public abstract boolean isMetadata();
-	
+
 	/**
 	 * Object update mode
 	 */
@@ -172,10 +195,10 @@ public abstract class UAVObject {
 
 		/** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
 		public int flightTelemetryUpdatePeriod;
-		
+
 		/** Update period used by the GCS (only if telemetry mode is PERIODIC) */
 		public int gcsTelemetryUpdatePeriod;
-		
+
 		/** Update period used by the GCS (only if telemetry mode is PERIODIC) */
 		public int loggingUpdatePeriod;
 		/**
@@ -194,7 +217,7 @@ public abstract class UAVObject {
 		private void SET_BITS(int shift, int value, int mask) {
 			this.flags = (this.flags & ~(mask << shift)) |	(value << shift);
 		}
-		
+
 		/**
 		 * Get the UAVObject metadata access member
 		 * \return the access type
@@ -219,7 +242,7 @@ public abstract class UAVObject {
 		 * \return the GCS access type
 		 */
 		public AccessMode GetGcsAccess()
-		{			
+		{
 			return AccessModeEnum((this.flags >> UAVOBJ_GCS_ACCESS_SHIFT) & 1);
 		}
 
@@ -382,7 +405,7 @@ public abstract class UAVObject {
 
 	/**
 	 * Initialize objects' data fields
-	 * 
+	 *
 	 * @param fields
 	 *            List of fields held by the object
 	 * @param data
@@ -434,7 +457,7 @@ public abstract class UAVObject {
 
 	/**
 	 * Get the description of the object
-	 * 
+	 *
 	 * @return The description of the object
 	 */
 	public String getDescription() {
@@ -443,7 +466,7 @@ public abstract class UAVObject {
 
 	/**
 	 * Set the description of the object
-	 * 
+	 *
 	 * @param The
 	 *            description of the object
 	 * @return
@@ -525,7 +548,7 @@ public abstract class UAVObject {
 
 	/**
 	 * Get a specific field
-	 * 
+	 *
 	 * @throws Exception
 	 * @returns The field or NULL if not found
 	 */
@@ -543,7 +566,7 @@ public abstract class UAVObject {
 
 	/**
 	 * Pack the object data into a byte array
-	 * 
+	 *
 	 * @param dataOut
 	 *            ByteBuffer to receive the data.
 	 * @throws Exception
@@ -565,7 +588,7 @@ public abstract class UAVObject {
 
 	/**
 	 * Unpack the object data from a byte array
-	 * 
+	 *
 	 * @param dataIn
 	 *            The ByteBuffer to pull data from
 	 * @throws Exception
@@ -582,11 +605,11 @@ public abstract class UAVObject {
 			UAVObjectField field = li.next();
 			numBytes += field.unpack(dataIn);
 		}
-		
+
 		// Trigger all the listeners for the unpack event
 		unpacked();
 		updated(false);
-		
+
 		return numBytes;
 	}
 
@@ -774,6 +797,7 @@ public abstract class UAVObject {
 	/**
 	 * Java specific functions
 	 */
+	@Override
 	public synchronized UAVObject clone() {
 		UAVObject newObj = clone();
 		List<UAVObjectField> newFields = new ArrayList<UAVObjectField>();
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index da5184be8..5fb701b34 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       Telemetry.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Implementation of all the UAVObjectFields.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 import java.nio.ByteBuffer;
@@ -6,7 +29,7 @@ import java.util.ArrayList;
 import java.util.List;
 
 public class UAVObjectField {
-	
+
     public enum FieldType { INT8, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, BITFIELD, STRING };
 
     public UAVObjectField(String name, String units, FieldType type, int numElements, List<String> options) {
@@ -17,26 +40,26 @@ public class UAVObjectField {
             elementNames.add(String.valueOf(n));
         }
         // Initialize
-        constructorInitialize(name, units, type, elementNames, options);    	
+        constructorInitialize(name, units, type, elementNames, options);
     }
-    
+
     public UAVObjectField(String name, String units, FieldType type, List<String>  elementNames, List<String>  options) {
     	 constructorInitialize(name, units, type, elementNames, options);
     }
-    
+
     public void initialize(UAVObject obj){
          this.obj = obj;
-        //clear();    	
+        //clear();
 	}
-    
+
     public UAVObject getObject() {
     	return obj;
     }
-    
+
     public FieldType getType() {
     	return type;
     }
-    
+
     public String getTypeAsString() {
         switch (type)
         {
@@ -62,31 +85,31 @@ public class UAVObjectField {
                 return "string";
             default:
                 return "";
-        }    	
+        }
     }
-    
+
     public String getName() {
     	return name;
     }
-    
+
     public String getUnits() {
     	return units;
     }
-    
+
     public int getNumElements() {
     	return numElements;
     }
-    
+
     public List<String> getElementNames() {
-    	return elementNames;	
+    	return elementNames;
     }
-    
+
     public List<String> getOptions() {
     	return options;
     }
-    
+
     /**
-     * This function copies this field from the internal storage of the parent object 
+     * This function copies this field from the internal storage of the parent object
      * to a new ByteBuffer for UAVTalk.  It also converts from the java standard (big endian)
      * to the arm/uavtalk standard (little endian)
      * @param dataOut
@@ -98,7 +121,7 @@ public class UAVObjectField {
     	dataOut.order(ByteOrder.LITTLE_ENDIAN);
         switch (type)
         {
-            case INT8:  
+            case INT8:
             	for (int index = 0; index < numElements; ++index) {
             		Integer val = (Integer) getValue(index);
             		dataOut.put(val.byteValue());
@@ -116,7 +139,7 @@ public class UAVObjectField {
                 	dataOut.putInt(val);
                 }
                 break;
-            case UINT8: 
+            case UINT8:
             	// TODO: Deal properly with unsigned
             	for (int index = 0; index < numElements; ++index) {
             		Integer val = (Integer) getValue(index);
@@ -144,7 +167,7 @@ public class UAVObjectField {
             case ENUM:
             	List<Byte> l = (List<Byte>) data;
                 for (int index = 0; index < numElements; ++index)
-                	dataOut.put((Byte) l.get(index));
+                	dataOut.put(l.get(index));
                 break;
             case BITFIELD:
             	for (int index = 0; index < numElements; ++index) {
@@ -156,9 +179,9 @@ public class UAVObjectField {
             	throw new Error("Strings not yet implemented");
         }
         // Done
-        return getNumBytes();    	
+        return getNumBytes();
     }
-    
+
     @SuppressWarnings("unchecked")
 	public synchronized int unpack(ByteBuffer dataIn) {
         // Unpack each element from input buffer
@@ -196,7 +219,7 @@ public class UAVObjectField {
             {
             	List<Short> l = (List<Short>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		int signedval = (int) dataIn.get();  // this sign extends it
+            		int signedval = dataIn.get();  // this sign extends it
             		int unsignedval = signedval & 0xff;    // drop sign extension
             		l.set(index, (short) unsignedval);
             	}
@@ -206,7 +229,7 @@ public class UAVObjectField {
             {
             	List<Integer> l = (List<Integer>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		int signedval = (int) dataIn.getShort();  // this sign extends it
+            		int signedval = dataIn.getShort();  // this sign extends it
             		int unsignedval = signedval & 0xffff;    // drop sign extension
             		l.set(index, unsignedval);
             	}
@@ -216,7 +239,7 @@ public class UAVObjectField {
             {
             	List<Long> l = (List<Long>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		long signedval = (long) dataIn.getInt();  // this sign extends it
+            		long signedval = dataIn.getInt();  // this sign extends it
             		long unsignedval = signedval & 0xffffffffL;    // drop sign extension
             		l.set(index, unsignedval);
             	}
@@ -235,7 +258,7 @@ public class UAVObjectField {
             {
             	List<Short> l = (List<Short>) this.data;
             	for (int index = 0 ; index < numElements; ++index) {
-            		int signedval = (int) dataIn.get();  // this sign extends it
+            		int signedval = dataIn.get();  // this sign extends it
             		int unsignedval = signedval & 0xff;    // drop sign extension
             		l.set(index, (short) unsignedval);
             	}
@@ -254,9 +277,9 @@ public class UAVObjectField {
             	//throw new Exception("Strings not handled");
         }
         // Done
-        return getNumBytes();    	
+        return getNumBytes();
     }
-    
+
     public Object getValue()  { return getValue(0); };
     @SuppressWarnings("unchecked")
 	public synchronized Object getValue(int index)  {
@@ -265,7 +288,7 @@ public class UAVObjectField {
         {
             return null;
         }
-        
+
         switch (type)
         {
             case INT8:
@@ -287,7 +310,7 @@ public class UAVObjectField {
             	List<Byte> l = (List<Byte>) data;
             	Byte val = l.get(index);
 
-                //if(val >= options.size() || val < 0) 
+                //if(val >= options.size() || val < 0)
                 //	throw new Exception("Invalid value for" + name);
 
                 return options.get(val);
@@ -301,10 +324,10 @@ public class UAVObjectField {
             }
         }
         // If this point is reached then we got an invalid type
-        return null;    
+        return null;
     }
-    
-    public void setValue(Object data) { setValue(data,0); }    
+
+    public void setValue(Object data) { setValue(data,0); }
     @SuppressWarnings("unchecked")
 	public synchronized void setValue(Object data, int index) {
     	// Check that index is not out of bounds
@@ -361,15 +384,15 @@ public class UAVObjectField {
     			break;
     		}
     		case ENUM:
-    		{    			
+    		{
     			byte val;
     			try {
     				// Test if numeric constant passed in
     				val = ((Number) data).byteValue();
     			} catch (Exception e) {
-    				val = (byte) options.indexOf((String) data);
+    				val = (byte) options.indexOf(data);
     			}
-    			//if(val < 0) throw new Exception("Enumerated value not found");    	            	
+    			//if(val < 0) throw new Exception("Enumerated value not found");
     			List<Byte> l = (List<Byte>) this.data;
     			l.set(index, val);
     			break;
@@ -380,7 +403,7 @@ public class UAVObjectField {
     			l.set(index, bound(data).shortValue());
     			break;
     		}
-    		case STRING: 
+    		case STRING:
     		{
     			//throw new Exception("Sorry I haven't implemented strings yet");
     		}
@@ -388,7 +411,7 @@ public class UAVObjectField {
     		//obj.updated();
     	}
     }
-    
+
     public double getDouble() { return getDouble(0); };
     @SuppressWarnings("unchecked")
 	public double getDouble(int index) {
@@ -400,24 +423,24 @@ public class UAVObjectField {
     	}
     	return ((Number) getValue(index)).doubleValue();
     }
-    
+
     public void setDouble(double value) { setDouble(value, 0); };
     public void setDouble(double value, int index) {
     	setValue(value, index);
     }
-    
+
     public int getDataOffset() {
-    	return offset; 
+    	return offset;
     }
-    
+
     public int getNumBytes() {
         return numBytesPerElement * numElements;
     }
-    
+
     public int getNumBytesElement() {
     	return numBytesPerElement;
     }
-    
+
     public boolean isNumeric() {
         switch (type)
         {
@@ -443,9 +466,9 @@ public class UAVObjectField {
                 return false;
             default:
                 return false;
-        }    	
+        }
     }
-    
+
     public boolean isText() {
         switch (type)
         {
@@ -471,9 +494,10 @@ public class UAVObjectField {
                 return true;
             default:
                 return false;
-        }    	
+        }
     }
-    
+
+	@Override
 	public String toString() {
         String sout = new String();
         sout += name + ": ";
@@ -484,15 +508,15 @@ public class UAVObjectField {
         	else
         		sout += " ";
         }
-    	if (units.length() > 0) 
+    	if (units.length() > 0)
     		sout += " (" + units + ")\n";
     	else
     		sout += "\n";
-        return sout;    	
+        return sout;
     }
 
     void fieldUpdated(UAVObjectField field) {
-    	
+
     }
 
     @SuppressWarnings("unchecked")
@@ -555,7 +579,7 @@ public class UAVObjectField {
                 break;
         }
     }
-    
+
     public synchronized void constructorInitialize(String name, String units, FieldType type, List<String> elementNames, List<String> options) {
         // Copy params
         this.name = name;
@@ -572,43 +596,43 @@ public class UAVObjectField {
         switch (type)
         {
             case INT8:
-            	data = (Object) new ArrayList<Byte>(this.numElements);
+            	data = new ArrayList<Byte>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             case INT16:
-            	data = (Object) new ArrayList<Short>(this.numElements);
+            	data = new ArrayList<Short>(this.numElements);
                 numBytesPerElement = 2;
                 break;
             case INT32:
-            	data = (Object) new ArrayList<Integer>(this.numElements);
+            	data = new ArrayList<Integer>(this.numElements);
                 numBytesPerElement = 4;
                 break;
             case UINT8:
-            	data = (Object) new ArrayList<Short>(this.numElements);
+            	data = new ArrayList<Short>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             case UINT16:
-            	data = (Object) new ArrayList<Integer>(this.numElements);
+            	data = new ArrayList<Integer>(this.numElements);
                 numBytesPerElement = 2;
                 break;
             case UINT32:
-            	data = (Object) new ArrayList<Long>(this.numElements);
+            	data = new ArrayList<Long>(this.numElements);
                 numBytesPerElement = 4;
                 break;
             case FLOAT32:
-            	data = (Object) new ArrayList<Float>(this.numElements);
+            	data = new ArrayList<Float>(this.numElements);
                 numBytesPerElement = 4;
                 break;
             case ENUM:
-            	data = (Object) new ArrayList<Byte>(this.numElements);
+            	data = new ArrayList<Byte>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             case BITFIELD:
-            	data = (Object) new ArrayList<Short>(this.numElements);
+            	data = new ArrayList<Short>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             case STRING:
-            	data = (Object) new ArrayList<String>(this.numElements);
+            	data = new ArrayList<String>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             default:
@@ -616,7 +640,7 @@ public class UAVObjectField {
         }
         clear();
     }
-    
+
     /**
      * For numerical types bounds the data appropriately
      * @param val Can be any object, for numerical tries to cast to Number
@@ -624,7 +648,7 @@ public class UAVObjectField {
      * @note This is mostly needed because java has no unsigned integer
      */
     protected Long bound (Object val) {
-    	
+
     	switch(type) {
     	case ENUM:
     	case STRING:
@@ -679,15 +703,15 @@ public class UAVObjectField {
     			return (long) 255;
     		return num;
     	}
-    	
+
     	return num;
     }
-    
+
     @Override
     public UAVObjectField clone()
     {
-    	UAVObjectField newField = new UAVObjectField(new String(name), new String(units), type, 
-    			new ArrayList<String>(elementNames), 
+    	UAVObjectField newField = new UAVObjectField(new String(name), new String(units), type,
+    			new ArrayList<String>(elementNames),
     			new ArrayList<String>(options));
     	newField.initialize(obj);
     	newField.data = data;
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
index bbd637651..51cfeafd2 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
@@ -1,3 +1,28 @@
+/**
+ ******************************************************************************
+ * @file       UAVObjectManager.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Critical class.  This is the data store for all UAVOs.  Allows
+ *             other objects to access and change this data.  Takes care of
+ *             propagating changes to the UAV.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 import java.util.ArrayList;
@@ -8,19 +33,19 @@ import java.util.Observer;
 
 public class UAVObjectManager {
 
-	public class CallbackListener extends Observable {		
+	public class CallbackListener extends Observable {
 		public void event (UAVObject obj) {
 			setChanged();
 			notifyObservers(obj);
 		}
 	}
-	private CallbackListener newInstance = new CallbackListener();
+	private final CallbackListener newInstance = new CallbackListener();
 	public void addNewInstanceObserver(Observer o) {
 		synchronized(newInstance) {
 			newInstance.addObserver(o);
 		}
 	}
-	private CallbackListener newObject = new CallbackListener();
+	private final CallbackListener newObject = new CallbackListener();
 	public void addNewObjectObserver(Observer o) {
 		synchronized(newObject) {
 			newObject.addObserver(o);
@@ -29,7 +54,7 @@ public class UAVObjectManager {
 	private final int MAX_INSTANCES = 10;
 
 	// Use array list to store objects since rarely added or deleted
-	private List<List<UAVObject>> objects = new ArrayList<List<UAVObject>>();  
+	private final List<List<UAVObject>> objects = new ArrayList<List<UAVObject>>();
 
 	public UAVObjectManager()
 	{
@@ -41,7 +66,7 @@ public class UAVObjectManager {
 	 * A new instance can be created directly by instantiating a new object or by calling clone() of
 	 * an existing object. The object will be registered and will be properly initialized so that it can accept
 	 * updates.
-	 * @throws Exception 
+	 * @throws Exception
 	 */
 	public synchronized boolean registerObject(UAVDataObject obj) throws Exception
 	{
@@ -61,7 +86,7 @@ public class UAVObjectManager {
 				}
 				// The object type has alredy been added, so now we need to initialize the new instance with the appropriate id
 				// There is a single metaobject for all object instances of this type, so no need to create a new one
-				// Get object type metaobject from existing instance				
+				// Get object type metaobject from existing instance
 				UAVDataObject refObj = (UAVDataObject) instList.get(0);
 				if (refObj == null)
 				{
@@ -74,7 +99,7 @@ public class UAVObjectManager {
 					return false;
 				}
 
-				// If InstID is zero then we find the next open instId and create it 
+				// If InstID is zero then we find the next open instId and create it
 				if (obj.getInstID() == 0)
 				{
 					// Assign the next available ID and initialize the object instance the nadd
@@ -183,13 +208,13 @@ public class UAVObjectManager {
 			// If no instances skip
 			if(instList.size() == 0)
 				continue;
-			
+
 			// If meta data skip
 			if(instList.get(0).isMetadata())
 				continue;
-			
-			List<UAVDataObject> newInstList = new ArrayList<UAVDataObject>();			
-			ListIterator<UAVObject> instIt = instList.listIterator();			
+
+			List<UAVDataObject> newInstList = new ArrayList<UAVDataObject>();
+			ListIterator<UAVObject> instIt = instList.listIterator();
 			while(instIt.hasNext()) {
 				newInstList.add((UAVDataObject) instIt.next());
 			}
@@ -216,13 +241,13 @@ public class UAVObjectManager {
 			// If no instances skip
 			if(instList.size() == 0)
 				continue;
-			
+
 			// If meta data skip
 			if(!instList.get(0).isMetadata())
 				continue;
-			
-			List<UAVMetaObject> newInstList = new ArrayList<UAVMetaObject>();			
-			ListIterator<UAVObject> instIt = instList.listIterator();			
+
+			List<UAVMetaObject> newInstList = new ArrayList<UAVMetaObject>();
+			ListIterator<UAVObject> instIt = instList.listIterator();
 			while(instIt.hasNext()) {
 				newInstList.add((UAVMetaObject) instIt.next());
 			}
@@ -232,17 +257,17 @@ public class UAVObjectManager {
 		return mObjects;
 	}
 
-	
+
 	/**
 	 * Returns a specific object by name only, returns instance ID zero
 	 * @param name The object name
 	 * @return The object or null if not found
 	 */
-	public UAVObject getObject(String name) 
+	public UAVObject getObject(String name)
 	{
 		return getObject(name, 0, 0);
 	}
-	
+
 	/**
 	 * Get a specific object given its name and instance ID
 	 * @returns The object is found or NULL if not
@@ -257,11 +282,11 @@ public class UAVObjectManager {
 	 * @param objId the object id
 	 * @returns The object is found or NULL if not
 	 */
-	public UAVObject getObject(long objId) 
+	public UAVObject getObject(long objId)
 	{
 		return getObject(null, objId, 0);
 	}
-	
+
 	/**
 	 * Get a specific object given its object and instance ID
 	 * @returns The object is found or NULL if not
@@ -293,7 +318,7 @@ public class UAVObjectManager {
 				}
 			}
 		}
-		
+
 		return null;
 	}
 
@@ -327,8 +352,8 @@ public class UAVObjectManager {
 					return instList;
 				}
 			}
-		}			
-		
+		}
+
 		return null;
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 478fa5ac0..be8f07208 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -1,3 +1,29 @@
+/**
+ ******************************************************************************
+ * @file       UAVTalk.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      The protocol layer implementation of UAVTalk.  Serializes objects
+ *             for transmission (which is done in the object itself which is aware
+ *             of byte packing) wraps that in the UAVTalk packet.  Parses UAVTalk
+ *             packets and updates the UAVObjectManager.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.uavtalk;
 
 import java.io.IOException;
@@ -17,7 +43,7 @@ public class UAVTalk extends Observable {
 	public static boolean DEBUG = LOGLEVEL > 0;
 
 	private Thread inputProcessingThread = null;
-	
+
 	/**
 	 * A reference to the thread for processing the incoming stream.  Currently this method is ONLY
 	 * used for unit testing
@@ -26,6 +52,7 @@ public class UAVTalk extends Observable {
 		if (inputProcessingThread == null)
 
 			inputProcessingThread = new Thread() {
+				@Override
 				public void run() {
 					while(true) {
 						try {
@@ -179,7 +206,7 @@ public class UAVTalk extends Observable {
 
 	/**
 	 * Process any data in the queue
-	 * @throws IOException 
+	 * @throws IOException
 	 */
 	public boolean processInputStream() throws IOException {
 		int val;
@@ -195,13 +222,13 @@ public class UAVTalk extends Observable {
 		 return true;
 	}
 
-	
+
 	/**
 	 * Request an update for the specified object, on success the object data
 	 * would have been updated by the GCS. \param[in] obj Object to update
 	 * \param[in] allInstances If set true then all instances will be updated
 	 * \return Success (true), Failure (false)
-	 * @throws IOException 
+	 * @throws IOException
 	 */
 	public boolean sendObjectRequest(UAVObject obj, boolean allInstances) throws IOException {
 		// QMutexLocker locker(mutex);
@@ -213,7 +240,7 @@ public class UAVTalk extends Observable {
 	 * Object to send \param[in] acked Selects if an ack is required \param[in]
 	 * allInstances If set true then all instances will be updated \return
 	 * Success (true), Failure (false)
-	 * @throws IOException 
+	 * @throws IOException
 	 */
 	public synchronized boolean sendObject(UAVObject obj, boolean acked,
 			boolean allInstances) throws IOException {
@@ -237,7 +264,7 @@ public class UAVTalk extends Observable {
 	 * request object update TYPE_OBJ_ACK: send object with an ack \param[in]
 	 * allInstances If set true then all instances will be updated \return
 	 * Success (true), Failure (false)
-	 * @throws IOException 
+	 * @throws IOException
 	 */
 	public boolean objectTransaction(UAVObject obj, int type,
 			boolean allInstances) throws IOException {
@@ -260,7 +287,7 @@ public class UAVTalk extends Observable {
 	/**
 	 * Process an byte from the telemetry stream. \param[in] rxbyte Received
 	 * byte \return Success (true), Failure (false)
-	 * @throws IOException 
+	 * @throws IOException
 	 */
 	public synchronized boolean processInputByte(int rxbyte) throws IOException {
 		assert (objMngr != null);
@@ -341,7 +368,7 @@ public class UAVTalk extends Observable {
 			// Search for object, if not found reset state machine
 			rxObjId = rxTmpBuffer.getInt(0);
 			// Because java treats ints as only signed we need to do this manually
-			if (rxObjId < 0) 
+			if (rxObjId < 0)
 				rxObjId = 0x100000000l + rxObjId;
 			{
 				UAVObject rxObj = objMngr.getObject(rxObjId);
@@ -475,11 +502,11 @@ public class UAVTalk extends Observable {
 	 * received object \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES
 	 * for all instances. \param[in] data Data buffer \param[in] length Buffer
 	 * length \return Success (true), Failure (false)
-	 * @throws IOException 
+	 * @throws IOException
 	 */
 	public boolean receiveObject(int type, long objId, long instId,
 			ByteBuffer data) throws IOException {
-		
+
 		if (DEBUG) Log.d(TAG, "Received object ID: " + objId);
 		assert (objMngr != null);
 
@@ -622,12 +649,12 @@ public class UAVTalk extends Observable {
 	}
 
 	/**
-	 * Send an object through the telemetry link. 
+	 * Send an object through the telemetry link.
 	 * @param[in] obj Object to send
-	 * @param[in] type Transaction type 
-	 * @param[in] allInstances True is all instances of the object are to be sent 
+	 * @param[in] type Transaction type
+	 * @param[in] allInstances True is all instances of the object are to be sent
 	 * @return Success (true), Failure (false)
-	 * @throws IOException 
+	 * @throws IOException
 	 */
 	public synchronized boolean transmitObject(UAVObject obj, int type, boolean allInstances) throws IOException {
 		// If all instances are requested on a single instance object it is an
@@ -665,7 +692,7 @@ public class UAVTalk extends Observable {
 
 	/**
 	 * Send an object through the telemetry link.
-	 * @throws IOException 
+	 * @throws IOException
 	 * @param[in] obj Object handle to send
 	 * @param[in] type Transaction type \return Success (true), Failure (false)
 	 */
@@ -738,11 +765,11 @@ public class UAVTalk extends Observable {
 
 	/**
 	 * Update the crc value with new data.
-	 * 
+	 *
 	 * Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/ using the
 	 * configuration: Width = 8 Poly = 0x07 XorIn = 0x00 ReflectIn = False
 	 * XorOut = 0x00 ReflectOut = False Algorithm = table-driven
-	 * 
+	 *
 	 * \param crc The current crc value. \param data Pointer to a buffer of \a
 	 * data_len bytes. \param length Number of bytes in the \a data buffer.
 	 * \return The updated crc value.
@@ -753,7 +780,7 @@ public class UAVTalk extends Observable {
 
 	int updateCRC(int crc, byte[] data, int length) {
 		for (int i = 0; i < length; i++)
-			crc = updateCRC(crc, (int) data[i]);
+			crc = updateCRC(crc, data[i]);
 		return crc;
 	}
 

From 07074ef41e905eb25821ec563782be4a9ce28628 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 09:22:09 -0500
Subject: [PATCH 317/543] AndroidGCS: Add copyright header of the other files

---
 .../openpilot/androidgcs/AttitudeView.java    |  81 ++++++---
 .../androidgcs/BluetoothDevicePreference.java |  32 +++-
 .../androidgcs/BluetoothUAVTalk.java          |  70 +++++---
 .../org/openpilot/androidgcs/CompassView.java | 124 +++++++------
 .../org/openpilot/androidgcs/Controller.java  | 100 +++++++----
 .../org/openpilot/androidgcs/HomePage.java    |  57 ++++--
 .../src/org/openpilot/androidgcs/Logger.java  |  54 ++++--
 .../androidgcs/OPTelemetryService.java        |  96 ++++++----
 .../openpilot/androidgcs/ObjectBrowser.java   |  60 +++++--
 .../openpilot/androidgcs/ObjectEditor.java    |  34 +++-
 .../androidgcs/ObjectManagerActivity.java     |  29 +++
 .../androidgcs/ObjectManagerFragment.java     |  53 ++++--
 .../src/org/openpilot/androidgcs/PFD.java     |  30 +++-
 .../org/openpilot/androidgcs/Preferences.java |  24 +++
 .../androidgcs/SystemAlarmActivity.java       |  23 +++
 .../androidgcs/SystemAlarmsFragment.java      |  43 ++++-
 .../org/openpilot/androidgcs/TcpUAVTalk.java  |  54 ++++--
 .../openpilot/androidgcs/TelemetryWidget.java |  33 +++-
 .../org/openpilot/androidgcs/UAVLocation.java | 170 ++++++++++--------
 19 files changed, 832 insertions(+), 335 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java b/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
index 24a8bf5f0..68d0a0fa4 100644
--- a/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       AttitudeView.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A view for UAV attitude.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import android.content.Context;
@@ -14,75 +37,75 @@ public class AttitudeView extends View {
 		initAttitudeView();
 	}
 
-	public AttitudeView(Context context, AttributeSet ats, int defaultStyle) { 
+	public AttitudeView(Context context, AttributeSet ats, int defaultStyle) {
 		super(context, ats, defaultStyle);
 		initAttitudeView();
 	}
 
-	public AttitudeView(Context context, AttributeSet ats) { 
+	public AttitudeView(Context context, AttributeSet ats) {
 		super(context, ats);
 		initAttitudeView();
 	}
 
-	protected void initAttitudeView() { 
+	protected void initAttitudeView() {
 		setFocusable(true);
 
-		circlePaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
-		circlePaint.setColor(R.color.background_color); 
-		circlePaint.setStrokeWidth(1); 
+		circlePaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+		circlePaint.setColor(getResources().getColor(R.color.background_color));
+		circlePaint.setStrokeWidth(1);
 		circlePaint.setStyle(Paint.Style.FILL_AND_STROKE);
-		Resources r = this.getResources(); 
-		textPaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		Resources r = this.getResources();
+		textPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
 		textPaint.setColor(r.getColor(R.color.text_color));
-		markerPaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
-		markerPaint.setColor(r.getColor(R.color.marker_color));		
+		markerPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+		markerPaint.setColor(r.getColor(R.color.marker_color));
 	}
 
 	@Override protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
-		int measuredWidth = measure(widthMeasureSpec); 
+		int measuredWidth = measure(widthMeasureSpec);
 		int measuredHeight = measure(heightMeasureSpec);
-		int d = Math.min(measuredWidth, measuredHeight); 
+		int d = Math.min(measuredWidth, measuredHeight);
 		setMeasuredDimension(d/2, d/2);
 	}
 
-	private int measure(int measureSpec) { 
+	private int measure(int measureSpec) {
 		int result = 0;
-		// Decode the measurement specifications. 
+		// Decode the measurement specifications.
 
-		int specMode = MeasureSpec.getMode(measureSpec); 
+		int specMode = MeasureSpec.getMode(measureSpec);
 		int specSize = MeasureSpec.getSize(measureSpec);
 
-		if (specMode == MeasureSpec.UNSPECIFIED) { // Return a default size of 200 if no bounds are specified. 
+		if (specMode == MeasureSpec.UNSPECIFIED) { // Return a default size of 200 if no bounds are specified.
 			result = 200;
-		} else { 
-			// As you want to fill the available space 
-			// always return the full available bounds. 
+		} else {
+			// As you want to fill the available space
+			// always return the full available bounds.
 			result = specSize;
 		}
 		return result;
 	}
 
 	private double roll;
-	public void setRoll(double roll) { 
+	public void setRoll(double roll) {
 		this.roll = roll;
-	} 
+	}
 	private double pitch;
-	public void setPitch(double d) { 
+	public void setPitch(double d) {
 		this.pitch = d;
-	} 
+	}
 
 	// Drawing related code
-	private Paint markerPaint; 
-	private Paint textPaint; 
-	private Paint circlePaint; 
+	private Paint markerPaint;
+	private Paint textPaint;
+	private Paint circlePaint;
 
 	@Override
 	protected void onDraw(Canvas canvas) {
-		int px = getMeasuredWidth() / 2; 
+		int px = getMeasuredWidth() / 2;
 		int py = getMeasuredHeight() /2 ;
 		int radius = Math.min(px, py);
-		
-		canvas.drawLine(px,py, (int) (px+radius * Math.cos(roll)), (int) (py + radius * Math.sin(roll)), markerPaint);		
+
+		canvas.drawLine(px,py, (int) (px+radius * Math.cos(roll)), (int) (py + radius * Math.sin(roll)), markerPaint);
 		canvas.drawLine(px,py, (int) (px+radius * Math.cos(pitch)), (int) (py + radius * Math.sin(pitch)), markerPaint);
 	}
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java b/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java
index 8f0905fa8..4cd00f2e7 100644
--- a/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java
+++ b/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java
@@ -1,12 +1,38 @@
+/**
+ ******************************************************************************
+ * @file       BluetoothDevicePreference.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A dialog in the preferences options that shows the paired BT
+ *             devices.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 package org.openpilot.androidgcs;
 
-import android.bluetooth.*;
+import java.util.Set;
+
+import android.bluetooth.BluetoothAdapter;
+import android.bluetooth.BluetoothDevice;
 import android.content.Context;
 import android.preference.ListPreference;
 import android.util.AttributeSet;
 
-import java.util.Set;
-
 public class BluetoothDevicePreference extends ListPreference {
 
     public BluetoothDevicePreference(Context context, AttributeSet attrs) {
diff --git a/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
index b2c622238..c85f9fc75 100644
--- a/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
@@ -1,3 +1,27 @@
+/**
+ ******************************************************************************
+ * @file       BluetoothUAVTalk.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Telemetry over bluetooth.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 package org.openpilot.androidgcs;
 
 import java.io.IOException;
@@ -24,19 +48,19 @@ import android.util.Log;
 	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
-	
+
 	// Temporarily define fixed device name
 	private String device_name = "RN42-222D";
 	private final static UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
-	
+
 	private BluetoothAdapter mBluetoothAdapter;
 	private BluetoothSocket socket;
 	private BluetoothDevice device;
 	private UAVTalk uavTalk;
-	private boolean connected; 
-	
+	private boolean connected;
+
 	public BluetoothUAVTalk(Context caller) {
-		
+
 		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(caller);
 		device_name = prefs.getString("bluetooth_mac","");
 
@@ -44,52 +68,52 @@ import android.util.Log;
 
         connected = false;
         device = null;
-        
+
         mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
         if (mBluetoothAdapter == null) {
             // Device does not support Bluetooth
         	Log.e(TAG, "Device does not support Bluetooth");
         	return;
         }
-        
+
         if (!mBluetoothAdapter.isEnabled()) {
         	// Enable bluetooth if it isn't already
             Intent enableBtIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
             caller.sendOrderedBroadcast(enableBtIntent, "android.permission.BLUETOOTH_ADMIN", new BroadcastReceiver() {
 				@Override
 				public void onReceive(Context context, Intent intent) {
-					Log.e(TAG,"Received " + context + intent);		
+					Log.e(TAG,"Received " + context + intent);
 					//TODO: some logic here to see if it worked
 					queryDevices();
-				}            	
+				}
             }, null, Activity.RESULT_OK, null, null);
         } else {
         	queryDevices();
-        }        		
+        }
     }
-	
+
 	public boolean connect(UAVObjectManager objMngr) {
-		if( getConnected() ) 
+		if( getConnected() )
 			return true;
 		if( !getFoundDevice() )
-			return false;		
+			return false;
 		if( !openTelemetryBluetooth(objMngr) )
 			return false;
-		return true;		
+		return true;
 	}
 
 	public boolean getConnected() {
 		return connected;
 	}
-    
+
 	public boolean getFoundDevice() {
 		return (device != null);
 	}
-	
+
 	public UAVTalk getUavtalk() {
 		return uavTalk;
 	}
-	
+
     private void queryDevices() {
     	Log.d(TAG, "Searching for devices");
 		Set<BluetoothDevice> pairedDevices = mBluetoothAdapter.getBondedDevices();
@@ -107,7 +131,7 @@ import android.util.Log;
 		    	}
 		    }
 		}
-    	
+
     }
 
 	private boolean openTelemetryBluetooth(UAVObjectManager objMngr) {
@@ -119,11 +143,11 @@ import android.util.Log;
 		} catch (IOException e) {
 			Log.e(TAG,"Unable to create Rfcomm socket");
 			return false;
-			//e.printStackTrace();			
+			//e.printStackTrace();
 		}
-		
+
 		mBluetoothAdapter.cancelDiscovery();
-		
+
 		try {
 			socket.connect();
 		}
@@ -138,7 +162,7 @@ import android.util.Log;
 		}
 
 		connected = true;
-		
+
 		try {
 			uavTalk = new UAVTalk(socket.getInputStream(), socket.getOutputStream(), objMngr);
 		} catch (IOException e) {
@@ -147,7 +171,7 @@ import android.util.Log;
 			//e.printStackTrace();
 			return false;
 		}
-				
+
 		return true;
 	}
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/CompassView.java b/androidgcs/src/org/openpilot/androidgcs/CompassView.java
index 50e4abc0a..b6b348588 100644
--- a/androidgcs/src/org/openpilot/androidgcs/CompassView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/CompassView.java
@@ -1,3 +1,27 @@
+/**
+ ******************************************************************************
+ * @file       CompassView.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A view of the compass heading.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 package org.openpilot.androidgcs;
 
 import android.content.Context;
@@ -14,104 +38,104 @@ public class CompassView extends View {
 		initCompassView();
 	}
 
-	public CompassView(Context context, AttributeSet ats, int defaultStyle) { 
+	public CompassView(Context context, AttributeSet ats, int defaultStyle) {
 		super(context, ats, defaultStyle);
 		initCompassView();
 	}
 
-	public CompassView(Context context, AttributeSet ats) { 
+	public CompassView(Context context, AttributeSet ats) {
 		super(context, ats);
 		initCompassView();
 	}
 
-	protected void initCompassView() { 
+	protected void initCompassView() {
 		setFocusable(true);
 
-		circlePaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
-		circlePaint.setColor(R.color.background_color); 
-		circlePaint.setStrokeWidth(1); 
+		circlePaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+		circlePaint.setColor(getResources().getColor(R.color.background_color));
+		circlePaint.setStrokeWidth(1);
 		circlePaint.setStyle(Paint.Style.FILL_AND_STROKE);
-		Resources r = this.getResources(); 
-		northString = r.getString(R.string.cardinal_north); 
-		eastString = r.getString(R.string.cardinal_east); 
-		southString = r.getString(R.string.cardinal_south); 
+		Resources r = this.getResources();
+		northString = r.getString(R.string.cardinal_north);
+		eastString = r.getString(R.string.cardinal_east);
+		southString = r.getString(R.string.cardinal_south);
 		westString = r.getString(R.string.cardinal_west);
-		textPaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		textPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
 		textPaint.setColor(r.getColor(R.color.text_color));
 		textHeight = (int)textPaint.measureText("yY");
-		markerPaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
-		markerPaint.setColor(r.getColor(R.color.marker_color));		
+		markerPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+		markerPaint.setColor(r.getColor(R.color.marker_color));
 	}
 
 	@Override protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
-		int measuredWidth = measure(widthMeasureSpec); 
+		int measuredWidth = measure(widthMeasureSpec);
 		int measuredHeight = measure(heightMeasureSpec);
-		int d = Math.min(measuredWidth, measuredHeight); 
+		int d = Math.min(measuredWidth, measuredHeight);
 		setMeasuredDimension(d/2, d/2);
 	}
 
-	private int measure(int measureSpec) { 
+	private int measure(int measureSpec) {
 		int result = 0;
-		// Decode the measurement specifications. 
+		// Decode the measurement specifications.
 
-		int specMode = MeasureSpec.getMode(measureSpec); 
+		int specMode = MeasureSpec.getMode(measureSpec);
 		int specSize = MeasureSpec.getSize(measureSpec);
 
-		if (specMode == MeasureSpec.UNSPECIFIED) { // Return a default size of 200 if no bounds are specified. 
+		if (specMode == MeasureSpec.UNSPECIFIED) { // Return a default size of 200 if no bounds are specified.
 			result = 200;
-		} else { 
-			// As you want to fill the available space 
-			// always return the full available bounds. 
+		} else {
+			// As you want to fill the available space
+			// always return the full available bounds.
 			result = specSize;
 		}
 		return result;
 	}
 
 	private double bearing;
-	public void setBearing(double bearing) { 
+	public void setBearing(double bearing) {
 		this.bearing = bearing;
-	} 
+	}
 
 	// Drawing related code
-	private Paint markerPaint; 
-	private Paint textPaint; 
-	private Paint circlePaint; 
-	private String northString; 
-	private String eastString; 
-	private String southString; 
-	private String westString; 
+	private Paint markerPaint;
+	private Paint textPaint;
+	private Paint circlePaint;
+	private String northString;
+	private String eastString;
+	private String southString;
+	private String westString;
 	private int textHeight;
 
 	@Override
 	protected void onDraw(Canvas canvas) {
-		int px = getMeasuredWidth() / 2; 
+		int px = getMeasuredWidth() / 2;
 		int py = getMeasuredHeight() /2 ;
 		int radius = Math.min(px, py);
-		// Draw the background 
+		// Draw the background
 		canvas.drawCircle(px, py, radius, circlePaint);
 
-		// Rotate our perspective so that the ÔtopÕ is 
-		// facing the current bearing. 
-		canvas.save(); 
+		// Rotate our perspective so that the ÔtopÕ is
+		// facing the current bearing.
+		canvas.save();
 		canvas.rotate((float) -bearing, px, py);
 
-		int textWidth = (int)textPaint.measureText("W"); 
-		int cardinalX = px-textWidth/2; 
+		int textWidth = (int)textPaint.measureText("W");
+		int cardinalX = px-textWidth/2;
 		int cardinalY = py-radius+textHeight;
 
-		// Draw the marker every 15 degrees and text every 45. 
+		// Draw the marker every 15 degrees and text every 45.
 		for (int i = 0; i < 24; i++) {
-			// Draw a marker. 
+			// Draw a marker.
 			canvas.drawLine(px, py-radius, px, py-radius+10, markerPaint);
-			canvas.save(); 
+			canvas.save();
 			canvas.translate(0, textHeight);
-			// Draw the cardinal points 
+			// Draw the cardinal points
 			if (i % 6 == 0) {
 				String dirString = null;
 				switch (i) {
 				case 0 : {
-					dirString = northString; 
-					int arrowY = 2*textHeight; 
+					dirString = northString;
+					int arrowY = 2*textHeight;
 					canvas.drawLine(px, arrowY, px-5, 3*textHeight, markerPaint);
 					canvas.drawLine(px, arrowY, px+5, 3*textHeight, markerPaint);
 					break;
@@ -122,18 +146,18 @@ public class CompassView extends View {
 				}
 				canvas.drawText(dirString, cardinalX, cardinalY, textPaint);
 			}
-			else if (i % 3 == 0) { 
-				// Draw the text every alternate 45deg 
-				String angle = String.valueOf(i*15); 
+			else if (i % 3 == 0) {
+				// Draw the text every alternate 45deg
+				String angle = String.valueOf(i*15);
 				float angleTextWidth = textPaint.measureText(angle);
 
-				int angleTextX = (int)(px-angleTextWidth/2); 
-				int angleTextY = py-radius+textHeight; 
+				int angleTextX = (int)(px-angleTextWidth/2);
+				int angleTextY = py-radius+textHeight;
 				canvas.drawText(angle, angleTextX, angleTextY, textPaint);
 			}
 			canvas.restore();
 			canvas.rotate(15, px, py);
 		}
-		canvas.restore();		
+		canvas.restore();
 	}
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/Controller.java b/androidgcs/src/org/openpilot/androidgcs/Controller.java
index b40e37f93..e2b2c87da 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Controller.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Controller.java
@@ -1,3 +1,28 @@
+/**
+ ******************************************************************************
+ * @file       Controller.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Allows controlling the UAV over telemetry.  This activity
+ *             pushes the appropriate settings to the remote device for it to
+ *             listen to the GCSReceiver.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.util.Observable;
@@ -9,16 +34,16 @@ import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectField;
 
-import com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView;
-import com.MobileAnarchy.Android.Widgets.Joystick.JoystickMovedListener;
-import com.MobileAnarchy.Android.Widgets.Joystick.JoystickView;
-
 import android.os.Bundle;
 import android.os.Handler;
 import android.util.Log;
 import android.widget.TextView;
 import android.widget.Toast;
 
+import com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView;
+import com.MobileAnarchy.Android.Widgets.Joystick.JoystickMovedListener;
+import com.MobileAnarchy.Android.Widgets.Joystick.JoystickView;
+
 public class Controller extends ObjectManagerActivity {
 	private final String TAG = "Controller";
 
@@ -29,18 +54,18 @@ public class Controller extends ObjectManagerActivity {
 	private final int PITCH_CHANNEL = 2;
 	private final int YAW_CHANNEL = 3;
 	private final int FLIGHTMODE_CHANNEL = 4;
-	
+
 	private final int CHANNEL_MIN = 1000;
 	private final int CHANNEL_MAX = 2000;
 	private final int CHANNEL_NEUTRAL = 1500;
 	private final int CHANNEL_NEUTRAL_THROTTLE = 1100;
-	
+
 	private double throttle = 0.1, roll = 0.1, pitch = -0.1, yaw = 0;
 	private boolean updated;
 	private boolean leftJoystickHeld, rightJoystickHeld;
-	
+
 	Timer sendTimer = new Timer();
-	
+
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
@@ -63,7 +88,7 @@ public class Controller extends ObjectManagerActivity {
 			}
 		}
 	};
-	
+
 	@Override
 	void onOPConnected() {
 		super.onOPConnected();
@@ -74,43 +99,48 @@ public class Controller extends ObjectManagerActivity {
 			manualControl.addUpdatedObserver(updatedObserver);
 		}
 
-		
+
 		UAVDataObject manualControlSettings = (UAVDataObject) objMngr.getObject("ManualControlSettings");
 		if(manualControlSettings != null) {
 			Log.d(TAG, "Requested settings update");
 			manualControlSettings.addUpdatedObserver(updatedObserver);
 			manualControlSettings.updateRequested();
-		}		
-		
+		}
+
 		final double MOVEMENT_RANGE = 50.0;
 		DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
 		joystick.setMovementConstraint(JoystickView.CONSTRAIN_BOX);
 		joystick.setMovementRange((int)MOVEMENT_RANGE, (int)MOVEMENT_RANGE);
-		
+
 		// Hardcode a Mode 1 listener for now
 		joystick.setOnJostickMovedListener(new JoystickMovedListener() {
+			@Override
 			public void OnMoved(int pan, int tilt) {
-				pitch = (double) tilt / MOVEMENT_RANGE;
-				yaw = (double) pan / MOVEMENT_RANGE;
+				pitch = tilt / MOVEMENT_RANGE;
+				yaw = pan / MOVEMENT_RANGE;
 				leftJoystickHeld = true;
 			}
+			@Override
 			public void OnReleased() { leftJoystickHeld = false; throttle = -1; updated = true; }
 			@Override
 			public void OnReturnedToCenter() { }
 		}, new JoystickMovedListener() {
+			@Override
 			public void OnMoved(int pan, int tilt) {
-				throttle = (double) (-tilt + (MOVEMENT_RANGE -5)) / (MOVEMENT_RANGE - 5);
+				throttle = (-tilt + (MOVEMENT_RANGE -5)) / (MOVEMENT_RANGE - 5);
 				throttle *= 0.5;
 				if (throttle < 0)
 					throttle = -1;
-				roll = (double) pan / MOVEMENT_RANGE;
+				roll = pan / MOVEMENT_RANGE;
 				rightJoystickHeld = true;
 			}
+			@Override
 			public void OnReleased() { rightJoystickHeld = false; throttle = -1; updated = true; }
 			@Override
 			public void OnReturnedToCenter() { }
 		}) ;
 		TimerTask controllerTask = new TimerTask() {
+			@Override
 			public void run() {
 				uavobjHandler.post(new Runnable() {
 					@Override
@@ -152,17 +182,19 @@ public class Controller extends ObjectManagerActivity {
 	 * The callbacks from the UAVOs must run in the correct thread to update the
 	 * UI.  This is what using a runnable does.
 	 */
-	final Handler uavobjHandler = new Handler(); 
+	final Handler uavobjHandler = new Handler();
 	final Runnable updateText = new Runnable() {
+		@Override
 		public void run() {
 			updateManualControl();
 		}
 	};
-	
+
 	private final Observer updatedObserver = new Observer() {
+		@Override
 		public void update(Observable observable, Object data) {
 			uavobjHandler.post(updateText);
-		}				
+		}
 	};
 
 	/**
@@ -174,33 +206,33 @@ public class Controller extends ObjectManagerActivity {
 		if (manualView != null && manualControl != null)
 			manualView.setText(manualControl.toStringData());
 	}
-	
+
 	/**
 	 * Active GCS receiver mode
 	 */
 	private void activateGcsReceiver() {
 		UAVObject manualControlSettings = objMngr.getObject("ManualControlSettings");
-		
+
 		if (manualControlSettings == null) {
 			Toast.makeText(this, "Failed to get manual control settings", Toast.LENGTH_SHORT).show();
 			return;
 		}
-		
+
 		UAVObjectField channelGroups = manualControlSettings.getField("ChannelGroups");
 		UAVObjectField channelNumber = manualControlSettings.getField("ChannelNumber");
 		UAVObjectField channelMax = manualControlSettings.getField("ChannelMax");
 		UAVObjectField channelNeutral = manualControlSettings.getField("ChannelNeutral");
 		UAVObjectField channelMin = manualControlSettings.getField("ChannelMin");
-		if (channelGroups == null || channelMax == null || channelNeutral == null || 
+		if (channelGroups == null || channelMax == null || channelNeutral == null ||
 				channelMin == null || channelNumber == null) {
 			Toast.makeText(this,  "Manual control settings not formatted correctly", Toast.LENGTH_SHORT).show();
 			return;
 		}
-		
+
 		/* Configure the manual control module how the GCS controller expects
-		 * This order MUST correspond to the enumeration order of ChannelNumber in 
+		 * This order MUST correspond to the enumeration order of ChannelNumber in
 		 * ManualControlSettings.
-		 */ 
+		 */
 		int channels[] = { THROTTLE_CHANNEL, ROLL_CHANNEL, PITCH_CHANNEL, YAW_CHANNEL, FLIGHTMODE_CHANNEL };
 		for (int i = 0; i < channels.length; i++) {
 			channelGroups.setValue("GCS", channels[i]);
@@ -216,23 +248,23 @@ public class Controller extends ObjectManagerActivity {
 			break;
 			}
 		}
-		
+
 		// Send settings to the UAV
 		manualControlSettings.updated();
-		
-		
+
+
 	}
-	
+
 	/**
 	 * Scale the channels to the output range the flight controller expects
 	 */
-	private float scaleChannel(double in, double neutral) {	
+	private float scaleChannel(double in, double neutral) {
 		// Check bounds
-		if (in > 1) 
+		if (in > 1)
 			in = 1;
 		if (in < -1)
 			in = -1;
-		
+
 		if (in >= 0)
 			return (float) (neutral + (CHANNEL_MAX - neutral) * in);
 		return (float) (neutral + (neutral - CHANNEL_MIN) * in);
diff --git a/androidgcs/src/org/openpilot/androidgcs/HomePage.java b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
index 500afeec3..e6a33f083 100644
--- a/androidgcs/src/org/openpilot/androidgcs/HomePage.java
+++ b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       HomePage.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Main launch page for the Android GCS actitivies
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import android.content.Intent;
@@ -10,48 +33,54 @@ public class HomePage extends ObjectManagerActivity {
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
-		super.onCreate(savedInstanceState);		
-		setContentView(R.layout.gcs_home);		
-		
+		super.onCreate(savedInstanceState);
+		setContentView(R.layout.gcs_home);
+
 		Button objectBrowser = (Button) findViewById(R.id.launch_object_browser);
 		objectBrowser.setOnClickListener(new OnClickListener() {
+			@Override
 			public void onClick(View arg0) {
-				startActivity(new Intent(HomePage.this, ObjectBrowser.class));	
-			}			
+				startActivity(new Intent(HomePage.this, ObjectBrowser.class));
+			}
 		});
-		
+
 		Button pfd = (Button) findViewById(R.id.launch_pfd);
 		pfd.setOnClickListener(new OnClickListener() {
+			@Override
 			public void onClick(View arg0) {
-				startActivity(new Intent(HomePage.this, PFD.class));	
-			}			
+				startActivity(new Intent(HomePage.this, PFD.class));
+			}
 		});
 
 		Button location = (Button) findViewById(R.id.launch_location);
 		location.setOnClickListener(new OnClickListener() {
+			@Override
 			public void onClick(View arg0) {
-				startActivity(new Intent(HomePage.this, UAVLocation.class));	
-			}			
+				startActivity(new Intent(HomePage.this, UAVLocation.class));
+			}
 		});
 
 		Button controller = (Button) findViewById(R.id.launch_controller);
 		controller.setOnClickListener(new OnClickListener() {
+			@Override
 			public void onClick(View arg0) {
-				startActivity(new Intent(HomePage.this, Controller.class));	
-			}			
+				startActivity(new Intent(HomePage.this, Controller.class));
+			}
 		});
 
 		Button logger = (Button) findViewById(R.id.launch_logger);
 		logger.setOnClickListener(new OnClickListener() {
+			@Override
 			public void onClick(View arg0) {
-				startActivity(new Intent(HomePage.this, Logger.class));	
+				startActivity(new Intent(HomePage.this, Logger.class));
 			}
 		});
 
 		Button alarms = (Button) findViewById(R.id.launch_alarms);
 		alarms.setOnClickListener(new OnClickListener() {
+			@Override
 			public void onClick(View arg0) {
-				startActivity(new Intent(HomePage.this, SystemAlarmActivity.class));	
+				startActivity(new Intent(HomePage.this, SystemAlarmActivity.class));
 			}
 		});
 	}
diff --git a/androidgcs/src/org/openpilot/androidgcs/Logger.java b/androidgcs/src/org/openpilot/androidgcs/Logger.java
index 8ad3d20df..0760e3e83 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Logger.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Logger.java
@@ -1,3 +1,27 @@
+/**
+ ******************************************************************************
+ * @file       Logger.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Controller for logging data as well as interface for getting that
+ *             data on and off the tablet.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.io.File;
@@ -16,17 +40,17 @@ import android.widget.TextView;
 
 
 public class Logger extends ObjectManagerActivity {
-	
+
 	final String TAG = "Logger";
 
 	final boolean VERBOSE = false;
 	final boolean DEBUG = true;
-	
+
 	private File file;
 	private boolean logging;
 	private FileOutputStream fileStream;
 	private UAVTalk uavTalk;
-	
+
 	private int writtenBytes;
 	private int writtenObjects;
 
@@ -36,15 +60,15 @@ public class Logger extends ObjectManagerActivity {
 		super.onCreate(savedInstanceState);
 		setContentView(R.layout.logger);
 	}
-	
+
 	private void onStartLogging() {
-		
+
 		File root = Environment.getExternalStorageDirectory();
-		
+
 		Date d = new Date();
 		String date = (new SimpleDateFormat("yyyyMMdd_hhmmss")).format(d);
 		String fileName = "/logs/logs_" + date + ".opl";
-		
+
 		file = new File(root, fileName);
 		if (DEBUG) Log.d(TAG, "Trying for file: " + file.getAbsolutePath());
 		try {
@@ -60,10 +84,10 @@ public class Logger extends ObjectManagerActivity {
 		} catch (IOException e) {
 			Log.e(TAG, "Could not write file " + e.getMessage());
 		}
-		
+
 		// TODO: if logging succeeded then retrieve all settings
 	}
-	
+
 	private void onStopLogging() {
 		if (DEBUG) Log.d(TAG, "Stop logging");
 		logging = false;
@@ -74,11 +98,11 @@ public class Logger extends ObjectManagerActivity {
 			e.printStackTrace();
 		}
 	}
-	
+
 	@Override
 	void onOPConnected() {
 		super.onOPConnected();
-		
+
 		if (DEBUG) Log.d(TAG, "onOPConnected()");
 		onStartLogging();
 		registerObjectUpdates(objMngr.getObjects());
@@ -104,7 +128,7 @@ public class Logger extends ObjectManagerActivity {
 	    onStartLogging();
 	}
 	/**
-	 * Called whenever any objects subscribed to via registerObjects 
+	 * Called whenever any objects subscribed to via registerObjects
 	 */
 	@Override
 	protected void objectUpdated(UAVObject obj) {
@@ -126,18 +150,18 @@ public class Logger extends ObjectManagerActivity {
 				fileStream.write((byte)(size & 0x0000ff0000000000l) >> 40);
 				fileStream.write((byte)(size & 0x00ff000000000000l) >> 48);
 				fileStream.write((byte)(size & 0xff00000000000000l) >> 56);
-				
+
 				uavTalk.sendObject(obj, false, false);
 			} catch (IOException e) {
 				// TODO Auto-generated catch block
 				e.printStackTrace();
 			}
-			
+
 			writtenBytes += obj.getNumBytes();
 			writtenObjects ++;
 
 			((TextView) findViewById(R.id.logger_number_of_bytes)).setText(Integer.valueOf(writtenBytes).toString());
-			((TextView) findViewById(R.id.logger_number_of_objects)).setText(Integer.valueOf(writtenObjects).toString());			
+			((TextView) findViewById(R.id.logger_number_of_objects)).setText(Integer.valueOf(writtenObjects).toString());
 		}
 	}
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
index 3309cf2b6..fb3106f97 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
@@ -1,3 +1,29 @@
+/**
+ ******************************************************************************
+ * @file       OPTelemetryService.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Provides UAVTalk telemetry over multiple physical links.  The
+ *             details of each of these are in their respective connection
+ *             classes.  This mostly creates those threads based on the selected
+ *             preferences.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.io.IOException;
@@ -67,7 +93,7 @@ public class OPTelemetryService extends Service {
 			case MSG_START:
 				stopSelf(msg.arg2);
 				break;
-			case MSG_CONNECT:	
+			case MSG_CONNECT:
 				terminate = false;
 				int connection_type;
 				SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
@@ -111,7 +137,7 @@ public class OPTelemetryService extends Service {
 				Intent intent = new Intent();
 				intent.setAction(INTENT_ACTION_DISCONNECTED);
 				sendBroadcast(intent,null);
-				
+
 				stopSelf();
 
 				break;
@@ -131,14 +157,14 @@ public class OPTelemetryService extends Service {
 	 */
 	public void startup() {
 		Toast.makeText(getApplicationContext(), "Telemetry service starting", Toast.LENGTH_SHORT).show();
-		
+
 		thread = new HandlerThread("TelemetryServiceHandler", Process.THREAD_PRIORITY_BACKGROUND);
 		thread.start();
 
-		// Get the HandlerThread's Looper and use it for our Handler 
+		// Get the HandlerThread's Looper and use it for our Handler
 		mServiceLooper = thread.getLooper();
 		mServiceHandler = new ServiceHandler(mServiceLooper);
-	
+
 		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
 		if(prefs.getBoolean("autoconnect", false)) {
 			Message msg = mServiceHandler.obtainMessage();
@@ -148,7 +174,7 @@ public class OPTelemetryService extends Service {
 		}
 
 	}
-	
+
 	@Override
 	public void onCreate() {
 		startup();
@@ -157,19 +183,19 @@ public class OPTelemetryService extends Service {
 	@Override
 	public int onStartCommand(Intent intent, int flags, int startId) {
 		// Currently only using as bound service
-		
+
 		// If we get killed, after returning from here, restart
 		return START_STICKY;
 	}
 
 	@Override
-	public IBinder onBind(Intent intent) {		
+	public IBinder onBind(Intent intent) {
 		return mBinder;
 	}
 
 	@Override
 	public void onDestroy() {
-		Toast.makeText(this, "Telemetry service done", Toast.LENGTH_SHORT).show(); 
+		Toast.makeText(this, "Telemetry service done", Toast.LENGTH_SHORT).show();
 	}
 
 	public class LocalBinder extends Binder {
@@ -206,9 +232,10 @@ public class OPTelemetryService extends Service {
 		public UAVObjectManager getObjectManager();
 	};
 
-	// Fake class for testing, simply emits periodic updates on 
+	// Fake class for testing, simply emits periodic updates on
 	private class FakeTelemetryThread extends Thread implements TelemTask  {
-		private UAVObjectManager objMngr;
+		private final UAVObjectManager objMngr;
+		@Override
 		public UAVObjectManager getObjectManager() { return objMngr; };
 
 		FakeTelemetryThread() {
@@ -216,6 +243,7 @@ public class OPTelemetryService extends Service {
 			UAVObjectsInitialize.register(objMngr);
 		}
 
+		@Override
 		public void run() {
 			System.out.println("Running fake thread");
 
@@ -229,22 +257,22 @@ public class OPTelemetryService extends Service {
 			UAVDataObject homeLocation = (UAVDataObject) objMngr.getObject("HomeLocation");
 			UAVDataObject positionActual = (UAVDataObject) objMngr.getObject("PositionActual");
 			UAVDataObject systemAlarms = (UAVDataObject) objMngr.getObject("SystemAlarms");
-			
+
 			systemAlarms.getField("Alarm").setValue("Warning",0);
 			systemAlarms.getField("Alarm").setValue("OK",1);
 			systemAlarms.getField("Alarm").setValue("Critical",2);
 			systemAlarms.getField("Alarm").setValue("Error",3);
 			systemAlarms.updated();
-			
+
 			homeLocation.getField("Latitude").setDouble(379420315);
 			homeLocation.getField("Longitude").setDouble(-88330078);
 			homeLocation.getField("Be").setDouble(26702.78710938,0);
 			homeLocation.getField("Be").setDouble(-1468.33605957,1);
 			homeLocation.getField("Be").setDouble(34181.78515625,2);
-			
-			
+
+
 			double roll = 0;
-			double pitch = 0; 
+			double pitch = 0;
 			double yaw = 0;
 			double north = 0;
 			double east = 0;
@@ -257,7 +285,7 @@ public class OPTelemetryService extends Service {
 				roll = (roll + 10) % 180;
 				pitch = (pitch + 10) % 180;
 				yaw = (yaw + 10) % 360;
-				
+
 				systemStats.updated();
 				attitudeActual.updated();
 				positionActual.updated();
@@ -269,13 +297,14 @@ public class OPTelemetryService extends Service {
 			}
 		}
 	}
-	private class BTTelemetryThread extends Thread implements TelemTask { 
+	private class BTTelemetryThread extends Thread implements TelemTask {
 
-		private UAVObjectManager objMngr;
+		private final UAVObjectManager objMngr;
 		private UAVTalk uavTalk;
 		private Telemetry tel;
 		private TelemetryMonitor mon;
 
+		@Override
 		public UAVObjectManager getObjectManager() { return objMngr; };
 
 		BTTelemetryThread() {
@@ -283,10 +312,11 @@ public class OPTelemetryService extends Service {
 			UAVObjectsInitialize.register(objMngr);
 		}
 
-		public void run() {			
+		@Override
+		public void run() {
 			if (DEBUG) Log.d(TAG, "Telemetry Thread started");
 
-			Looper.prepare();						
+			Looper.prepare();
 
 			BluetoothUAVTalk bt = new BluetoothUAVTalk(OPTelemetryService.this);
 			for( int i = 0; i < 10; i++ ) {
@@ -318,14 +348,15 @@ public class OPTelemetryService extends Service {
 			tel = new Telemetry(uavTalk, objMngr);
 			mon = new TelemetryMonitor(objMngr,tel);
 			mon.addObserver(new Observer() {
+				@Override
 				public void update(Observable arg0, Object arg1) {
 					System.out.println("Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
 					if(mon.getConnected() /*&& mon.getObjectsUpdated()*/) {
 						Intent intent = new Intent();
 						intent.setAction(INTENT_ACTION_CONNECTED);
-						sendBroadcast(intent,null);					
+						sendBroadcast(intent,null);
 					}
-				}				
+				}
 			});
 
 
@@ -345,13 +376,14 @@ public class OPTelemetryService extends Service {
 
 	};
 
-	private class TcpTelemetryThread extends Thread implements TelemTask { 
+	private class TcpTelemetryThread extends Thread implements TelemTask {
 
-		private UAVObjectManager objMngr;
+		private final UAVObjectManager objMngr;
 		private UAVTalk uavTalk;
 		private Telemetry tel;
 		private TelemetryMonitor mon;
 
+		@Override
 		public UAVObjectManager getObjectManager() { return objMngr; };
 
 		TcpTelemetryThread() {
@@ -359,7 +391,8 @@ public class OPTelemetryService extends Service {
 			UAVObjectsInitialize.register(objMngr);
 		}
 
-		public void run() {			
+		@Override
+		public void run() {
 			if (DEBUG) Log.d(TAG, "Telemetry Thread started");
 
 			Looper.prepare();
@@ -371,7 +404,7 @@ public class OPTelemetryService extends Service {
 				tcp.connect(objMngr);
 
 				if( tcp.getConnected() )
-					
+
 					break;
 
 				try {
@@ -394,6 +427,7 @@ public class OPTelemetryService extends Service {
 			tel = new Telemetry(uavTalk, objMngr);
 			mon = new TelemetryMonitor(objMngr,tel);
 			mon.addObserver(new Observer() {
+				@Override
 				public void update(Observable arg0, Object arg1) {
 					System.out.println("Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
 					if(mon.getConnected() /*&& mon.getObjectsUpdated()*/) {
@@ -401,7 +435,7 @@ public class OPTelemetryService extends Service {
 						intent.setAction(INTENT_ACTION_CONNECTED);
 						sendBroadcast(intent,null);
 					}
-				}	
+				}
 			});
 
 
@@ -417,16 +451,16 @@ public class OPTelemetryService extends Service {
 				}
 			}
 			Looper.myLooper().quit();
-			
+
 			// Shut down all the attached
 			mon.stopMonitor();
 			mon = null;
 			tel.stopTelemetry();
 			tel = null;
-			
+
 			// Finally close the stream if it is still open
 			tcp.disconnect();
-			
+
 			if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
 			toastMessage("TCP Thread finished");
 		}
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index 95aa34810..2c04ed248 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -1,3 +1,27 @@
+/**
+ ******************************************************************************
+ * @file       ObjectBrowser.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A simple object browser for UAVOs that allows viewing, editing,
+ *             loading and saving.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.util.ArrayList;
@@ -6,6 +30,9 @@ import java.util.ListIterator;
 import java.util.Observable;
 import java.util.Observer;
 
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObject;
+
 import android.content.Intent;
 import android.content.SharedPreferences;
 import android.content.SharedPreferences.OnSharedPreferenceChangeListener;
@@ -16,6 +43,7 @@ import android.util.Log;
 import android.view.View;
 import android.view.View.OnClickListener;
 import android.widget.AdapterView;
+import android.widget.AdapterView.OnItemClickListener;
 import android.widget.ArrayAdapter;
 import android.widget.Button;
 import android.widget.CheckBox;
@@ -23,10 +51,6 @@ import android.widget.CompoundButton;
 import android.widget.CompoundButton.OnCheckedChangeListener;
 import android.widget.ListView;
 import android.widget.TextView;
-import android.widget.AdapterView.OnItemClickListener;
-
-import org.openpilot.uavtalk.UAVDataObject;
-import org.openpilot.uavtalk.UAVObject;
 
 public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPreferenceChangeListener {
 
@@ -36,24 +60,26 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 	SharedPreferences prefs;
 	ArrayAdapter<UAVDataObject> adapter;
 	List<UAVDataObject> allObjects;
-	
-	final Handler uavobjHandler = new Handler(); 
+
+	final Handler uavobjHandler = new Handler();
 	final Runnable updateText = new Runnable() {
+		@Override
 		public void run() {
 			updateObject();
 		}
 	};
-	
+
 	private final Observer updatedObserver = new Observer() {
+		@Override
 		public void update(Observable observable, Object data) {
 			uavobjHandler.post(updateText);
-		}				
+		}
 	};
 
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
-		setContentView(R.layout.object_browser);		
+		setContentView(R.layout.object_browser);
 		prefs = PreferenceManager.getDefaultSharedPreferences(this);
 		prefs.registerOnSharedPreferenceChangeListener(this);
 		super.onCreate(savedInstanceState);
@@ -63,7 +89,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 	void onOPConnected() {
 		super.onOPConnected();
 		Log.d(TAG, "onOPConnected()");
-		
+
 		OnCheckedChangeListener checkListener = new OnCheckedChangeListener() {
 			@Override
 			public void onCheckedChanged(CompoundButton buttonView,
@@ -71,10 +97,10 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 				updateList();
 			}
 		};
-		
+
 		((CheckBox) findViewById(R.id.dataCheck)).setOnCheckedChangeListener(checkListener);
 		((CheckBox) findViewById(R.id.settingsCheck)).setOnCheckedChangeListener(checkListener);
-		
+
 		((Button) findViewById(R.id.editButton)).setOnClickListener(new OnClickListener() {
 			@Override
 			public void onClick(View v) {
@@ -87,7 +113,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 				}
 			}
 		});
-		
+
 		((Button) findViewById(R.id.object_load_button)).setOnClickListener(new OnClickListener() {
 			@Override
 			public void onClick(View v) {
@@ -100,7 +126,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 					objPer.getField("ObjectID").setValue(allObjects.get(selected_index).getObjID());
 					objPer.getField("InstanceID").setValue(0);
 					objPer.updated();
-					
+
 					allObjects.get(selected_index).updateRequested();
 				}
 			}
@@ -137,6 +163,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 		objects.setAdapter(adapter);
 
 		objects.setOnItemClickListener(new OnItemClickListener() {
+			@Override
 			public void onItemClick(AdapterView<?> parent, View view,
 					int position, long id) {
 
@@ -149,9 +176,9 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 				updateObject();
 			}
 		});
-		
+
 	}
-	
+
 	private void updateObject() {
 		//adapter.notifyDataSetChanged();
 		TextView text = (TextView) findViewById(R.id.object_information);
@@ -161,6 +188,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 			Log.d(TAG,"Update called but invalid index: " + selected_index);
 	}
 
+	@Override
 	public void onSharedPreferenceChanged(SharedPreferences sharedPreferences,
 			String key) {
 		// TODO Auto-generated method stub
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java b/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
index a7617ca7d..10614e1de 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java
@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       ObjectEditor.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A popup dialog for editing the contents of a UAVO.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.util.List;
@@ -17,7 +40,7 @@ import android.widget.Toast;
 
 public class ObjectEditor extends ObjectManagerActivity {
 
-	static final String TAG = "ObjectEditor"; 
+	static final String TAG = "ObjectEditor";
 	String objectName;
 	long objectID;
 	long instID;
@@ -58,6 +81,7 @@ public class ObjectEditor extends ObjectManagerActivity {
 		});
 	}
 
+	@Override
 	public void onOPConnected() {
 		UAVObject obj = objMngr.getObject(objectID, instID);
 		if (obj == null) {
@@ -86,15 +110,15 @@ public class ObjectEditor extends ObjectManagerActivity {
 			Toast.makeText(this, "Save failed", Toast.LENGTH_LONG).show();
 			return;
 		}
-		
-		long thisId = objectID < 0 ? ((Long) 0x100000000l) + objectID : objectID; 
+
+		long thisId = objectID < 0 ? 0x100000000l + objectID : objectID;
 		objPer.getField("Operation").setValue("Save");
 		objPer.getField("Selection").setValue("SingleObject");
 		Log.d(TAG,"Saving with object id: " + objectID + " swapped to " + thisId);
 		objPer.getField("ObjectID").setValue(thisId);
 		objPer.getField("InstanceID").setValue(instID);
 		objPer.updated();
-		
+
 		Toast.makeText(this, "Save succeeded", Toast.LENGTH_LONG).show();
 	}
 
@@ -125,7 +149,7 @@ public class ObjectEditor extends ObjectManagerActivity {
 				default:
 					String val = ((EditText) editView.fields.get(field_idx)).getText().toString();
 					Double num = Double.parseDouble(val);
-					
+
 					Log.e(TAG, "Updating field: " + field.getName() + " value: " + num);
 					field.setValue(num, i);
 					break;
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index 24fddb8da..7a868187a 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -1,3 +1,32 @@
+/**
+ ******************************************************************************
+ * @file       ObjectManagerActivity.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Base object for all activies that use the UAVObjectManager.
+ *             This class takes care of binding to the service and getting the
+ *             object manager as well as setting up callbacks to the objects of
+ *             interest that run on the UI thread.
+ *             Implements a new Android lifecycle: onOPConnected() / onOPDisconnected()
+ *             which indicates when a valid telemetry is established as well as a
+ *             valid object manager handle.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.util.List;
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java
index 0a1fdec4e..3c6735d52 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java
@@ -1,3 +1,29 @@
+/**
+ ******************************************************************************
+ * @file       ObjectManagerFragment.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Base class for all fragments that use the UAVObjectManager.  This
+ *             supports all the extensions the ObjectManagerActivity does, namely
+ *             access to the UAVObjectManager and callbacks in the UI thread for
+ *             object updates.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import org.openpilot.uavtalk.UAVObject;
@@ -9,12 +35,12 @@ import android.os.Bundle;
 import android.util.Log;
 
 public class ObjectManagerFragment extends Fragment {
-	
+
 	private static final String TAG = ObjectManagerFragment.class.getSimpleName();
 	private static int LOGLEVEL = 1;
 //	private static boolean WARN = LOGLEVEL > 1;
 	private static boolean DEBUG = LOGLEVEL > 0;
-    
+
 	UAVObjectManager objMngr;
 
 	/** Called when the activity is first created. */
@@ -25,15 +51,16 @@ public class ObjectManagerFragment extends Fragment {
 		// For an activity this registers against the telemetry service intents.  Fragments must be notified by their
 		// parent activity
 	}
-    
+
 	/**
 	 * Attach to the parent activity so it can notify us when the connection
 	 * changed
 	 */
-    public void onAttach(Activity activity) {
+    @Override
+	public void onAttach(Activity activity) {
         super.onAttach(activity);
         if (DEBUG) Log.d(TAG,"onAttach");
-        
+
         ObjectManagerActivity castActivity = null;
         try {
         	castActivity = (ObjectManagerActivity)activity;
@@ -44,25 +71,25 @@ public class ObjectManagerFragment extends Fragment {
         }
         castActivity.addOnConnectionListenerFragment(this);
     }
-    
-    
+
+
 	// The below methods should all be called by the parent activity at the appropriate times
     protected void onOPConnected(UAVObjectManager objMngr) {
 		this.objMngr = objMngr;
 		if (DEBUG) Log.d(TAG,"onOPConnected");
 	}
-	
+
 	protected void onOPDisconnected() {
 		objMngr = null;
 		if (DEBUG) Log.d(TAG,"onOPDisconnected");
 	}
-		
+
 	/**
-	 * Called whenever any objects subscribed to via registerObjects 
+	 * Called whenever any objects subscribed to via registerObjects
 	 */
 	protected void objectUpdated(UAVObject obj) {
-		
-	}	
+
+	}
 
 	/**
 	 * Register on the activities object monitor handler so that updates
@@ -72,5 +99,5 @@ public class ObjectManagerFragment extends Fragment {
 	protected void registerObjectUpdates(UAVObject object) {
 		((ObjectManagerActivity) getActivity()).registerObjectUpdates(object, this);
 	}
-	
+
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/PFD.java b/androidgcs/src/org/openpilot/androidgcs/PFD.java
index 654e6d695..297a4b97f 100644
--- a/androidgcs/src/org/openpilot/androidgcs/PFD.java
+++ b/androidgcs/src/org/openpilot/androidgcs/PFD.java
@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       PFD.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Shows the PFD activity.
+ * @see        The GNU Public License (GPL) Version 3
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 package org.openpilot.androidgcs;
 
 import org.openpilot.uavtalk.UAVObject;
@@ -15,6 +38,7 @@ public class PFD extends ObjectManagerActivity {
 	/**
 	 * Update the UI whenever the attitude is updated
 	 */
+	@Override
 	protected void objectUpdated(UAVObject obj) {
 		// Throttle the UI redraws.  Eventually this should maybe come from a periodic task
 		if ((System.currentTimeMillis() - lastUpdateMs) < MIN_UPDATE_PERIOD)
@@ -22,7 +46,7 @@ public class PFD extends ObjectManagerActivity {
 		if (obj.getName().compareTo("AttitudeActual") != 0)
 			return;
 
-		lastUpdateMs = System.currentTimeMillis(); 
+		lastUpdateMs = System.currentTimeMillis();
 
 		heading = obj.getField("Yaw").getDouble();
 		pitch = obj.getField("Pitch").getDouble();
@@ -42,7 +66,7 @@ public class PFD extends ObjectManagerActivity {
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
 		setContentView(R.layout.pfd);
-	}	
+	}
 
 	@Override
 	void onOPConnected() {
@@ -52,5 +76,5 @@ public class PFD extends ObjectManagerActivity {
 		UAVObject obj = objMngr.getObject("AttitudeActual");
 		if (obj != null)
 			registerObjectUpdates(obj);
-	}				
+	}
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/Preferences.java b/androidgcs/src/org/openpilot/androidgcs/Preferences.java
index 8a27e805c..4b99eadcd 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Preferences.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Preferences.java
@@ -1,3 +1,27 @@
+/**
+ ******************************************************************************
+ * @file       Preferences.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Displays the preferences dialog.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 package org.openpilot.androidgcs;
 
 import android.os.Bundle;
diff --git a/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java b/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java
index bb93db465..51a95004c 100644
--- a/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java
@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       SystemAlarmActivity.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      An activity that displays the SystemAlarmsFragment.
+ * @see        The GNU Public License (GPL) Version 3
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 package org.openpilot.androidgcs;
 
 import android.os.Bundle;
diff --git a/androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java b/androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java
index 2ecda18f8..b8eef51b9 100644
--- a/androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java
+++ b/androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java
@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       SystemAlarmsFragment.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A fragment that will connect to the SystemAlarms and visualize them.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.util.List;
@@ -14,28 +37,30 @@ import android.view.ViewGroup;
 import android.widget.TextView;
 
 public class SystemAlarmsFragment extends ObjectManagerFragment {
-	
+
 	private static final String TAG = SystemAlarmsFragment.class.getSimpleName();
 
 	//@Override
-    public View onCreateView(LayoutInflater inflater, ViewGroup container,
+    @Override
+	public View onCreateView(LayoutInflater inflater, ViewGroup container,
                              Bundle savedInstanceState) {
         // Inflate the layout for this fragment
         return inflater.inflate(R.layout.system_alarms_fragment, container, false);
     }
-    
-    public void onOPConnected(UAVObjectManager objMngr) {
+
+    @Override
+	public void onOPConnected(UAVObjectManager objMngr) {
     	super.onOPConnected(objMngr);
     	Log.d(TAG,"On connected");
-    	
+
     	UAVObject obj = objMngr.getObject("SystemAlarms");
 		if (obj != null)
 			registerObjectUpdates(obj);
 		objectUpdated(obj);
     }
-    
+
 	/**
-	 * Called whenever any objects subscribed to via registerObjects 
+	 * Called whenever any objects subscribed to via registerObjects
 	 */
     @Override
 	protected void objectUpdated(UAVObject obj) {
@@ -46,7 +71,7 @@ public class SystemAlarmsFragment extends ObjectManagerFragment {
 			List<String> names = a.getElementNames();
 			String contents = new String();
 			List <String> options = a.getOptions();
-			
+
 			// Rank the alarms by order of severity, skip uninitialized
 			for (int j = options.size() - 1; j > 0; j--) {
 				for (int i = 0; i < names.size(); i++) {
@@ -57,6 +82,6 @@ public class SystemAlarmsFragment extends ObjectManagerFragment {
 			alarms.setText(contents);
 		}
 	}
-	
+
 
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
index cb21abb94..a1d775aa3 100644
--- a/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
@@ -1,9 +1,33 @@
+/**
+ ******************************************************************************
+ * @file       TcpUAVTalk.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      UAVTalk over TCP.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.io.IOException;
 import java.net.InetAddress;
 import java.net.Socket;
 import java.net.UnknownHostException;
+
 import org.openpilot.uavtalk.UAVObjectManager;
 import org.openpilot.uavtalk.UAVTalk;
 
@@ -17,17 +41,17 @@ public class TcpUAVTalk {
 	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
-	
+
 	// Temporarily define fixed device name
 	private String ip_address = "1";
 	private int port = 9001;
-	
+
 	private UAVTalk uavTalk;
-	private boolean connected; 
+	private boolean connected;
 	private Socket socket;
-	
+
 	/**
-	 * Construct a TcpUAVTalk object attached to the OPTelemetryService.  Gets the 
+	 * Construct a TcpUAVTalk object attached to the OPTelemetryService.  Gets the
 	 * connection settings from the preferences.
 	 */
 	public TcpUAVTalk(Context caller) {
@@ -41,21 +65,21 @@ public class TcpUAVTalk {
 
 		if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + ip_address);
 
-        connected = false;         
+        connected = false;
     }
-	
+
 	/**
 	 * Connect a TCP object to an object manager.  Returns true if already
 	 * connected, otherwise returns true if managed a successful socket.
 	 */
 	public boolean connect(UAVObjectManager objMngr) {
-		if( getConnected() ) 
+		if( getConnected() )
 			return true;
 		if( !openTelemetryTcp(objMngr) )
 			return false;
-		return true;		
+		return true;
 	}
-	
+
 	public void disconnect() {
 		try {
 			socket.close();
@@ -69,18 +93,18 @@ public class TcpUAVTalk {
 	public boolean getConnected() {
 		return connected;
 	}
-    	
+
 	public UAVTalk getUavtalk() {
 		return uavTalk;
 	}
-	
+
 	/**
 	 * Opens a TCP socket to the address determined on construction.  If successful
 	 * creates a UAVTalk stream connection this socket to the passed in object manager
 	 */
 	private boolean openTelemetryTcp(UAVObjectManager objMngr) {
 		Log.d(TAG, "Opening connection to " + ip_address + " at address " + port);
-		
+
 		InetAddress serverAddr = null;
 		try {
 			serverAddr = InetAddress.getByName(ip_address);
@@ -98,7 +122,7 @@ public class TcpUAVTalk {
 		}
 
 		connected = true;
-		
+
 		try {
 			uavTalk = new UAVTalk(socket.getInputStream(), socket.getOutputStream(), objMngr);
 		} catch (IOException e) {
@@ -107,7 +131,7 @@ public class TcpUAVTalk {
 			//e.printStackTrace();
 			return false;
 		}
-				
+
 		return true;
 	}
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java b/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java
index 51afdf568..c457d8d1d 100644
--- a/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java
+++ b/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java
@@ -1,3 +1,25 @@
+/**
+ ******************************************************************************
+ * @file       TelemetryWidget.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A widget that shows the status of telemetry.
+ * @see        The GNU Public License (GPL) Version 3
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import android.appwidget.AppWidgetManager;
@@ -8,7 +30,7 @@ import android.content.Intent;
 import android.widget.RemoteViews;
 
 public class TelemetryWidget extends AppWidgetProvider {
-	
+
 	@Override
 	public void onReceive(Context context, Intent intent) {
 		if(intent.getAction().equals(OPTelemetryService.INTENT_ACTION_CONNECTED)) {
@@ -16,11 +38,11 @@ public class TelemetryWidget extends AppWidgetProvider {
 		}
 		if(intent.getAction().equals(OPTelemetryService.INTENT_ACTION_DISCONNECTED)) {
 			changeStatus(context, false);
-		}		
-        
+		}
+
 		super.onReceive(context, intent);
 	}
-	
+
 	public void changeStatus(Context context, boolean status) {
 		RemoteViews updateViews =  new RemoteViews(context.getPackageName(), R.layout.telemetry_widget);
 		updateViews.setTextViewText(R.id.telemetryWidgetStatus, "Connection status: " + status);
@@ -30,6 +52,7 @@ public class TelemetryWidget extends AppWidgetProvider {
 
 	}
 
+	@Override
 	public void onUpdate(Context context, AppWidgetManager appWidgetManager, int[] appWidgetIds) {
         final int N = appWidgetIds.length;
 
@@ -44,6 +67,6 @@ public class TelemetryWidget extends AppWidgetProvider {
             appWidgetManager.updateAppWidget(appWidgetId, views);
         }
     }
-    
+
 
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
index 3a5c36b3a..87a8067ca 100644
--- a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
+++ b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       UAVLocation.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Display the UAV location on google maps
+ * @see        The GNU Public License (GPL) Version 3
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 package org.openpilot.androidgcs;
 
 import java.util.List;
@@ -10,14 +33,6 @@ import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectManager;
 
-import com.google.android.maps.GeoPoint;
-import com.google.android.maps.MapActivity; 
-import com.google.android.maps.MapController; 
-import com.google.android.maps.MapView; 
-import com.google.android.maps.Overlay;
-import com.google.android.maps.Projection;
-import com.google.android.maps.MyLocationOverlay;
-
 import android.content.BroadcastReceiver;
 import android.content.ComponentName;
 import android.content.Context;
@@ -36,14 +51,22 @@ import android.view.Menu;
 import android.view.MenuInflater;
 import android.view.MenuItem;
 
-public class UAVLocation extends MapActivity 
-{ 
+import com.google.android.maps.GeoPoint;
+import com.google.android.maps.MapActivity;
+import com.google.android.maps.MapController;
+import com.google.android.maps.MapView;
+import com.google.android.maps.MyLocationOverlay;
+import com.google.android.maps.Overlay;
+import com.google.android.maps.Projection;
+
+public class UAVLocation extends MapActivity
+{
 	private final String TAG = "UAVLocation";
 	private static int LOGLEVEL = 0;
 //	private static boolean WARN = LOGLEVEL > 1;
 	private static boolean DEBUG = LOGLEVEL > 0;
 
-	private MapView mapView; 
+	private MapView mapView;
 	private MapController mapController;
 
 	UAVObjectManager objMngr;
@@ -55,28 +78,28 @@ public class UAVLocation extends MapActivity
     GeoPoint uavLocation;
 
     @Override public void onCreate(Bundle icicle) {
-		super.onCreate(icicle); 
-		setContentView(R.layout.map_layout); 
+		super.onCreate(icicle);
+		setContentView(R.layout.map_layout);
 		mapView = (MapView)findViewById(R.id.map_view);
 		mapController = mapView.getController();
 
 		mapView.displayZoomControls(true);
-		Double lat = 37.422006*1E6; 
-		Double lng = -122.084095*1E6; 
+		Double lat = 37.422006*1E6;
+		Double lng = -122.084095*1E6;
 		homeLocation = new GeoPoint(lat.intValue(), lng.intValue());
 		uavLocation = homeLocation;
-		mapController.setCenter(homeLocation); 
+		mapController.setCenter(homeLocation);
 		mapController.setZoom(18);
-		
+
 		List<Overlay> overlays = mapView.getOverlays();
-		UAVOverlay myOverlay = new UAVOverlay(); 
-		overlays.add(myOverlay); 
-		
+		UAVOverlay myOverlay = new UAVOverlay();
+		overlays.add(myOverlay);
+
 		MyLocationOverlay myLocationOverlay = new MyLocationOverlay(this, mapView);
 		myLocationOverlay.enableMyLocation();
 		myLocationOverlay.enableCompass();
 		overlays.add(myLocationOverlay);
-	    
+
 		mapView.postInvalidate();
 
 		// ObjectManager related stuff (can't inherit standard class)
@@ -86,7 +109,7 @@ public class UAVLocation extends MapActivity
 				Log.d(TAG, "Received intent");
 				TelemTask task;
 				if(intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_CONNECTED) == 0) {
-					
+
 					if(binder  == null)
 						return;
 					if((task = binder.getTelemTask(0)) == null)
@@ -101,9 +124,9 @@ public class UAVLocation extends MapActivity
 					onOPDisconnected();
 					Log.d(TAG, "Disonnected()");
 				}
-			}			
+			}
 		};
-		
+
 		IntentFilter filter = new IntentFilter();
 		filter.addCategory(OPTelemetryService.INTENT_CATEGORY_GCS);
 		filter.addAction(OPTelemetryService.INTENT_ACTION_CONNECTED);
@@ -111,103 +134,108 @@ public class UAVLocation extends MapActivity
 		registerReceiver(connectedReceiver, filter);
 	}
 
-	//@Override 
+	//@Override
+	@Override
 	protected boolean isRouteDisplayed() {
-		// IMPORTANT: This method must return true if your Activity // is displaying driving directions. Otherwise return false. 
+		// IMPORTANT: This method must return true if your Activity // is displaying driving directions. Otherwise return false.
 		return false;
 	}
 
 	public class UAVOverlay extends Overlay {
 		Bitmap homeSymbol = BitmapFactory.decodeResource(getResources(), R.drawable.ic_home);
 		Bitmap uavSymbol = BitmapFactory.decodeResource(getResources(), R.drawable.ic_uav);
-		@Override 
+		@Override
 		public void draw(Canvas canvas, MapView mapView, boolean shadow) {
-			
+
 			Projection projection = mapView.getProjection();
-			
+
 			if (shadow == false) {
 
-				Point myPoint = new Point(); 
+				Point myPoint = new Point();
 				projection.toPixels(uavLocation, myPoint);
-				
+
 				//// Draw UAV
-				// Create and setup your paint brush 
-				Paint paint = new Paint(); 
-				paint.setARGB(250, 255, 0, 0); 
-				paint.setAntiAlias(true); 
+				// Create and setup your paint brush
+				Paint paint = new Paint();
+				paint.setARGB(250, 255, 0, 0);
+				paint.setAntiAlias(true);
 				paint.setFakeBoldText(true);
-								
-				// Draw on the canvas 
-				canvas.drawBitmap(uavSymbol, myPoint.x - uavSymbol.getWidth() / 2, 
+
+				// Draw on the canvas
+				canvas.drawBitmap(uavSymbol, myPoint.x - uavSymbol.getWidth() / 2,
 						myPoint.y - uavSymbol.getHeight() / 2, paint);
-				canvas.drawText("UAV", myPoint.x+uavSymbol.getWidth() / 2, myPoint.y, paint);								
-				
+				canvas.drawText("UAV", myPoint.x+uavSymbol.getWidth() / 2, myPoint.y, paint);
+
 				//// Draw Home
 				myPoint = new Point();
 				projection.toPixels(homeLocation, myPoint);
 
-				// Create and setup your paint brush 
-				paint.setARGB(250, 0, 0, 0); 
-				paint.setAntiAlias(true); 
+				// Create and setup your paint brush
+				paint.setARGB(250, 0, 0, 0);
+				paint.setAntiAlias(true);
 				paint.setFakeBoldText(true);
-				
-				canvas.drawBitmap(homeSymbol, myPoint.x - homeSymbol.getWidth() / 2, 
-						myPoint.y - homeSymbol.getHeight() / 2, paint);
-				canvas.drawText("Home", myPoint.x+homeSymbol.getWidth(), myPoint.y, paint);								
 
-			} 
+				canvas.drawBitmap(homeSymbol, myPoint.x - homeSymbol.getWidth() / 2,
+						myPoint.y - homeSymbol.getHeight() / 2, paint);
+				canvas.drawText("Home", myPoint.x+homeSymbol.getWidth(), myPoint.y, paint);
+
+			}
 		}
 
 		@Override
 		public boolean onTap(GeoPoint point, MapView mapView1) {
 			// Return true if screen tap is handled by this overlay
-			return false; 
+			return false;
 		}
 	}
-	
+
 	void onOPConnected() {
 		UAVObject obj = objMngr.getObject("HomeLocation");
 		if(obj != null)
 			obj.addUpdatedObserver(new Observer() {
+				@Override
 				public void update(Observable observable, Object data) {
 					UAVDataObject obj = (UAVDataObject) data;
 					Double lat = obj.getField("Latitude").getDouble() / 10;
 					Double lon = obj.getField("Longitude").getDouble() / 10;
 					homeLocation = new GeoPoint(lat.intValue(), lon.intValue());
 					runOnUiThread(new Runnable() {
+						@Override
 						public void run() {
-							mapController.setCenter(homeLocation);							
-						}						
+							mapController.setCenter(homeLocation);
+						}
 					});
 					System.out.println("HomeLocation: " + homeLocation.toString());
-				}				
+				}
 			});
 		obj.updateRequested();
-		
+
 		obj = objMngr.getObject("PositionActual");
 		if(obj != null)
 			obj.addUpdatedObserver(new Observer() {
+				@Override
 				public void update(Observable observable, Object data) {
 					uavLocation = getUavLocation();
 					runOnUiThread(new Runnable() {
+						@Override
 						public void run() {
 							mapView.invalidate();
 						}
 					});
-				}				
+				}
 			});
 
 	}
 
 	private GeoPoint getUavLocation() {
-		UAVObject pos = (UAVObject) objMngr.getObject("PositionActual");
+		UAVObject pos = objMngr.getObject("PositionActual");
 		if (pos == null)
 			return new GeoPoint(0,0);
-		
-		UAVObject home = (UAVObject) objMngr.getObject("HomeLocation");
-		if (home == null) 
+
+		UAVObject home = objMngr.getObject("HomeLocation");
+		if (home == null)
 			return new GeoPoint(0,0);
-		
+
 		double lat, lon, alt;
 		lat = home.getField("Latitude").getDouble() / 10.0e6;
 		lon = home.getField("Longitude").getDouble() / 10.0e6;
@@ -217,23 +245,23 @@ public class UAVLocation extends MapActivity
 		double T0, T1;
 		T0 = alt+6.378137E6;
 		T1 = Math.cos(lat * Math.PI / 180.0)*(alt+6.378137E6);
-		
+
 		// Get the NED coordinates
 		double NED0, NED1;
 		NED0 = pos.getField("North").getDouble();
 		NED1 = pos.getField("East").getDouble();
-		
+
 		// Compute the LLA coordinates
 		lat = lat + (NED0 / T0) * 180.0 / Math.PI;
 		lon = lon + (NED1 / T1) * 180.0 / Math.PI;
 
 		return new GeoPoint((int) (lat * 1e6), (int) (lon * 1e6));
 	}
-	
+
 	void onOPDisconnected() {
-		
+
 	}
-	
+
 	@Override
 	public boolean onOptionsItemSelected(MenuItem item) {
 		switch(item.getItemId()) {
@@ -265,15 +293,16 @@ public class UAVLocation extends MapActivity
 		Intent intent = new Intent(this, OPTelemetryService.class);
 		bindService(intent, mConnection, Context.BIND_AUTO_CREATE);
 	}
-	
+
 	public void onBind() {
-		
+
 	}
 
 	/** Defines callbacks for service binding, passed to bindService() */
-	private ServiceConnection mConnection = new ServiceConnection() {
+	private final ServiceConnection mConnection = new ServiceConnection() {
+		@Override
 		public void onServiceConnected(ComponentName arg0, IBinder service) {
-			// We've bound to LocalService, cast the IBinder and attempt to open a connection			
+			// We've bound to LocalService, cast the IBinder and attempt to open a connection
 			if (DEBUG) Log.d(TAG,"Service bound");
 			mBound = true;
 			binder = (LocalBinder) service;
@@ -285,10 +314,11 @@ public class UAVLocation extends MapActivity
 					mConnected = true;
 					onOPConnected();
 				}
-			
+
 			}
 		}
 
+		@Override
 		public void onServiceDisconnected(ComponentName name) {
 			mBound = false;
 			binder = null;

From ddb197a15d427b0b84ffe399e8b6ac6bd9fbbd5c Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 10:04:52 -0500
Subject: [PATCH 318/543] AndroidGCS: Move the  telemetry functionality into
 its own package

---
 .../org/openpilot/androidgcs/ObjectManagerActivity.java    | 5 +++--
 .../src/org/openpilot/androidgcs/TelemetryWidget.java      | 2 ++
 androidgcs/src/org/openpilot/androidgcs/UAVLocation.java   | 7 ++++---
 .../androidgcs/{ => telemetry}/BluetoothUAVTalk.java       | 2 +-
 .../androidgcs/{ => telemetry}/OPTelemetryService.java     | 2 +-
 .../openpilot/androidgcs/{ => telemetry}/TcpUAVTalk.java   | 2 +-
 6 files changed, 12 insertions(+), 8 deletions(-)
 rename androidgcs/src/org/openpilot/androidgcs/{ => telemetry}/BluetoothUAVTalk.java (99%)
 rename androidgcs/src/org/openpilot/androidgcs/{ => telemetry}/OPTelemetryService.java (99%)
 rename androidgcs/src/org/openpilot/androidgcs/{ => telemetry}/TcpUAVTalk.java (98%)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index 7a868187a..d01aa3a86 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -34,8 +34,9 @@ import java.util.ListIterator;
 import java.util.Observable;
 import java.util.Observer;
 
-import org.openpilot.androidgcs.OPTelemetryService.LocalBinder;
-import org.openpilot.androidgcs.OPTelemetryService.TelemTask;
+import org.openpilot.androidgcs.telemetry.OPTelemetryService;
+import org.openpilot.androidgcs.telemetry.OPTelemetryService.LocalBinder;
+import org.openpilot.androidgcs.telemetry.OPTelemetryService.TelemTask;
 import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectManager;
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java b/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java
index c457d8d1d..d874c9b12 100644
--- a/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java
+++ b/androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java
@@ -22,6 +22,8 @@
  */
 package org.openpilot.androidgcs;
 
+import org.openpilot.androidgcs.telemetry.OPTelemetryService;
+
 import android.appwidget.AppWidgetManager;
 import android.appwidget.AppWidgetProvider;
 import android.content.ComponentName;
diff --git a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
index 87a8067ca..f13b0ff1c 100644
--- a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
+++ b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
@@ -27,8 +27,9 @@ import java.util.List;
 import java.util.Observable;
 import java.util.Observer;
 
-import org.openpilot.androidgcs.OPTelemetryService.LocalBinder;
-import org.openpilot.androidgcs.OPTelemetryService.TelemTask;
+import org.openpilot.androidgcs.telemetry.OPTelemetryService;
+import org.openpilot.androidgcs.telemetry.OPTelemetryService.LocalBinder;
+import org.openpilot.androidgcs.telemetry.OPTelemetryService.TelemTask;
 import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectManager;
@@ -72,7 +73,7 @@ public class UAVLocation extends MapActivity
 	UAVObjectManager objMngr;
     boolean mBound = false;
     boolean mConnected = false;
-    LocalBinder binder;
+	org.openpilot.androidgcs.telemetry.OPTelemetryService.LocalBinder binder;
 
     GeoPoint homeLocation;
     GeoPoint uavLocation;
diff --git a/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/BluetoothUAVTalk.java
similarity index 99%
rename from androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
rename to androidgcs/src/org/openpilot/androidgcs/telemetry/BluetoothUAVTalk.java
index c85f9fc75..db3d44134 100644
--- a/androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/BluetoothUAVTalk.java
@@ -22,7 +22,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-package org.openpilot.androidgcs;
+package org.openpilot.androidgcs.telemetry;
 
 import java.io.IOException;
 import java.util.Set;
diff --git a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
similarity index 99%
rename from androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
rename to androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
index fb3106f97..54ab74fe2 100644
--- a/androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
@@ -24,7 +24,7 @@
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-package org.openpilot.androidgcs;
+package org.openpilot.androidgcs.telemetry;
 
 import java.io.IOException;
 import java.util.Observable;
diff --git a/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/TcpUAVTalk.java
similarity index 98%
rename from androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
rename to androidgcs/src/org/openpilot/androidgcs/telemetry/TcpUAVTalk.java
index a1d775aa3..439069d29 100644
--- a/androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/TcpUAVTalk.java
@@ -21,7 +21,7 @@
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-package org.openpilot.androidgcs;
+package org.openpilot.androidgcs.telemetry;
 
 import java.io.IOException;
 import java.net.InetAddress;

From 2e554ebf8e3675a22c35dfd1eaf7930dc2a44114 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 10:07:03 -0500
Subject: [PATCH 319/543] AndroidGCS: Move down some of the debugging output

---
 .../org/openpilot/androidgcs/ObjectManagerActivity.java  | 2 +-
 .../org/openpilot/androidgcs/ObjectManagerFragment.java  | 4 ++--
 .../org/openpilot/androidgcs/SystemAlarmsFragment.java   | 9 +++++++--
 3 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index d01aa3a86..34e63c932 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -59,7 +59,7 @@ import android.widget.TextView;
 public abstract class ObjectManagerActivity extends Activity {
 
 	private final String TAG = "ObjectManagerActivity";
-	private static int LOGLEVEL = 1;
+	private static int LOGLEVEL = 0;
 //	private static boolean WARN = LOGLEVEL > 1;
 	private static boolean DEBUG = LOGLEVEL > 0;
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java
index 3c6735d52..768f178c2 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java
@@ -37,9 +37,9 @@ import android.util.Log;
 public class ObjectManagerFragment extends Fragment {
 
 	private static final String TAG = ObjectManagerFragment.class.getSimpleName();
-	private static int LOGLEVEL = 1;
+	private static final int LOGLEVEL = 0;
 //	private static boolean WARN = LOGLEVEL > 1;
-	private static boolean DEBUG = LOGLEVEL > 0;
+	private static final boolean DEBUG = LOGLEVEL > 0;
 
 	UAVObjectManager objMngr;
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java b/androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java
index b8eef51b9..a7d0ce67e 100644
--- a/androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java
+++ b/androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java
@@ -39,6 +39,9 @@ import android.widget.TextView;
 public class SystemAlarmsFragment extends ObjectManagerFragment {
 
 	private static final String TAG = SystemAlarmsFragment.class.getSimpleName();
+	private static final int LOGLEVEL = 0;
+	// private static boolean WARN = LOGLEVEL > 1;
+	private static final boolean DEBUG = LOGLEVEL > 0;
 
 	//@Override
     @Override
@@ -51,7 +54,8 @@ public class SystemAlarmsFragment extends ObjectManagerFragment {
     @Override
 	public void onOPConnected(UAVObjectManager objMngr) {
     	super.onOPConnected(objMngr);
-    	Log.d(TAG,"On connected");
+		if (DEBUG)
+			Log.d(TAG, "On connected");
 
     	UAVObject obj = objMngr.getObject("SystemAlarms");
 		if (obj != null)
@@ -64,7 +68,8 @@ public class SystemAlarmsFragment extends ObjectManagerFragment {
 	 */
     @Override
 	protected void objectUpdated(UAVObject obj) {
-    	Log.d(TAG, "Updated");
+		if (DEBUG)
+			Log.d(TAG, "Updated");
 		if (obj.getName().compareTo("SystemAlarms") == 0) {
 			TextView alarms = (TextView) getActivity().findViewById(R.id.system_alarms_fragment_field);
 			UAVObjectField a = obj.getField("Alarm");

From ae36f39f1a5aa0b64c83c8bb7e0c96cf09711d98 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 11:05:08 -0500
Subject: [PATCH 320/543] AndroidGCS: Show some less shitty graphics for PFD

---
 .../res/drawable-hdpi/im_pfd_horizon.png      |  Bin 0 -> 1349 bytes
 androidgcs/res/layout/pfd.xml                 |   10 +-
 .../openpilot/androidgcs/AttitudeView.java    |   57 +-
 .../src/org/openpilot/androidgcs/PFD.java     |   11 +-
 artwork/Android/hdpi/_pre_production/pfd.ai   | 4267 +++++++++++++++++
 artwork/Android/hdpi/im_pfd_horizon.png       |  Bin 0 -> 1349 bytes
 6 files changed, 4308 insertions(+), 37 deletions(-)
 create mode 100644 androidgcs/res/drawable-hdpi/im_pfd_horizon.png
 create mode 100644 artwork/Android/hdpi/_pre_production/pfd.ai
 create mode 100644 artwork/Android/hdpi/im_pfd_horizon.png

diff --git a/androidgcs/res/drawable-hdpi/im_pfd_horizon.png b/androidgcs/res/drawable-hdpi/im_pfd_horizon.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5a5c2157cb52755d20f75159cbfd9361e598e1b
GIT binary patch
literal 1349
zcmeAS@N?(olHy`uVBq!ia0y~yV7v~*`#G3^BCU>G3xO18fk$L91B18_2s5V7zXVjp
zAX(xXQ4*Y=R#Ki=l*-_klAn~S;F+74o*I;zm{M7IGS!BGf#s5?i(^Q|tv5FpN;W8n
zv<7}m=9?vK!8Vt1MyKYS6It7X?>2sFdfroTI6lv6T{^SEi999-QMQ0Yh7bvdRz@H#
z$_AuEBuEt`Qyaoo%AEi<i*%PGoB;MXMWFz3!VMM%EuIC37*-fGa4`dEEgm4f!hlpk
zGPNOWrQ8W%vk1F<gU0;#xvUHf|1`datz{4hduZ7u%CM;7Ii-neu*4`hTTq@rDb6F*
oN}wd?ZmQ=IB11Ics`>$j5_8V;F>eD*fJGpKr>mdKI;Vst0E@UYzW@LL

literal 0
HcmV?d00001

diff --git a/androidgcs/res/layout/pfd.xml b/androidgcs/res/layout/pfd.xml
index 155fe6109..3c6895f1e 100644
--- a/androidgcs/res/layout/pfd.xml
+++ b/androidgcs/res/layout/pfd.xml
@@ -3,14 +3,10 @@
     android:layout_width="match_parent"
     android:layout_height="match_parent"
     android:orientation="vertical" >
-    
-    <org.openpilot.androidgcs.CompassView
-        android:id="@+id/compass_view"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content" />
 
     <org.openpilot.androidgcs.AttitudeView
         android:id="@+id/attitude_view"
-        android:layout_width="fill_parent"
-        android:layout_height="fill_parent" />
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content" />
+
 </LinearLayout>
diff --git a/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java b/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
index 68d0a0fa4..b570f933c 100644
--- a/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
@@ -24,14 +24,15 @@
 package org.openpilot.androidgcs;
 
 import android.content.Context;
-import android.content.res.Resources;
 import android.graphics.Canvas;
 import android.graphics.Paint;
+import android.graphics.drawable.Drawable;
 import android.util.AttributeSet;
 import android.view.View;
 
 public class AttitudeView extends View {
 
+	private Paint markerPaint;
 	public AttitudeView(Context context) {
 		super(context);
 		initAttitudeView();
@@ -49,16 +50,10 @@ public class AttitudeView extends View {
 
 	protected void initAttitudeView() {
 		setFocusable(true);
-
-		circlePaint = new Paint(Paint.ANTI_ALIAS_FLAG);
-		circlePaint.setColor(getResources().getColor(R.color.background_color));
-		circlePaint.setStrokeWidth(1);
-		circlePaint.setStyle(Paint.Style.FILL_AND_STROKE);
-		Resources r = this.getResources();
-		textPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
-		textPaint.setColor(r.getColor(R.color.text_color));
 		markerPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
-		markerPaint.setColor(r.getColor(R.color.marker_color));
+		markerPaint.setColor(getContext().getResources().getColor(
+				R.color.marker_color));
+
 	}
 
 	@Override protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
@@ -85,28 +80,40 @@ public class AttitudeView extends View {
 		return result;
 	}
 
-	private double roll;
+	private float roll;
 	public void setRoll(double roll) {
-		this.roll = roll;
-	}
-	private double pitch;
-	public void setPitch(double d) {
-		this.pitch = d;
+		this.roll = (float) roll;
+		postInvalidate();
 	}
 
-	// Drawing related code
-	private Paint markerPaint;
-	private Paint textPaint;
-	private Paint circlePaint;
+	private float pitch;
+	public void setPitch(double d) {
+		this.pitch = (float) d;
+		postInvalidate();
+	}
 
 	@Override
 	protected void onDraw(Canvas canvas) {
-		int px = getMeasuredWidth() / 2;
-		int py = getMeasuredHeight() /2 ;
-		int radius = Math.min(px, py);
 
-		canvas.drawLine(px,py, (int) (px+radius * Math.cos(roll)), (int) (py + radius * Math.sin(roll)), markerPaint);
-		canvas.drawLine(px,py, (int) (px+radius * Math.cos(pitch)), (int) (py + radius * Math.sin(pitch)), markerPaint);
+		final int PX = getMeasuredWidth() / 2;
+		final int PY = getMeasuredHeight() / 2;
+
+		// TODO: Figure out why these magic numbers are needed to center it
+		final int WIDTH = 600;
+		final int HEIGHT = 600;
+		final int DEG_TO_PX = 10; // Magic number for how to scale pitch
+
+		canvas.save(0);
+		canvas.rotate(-roll, PX, PY);
+		canvas.translate(0, pitch * DEG_TO_PX);
+		Drawable horizon = getContext().getResources().getDrawable(
+				R.drawable.im_pfd_horizon);
+		// This puts the image at the center of the PFD canvas (after it was
+		// translated)
+		horizon.setBounds(-(WIDTH - PX) / 2, -(HEIGHT - PY) / 2, WIDTH, HEIGHT);
+		horizon.draw(canvas);
+		canvas.restore();
+
 	}
 
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/PFD.java b/androidgcs/src/org/openpilot/androidgcs/PFD.java
index 297a4b97f..3832be41a 100644
--- a/androidgcs/src/org/openpilot/androidgcs/PFD.java
+++ b/androidgcs/src/org/openpilot/androidgcs/PFD.java
@@ -52,13 +52,14 @@ public class PFD extends ObjectManagerActivity {
 		pitch = obj.getField("Pitch").getDouble();
 		roll = obj.getField("Roll").getDouble();
 
-		CompassView compass = (CompassView) findViewById(R.id.compass_view);
-		compass.setBearing((int) heading);
-		compass.invalidate();
+		/*
+		 * CompassView compass = (CompassView) findViewById(R.id.compass_view);
+		 * compass.setBearing((int) heading); compass.invalidate();
+		 */
 
 		AttitudeView attitude = (AttitudeView) findViewById(R.id.attitude_view);
-		attitude.setRoll(roll / 180 * Math.PI);
-		attitude.setPitch(pitch / 180 * Math.PI);
+		attitude.setRoll(roll);
+		attitude.setPitch(pitch);
 		attitude.invalidate();
 	}
 
diff --git a/artwork/Android/hdpi/_pre_production/pfd.ai b/artwork/Android/hdpi/_pre_production/pfd.ai
new file mode 100644
index 000000000..ef999c3a5
--- /dev/null
+++ b/artwork/Android/hdpi/_pre_production/pfd.ai
@@ -0,0 +1,4267 @@
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%âãÏÓ
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From ce52b4d199e98482f311fdb06cc2df3ba3706a92 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 11:17:29 -0500
Subject: [PATCH 321/543] AndroidGCS: Get telemetry service working again
 properly when in multiple packages.  Have to declare the full service name in
 AndroidManifest.xml which seems not ideal.

---
 androidgcs/AndroidManifest.xml                     |  2 +-
 .../androidgcs/ObjectManagerActivity.java          | 13 +++++++++++--
 .../androidgcs/telemetry/OPTelemetryService.java   | 14 ++++++++++++--
 3 files changed, 24 insertions(+), 5 deletions(-)

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index f6a728378..2015bc979 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -46,6 +46,6 @@
 				android:resource="@xml/telemetry_widget_info" />
 		</receiver>
 
-		<service android:name=".OPTelemetryService"></service>
+		<service android:name="org.openpilot.androidgcs.telemetry.OPTelemetryService"></service>
 	</application>
 </manifest>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index 34e63c932..30b8311c5 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -34,6 +34,7 @@ import java.util.ListIterator;
 import java.util.Observable;
 import java.util.Observer;
 
+import org.openpilot.androidgcs.fragments.ObjectManagerFragment;
 import org.openpilot.androidgcs.telemetry.OPTelemetryService;
 import org.openpilot.androidgcs.telemetry.OPTelemetryService.LocalBinder;
 import org.openpilot.androidgcs.telemetry.OPTelemetryService.TelemTask;
@@ -84,7 +85,8 @@ public abstract class ObjectManagerActivity extends Activity {
 		connectedReceiver = new BroadcastReceiver() {
 			@Override
 			public void onReceive(Context context, Intent intent) {
-				Log.d(TAG, "Received intent");
+				if (DEBUG)
+					Log.d(TAG, "Received intent");
 				TelemTask task;
 				if(intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_CONNECTED) == 0) {
 					if(binder  == null)
@@ -236,6 +238,10 @@ public abstract class ObjectManagerActivity extends Activity {
 
 	@Override
 	public boolean onOptionsItemSelected(MenuItem item) {
+		if (!mBound || binder == null) {
+			Log.e(TAG, "Unable to connect to service");
+			return super.onOptionsItemSelected(item);
+		}
 		switch(item.getItemId()) {
 		case R.id.menu_connect:
 			binder.openConnection();
@@ -263,7 +269,10 @@ public abstract class ObjectManagerActivity extends Activity {
 	@Override
 	public void onStart() {
 		super.onStart();
-		Intent intent = new Intent(this, OPTelemetryService.class);
+		Intent intent = new Intent(getApplicationContext(),
+				org.openpilot.androidgcs.telemetry.OPTelemetryService.class);
+		if (DEBUG)
+			Log.d(TAG, "Attempting to bind: " + intent);
 		bindService(intent, mConnection, Context.BIND_AUTO_CREATE);
 	}
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
index 54ab74fe2..502814731 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
@@ -54,7 +54,7 @@ import android.widget.Toast;
 public class OPTelemetryService extends Service {
 
 	// Logging settings
-	private final String TAG = "OPTelemetryService";
+	private final String TAG = OPTelemetryService.class.getSimpleName();
 	public static int LOGLEVEL = 0;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
@@ -89,6 +89,8 @@ public class OPTelemetryService extends Service {
 		}
 		@Override
 		public void handleMessage(Message msg) {
+			if (DEBUG)
+				Log.d(TAG, "handleMessage: " + msg);
 			switch(msg.arg1) {
 			case MSG_START:
 				stopSelf(msg.arg2);
@@ -158,6 +160,9 @@ public class OPTelemetryService extends Service {
 	public void startup() {
 		Toast.makeText(getApplicationContext(), "Telemetry service starting", Toast.LENGTH_SHORT).show();
 
+		if (DEBUG)
+			Log.d(TAG, "startup()");
+
 		thread = new HandlerThread("TelemetryServiceHandler", Process.THREAD_PRIORITY_BACKGROUND);
 		thread.start();
 
@@ -177,19 +182,24 @@ public class OPTelemetryService extends Service {
 
 	@Override
 	public void onCreate() {
+		if (DEBUG)
+			Log.d(TAG, "Telemetry service created");
 		startup();
 	}
 
 	@Override
 	public int onStartCommand(Intent intent, int flags, int startId) {
 		// Currently only using as bound service
-
+		if (DEBUG)
+			Log.d(TAG, "onStartCommand()");
 		// If we get killed, after returning from here, restart
 		return START_STICKY;
 	}
 
 	@Override
 	public IBinder onBind(Intent intent) {
+		if (DEBUG)
+			Log.d(TAG, "onBind()");
 		return mBinder;
 	}
 

From 95dfc88f952c3c962acc41532d2b0cb72ac97ddd Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 12:32:10 -0500
Subject: [PATCH 322/543] AndroidGCS: Move the PFD functionality into a
 fragment and then programmatically instantiate that from the test PFD
 activity

---
 androidgcs/AndroidManifest.xml                |  2 +-
 .../openpilot/androidgcs/AttitudeView.java    |  2 -
 .../org/openpilot/androidgcs/HomePage.java    |  2 +-
 .../src/org/openpilot/androidgcs/PFD.java     | 84 ++++++++++---------
 .../org/openpilot/androidgcs/PfdActivity.java | 58 +++++++++++++
 5 files changed, 103 insertions(+), 45 deletions(-)
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/PfdActivity.java

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 2015bc979..1fbb16f55 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -24,7 +24,7 @@
 		</activity>
 
 		<activity android:name="ObjectBrowser" android:label="@string/object_browser_name" />
-		<activity android:name="PFD" android:label="PFD" />
+		<activity android:name="PfdActivity" android:label="PFD" />
 		<activity android:name="Controller" android:label="@string/controller_name" />
 		<activity android:name="Preferences" android:label="@string/preference_title" />
 		<activity android:name="UAVLocation" android:label="@string/location_name" />
diff --git a/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java b/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
index b570f933c..d8aecc5e1 100644
--- a/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
@@ -83,13 +83,11 @@ public class AttitudeView extends View {
 	private float roll;
 	public void setRoll(double roll) {
 		this.roll = (float) roll;
-		postInvalidate();
 	}
 
 	private float pitch;
 	public void setPitch(double d) {
 		this.pitch = (float) d;
-		postInvalidate();
 	}
 
 	@Override
diff --git a/androidgcs/src/org/openpilot/androidgcs/HomePage.java b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
index e6a33f083..12833df2f 100644
--- a/androidgcs/src/org/openpilot/androidgcs/HomePage.java
+++ b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
@@ -48,7 +48,7 @@ public class HomePage extends ObjectManagerActivity {
 		pfd.setOnClickListener(new OnClickListener() {
 			@Override
 			public void onClick(View arg0) {
-				startActivity(new Intent(HomePage.this, PFD.class));
+				startActivity(new Intent(HomePage.this, PfdActivity.class));
 			}
 		});
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/PFD.java b/androidgcs/src/org/openpilot/androidgcs/PFD.java
index 3832be41a..fa4480180 100644
--- a/androidgcs/src/org/openpilot/androidgcs/PFD.java
+++ b/androidgcs/src/org/openpilot/androidgcs/PFD.java
@@ -2,8 +2,9 @@
  ******************************************************************************
  * @file       PFD.java
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      Shows the PFD activity.
+ * @brief      The PFD display fragment
  * @see        The GNU Public License (GPL) Version 3
+ *
  *****************************************************************************/
 /*
  * This program is free software; you can redistribute it and/or modify
@@ -24,58 +25,59 @@
 package org.openpilot.androidgcs;
 
 import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVObjectManager;
 
 import android.os.Bundle;
+import android.util.Log;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
 
-public class PFD extends ObjectManagerActivity {
+public class PFD extends ObjectManagerFragment {
 
-	final long MIN_UPDATE_PERIOD = 50;
-	long lastUpdateMs;
-	double heading;
-	double roll;
-	double pitch;
+	private static final String TAG = ObjectManagerFragment.class
+			.getSimpleName();
+	private static final int LOGLEVEL = 0;
+	// private static boolean WARN = LOGLEVEL > 1;
+	private static final boolean DEBUG = LOGLEVEL > 0;
 
-	/**
-	 * Update the UI whenever the attitude is updated
-	 */
+	// @Override
 	@Override
-	protected void objectUpdated(UAVObject obj) {
-		// Throttle the UI redraws.  Eventually this should maybe come from a periodic task
-		if ((System.currentTimeMillis() - lastUpdateMs) < MIN_UPDATE_PERIOD)
-			return;
-		if (obj.getName().compareTo("AttitudeActual") != 0)
-			return;
-
-		lastUpdateMs = System.currentTimeMillis();
-
-		heading = obj.getField("Yaw").getDouble();
-		pitch = obj.getField("Pitch").getDouble();
-		roll = obj.getField("Roll").getDouble();
-
-		/*
-		 * CompassView compass = (CompassView) findViewById(R.id.compass_view);
-		 * compass.setBearing((int) heading); compass.invalidate();
-		 */
-
-		AttitudeView attitude = (AttitudeView) findViewById(R.id.attitude_view);
-		attitude.setRoll(roll);
-		attitude.setPitch(pitch);
-		attitude.invalidate();
+	public View onCreateView(LayoutInflater inflater, ViewGroup container,
+			Bundle savedInstanceState) {
+		// Inflate the layout for this fragment
+		return inflater.inflate(R.layout.pfd, container, false);
 	}
 
 	@Override
-	public void onCreate(Bundle savedInstanceState) {
-		super.onCreate(savedInstanceState);
-		setContentView(R.layout.pfd);
-	}
+	public void onOPConnected(UAVObjectManager objMngr) {
+		super.onOPConnected(objMngr);
+		if (DEBUG)
+			Log.d(TAG, "On connected");
 
-	@Override
-	void onOPConnected() {
-		super.onOPConnected();
-
-		// Connect the update method to AttitudeActual
 		UAVObject obj = objMngr.getObject("AttitudeActual");
 		if (obj != null)
 			registerObjectUpdates(obj);
+		objectUpdated(obj);
 	}
+
+	/**
+	 * Called whenever any objects subscribed to via registerObjects
+	 */
+	@Override
+	protected void objectUpdated(UAVObject obj) {
+		if (DEBUG)
+			Log.d(TAG, "Updated");
+
+		double pitch = obj.getField("Pitch").getDouble();
+		double roll = obj.getField("Roll").getDouble();
+
+		AttitudeView attitude = (AttitudeView) getActivity().findViewById(
+				R.id.attitude_view);
+		attitude.setRoll(roll);
+		attitude.setPitch(pitch);
+		attitude.invalidate();
+
+	}
+
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/PfdActivity.java b/androidgcs/src/org/openpilot/androidgcs/PfdActivity.java
new file mode 100644
index 000000000..6374c7b82
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/PfdActivity.java
@@ -0,0 +1,58 @@
+/**
+ ******************************************************************************
+ * @file       PfdActivity.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Shows the PFD activity.
+ * @see        The GNU Public License (GPL) Version 3
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.androidgcs;
+
+import org.openpilot.androidgcs.fragments.PFD;
+
+import android.app.FragmentTransaction;
+import android.os.Bundle;
+import android.view.View;
+import android.widget.AbsListView;
+import android.widget.LinearLayout;
+
+public class PfdActivity extends ObjectManagerActivity {
+
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		setContentView(createUI());
+	}
+
+	private View createUI() {
+		LinearLayout layout = new LinearLayout(this);
+
+		layout.setOrientation(LinearLayout.HORIZONTAL);
+		layout.setLayoutParams(new LinearLayout.LayoutParams(
+				AbsListView.LayoutParams.MATCH_PARENT,
+				AbsListView.LayoutParams.MATCH_PARENT));
+		layout.setId(0x101);
+		{
+			FragmentTransaction fragmentTransaction = getFragmentManager()
+					.beginTransaction();
+			fragmentTransaction.add(0x101, new PFD());
+			fragmentTransaction.commit();
+		}
+		return layout;
+	}
+}

From 11a08c186c1548d8e6d09f1bd4bc3bb3fc4fc2f5 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 12:41:57 -0500
Subject: [PATCH 323/543] AndroidGCS: Refactor the Fragments into their own
 package to keep the UI "components" segregated.  Is this good practice
 though?  It means making a lot of functions for the API between
 ObjectManagerActivity and Fragment public.

---
 androidgcs/res/layout/system_alarms.xml       |  8 ++++++-
 .../androidgcs/ObjectManagerActivity.java     |  7 ++++--
 .../ObjectManagerFragment.java                |  9 +++----
 .../androidgcs/{ => fragments}/PFD.java       | 24 +++++++++++++------
 .../{ => fragments}/SystemAlarmsFragment.java |  5 ++--
 5 files changed, 37 insertions(+), 16 deletions(-)
 rename androidgcs/src/org/openpilot/androidgcs/{ => fragments}/ObjectManagerFragment.java (93%)
 rename androidgcs/src/org/openpilot/androidgcs/{ => fragments}/PFD.java (78%)
 rename androidgcs/src/org/openpilot/androidgcs/{ => fragments}/SystemAlarmsFragment.java (96%)

diff --git a/androidgcs/res/layout/system_alarms.xml b/androidgcs/res/layout/system_alarms.xml
index e67990427..b1a830ccd 100644
--- a/androidgcs/res/layout/system_alarms.xml
+++ b/androidgcs/res/layout/system_alarms.xml
@@ -5,11 +5,17 @@
     android:layout_gravity="center" >
 
     <fragment
-        android:name="org.openpilot.androidgcs.SystemAlarmsFragment"
+        android:name="org.openpilot.androidgcs.fragments.SystemAlarmsFragment"
         android:id="@+id/viewer"
         android:layout_width="wrap_content"
         android:layout_height="match_parent" />
 
+    <fragment
+        android:name="org.openpilot.androidgcs.fragments.PFD"
+        android:id="@+id/pfd"
+        android:layout_width="wrap_content"
+        android:layout_height="match_parent" />
+    
     <TextView
         xmlns:android="http://schemas.android.com/apk/res/android"
         android:id="@+id/system_alarms_status"
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index 30b8311c5..7eb55b8f1 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -161,7 +161,9 @@ public abstract class ObjectManagerActivity extends Activity {
 	protected void registerObjectUpdates(UAVObject object) {
 		object.addUpdatedObserver(new ActivityUpdatedObserver(object));
 	}
-	protected void registerObjectUpdates(UAVObject object, ObjectManagerFragment frag) {
+
+	public void registerObjectUpdates(UAVObject object,
+			ObjectManagerFragment frag) {
 		object.addUpdatedObserver(new FragmentUpdatedObserver(object, frag));
 	}
 	protected void registerObjectUpdates(List<List<UAVObject>> objects) {
@@ -326,7 +328,8 @@ public abstract class ObjectManagerActivity extends Activity {
 		}
 
 	} ;
-	void addOnConnectionListenerFragment(ObjectManagerFragment frag) {
+
+	public void addOnConnectionListenerFragment(ObjectManagerFragment frag) {
 		connectionListeners.addObserver(new OnConnectionListener(frag));
 		if (DEBUG) Log.d(TAG, "Connecting " + frag + " there are now " + connectionListeners.countObservers());
 		if (mConnected)
diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java b/androidgcs/src/org/openpilot/androidgcs/fragments/ObjectManagerFragment.java
similarity index 93%
rename from androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java
rename to androidgcs/src/org/openpilot/androidgcs/fragments/ObjectManagerFragment.java
index 768f178c2..0ddd7a97e 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java
+++ b/androidgcs/src/org/openpilot/androidgcs/fragments/ObjectManagerFragment.java
@@ -24,8 +24,9 @@
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-package org.openpilot.androidgcs;
+package org.openpilot.androidgcs.fragments;
 
+import org.openpilot.androidgcs.ObjectManagerActivity;
 import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectManager;
 
@@ -74,12 +75,12 @@ public class ObjectManagerFragment extends Fragment {
 
 
 	// The below methods should all be called by the parent activity at the appropriate times
-    protected void onOPConnected(UAVObjectManager objMngr) {
+	public void onOPConnected(UAVObjectManager objMngr) {
 		this.objMngr = objMngr;
 		if (DEBUG) Log.d(TAG,"onOPConnected");
 	}
 
-	protected void onOPDisconnected() {
+	public void onOPDisconnected() {
 		objMngr = null;
 		if (DEBUG) Log.d(TAG,"onOPDisconnected");
 	}
@@ -87,7 +88,7 @@ public class ObjectManagerFragment extends Fragment {
 	/**
 	 * Called whenever any objects subscribed to via registerObjects
 	 */
-	protected void objectUpdated(UAVObject obj) {
+	public void objectUpdated(UAVObject obj) {
 
 	}
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/PFD.java b/androidgcs/src/org/openpilot/androidgcs/fragments/PFD.java
similarity index 78%
rename from androidgcs/src/org/openpilot/androidgcs/PFD.java
rename to androidgcs/src/org/openpilot/androidgcs/fragments/PFD.java
index fa4480180..ec265fe6e 100644
--- a/androidgcs/src/org/openpilot/androidgcs/PFD.java
+++ b/androidgcs/src/org/openpilot/androidgcs/fragments/PFD.java
@@ -22,11 +22,14 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-package org.openpilot.androidgcs;
+package org.openpilot.androidgcs.fragments;
 
+import org.openpilot.androidgcs.AttitudeView;
+import org.openpilot.androidgcs.R;
 import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectManager;
 
+import android.app.Activity;
 import android.os.Bundle;
 import android.util.Log;
 import android.view.LayoutInflater;
@@ -65,18 +68,25 @@ public class PFD extends ObjectManagerFragment {
 	 * Called whenever any objects subscribed to via registerObjects
 	 */
 	@Override
-	protected void objectUpdated(UAVObject obj) {
+	public void objectUpdated(UAVObject obj) {
 		if (DEBUG)
 			Log.d(TAG, "Updated");
 
 		double pitch = obj.getField("Pitch").getDouble();
 		double roll = obj.getField("Roll").getDouble();
 
-		AttitudeView attitude = (AttitudeView) getActivity().findViewById(
-				R.id.attitude_view);
-		attitude.setRoll(roll);
-		attitude.setPitch(pitch);
-		attitude.invalidate();
+		// TODO: These checks, while sensible, are necessary because the
+		// callbacks aren't
+		// removed when we switch to different activities sharing this fragment
+		Activity parent = getActivity();
+		AttitudeView attitude = null;
+		if (parent != null)
+			attitude = (AttitudeView) parent.findViewById(R.id.attitude_view);
+		if (attitude != null) {
+			attitude.setRoll(roll);
+			attitude.setPitch(pitch);
+			attitude.invalidate();
+		}
 
 	}
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java b/androidgcs/src/org/openpilot/androidgcs/fragments/SystemAlarmsFragment.java
similarity index 96%
rename from androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java
rename to androidgcs/src/org/openpilot/androidgcs/fragments/SystemAlarmsFragment.java
index a7d0ce67e..e311e7249 100644
--- a/androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java
+++ b/androidgcs/src/org/openpilot/androidgcs/fragments/SystemAlarmsFragment.java
@@ -21,10 +21,11 @@
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-package org.openpilot.androidgcs;
+package org.openpilot.androidgcs.fragments;
 
 import java.util.List;
 
+import org.openpilot.androidgcs.R;
 import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectField;
 import org.openpilot.uavtalk.UAVObjectManager;
@@ -67,7 +68,7 @@ public class SystemAlarmsFragment extends ObjectManagerFragment {
 	 * Called whenever any objects subscribed to via registerObjects
 	 */
     @Override
-	protected void objectUpdated(UAVObject obj) {
+	public void objectUpdated(UAVObject obj) {
 		if (DEBUG)
 			Log.d(TAG, "Updated");
 		if (obj.getName().compareTo("SystemAlarms") == 0) {

From dd0a5b2cf2a03102d2820bba5646ca36b7df5d20 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 13:17:07 -0500
Subject: [PATCH 324/543] AndroidGCS: Make home page buttons more vertical to
 work better on phones. Maybe someone could make these automatically space
 out?

---
 androidgcs/res/layout/gcs_home.xml | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/androidgcs/res/layout/gcs_home.xml b/androidgcs/res/layout/gcs_home.xml
index 3d0ff6429..82f638b98 100644
--- a/androidgcs/res/layout/gcs_home.xml
+++ b/androidgcs/res/layout/gcs_home.xml
@@ -33,9 +33,9 @@
         android:id="@+id/launch_pfd"
         android:layout_width="132dp"
         android:layout_height="wrap_content"
-        android:layout_column="2"
+        android:layout_column="0"
         android:layout_gravity="center"
-        android:layout_row="0"
+        android:layout_row="2"
         android:layout_rowSpan="2"
         android:background="@android:color/transparent"
         android:drawableTop="@drawable/ic_pfd"
@@ -45,7 +45,7 @@
         android:id="@+id/launch_controller"
         android:layout_width="132dp"
         android:layout_height="wrap_content"
-        android:layout_column="0"
+        android:layout_column="1"
         android:layout_gravity="right"
         android:layout_row="2"
         android:layout_rowSpan="2"
@@ -57,9 +57,9 @@
         android:id="@+id/launch_logger"
         android:layout_width="132dp"
         android:layout_height="wrap_content"
-        android:layout_column="1"
+        android:layout_column="0"
         android:layout_gravity="right"
-        android:layout_row="2"
+        android:layout_row="4"
         android:layout_rowSpan="2"
         android:background="@android:color/transparent"
         android:drawableTop="@drawable/ic_logging"
@@ -69,9 +69,9 @@
         android:id="@+id/launch_alarms"
         android:layout_width="132dp"
         android:layout_height="wrap_content"
-        android:layout_column="2"
+        android:layout_column="1"
         android:layout_gravity="right"
-        android:layout_row="2"
+        android:layout_row="4"
         android:layout_rowSpan="2"
         android:background="@android:color/transparent"
         android:drawableTop="@drawable/ic_alarms"

From 41a46258be05b8514f10002278642edc08ea6d23 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 13:42:27 -0500
Subject: [PATCH 325/543] AndroidGCS: Change Sambas to not crash in AVD for
 bluetooth or if there are no devices.

---
 .../androidgcs/BluetoothDevicePreference.java   | 17 ++++++++++++-----
 1 file changed, 12 insertions(+), 5 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java b/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java
index 4cd00f2e7..80f8970c6 100644
--- a/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java
+++ b/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java
@@ -39,14 +39,21 @@ public class BluetoothDevicePreference extends ListPreference {
         super(context, attrs);
 
         BluetoothAdapter bta = BluetoothAdapter.getDefaultAdapter();
+		if (bta == null)
+			return; // BT not supported
         Set<BluetoothDevice> pairedDevices = bta.getBondedDevices();
         CharSequence[] entries = new CharSequence[pairedDevices.size()];
         CharSequence[] entryValues = new CharSequence[pairedDevices.size()];
-        int i = 0;
-        for (BluetoothDevice dev : pairedDevices) {
-            entries[i] = dev.getName();
-            entryValues[i] = dev.getAddress();
-            i++;
+		if (pairedDevices.size() == 0) {
+			entries[0] = "No Devices";
+			entryValues[0] = "";
+		} else {
+			int i = 0;
+			for (BluetoothDevice dev : pairedDevices) {
+				entries[i] = dev.getName();
+				entryValues[i] = dev.getAddress();
+				i++;
+			}
         }
         setEntries(entries);
         setEntryValues(entryValues);

From 1740bef84739ec81fcedc397d5e49e7e35db335f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 14:25:52 -0500
Subject: [PATCH 326/543] AndroidGCS: Delete zip file of android icons

---
 .../hdpi/_pre_production/hdpi_icons.ai.zip    | Bin 1026749 -> 0 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 artwork/Android/hdpi/_pre_production/hdpi_icons.ai.zip

diff --git a/artwork/Android/hdpi/_pre_production/hdpi_icons.ai.zip b/artwork/Android/hdpi/_pre_production/hdpi_icons.ai.zip
deleted file mode 100644
index 9b6db76fb60aadee2958bab9599e0acda8b24b34..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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L=m(4OAMAetr4~iM


From f4ff84d41aa378db826f264a9b3d81df772d6605 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Wed, 8 Aug 2012 23:08:41 +1000
Subject: [PATCH 327/543] Notify plugin cleanup

Removed a few unused SoundNotifyPlugin members
---
 ground/openpilotgcs/src/plugins/notify/notifyplugin.h | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.h b/ground/openpilotgcs/src/plugins/notify/notifyplugin.h
index 6a142ff03..23b07a210 100644
--- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.h
+++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.h
@@ -74,7 +74,6 @@ private:
 
     bool playNotification(NotificationItem* notification);
     void checkNotificationRule(NotificationItem* notification, UAVObject* object);
-    void readConfig_0_0_0();
 
 private slots:
 
@@ -90,10 +89,6 @@ private slots:
 
 private:
     bool enableSound;
-    QList< QList<Phonon::MediaSource>* > lstMediaSource;
-    QStringList mediaSource;
-    QMultiMap<QString, PhononObject> mapMediaObjects;
-    QSettings* settings;
 
     QList<UAVDataObject*> lstNotifiedUAVObjects;
     QList<NotificationItem*> _notificationList;

From d358591726b43af7e8e62af32144e656368f3c4d Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Wed, 8 Aug 2012 23:17:19 +1000
Subject: [PATCH 328/543] Fixed possible notification plugin deadlock

Protecting with mutex stateChanged(Phonon::State)
and starting/stopping playback looks dangerous,
the media player may emit another state change leading to deadlock.

The mutex should not be necessary here
since all the slots are executed in the main thread.

Changing the objectUpdated(UAVObject*) connection type
to Qt::QueuedConnection is not strictly necessary,
signals between threads are queued by default,
it serves more the documentation purpose.
---
 ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp | 8 +++-----
 ground/openpilotgcs/src/plugins/notify/notifyplugin.h   | 1 -
 2 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp
index 5c7d27e75..19f38b626 100644
--- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp
@@ -206,7 +206,9 @@ void SoundNotifyPlugin::connectNotifications()
             if (!lstNotifiedUAVObjects.contains(obj)) {
                 lstNotifiedUAVObjects.append(obj);
 
-                connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(on_arrived_Notification(UAVObject*)));
+                connect(obj, SIGNAL(objectUpdated(UAVObject*)),
+                        this, SLOT(on_arrived_Notification(UAVObject*)),
+                        Qt::QueuedConnection);
             }
         } else {
             qNotifyDebug() << "Error: Object is unknown (" << notify->getDataObject() << ").";
@@ -297,8 +299,6 @@ void SoundNotifyPlugin::on_expiredTimer_Notification()
         return;
     notification->stopExpireTimer();
 
-    volatile QMutexLocker lock(&_mutex);
-
     if (!_pendingNotifications.isEmpty()) {
         qNotifyDebug() << QString("expireTimer: %1% | %2 | %3").arg(notification->getDataObject())
                                                         .arg(notification->getObjectField())
@@ -327,7 +327,6 @@ void SoundNotifyPlugin::stateChanged(Phonon::State newstate, Phonon::State oldst
     {
         qNotifyDebug() << "New State: " << QVariant(newstate).toString();
 
-        volatile QMutexLocker lock(&_mutex);
         // assignment to NULL needed to detect that palying is finished
         // it's useful in repeat timer handler, where we can detect
         // that notification has not overlap with itself
@@ -442,7 +441,6 @@ void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UA
     }
     if(notification->retryValue() == NotificationItem::repeatOncePerUpdate && notification->getCurrentUpdatePlayed())
         return;
-    volatile QMutexLocker lock(&_mutex);
 
     if (!playNotification(notification)) {
         if (!_pendingNotifications.contains(notification)
diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.h b/ground/openpilotgcs/src/plugins/notify/notifyplugin.h
index 23b07a210..c9027bf82 100644
--- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.h
+++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.h
@@ -101,7 +101,6 @@ private:
     PhononObject phonon;
     NotifyPluginOptionsPage* mop;
     TelemetryManager* telMngr;
-    QMutex _mutex;
 }; 
 
 #endif // SOUNDNOTIFYPLUGIN_H

From 518358c8f7a43607a7fa58ff4d5a195fd628657c Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Wed, 8 Aug 2012 23:29:33 +1000
Subject: [PATCH 329/543] Re-enabled the notify plugin with Qt 4.8

On all the platform except of Qt 4.8.0 on Mac,
this combination crashes.

Fixed in Qt 4.8.1, QTBUG-23128
---
 ground/openpilotgcs/src/plugins/plugins.pro | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/plugins.pro b/ground/openpilotgcs/src/plugins/plugins.pro
index 63fd4c297..d575b072d 100644
--- a/ground/openpilotgcs/src/plugins/plugins.pro
+++ b/ground/openpilotgcs/src/plugins/plugins.pro
@@ -75,7 +75,11 @@ plugin_modelview.depends = plugin_coreplugin
 plugin_modelview.depends += plugin_uavobjects
 SUBDIRS += plugin_modelview
 
-!contains(QT_VERSION, ^4\\.8\\..*) {
+
+#Qt 4.8.0 / phonon may crash on Mac, fixed in Qt 4.8.1, QTBUG-23128
+macx:contains(QT_VERSION, ^4\\.8\\.0): CONFIG += disable_notify_plugin
+
+!disable_notify_plugin {
 #Notify gadget
 plugin_notify.subdir = notify
 plugin_notify.depends = plugin_coreplugin

From 40e25ff8e29919170bb42fc8765dbc2fa2f6b7a8 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Thu, 9 Aug 2012 14:58:07 +1000
Subject: [PATCH 330/543] Turn on sounds by default

---
 .../src/plugins/coreplugin/OpenPilotGCS.xml   | 90 ++++++++++++++-----
 1 file changed, 70 insertions(+), 20 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
index 8223f4a94..f7debdea1 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
@@ -3,10 +3,22 @@
     <AutoConnect>true</AutoConnect>
     <AutoSelect>true</AutoSelect>
     <ExpertMode>false</ExpertMode>
-    <OverrideLanguage>en_AU</OverrideLanguage>
+    <LastPreferenceCategory>Notify Plugin</LastPreferenceCategory>
+    <LastPreferencePage>settings</LastPreferencePage>
     <SaveSettingsOnExit>true</SaveSettingsOnExit>
+    <SettingsWindowHeight>476</SettingsWindowHeight>
+    <SettingsWindowWidth>697</SettingsWindowWidth>
     <UDPMirror>false</UDPMirror>
   </General>
+  <IPconnection>
+    <Current>
+      <arr_1>
+        <Port>1</Port>
+        <UseTCP>0</UseTCP>
+      </arr_1>
+      <size>1</size>
+    </Current>
+  </IPconnection>
   <KeyBindings>
     <size>0</size>
   </KeyBindings>
@@ -24,6 +36,58 @@
     <Mode6>86</Mode6>
     <Welcome>100</Welcome>
   </ModePriorities>
+  <Plugins>
+    <SoundNotifyPlugin>
+      <configInfo>
+        <locked>false</locked>
+        <version>1.0.0</version>
+      </configInfo>
+      <data>
+        <Current>
+          <arr_1>
+            <CurrentLanguage>default</CurrentLanguage>
+            <DataObject>FlightStatus</DataObject>
+            <ExpireTimeout>0</ExpireTimeout>
+            <Mute>false</Mute>
+            <ObjectField>Armed</ObjectField>
+            <RangeLimit>0</RangeLimit>
+            <Repeat>0</Repeat>
+            <SayOrder>0</SayOrder>
+            <Sound1>armed</Sound1>
+            <Sound2></Sound2>
+            <Sound3></Sound3>
+            <SoundCollectionPath>%%DATAPATH%%sounds</SoundCollectionPath>
+            <Value1>Armed</Value1>
+            <Value2>0</Value2>
+          </arr_1>
+          <size>1</size>
+        </Current>
+        <EnableSound>true</EnableSound>
+        <listNotifies>
+          <arr_1>
+            <CurrentLanguage>default</CurrentLanguage>
+            <DataObject>FlightStatus</DataObject>
+            <ExpireTimeout>15</ExpireTimeout>
+            <Mute>false</Mute>
+            <ObjectField>Armed</ObjectField>
+            <RangeLimit>0</RangeLimit>
+            <Repeat>0</Repeat>
+            <SayOrder>0</SayOrder>
+            <Sound1>armed</Sound1>
+            <Sound2></Sound2>
+            <Sound3></Sound3>
+            <SoundCollectionPath>%%DATAPATH%%sounds</SoundCollectionPath>
+            <Value1>Armed</Value1>
+            <Value2>0</Value2>
+          </arr_1>
+          <size>1</size>
+        </listNotifies>
+      </data>
+    </SoundNotifyPlugin>
+  </Plugins>
+  <SerialConnection>
+    <speed>57600</speed>
+  </SerialConnection>
   <UAVGadgetConfigurations>
     <ConfigGadget>
       <default>
@@ -1691,8 +1755,8 @@
           <altitude>2000</altitude>
           <cacheOnly>false</cacheOnly>
           <earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
-          <latitude>46.671478</latitude>
-          <longitude>10.158932</longitude>
+          <latitude>46.6715</latitude>
+          <longitude>10.1589</longitude>
           <qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
           <terrainEnabled>false</terrainEnabled>
         </data>
@@ -1707,10 +1771,10 @@
           <altitude>2000</altitude>
           <cacheOnly>false</cacheOnly>
           <earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
-          <latitude>46.671478</latitude>
-          <longitude>10.158932</longitude>
+          <latitude>46.6715</latitude>
+          <longitude>10.1589</longitude>
           <qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
-          <terrainEnabled>true</terrainEnabled>
+          <terrainEnabled>false</terrainEnabled>
         </data>
       </Terrain>
     </PfdQmlGadget>
@@ -1735,7 +1799,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -1781,7 +1844,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>20</dataSize>
           <plotCurve0>
@@ -1837,7 +1899,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -1883,7 +1944,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -1909,7 +1969,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>40</dataSize>
           <plotCurve0>
@@ -2005,7 +2064,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -2051,7 +2109,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -2097,7 +2154,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -2143,7 +2199,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>240</dataSize>
           <plotCurve0>
@@ -2279,7 +2334,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>20</dataSize>
           <plotCurve0>
@@ -2325,7 +2379,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>240</dataSize>
           <plotCurve0>
@@ -2340,9 +2393,6 @@
           </plotCurve0>
           <plotCurve1>
             <color>0</color>
-            <mathFunction></mathFunction>
-            <uavField></uavField>
-            <uavObject></uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>

From 92a9a57bf717e920a726dd2740f84b2b4e51cadd Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Thu, 9 Aug 2012 15:42:00 +1000
Subject: [PATCH 331/543] Make options Window a better size, fixes a load of
 the cramped layout.

---
 ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
index f7debdea1..9b3680f48 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
@@ -6,8 +6,8 @@
     <LastPreferenceCategory>Notify Plugin</LastPreferenceCategory>
     <LastPreferencePage>settings</LastPreferencePage>
     <SaveSettingsOnExit>true</SaveSettingsOnExit>
-    <SettingsWindowHeight>476</SettingsWindowHeight>
-    <SettingsWindowWidth>697</SettingsWindowWidth>
+    <SettingsWindowHeight>600</SettingsWindowHeight>
+    <SettingsWindowWidth>800</SettingsWindowWidth>
     <UDPMirror>false</UDPMirror>
   </General>
   <IPconnection>

From 5bf98a03c78fc8dc59baef28bcb2d047d2a0c23b Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Thu, 9 Aug 2012 18:12:56 +1000
Subject: [PATCH 332/543] Align the new telem to the center, it's bugging me.

---
 .../openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index 9006b691f..fbc75b042 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -58,10 +58,10 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidge
 
     QHBoxLayout *layout = new QHBoxLayout;
     layout->setSpacing(5);
-    layout->setContentsMargins(5,5,5,5);
+    layout->setContentsMargins(5,2,5,2);
 
     m_monitor = new TelemetryMonitorWidget(this);
-    layout->addWidget(m_monitor);
+    layout->addWidget(m_monitor, Qt::AlignHCenter);
 
     layout->addWidget(new QLabel(tr("Connections:")));
 

From 93dd153fc44fe4ee25058784abab39c441d34aec Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Thu, 9 Aug 2012 21:52:50 +1000
Subject: [PATCH 333/543] Enabled text antialiasing for a number of widgets

Unlike QPainter::setRenderHints(),
QGraphicsView::setRenderHints() set the render hints  to flags passed as parameter,
so QPainter::TextAntialiasing flag is cleared.

changint it to setRenderHint or adding QPainter::TextAntialiasing
value fixes the AA text rendering.
---
 ground/openpilotgcs/src/plugins/dial/dialgadgetwidget.cpp       | 2 +-
 ground/openpilotgcs/src/plugins/gcscontrol/joystickcontrol.cpp  | 2 +-
 .../src/plugins/lineardial/lineardialgadgetwidget.cpp           | 2 +-
 ground/openpilotgcs/src/plugins/magicwaypoint/positionfield.cpp | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/dial/dialgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/dial/dialgadgetwidget.cpp
index ba6f35f19..cc9b05b5c 100644
--- a/ground/openpilotgcs/src/plugins/dial/dialgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/dial/dialgadgetwidget.cpp
@@ -40,7 +40,7 @@ DialGadgetWidget::DialGadgetWidget(QWidget *parent) : QGraphicsView(parent)
     setMinimumSize(64,64);
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
     setScene(new QGraphicsScene(this));
-    setRenderHints(QPainter::Antialiasing);
+    setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
 
     m_renderer = new QSvgRenderer();
 
diff --git a/ground/openpilotgcs/src/plugins/gcscontrol/joystickcontrol.cpp b/ground/openpilotgcs/src/plugins/gcscontrol/joystickcontrol.cpp
index 571b07068..8a0fb1360 100644
--- a/ground/openpilotgcs/src/plugins/gcscontrol/joystickcontrol.cpp
+++ b/ground/openpilotgcs/src/plugins/gcscontrol/joystickcontrol.cpp
@@ -40,7 +40,7 @@ JoystickControl::JoystickControl(QWidget *parent) : QGraphicsView(parent)
     setMinimumSize(64, 64);
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
     setScene(new QGraphicsScene(this));
-    setRenderHints(QPainter::Antialiasing);
+    setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
 
     m_renderer = new QSvgRenderer();
     bool test = m_renderer->load(QString(":/gcscontrol/images/joystick.svg"));
diff --git a/ground/openpilotgcs/src/plugins/lineardial/lineardialgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/lineardial/lineardialgadgetwidget.cpp
index 914ad663d..a108877a8 100644
--- a/ground/openpilotgcs/src/plugins/lineardial/lineardialgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/lineardial/lineardialgadgetwidget.cpp
@@ -36,7 +36,7 @@ LineardialGadgetWidget::LineardialGadgetWidget(QWidget *parent) : QGraphicsView(
     setMinimumSize(32,32);
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
     setScene(new QGraphicsScene(this));
-    setRenderHints(QPainter::Antialiasing);
+    setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
     m_renderer = new QSvgRenderer();
     verticalDial = false;
 
diff --git a/ground/openpilotgcs/src/plugins/magicwaypoint/positionfield.cpp b/ground/openpilotgcs/src/plugins/magicwaypoint/positionfield.cpp
index 28dd14337..7c800fc19 100644
--- a/ground/openpilotgcs/src/plugins/magicwaypoint/positionfield.cpp
+++ b/ground/openpilotgcs/src/plugins/magicwaypoint/positionfield.cpp
@@ -46,7 +46,7 @@ PositionField::PositionField(QWidget *parent) :
     setMinimumSize(64,64);
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
     setScene(new QGraphicsScene(this));
-    setRenderHints(QPainter::Antialiasing);
+    setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
 
     m_renderer = new QSvgRenderer();
     Q_ASSERT( m_renderer->load(QString(":/magicwaypoint/images/positionfield.svg")) != 0 );

From e03300465629164870e33daba99d3116cc54ba07 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Thu, 9 Aug 2012 22:22:09 +0100
Subject: [PATCH 334/543] GCS-Added new dialog to let the user choose from a
 list of available configurations uppon startup when no valid configuration is
 found

---
 .../coreplugin/dialogs/importsettings.cpp     | 55 +++++++++++++
 .../coreplugin/dialogs/importsettings.h       | 33 ++++++++
 .../coreplugin/dialogs/importsettings.ui      | 82 +++++++++++++++++++
 3 files changed, 170 insertions(+)
 create mode 100644 ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.cpp
 create mode 100644 ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.h
 create mode 100644 ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.ui

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.cpp b/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.cpp
new file mode 100644
index 000000000..517c534a2
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.cpp
@@ -0,0 +1,55 @@
+#include "importsettings.h"
+#include "ui_importsettings.h"
+#include <QDir>
+#include <QSettings>
+#include <utils/xmlconfig.h>
+
+importSettings::importSettings(QWidget *parent) :
+    QDialog(parent),
+    ui(new Ui::importSettings)
+{
+    ui->setupUi(this);
+    connect(ui->cbConfigs,SIGNAL(currentIndexChanged(int)),this,SLOT(updateDetails(int)));
+    connect(ui->btnLoad,SIGNAL(clicked()),this,SLOT(accept()));
+}
+void importSettings::loadFiles(QString path)
+{
+    QDir myDir(path);
+    QStringList filters;
+    filters << "*.xml";
+    QStringList list = myDir.entryList(filters,QDir::Files);
+    int x=0;
+    foreach(QString fileStr, list)
+    {
+        fileInfo * info=new fileInfo;
+        QSettings settings(path+QDir::separator()+fileStr, XmlConfig::XmlSettingsFormat);
+        settings.beginGroup("General");
+        info->description=settings.value("Description","None").toString();
+        info->details=settings.value("Details","None").toString();
+        settings.endGroup();
+        info->file=path+QDir::separator()+fileStr;
+        configList.insert(x,info);
+        ui->cbConfigs->addItem(info->description,x);
+        ++x;
+    }
+}
+
+void importSettings::updateDetails(int index)
+{
+    fileInfo * info=configList.value(ui->cbConfigs->itemData(index).toInt());
+    ui->lblDetails->setText(info->details);
+}
+QString importSettings::choosenConfig()
+{
+    fileInfo * info=configList.value(ui->cbConfigs->itemData(ui->cbConfigs->currentIndex()).toInt());
+    return info->file;
+}
+
+importSettings::~importSettings()
+{
+    foreach(fileInfo * info,configList.values())
+    {
+        delete info;
+    }
+    delete ui;
+}
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.h b/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.h
new file mode 100644
index 000000000..58e5e8e44
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.h
@@ -0,0 +1,33 @@
+#ifndef IMPORTSETTINGS_H
+#define IMPORTSETTINGS_H
+
+#include <QDialog>
+#include <QMap>
+namespace Ui {
+class importSettings;
+}
+
+class importSettings : public QDialog
+{
+    Q_OBJECT
+    struct fileInfo
+    {
+        QString file;
+        QString description;
+        QString details;
+    };
+
+public:
+    explicit importSettings(QWidget *parent = 0);
+    ~importSettings();
+    
+    void loadFiles(QString path);
+    QString choosenConfig();
+private:
+    Ui::importSettings *ui;
+    QMap<int,fileInfo*> configList;
+private slots:
+    void updateDetails(int);
+};
+
+#endif // IMPORTSETTINGS_H
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.ui b/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.ui
new file mode 100644
index 000000000..439c19207
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.ui
@@ -0,0 +1,82 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>importSettings</class>
+ <widget class="QDialog" name="importSettings">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>373</width>
+    <height>167</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>OpenPilotGCS</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>No configuration file could be found.
+Please choose from one of the default configurations</string>
+     </property>
+     <property name="scaledContents">
+      <bool>false</bool>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QComboBox" name="cbConfigs"/>
+   </item>
+   <item>
+    <widget class="QLabel" name="lblDetails">
+     <property name="text">
+      <string>TextLabel</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="btnLoad">
+       <property name="text">
+        <string>Load</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

From 9da1372e54768b7307f5b8de3f07655f6ca83d29 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Thu, 9 Aug 2012 22:25:34 +0100
Subject: [PATCH 335/543] GCS-Change the way the stylesheets are copied (was
 not working for me) Also copy the default configuration xml files. These are
 now on the shared folder together with the stylesheet instead of being inside
 a resource file. Stylesheets and configuration files are now copied from
 SRC/SHARED to APP/SHARED

---
 ground/openpilotgcs/share/share.pro |  2 +-
 ground/openpilotgcs/src/app/app.pro | 12 ------------
 2 files changed, 1 insertion(+), 13 deletions(-)

diff --git a/ground/openpilotgcs/share/share.pro b/ground/openpilotgcs/share/share.pro
index e6ecc4243..c5fa73e60 100644
--- a/ground/openpilotgcs/share/share.pro
+++ b/ground/openpilotgcs/share/share.pro
@@ -3,7 +3,7 @@ include(../openpilotgcs.pri)
 TEMPLATE = subdirs
 SUBDIRS = openpilotgcs/translations
 
-DATACOLLECTIONS = dials models pfd sounds diagrams mapicons
+DATACOLLECTIONS = dials models pfd sounds diagrams mapicons stylesheets default_configurations
 
 equals(copydata, 1) {
     for(dir, DATACOLLECTIONS) {
diff --git a/ground/openpilotgcs/src/app/app.pro b/ground/openpilotgcs/src/app/app.pro
index ea53c1bd9..d045eb593 100644
--- a/ground/openpilotgcs/src/app/app.pro
+++ b/ground/openpilotgcs/src/app/app.pro
@@ -28,15 +28,3 @@ win32 {
 }
 
 OTHER_FILES += openpilotgcs.rc
-
-STYLESHEETS = windows.qss \
-            macos.qss \
-            linux.qss
-
-for(qss, STYLESHEETS) {
-    style_copy.commands += $(COPY_FILE) $$targetPath(\"$$GCS_SOURCE_TREE/src/app/stylesheets/$$qss\") $$targetPath(\"$$GCS_APP_PATH/$$qss\") $$addNewline()
-}
-
-style_copy.target = FORCE
-QMAKE_EXTRA_TARGETS += style_copy
-

From e2d7e824ed8bf84f30eb95a51e24998b28d83f7f Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Thu, 9 Aug 2012 22:30:31 +0100
Subject: [PATCH 336/543] GCS-Created new wide and default stylesheets and
 configurations just as an example. Currently they are the same.

---
 .../default_configurations/OpenPilotGCS.xml   | 2715 +++++++++++++++++
 .../OpenPilotGCS_wide.xml                     | 2715 +++++++++++++++++
 .../stylesheets/default_linux.qss             |    1 +
 .../stylesheets/default_macos.qss             |    1 +
 .../stylesheets/default_windows.qss           |    1 +
 .../openpilotgcs/stylesheets/wide_linux.qss   |    1 +
 .../openpilotgcs/stylesheets/wide_macos.qss   |    1 +
 .../openpilotgcs/stylesheets/wide_windows.qss |    1 +
 .../src/plugins/coreplugin/core.qrc           |    1 -
 9 files changed, 5436 insertions(+), 1 deletion(-)
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/stylesheets/default_windows.qss
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_windows.qss

diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
new file mode 100644
index 000000000..1ef73219e
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
@@ -0,0 +1,2715 @@
+<gcs>
+  <General>
+    <AutoConnect>true</AutoConnect>
+    <AutoSelect>true</AutoSelect>
+    <ExpertMode>false</ExpertMode>
+    <OverrideLanguage>en_AU</OverrideLanguage>
+    <SaveSettingsOnExit>true</SaveSettingsOnExit>
+    <UDPMirror>false</UDPMirror>
+    <Description>Default configuration</Description>
+    <Details>Default configuration built to work on all screen sizes</Details>
+    <StyleSheet>default</StyleSheet>
+  </General>
+  <KeyBindings>
+    <size>0</size>
+  </KeyBindings>
+  <MainWindow>
+    <Color>#666666</Color>
+    <FullScreen>false</FullScreen>
+    <Maximized>true</Maximized>
+  </MainWindow>
+  <ModePriorities>
+    <Mode1>91</Mode1>
+    <Mode2>90</Mode2>
+    <Mode3>89</Mode3>
+    <Mode4>88</Mode4>
+    <Mode5>87</Mode5>
+    <Mode6>86</Mode6>
+    <Welcome>100</Welcome>
+  </ModePriorities>
+  <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>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <font>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <font>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>Accels</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>20</needle2MaxValue>
+          <needle2MinValue>-20</needle2MinValue>
+          <needle2Move>Horizontal</needle2Move>
+          <needle2ObjectField>x</needle2ObjectField>
+          <needle3DataObject>Accels</needle3DataObject>
+          <needle3Factor>-1</needle3Factor>
+          <needle3MaxValue>360</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <font>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle2</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle2</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle2</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <controlPortUDP>0</controlPortUDP>
+          <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>Communications Port (COM1)</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>Communications Port (COM1)</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>
+          <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>
+          <manual>false</manual>
+          <outPort>49000</outPort>
+          <remoteHostAddress>127.0.0.1</remoteHostAddress>
+          <simulatorId>X-Plane</simulatorId>
+          <startSim>false</startSim>
+        </data>
+      </XPlane__PCT__20HITL>
+    </HITL>
+    <HITLv2>
+      <default>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <attActCalc>false</attActCalc>
+          <attActHW>false</attActHW>
+          <attActSim>true</attActSim>
+          <attActual>true</attActual>
+          <attRaw>true</attRaw>
+          <attRawRate>20</attRawRate>
+          <gcsReciever>true</gcsReciever>
+          <gpsPosRate>200</gpsPosRate>
+          <gpsPosition>true</gpsPosition>
+          <homeLocRate>0</homeLocRate>
+          <homeLocation>true</homeLocation>
+          <hostAddress>127.0.0.1</hostAddress>
+          <inPort>40100</inPort>
+          <inputCommand>true</inputCommand>
+          <manualControl>false</manualControl>
+          <manualOutput>false</manualOutput>
+          <outPort>40200</outPort>
+          <outputRate>20</outputRate>
+          <remoteAddress>127.0.0.1</remoteAddress>
+          <simulatorId>ASimRC</simulatorId>
+          <sonarAltRate>50</sonarAltRate>
+          <sonarAltitude>false</sonarAltitude>
+          <sonarMaxAlt>@Variant(AAAAh0CgAAA=)</sonarMaxAlt>
+        </data>
+      </default>
+    </HITLv2>
+    <LineardialGadget>
+      <Accel__PCT__20Horizontal__PCT__20X>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/deluxe/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>Accels</sourceDataObject>
+          <sourceObjectField>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/deluxe/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>Accels</sourceDataObject>
+          <sourceObjectField>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/deluxe/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>Accels</sourceDataObject>
+          <sourceObjectField>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/deluxe/lineardial-vertical.svg</dFile>
+          <decimalPlaces>0</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
+          <greenMax>90</greenMax>
+          <greenMin>0</greenMin>
+          <maxValue>100</maxValue>
+          <minValue>0</minValue>
+          <redMax>100</redMax>
+          <redMin>95</redMin>
+          <sourceDataObject>SystemStats</sourceDataObject>
+          <sourceObjectField>CPULoad</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>95</yellowMax>
+          <yellowMin>90</yellowMin>
+        </data>
+      </Mainboard__PCT__20CPU>
+      <Pitch__PCT__20Desired>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/deluxe/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/deluxe/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/deluxe/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/deluxe/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/deluxe/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/deluxe/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/deluxe/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/deluxe/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/deluxe/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/deluxe/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>
+      <CopterControl>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/boards/CopterControl/CopterControl.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </CopterControl>
+      <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>
+      <Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_+.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
+      <Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_X.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
+      <Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_+.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
+      <Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_X.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
+      <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>
+      <Ricoo>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/ricoo/ricoo.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Ricoo>
+      <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>
+    <PfdQmlGadget>
+      <NoTerrain>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <actualPositionUsed>false</actualPositionUsed>
+          <altitude>2000</altitude>
+          <cacheOnly>false</cacheOnly>
+          <earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
+          <latitude>46.671478</latitude>
+          <longitude>10.158932</longitude>
+          <qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
+          <terrainEnabled>false</terrainEnabled>
+        </data>
+      </NoTerrain>
+      <Terrain>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <actualPositionUsed>false</actualPositionUsed>
+          <altitude>2000</altitude>
+          <cacheOnly>false</cacheOnly>
+          <earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
+          <latitude>46.671478</latitude>
+          <longitude>10.158932</longitude>
+          <qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
+          <terrainEnabled>true</terrainEnabled>
+        </data>
+      </Terrain>
+    </PfdQmlGadget>
+    <QmlViewGadget>
+      <default>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dialFile>Unknown</dialFile>
+          <useOpenGLFlag>true</useOpenGLFlag>
+        </data>
+      </default>
+    </QmlViewGadget>
+    <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>
+            <mathFunction>None</mathFunction>
+            <uavField>x</uavField>
+            <uavObject>Accels</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <mathFunction>None</mathFunction>
+            <uavField>y</uavField>
+            <uavObject>Accels</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4283804160</color>
+            <mathFunction>None</mathFunction>
+            <uavField>z</uavField>
+            <uavObject>Accels</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-4</uavField>
+            <uavObject>ActuatorCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-5</uavField>
+            <uavObject>ActuatorCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4289374847</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-6</uavField>
+            <uavObject>ActuatorCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurve3>
+            <color>4289374847</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-7</uavField>
+            <uavObject>ActuatorCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>Roll</uavField>
+            <uavObject>AttitudeActual</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4278233600</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Yaw</uavField>
+            <uavObject>AttitudeActual</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Pitch</uavField>
+            <uavObject>AttitudeActual</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>Pressure</uavField>
+            <uavObject>BaroAltitude</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-1</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-4</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-5</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurve3>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-6</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve3>
+          <plotCurve4>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-7</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve4>
+          <plotCurve5>
+            <color>4283825920</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-2</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve5>
+          <plotCurve6>
+            <color>4294923520</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-3</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve6>
+          <plotCurve7>
+            <color>4294967040</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-0</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>x</uavField>
+            <uavObject>Accels</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <mathFunction>None</mathFunction>
+            <uavField>y</uavField>
+            <uavObject>Accels</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4283804160</color>
+            <mathFunction>None</mathFunction>
+            <uavField>z</uavField>
+            <uavObject>Accels</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>z</uavField>
+            <uavObject>Gyros</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <mathFunction>None</mathFunction>
+            <uavField>y</uavField>
+            <uavObject>Gyros</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>x</uavField>
+            <uavObject>Gyros</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>X</uavField>
+            <uavObject>Magnetometer</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Y</uavField>
+            <uavObject>Magnetometer</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4283804160</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Z</uavField>
+            <uavObject>Magnetometer</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-System</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-Actuator</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve10>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-Guidance</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve10>
+          <plotCurve11>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-Watchdog</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve11>
+          <plotCurve2>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-TelemetryTx</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurve3>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-TelemetryTxPri</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve3>
+          <plotCurve4>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-TelemetryRx</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve4>
+          <plotCurve5>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-GPS</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve5>
+          <plotCurve6>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-ManualControl</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve6>
+          <plotCurve7>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-Altitude</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve7>
+          <plotCurve8>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-AHRSComms</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve8>
+          <plotCurve9>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-Stabilization</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>TxFailures</uavField>
+            <uavObject>GCSTelemetryStats</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <mathFunction>None</mathFunction>
+            <uavField>RxFailures</uavField>
+            <uavObject>GCSTelemetryStats</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>TxRetries</uavField>
+            <uavObject>GCSTelemetryStats</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>4294945407</color>
+            <mathFunction>None</mathFunction>
+            <uavField>FlightTime</uavField>
+            <uavObject>SystemStats</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>0</color>
+            <mathFunction></mathFunction>
+            <uavField></uavField>
+            <uavObject></uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+          <CategorizedView>false</CategorizedView>
+          <ScientificView>false</ScientificView>
+          <manuallyChangedColor>#5baa56</manuallyChangedColor>
+          <onlyHilightChangedValues>false</onlyHilightChangedValues>
+          <recentlyUpdatedColor>#ff7957</recentlyUpdatedColor>
+          <recentlyUpdatedTimeout>500</recentlyUpdatedTimeout>
+          <showMetaData>false</showMetaData>
+        </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>
+                <classId>LineardialGadget</classId>
+                <gadget>
+                  <activeConfiguration>Flight Time</activeConfiguration>
+                </gadget>
+                <type>uavGadget</type>
+              </side0>
+              <side1>
+                <side0>
+                  <classId>LineardialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>Arm Status</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side0>
+                <side1>
+                  <classId>LineardialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>Flight mode</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side1>
+                <splitterOrientation>1</splitterOrientation>
+                <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAsQAAAAIAAAEV)</splitterSizes>
+                <type>splitter</type>
+              </side1>
+              <splitterOrientation>1</splitterOrientation>
+              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAArgAAAAIAAAHH)</splitterSizes>
+              <type>splitter</type>
+            </side0>
+            <side1>
+              <classId>PFDGadget</classId>
+              <gadget>
+                <activeConfiguration>raw</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side1>
+            <splitterOrientation>2</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAAG4)</splitterSizes>
+            <type>splitter</type>
+          </side0>
+          <side1>
+            <side0>
+              <classId>ModelViewGadget</classId>
+              <gadget>
+                <activeConfiguration>Test Quad X</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side0>
+            <side1>
+              <classId>SystemHealthGadget</classId>
+              <gadget>
+                <activeConfiguration>default</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side1>
+            <splitterOrientation>1</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABIAAAAAIAAAFV)</splitterSizes>
+            <type>splitter</type>
+          </side1>
+          <splitterOrientation>2</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7wAAAAIAAAEf)</splitterSizes>
+          <type>splitter</type>
+        </side0>
+        <side1>
+          <classId>OPMapGadget</classId>
+          <gadget>
+            <activeConfiguration>Google Sat</activeConfiguration>
+          </gadget>
+          <type>uavGadget</type>
+        </side1>
+        <splitterOrientation>1</splitterOrientation>
+        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAACdgAAAAIAAAMp)</splitterSizes>
+        <type>splitter</type>
+      </splitter>
+      <version>UAVGadgetManagerV1</version>
+    </Mode1>
+    <Mode2>
+      <showToolbars>false</showToolbars>
+      <splitter>
+        <classId>ConfigGadget</classId>
+        <gadget>
+          <activeConfiguration>default</activeConfiguration>
+        </gadget>
+        <type>uavGadget</type>
+      </splitter>
+      <version>UAVGadgetManagerV1</version>
+    </Mode2>
+    <Mode3>
+      <showToolbars>false</showToolbars>
+      <splitter>
+        <side0>
+          <side0>
+            <classId>UAVObjectBrowser</classId>
+            <gadget>
+              <activeConfiguration>default</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <classId>DebugGadget</classId>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>1</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+          <type>splitter</type>
+        </side0>
+        <side1>
+          <side0>
+            <classId>EmptyGadget</classId>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <classId>EmptyGadget</classId>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>1</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+          <type>splitter</type>
+        </side1>
+        <splitterOrientation>2</splitterOrientation>
+        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAACJgAAAAIAAADo)</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>
+            <classId>HITLv2</classId>
+            <gadget>
+              <activeConfiguration>default</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>1</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+          <type>splitter</type>
+        </side0>
+        <side1>
+          <side0>
+            <classId>EmptyGadget</classId>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <classId>GCSControlGadget</classId>
+            <gadget>
+              <activeConfiguration>MS Sidewinder</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>1</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB6AAAAAIAAADC)</splitterSizes>
+          <type>splitter</type>
+        </side1>
+        <splitterOrientation>2</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>LineardialGadget</classId>
+              <gadget>
+                <activeConfiguration>Flight Time</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side0>
+            <side1>
+              <classId>SystemHealthGadget</classId>
+              <gadget>
+                <activeConfiguration>default</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side1>
+            <splitterOrientation>1</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABQgAAAAIAAAGM)</splitterSizes>
+            <type>splitter</type>
+          </side0>
+          <side1>
+            <classId>PFDGadget</classId>
+            <gadget>
+              <activeConfiguration>raw</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>2</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABLwAAAAIAAAHf)</splitterSizes>
+          <type>splitter</type>
+        </side1>
+        <splitterOrientation>1</splitterOrientation>
+        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAADVQAAAAIAAAJK)</splitterSizes>
+        <type>splitter</type>
+      </splitter>
+      <version>UAVGadgetManagerV1</version>
+    </Mode6>
+  </UAVGadgetManager>
+  <Workspace>
+    <AllowTabBarMovement>false</AllowTabBarMovement>
+    <Icon1>:\core\images\ah.png</Icon1>
+    <Icon10>:/core/images/openpilot_logo_64.png</Icon10>
+    <Icon2>:/core/images/config.png</Icon2>
+    <Icon3>:/core/images/cog.png</Icon3>
+    <Icon4>:/core/images/scopes.png</Icon4>
+    <Icon5>:/core/images/joystick.png</Icon5>
+    <Icon6>:/core/images/cpu.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>
+    <TabBarPlacementIndex>1</TabBarPlacementIndex>
+    <Workspace1>Flight data</Workspace1>
+    <Workspace10>Workspace10</Workspace10>
+    <Workspace2>Configuration</Workspace2>
+    <Workspace3>System</Workspace3>
+    <Workspace4>Scopes</Workspace4>
+    <Workspace5>HITL</Workspace5>
+    <Workspace6>Firmware</Workspace6>
+    <Workspace7>Workspace7</Workspace7>
+    <Workspace8>Workspace8</Workspace8>
+    <Workspace9>Workspace9</Workspace9>
+  </Workspace>
+</gcs>
diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
new file mode 100644
index 000000000..0ec819e48
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
@@ -0,0 +1,2715 @@
+<gcs>
+  <General>
+    <AutoConnect>true</AutoConnect>
+    <AutoSelect>true</AutoSelect>
+    <ExpertMode>false</ExpertMode>
+    <OverrideLanguage>en_AU</OverrideLanguage>
+    <SaveSettingsOnExit>true</SaveSettingsOnExit>
+    <UDPMirror>false</UDPMirror>
+    <Description>Wide configuration</Description>
+    <Details>Default configuration built for wide screens (17"up)</Details>
+    <StyleSheet>wide</StyleSheet>
+  </General>
+  <KeyBindings>
+    <size>0</size>
+  </KeyBindings>
+  <MainWindow>
+    <Color>#666666</Color>
+    <FullScreen>false</FullScreen>
+    <Maximized>true</Maximized>
+  </MainWindow>
+  <ModePriorities>
+    <Mode1>91</Mode1>
+    <Mode2>90</Mode2>
+    <Mode3>89</Mode3>
+    <Mode4>88</Mode4>
+    <Mode5>87</Mode5>
+    <Mode6>86</Mode6>
+    <Welcome>100</Welcome>
+  </ModePriorities>
+  <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>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <font>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <font>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>Accels</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>20</needle2MaxValue>
+          <needle2MinValue>-20</needle2MinValue>
+          <needle2Move>Horizontal</needle2Move>
+          <needle2ObjectField>x</needle2ObjectField>
+          <needle3DataObject>Accels</needle3DataObject>
+          <needle3Factor>-1</needle3Factor>
+          <needle3MaxValue>360</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <font>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle2</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle2</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle2</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>MS Shell Dlg 2,8.25,-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>
+          <controlPortUDP>0</controlPortUDP>
+          <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>Communications Port (COM1)</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>Communications Port (COM1)</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>
+          <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>
+          <manual>false</manual>
+          <outPort>49000</outPort>
+          <remoteHostAddress>127.0.0.1</remoteHostAddress>
+          <simulatorId>X-Plane</simulatorId>
+          <startSim>false</startSim>
+        </data>
+      </XPlane__PCT__20HITL>
+    </HITL>
+    <HITLv2>
+      <default>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <attActCalc>false</attActCalc>
+          <attActHW>false</attActHW>
+          <attActSim>true</attActSim>
+          <attActual>true</attActual>
+          <attRaw>true</attRaw>
+          <attRawRate>20</attRawRate>
+          <gcsReciever>true</gcsReciever>
+          <gpsPosRate>200</gpsPosRate>
+          <gpsPosition>true</gpsPosition>
+          <homeLocRate>0</homeLocRate>
+          <homeLocation>true</homeLocation>
+          <hostAddress>127.0.0.1</hostAddress>
+          <inPort>40100</inPort>
+          <inputCommand>true</inputCommand>
+          <manualControl>false</manualControl>
+          <manualOutput>false</manualOutput>
+          <outPort>40200</outPort>
+          <outputRate>20</outputRate>
+          <remoteAddress>127.0.0.1</remoteAddress>
+          <simulatorId>ASimRC</simulatorId>
+          <sonarAltRate>50</sonarAltRate>
+          <sonarAltitude>false</sonarAltitude>
+          <sonarMaxAlt>@Variant(AAAAh0CgAAA=)</sonarMaxAlt>
+        </data>
+      </default>
+    </HITLv2>
+    <LineardialGadget>
+      <Accel__PCT__20Horizontal__PCT__20X>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/deluxe/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>Accels</sourceDataObject>
+          <sourceObjectField>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/deluxe/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>Accels</sourceDataObject>
+          <sourceObjectField>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/deluxe/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>Accels</sourceDataObject>
+          <sourceObjectField>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/deluxe/lineardial-vertical.svg</dFile>
+          <decimalPlaces>0</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
+          <greenMax>90</greenMax>
+          <greenMin>0</greenMin>
+          <maxValue>100</maxValue>
+          <minValue>0</minValue>
+          <redMax>100</redMax>
+          <redMin>95</redMin>
+          <sourceDataObject>SystemStats</sourceDataObject>
+          <sourceObjectField>CPULoad</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>95</yellowMax>
+          <yellowMin>90</yellowMin>
+        </data>
+      </Mainboard__PCT__20CPU>
+      <Pitch__PCT__20Desired>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/deluxe/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/deluxe/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/deluxe/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/deluxe/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/deluxe/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/deluxe/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/deluxe/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/deluxe/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/deluxe/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/deluxe/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>
+      <CopterControl>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/boards/CopterControl/CopterControl.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </CopterControl>
+      <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>
+      <Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_+.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
+      <Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_X.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
+      <Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_+.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
+      <Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_X.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
+      <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>
+      <Ricoo>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/ricoo/ricoo.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Ricoo>
+      <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>
+    <PfdQmlGadget>
+      <NoTerrain>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <actualPositionUsed>false</actualPositionUsed>
+          <altitude>2000</altitude>
+          <cacheOnly>false</cacheOnly>
+          <earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
+          <latitude>46.671478</latitude>
+          <longitude>10.158932</longitude>
+          <qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
+          <terrainEnabled>false</terrainEnabled>
+        </data>
+      </NoTerrain>
+      <Terrain>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <actualPositionUsed>false</actualPositionUsed>
+          <altitude>2000</altitude>
+          <cacheOnly>false</cacheOnly>
+          <earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
+          <latitude>46.671478</latitude>
+          <longitude>10.158932</longitude>
+          <qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
+          <terrainEnabled>true</terrainEnabled>
+        </data>
+      </Terrain>
+    </PfdQmlGadget>
+    <QmlViewGadget>
+      <default>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dialFile>Unknown</dialFile>
+          <useOpenGLFlag>true</useOpenGLFlag>
+        </data>
+      </default>
+    </QmlViewGadget>
+    <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>
+            <mathFunction>None</mathFunction>
+            <uavField>x</uavField>
+            <uavObject>Accels</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <mathFunction>None</mathFunction>
+            <uavField>y</uavField>
+            <uavObject>Accels</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4283804160</color>
+            <mathFunction>None</mathFunction>
+            <uavField>z</uavField>
+            <uavObject>Accels</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-4</uavField>
+            <uavObject>ActuatorCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-5</uavField>
+            <uavObject>ActuatorCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4289374847</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-6</uavField>
+            <uavObject>ActuatorCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurve3>
+            <color>4289374847</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-7</uavField>
+            <uavObject>ActuatorCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>Roll</uavField>
+            <uavObject>AttitudeActual</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4278233600</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Yaw</uavField>
+            <uavObject>AttitudeActual</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Pitch</uavField>
+            <uavObject>AttitudeActual</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>Pressure</uavField>
+            <uavObject>BaroAltitude</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-1</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-4</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-5</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurve3>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-6</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve3>
+          <plotCurve4>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-7</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve4>
+          <plotCurve5>
+            <color>4283825920</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-2</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve5>
+          <plotCurve6>
+            <color>4294923520</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-3</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve6>
+          <plotCurve7>
+            <color>4294967040</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Channel-0</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>x</uavField>
+            <uavObject>Accels</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <mathFunction>None</mathFunction>
+            <uavField>y</uavField>
+            <uavObject>Accels</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4283804160</color>
+            <mathFunction>None</mathFunction>
+            <uavField>z</uavField>
+            <uavObject>Accels</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>z</uavField>
+            <uavObject>Gyros</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <mathFunction>None</mathFunction>
+            <uavField>y</uavField>
+            <uavObject>Gyros</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>x</uavField>
+            <uavObject>Gyros</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>X</uavField>
+            <uavObject>Magnetometer</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Y</uavField>
+            <uavObject>Magnetometer</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4283804160</color>
+            <mathFunction>None</mathFunction>
+            <uavField>Z</uavField>
+            <uavObject>Magnetometer</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-System</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-Actuator</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve10>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-Guidance</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve10>
+          <plotCurve11>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-Watchdog</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve11>
+          <plotCurve2>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-TelemetryTx</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurve3>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-TelemetryTxPri</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve3>
+          <plotCurve4>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-TelemetryRx</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve4>
+          <plotCurve5>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-GPS</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve5>
+          <plotCurve6>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-ManualControl</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve6>
+          <plotCurve7>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-Altitude</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve7>
+          <plotCurve8>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-AHRSComms</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve8>
+          <plotCurve9>
+            <color>4294945280</color>
+            <mathFunction>None</mathFunction>
+            <uavField>StackRemaining-Stabilization</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+            <mathFunction>None</mathFunction>
+            <uavField>TxFailures</uavField>
+            <uavObject>GCSTelemetryStats</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <mathFunction>None</mathFunction>
+            <uavField>RxFailures</uavField>
+            <uavObject>GCSTelemetryStats</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4294901760</color>
+            <mathFunction>None</mathFunction>
+            <uavField>TxRetries</uavField>
+            <uavObject>GCSTelemetryStats</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>4294945407</color>
+            <mathFunction>None</mathFunction>
+            <uavField>FlightTime</uavField>
+            <uavObject>SystemStats</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>0</color>
+            <mathFunction></mathFunction>
+            <uavField></uavField>
+            <uavObject></uavObject>
+            <yMaximum>0</yMaximum>
+            <yMeanSamples>1</yMeanSamples>
+            <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>
+          <CategorizedView>false</CategorizedView>
+          <ScientificView>false</ScientificView>
+          <manuallyChangedColor>#5baa56</manuallyChangedColor>
+          <onlyHilightChangedValues>false</onlyHilightChangedValues>
+          <recentlyUpdatedColor>#ff7957</recentlyUpdatedColor>
+          <recentlyUpdatedTimeout>500</recentlyUpdatedTimeout>
+          <showMetaData>false</showMetaData>
+        </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>
+                <classId>LineardialGadget</classId>
+                <gadget>
+                  <activeConfiguration>Flight Time</activeConfiguration>
+                </gadget>
+                <type>uavGadget</type>
+              </side0>
+              <side1>
+                <side0>
+                  <classId>LineardialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>Arm Status</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side0>
+                <side1>
+                  <classId>LineardialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>Flight mode</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side1>
+                <splitterOrientation>1</splitterOrientation>
+                <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAsQAAAAIAAAEV)</splitterSizes>
+                <type>splitter</type>
+              </side1>
+              <splitterOrientation>1</splitterOrientation>
+              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAArgAAAAIAAAHH)</splitterSizes>
+              <type>splitter</type>
+            </side0>
+            <side1>
+              <classId>PFDGadget</classId>
+              <gadget>
+                <activeConfiguration>raw</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side1>
+            <splitterOrientation>2</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAAG4)</splitterSizes>
+            <type>splitter</type>
+          </side0>
+          <side1>
+            <side0>
+              <classId>ModelViewGadget</classId>
+              <gadget>
+                <activeConfiguration>Test Quad X</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side0>
+            <side1>
+              <classId>SystemHealthGadget</classId>
+              <gadget>
+                <activeConfiguration>default</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side1>
+            <splitterOrientation>1</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABIAAAAAIAAAFV)</splitterSizes>
+            <type>splitter</type>
+          </side1>
+          <splitterOrientation>2</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7wAAAAIAAAEf)</splitterSizes>
+          <type>splitter</type>
+        </side0>
+        <side1>
+          <classId>OPMapGadget</classId>
+          <gadget>
+            <activeConfiguration>Google Sat</activeConfiguration>
+          </gadget>
+          <type>uavGadget</type>
+        </side1>
+        <splitterOrientation>1</splitterOrientation>
+        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAACdgAAAAIAAAMp)</splitterSizes>
+        <type>splitter</type>
+      </splitter>
+      <version>UAVGadgetManagerV1</version>
+    </Mode1>
+    <Mode2>
+      <showToolbars>false</showToolbars>
+      <splitter>
+        <classId>ConfigGadget</classId>
+        <gadget>
+          <activeConfiguration>default</activeConfiguration>
+        </gadget>
+        <type>uavGadget</type>
+      </splitter>
+      <version>UAVGadgetManagerV1</version>
+    </Mode2>
+    <Mode3>
+      <showToolbars>false</showToolbars>
+      <splitter>
+        <side0>
+          <side0>
+            <classId>UAVObjectBrowser</classId>
+            <gadget>
+              <activeConfiguration>default</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <classId>DebugGadget</classId>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>1</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+          <type>splitter</type>
+        </side0>
+        <side1>
+          <side0>
+            <classId>EmptyGadget</classId>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <classId>EmptyGadget</classId>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>1</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+          <type>splitter</type>
+        </side1>
+        <splitterOrientation>2</splitterOrientation>
+        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAACJgAAAAIAAADo)</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>
+            <classId>HITLv2</classId>
+            <gadget>
+              <activeConfiguration>default</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>1</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+          <type>splitter</type>
+        </side0>
+        <side1>
+          <side0>
+            <classId>EmptyGadget</classId>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <classId>GCSControlGadget</classId>
+            <gadget>
+              <activeConfiguration>MS Sidewinder</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>1</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB6AAAAAIAAADC)</splitterSizes>
+          <type>splitter</type>
+        </side1>
+        <splitterOrientation>2</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>LineardialGadget</classId>
+              <gadget>
+                <activeConfiguration>Flight Time</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side0>
+            <side1>
+              <classId>SystemHealthGadget</classId>
+              <gadget>
+                <activeConfiguration>default</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side1>
+            <splitterOrientation>1</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABQgAAAAIAAAGM)</splitterSizes>
+            <type>splitter</type>
+          </side0>
+          <side1>
+            <classId>PFDGadget</classId>
+            <gadget>
+              <activeConfiguration>raw</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>2</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABLwAAAAIAAAHf)</splitterSizes>
+          <type>splitter</type>
+        </side1>
+        <splitterOrientation>1</splitterOrientation>
+        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAADVQAAAAIAAAJK)</splitterSizes>
+        <type>splitter</type>
+      </splitter>
+      <version>UAVGadgetManagerV1</version>
+    </Mode6>
+  </UAVGadgetManager>
+  <Workspace>
+    <AllowTabBarMovement>false</AllowTabBarMovement>
+    <Icon1>:\core\images\ah.png</Icon1>
+    <Icon10>:/core/images/openpilot_logo_64.png</Icon10>
+    <Icon2>:/core/images/config.png</Icon2>
+    <Icon3>:/core/images/cog.png</Icon3>
+    <Icon4>:/core/images/scopes.png</Icon4>
+    <Icon5>:/core/images/joystick.png</Icon5>
+    <Icon6>:/core/images/cpu.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>
+    <TabBarPlacementIndex>1</TabBarPlacementIndex>
+    <Workspace1>Flight data</Workspace1>
+    <Workspace10>Workspace10</Workspace10>
+    <Workspace2>Configuration</Workspace2>
+    <Workspace3>System</Workspace3>
+    <Workspace4>Scopes</Workspace4>
+    <Workspace5>HITL</Workspace5>
+    <Workspace6>Firmware</Workspace6>
+    <Workspace7>Workspace7</Workspace7>
+    <Workspace8>Workspace8</Workspace8>
+    <Workspace9>Workspace9</Workspace9>
+  </Workspace>
+</gcs>
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
new file mode 100644
index 000000000..3b0ade073
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
@@ -0,0 +1 @@
+MyListWidget {font-size: 11px;}
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
new file mode 100644
index 000000000..3b0ade073
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
@@ -0,0 +1 @@
+MyListWidget {font-size: 11px;}
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_windows.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_windows.qss
new file mode 100644
index 000000000..3b0ade073
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_windows.qss
@@ -0,0 +1 @@
+MyListWidget {font-size: 11px;}
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
new file mode 100644
index 000000000..3b0ade073
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
@@ -0,0 +1 @@
+MyListWidget {font-size: 11px;}
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss
new file mode 100644
index 000000000..3b0ade073
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss
@@ -0,0 +1 @@
+MyListWidget {font-size: 11px;}
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_windows.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_windows.qss
new file mode 100644
index 000000000..3b0ade073
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_windows.qss
@@ -0,0 +1 @@
+MyListWidget {font-size: 11px;}
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/core.qrc b/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
index 8d559b2ce..74579c457 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
+++ b/ground/openpilotgcs/src/plugins/coreplugin/core.qrc
@@ -59,7 +59,6 @@
         <file>images/scopes.png</file>
         <file>images/world.png</file>
         <file>images/cog.png</file>
-        <file>OpenPilotGCS.xml</file>
         <file>images/helpicon.svg</file>
         <file>images/cpu.png</file>
         <file>images/tx-rx.svg</file>

From dae15702ed01b36428cfdcf0250ed52990379fca Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Thu, 9 Aug 2012 22:31:23 +0100
Subject: [PATCH 337/543] GCS-Delete previously used stylesheet and
 configuration files

---
 .../src/app/stylesheets/linux.qss             |    1 -
 .../src/app/stylesheets/macos.qss             |    1 -
 .../src/app/stylesheets/windows.qss           |    1 -
 .../src/plugins/coreplugin/OpenPilotGCS.xml   | 2712 -----------------
 4 files changed, 2715 deletions(-)
 delete mode 100644 ground/openpilotgcs/src/app/stylesheets/linux.qss
 delete mode 100644 ground/openpilotgcs/src/app/stylesheets/macos.qss
 delete mode 100644 ground/openpilotgcs/src/app/stylesheets/windows.qss
 delete mode 100644 ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml

diff --git a/ground/openpilotgcs/src/app/stylesheets/linux.qss b/ground/openpilotgcs/src/app/stylesheets/linux.qss
deleted file mode 100644
index 3b0ade073..000000000
--- a/ground/openpilotgcs/src/app/stylesheets/linux.qss
+++ /dev/null
@@ -1 +0,0 @@
-MyListWidget {font-size: 11px;}
diff --git a/ground/openpilotgcs/src/app/stylesheets/macos.qss b/ground/openpilotgcs/src/app/stylesheets/macos.qss
deleted file mode 100644
index 3b0ade073..000000000
--- a/ground/openpilotgcs/src/app/stylesheets/macos.qss
+++ /dev/null
@@ -1 +0,0 @@
-MyListWidget {font-size: 11px;}
diff --git a/ground/openpilotgcs/src/app/stylesheets/windows.qss b/ground/openpilotgcs/src/app/stylesheets/windows.qss
deleted file mode 100644
index 3b0ade073..000000000
--- a/ground/openpilotgcs/src/app/stylesheets/windows.qss
+++ /dev/null
@@ -1 +0,0 @@
-MyListWidget {font-size: 11px;}
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml b/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
deleted file mode 100644
index 8223f4a94..000000000
--- a/ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
+++ /dev/null
@@ -1,2712 +0,0 @@
-<gcs>
-  <General>
-    <AutoConnect>true</AutoConnect>
-    <AutoSelect>true</AutoSelect>
-    <ExpertMode>false</ExpertMode>
-    <OverrideLanguage>en_AU</OverrideLanguage>
-    <SaveSettingsOnExit>true</SaveSettingsOnExit>
-    <UDPMirror>false</UDPMirror>
-  </General>
-  <KeyBindings>
-    <size>0</size>
-  </KeyBindings>
-  <MainWindow>
-    <Color>#666666</Color>
-    <FullScreen>false</FullScreen>
-    <Maximized>true</Maximized>
-  </MainWindow>
-  <ModePriorities>
-    <Mode1>91</Mode1>
-    <Mode2>90</Mode2>
-    <Mode3>89</Mode3>
-    <Mode4>88</Mode4>
-    <Mode5>87</Mode5>
-    <Mode6>86</Mode6>
-    <Welcome>100</Welcome>
-  </ModePriorities>
-  <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>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>
-          <dialNeedleID1>needle</dialNeedleID1>
-          <font>MS Shell Dlg 2,8.25,-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>
-          <dialNeedleID1>needle</dialNeedleID1>
-          <font>MS Shell Dlg 2,8.25,-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>
-          <font>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>
-          <font>MS Shell Dlg 2,8.25,-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>
-          <font>MS Shell Dlg 2,8.25,-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>
-          <font>MS Shell Dlg 2,8.25,-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>
-          <font>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>Accels</needle2DataObject>
-          <needle2Factor>1</needle2Factor>
-          <needle2MaxValue>20</needle2MaxValue>
-          <needle2MinValue>-20</needle2MinValue>
-          <needle2Move>Horizontal</needle2Move>
-          <needle2ObjectField>x</needle2ObjectField>
-          <needle3DataObject>Accels</needle3DataObject>
-          <needle3Factor>-1</needle3Factor>
-          <needle3MaxValue>360</needle3MaxValue>
-          <needle3MinValue>0</needle3MinValue>
-          <needle3Move>Rotate</needle3Move>
-          <needle3ObjectField>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>
-          <dialNeedleID1>needle</dialNeedleID1>
-          <font>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>MS Shell Dlg 2,8.25,-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>
-          <dialNeedleID1>needle</dialNeedleID1>
-          <font>MS Shell Dlg 2,8.25,-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>
-          <dialNeedleID1>needle</dialNeedleID1>
-          <font>MS Shell Dlg 2,8.25,-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>
-          <font>MS Shell Dlg 2,8.25,-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>
-          <dialNeedleID1>needle</dialNeedleID1>
-          <font>MS Shell Dlg 2,8.25,-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>
-          <dialNeedleID1>needle</dialNeedleID1>
-          <dialNeedleID2>needle2</dialNeedleID2>
-          <dialNeedleID3>needle3</dialNeedleID3>
-          <font>MS Shell Dlg 2,8.25,-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>
-          <dialNeedleID1>needle</dialNeedleID1>
-          <dialNeedleID2>needle2</dialNeedleID2>
-          <dialNeedleID3>needle3</dialNeedleID3>
-          <font>MS Shell Dlg 2,8.25,-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>
-          <dialNeedleID1>needle</dialNeedleID1>
-          <dialNeedleID2>needle2</dialNeedleID2>
-          <dialNeedleID3>needle3</dialNeedleID3>
-          <font>MS Shell Dlg 2,8.25,-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>
-          <controlPortUDP>0</controlPortUDP>
-          <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>Communications Port (COM1)</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>Communications Port (COM1)</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>
-          <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>
-          <manual>false</manual>
-          <outPort>49000</outPort>
-          <remoteHostAddress>127.0.0.1</remoteHostAddress>
-          <simulatorId>X-Plane</simulatorId>
-          <startSim>false</startSim>
-        </data>
-      </XPlane__PCT__20HITL>
-    </HITL>
-    <HITLv2>
-      <default>
-        <configInfo>
-          <locked>false</locked>
-          <version>0.0.0</version>
-        </configInfo>
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-      <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>
-            <mathFunction>None</mathFunction>
-            <uavField>X</uavField>
-            <uavObject>Magnetometer</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve0>
-          <plotCurve1>
-            <color>4283782655</color>
-            <mathFunction>None</mathFunction>
-            <uavField>Y</uavField>
-            <uavObject>Magnetometer</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve1>
-          <plotCurve2>
-            <color>4283804160</color>
-            <mathFunction>None</mathFunction>
-            <uavField>Z</uavField>
-            <uavObject>Magnetometer</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <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>
-            <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-System</uavField>
-            <uavObject>TaskInfo</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve0>
-          <plotCurve1>
-            <color>4294945280</color>
-            <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-Actuator</uavField>
-            <uavObject>TaskInfo</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve1>
-          <plotCurve10>
-            <color>4294945280</color>
-            <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-Guidance</uavField>
-            <uavObject>TaskInfo</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve10>
-          <plotCurve11>
-            <color>4294945280</color>
-            <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-Watchdog</uavField>
-            <uavObject>TaskInfo</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve11>
-          <plotCurve2>
-            <color>4294945280</color>
-            <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-TelemetryTx</uavField>
-            <uavObject>TaskInfo</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve2>
-          <plotCurve3>
-            <color>4294945280</color>
-            <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-TelemetryTxPri</uavField>
-            <uavObject>TaskInfo</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve3>
-          <plotCurve4>
-            <color>4294945280</color>
-            <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-TelemetryRx</uavField>
-            <uavObject>TaskInfo</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve4>
-          <plotCurve5>
-            <color>4294945280</color>
-            <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-GPS</uavField>
-            <uavObject>TaskInfo</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve5>
-          <plotCurve6>
-            <color>4294945280</color>
-            <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-ManualControl</uavField>
-            <uavObject>TaskInfo</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve6>
-          <plotCurve7>
-            <color>4294945280</color>
-            <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-Altitude</uavField>
-            <uavObject>TaskInfo</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve7>
-          <plotCurve8>
-            <color>4294945280</color>
-            <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-AHRSComms</uavField>
-            <uavObject>TaskInfo</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve8>
-          <plotCurve9>
-            <color>4294945280</color>
-            <mathFunction>None</mathFunction>
-            <uavField>StackRemaining-Stabilization</uavField>
-            <uavObject>TaskInfo</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <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>
-            <mathFunction>None</mathFunction>
-            <uavField>TxFailures</uavField>
-            <uavObject>GCSTelemetryStats</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve0>
-          <plotCurve1>
-            <color>4283782655</color>
-            <mathFunction>None</mathFunction>
-            <uavField>RxFailures</uavField>
-            <uavObject>GCSTelemetryStats</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve1>
-          <plotCurve2>
-            <color>4294901760</color>
-            <mathFunction>None</mathFunction>
-            <uavField>TxRetries</uavField>
-            <uavObject>GCSTelemetryStats</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <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>4294945407</color>
-            <mathFunction>None</mathFunction>
-            <uavField>FlightTime</uavField>
-            <uavObject>SystemStats</uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <yMinimum>0</yMinimum>
-            <yScalePower>0</yScalePower>
-          </plotCurve0>
-          <plotCurve1>
-            <color>0</color>
-            <mathFunction></mathFunction>
-            <uavField></uavField>
-            <uavObject></uavObject>
-            <yMaximum>0</yMaximum>
-            <yMeanSamples>1</yMeanSamples>
-            <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>
-          <CategorizedView>false</CategorizedView>
-          <ScientificView>false</ScientificView>
-          <manuallyChangedColor>#5baa56</manuallyChangedColor>
-          <onlyHilightChangedValues>false</onlyHilightChangedValues>
-          <recentlyUpdatedColor>#ff7957</recentlyUpdatedColor>
-          <recentlyUpdatedTimeout>500</recentlyUpdatedTimeout>
-          <showMetaData>false</showMetaData>
-        </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>
-                <classId>LineardialGadget</classId>
-                <gadget>
-                  <activeConfiguration>Flight Time</activeConfiguration>
-                </gadget>
-                <type>uavGadget</type>
-              </side0>
-              <side1>
-                <side0>
-                  <classId>LineardialGadget</classId>
-                  <gadget>
-                    <activeConfiguration>Arm Status</activeConfiguration>
-                  </gadget>
-                  <type>uavGadget</type>
-                </side0>
-                <side1>
-                  <classId>LineardialGadget</classId>
-                  <gadget>
-                    <activeConfiguration>Flight mode</activeConfiguration>
-                  </gadget>
-                  <type>uavGadget</type>
-                </side1>
-                <splitterOrientation>1</splitterOrientation>
-                <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAsQAAAAIAAAEV)</splitterSizes>
-                <type>splitter</type>
-              </side1>
-              <splitterOrientation>1</splitterOrientation>
-              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAArgAAAAIAAAHH)</splitterSizes>
-              <type>splitter</type>
-            </side0>
-            <side1>
-              <classId>PFDGadget</classId>
-              <gadget>
-                <activeConfiguration>raw</activeConfiguration>
-              </gadget>
-              <type>uavGadget</type>
-            </side1>
-            <splitterOrientation>2</splitterOrientation>
-            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAAG4)</splitterSizes>
-            <type>splitter</type>
-          </side0>
-          <side1>
-            <side0>
-              <classId>ModelViewGadget</classId>
-              <gadget>
-                <activeConfiguration>Test Quad X</activeConfiguration>
-              </gadget>
-              <type>uavGadget</type>
-            </side0>
-            <side1>
-              <classId>SystemHealthGadget</classId>
-              <gadget>
-                <activeConfiguration>default</activeConfiguration>
-              </gadget>
-              <type>uavGadget</type>
-            </side1>
-            <splitterOrientation>1</splitterOrientation>
-            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABIAAAAAIAAAFV)</splitterSizes>
-            <type>splitter</type>
-          </side1>
-          <splitterOrientation>2</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7wAAAAIAAAEf)</splitterSizes>
-          <type>splitter</type>
-        </side0>
-        <side1>
-          <classId>OPMapGadget</classId>
-          <gadget>
-            <activeConfiguration>Google Sat</activeConfiguration>
-          </gadget>
-          <type>uavGadget</type>
-        </side1>
-        <splitterOrientation>1</splitterOrientation>
-        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAACdgAAAAIAAAMp)</splitterSizes>
-        <type>splitter</type>
-      </splitter>
-      <version>UAVGadgetManagerV1</version>
-    </Mode1>
-    <Mode2>
-      <showToolbars>false</showToolbars>
-      <splitter>
-        <classId>ConfigGadget</classId>
-        <gadget>
-          <activeConfiguration>default</activeConfiguration>
-        </gadget>
-        <type>uavGadget</type>
-      </splitter>
-      <version>UAVGadgetManagerV1</version>
-    </Mode2>
-    <Mode3>
-      <showToolbars>false</showToolbars>
-      <splitter>
-        <side0>
-          <side0>
-            <classId>UAVObjectBrowser</classId>
-            <gadget>
-              <activeConfiguration>default</activeConfiguration>
-            </gadget>
-            <type>uavGadget</type>
-          </side0>
-          <side1>
-            <classId>DebugGadget</classId>
-            <type>uavGadget</type>
-          </side1>
-          <splitterOrientation>1</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
-          <type>splitter</type>
-        </side0>
-        <side1>
-          <side0>
-            <classId>EmptyGadget</classId>
-            <type>uavGadget</type>
-          </side0>
-          <side1>
-            <classId>EmptyGadget</classId>
-            <type>uavGadget</type>
-          </side1>
-          <splitterOrientation>1</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
-          <type>splitter</type>
-        </side1>
-        <splitterOrientation>2</splitterOrientation>
-        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAACJgAAAAIAAADo)</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>
-            <classId>HITLv2</classId>
-            <gadget>
-              <activeConfiguration>default</activeConfiguration>
-            </gadget>
-            <type>uavGadget</type>
-          </side1>
-          <splitterOrientation>1</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
-          <type>splitter</type>
-        </side0>
-        <side1>
-          <side0>
-            <classId>EmptyGadget</classId>
-            <type>uavGadget</type>
-          </side0>
-          <side1>
-            <classId>GCSControlGadget</classId>
-            <gadget>
-              <activeConfiguration>MS Sidewinder</activeConfiguration>
-            </gadget>
-            <type>uavGadget</type>
-          </side1>
-          <splitterOrientation>1</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB6AAAAAIAAADC)</splitterSizes>
-          <type>splitter</type>
-        </side1>
-        <splitterOrientation>2</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>LineardialGadget</classId>
-              <gadget>
-                <activeConfiguration>Flight Time</activeConfiguration>
-              </gadget>
-              <type>uavGadget</type>
-            </side0>
-            <side1>
-              <classId>SystemHealthGadget</classId>
-              <gadget>
-                <activeConfiguration>default</activeConfiguration>
-              </gadget>
-              <type>uavGadget</type>
-            </side1>
-            <splitterOrientation>1</splitterOrientation>
-            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABQgAAAAIAAAGM)</splitterSizes>
-            <type>splitter</type>
-          </side0>
-          <side1>
-            <classId>PFDGadget</classId>
-            <gadget>
-              <activeConfiguration>raw</activeConfiguration>
-            </gadget>
-            <type>uavGadget</type>
-          </side1>
-          <splitterOrientation>2</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABLwAAAAIAAAHf)</splitterSizes>
-          <type>splitter</type>
-        </side1>
-        <splitterOrientation>1</splitterOrientation>
-        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAADVQAAAAIAAAJK)</splitterSizes>
-        <type>splitter</type>
-      </splitter>
-      <version>UAVGadgetManagerV1</version>
-    </Mode6>
-  </UAVGadgetManager>
-  <Workspace>
-    <AllowTabBarMovement>false</AllowTabBarMovement>
-    <Icon1>:\core\images\ah.png</Icon1>
-    <Icon10>:/core/images/openpilot_logo_64.png</Icon10>
-    <Icon2>:/core/images/config.png</Icon2>
-    <Icon3>:/core/images/cog.png</Icon3>
-    <Icon4>:/core/images/scopes.png</Icon4>
-    <Icon5>:/core/images/joystick.png</Icon5>
-    <Icon6>:/core/images/cpu.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>
-    <TabBarPlacementIndex>1</TabBarPlacementIndex>
-    <Workspace1>Flight data</Workspace1>
-    <Workspace10>Workspace10</Workspace10>
-    <Workspace2>Configuration</Workspace2>
-    <Workspace3>System</Workspace3>
-    <Workspace4>Scopes</Workspace4>
-    <Workspace5>HITL</Workspace5>
-    <Workspace6>Firmware</Workspace6>
-    <Workspace7>Workspace7</Workspace7>
-    <Workspace8>Workspace8</Workspace8>
-    <Workspace9>Workspace9</Workspace9>
-  </Workspace>
-</gcs>

From b0e6566114756542c20efd377eff1c405199b689 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Thu, 9 Aug 2012 22:33:13 +0100
Subject: [PATCH 338/543] GCS- Handle loading of the configuration file.
 Stylesheets files are now loaded from mainwindow instead of main.

---
 ground/openpilotgcs/src/app/main.cpp          | 25 ------
 .../src/plugins/coreplugin/coreplugin.pro     |  9 +-
 .../src/plugins/coreplugin/mainwindow.cpp     | 82 +++++++++++--------
 .../src/plugins/coreplugin/mainwindow.h       |  1 +
 4 files changed, 56 insertions(+), 61 deletions(-)

diff --git a/ground/openpilotgcs/src/app/main.cpp b/ground/openpilotgcs/src/app/main.cpp
index 5d117de5a..c3de16c74 100644
--- a/ground/openpilotgcs/src/app/main.cpp
+++ b/ground/openpilotgcs/src/app/main.cpp
@@ -229,30 +229,6 @@ static void overrideSettings(QSettings &settings, int argc, char **argv){
     settings.sync();
 }
 
-static inline void loadStyleSheet() {
-    /* Let's use QFile and point to a resource... */
-#ifdef Q_OS_MAC
-    QFile data(QCoreApplication::applicationDirPath()+"/macos.qss");
-#elif defined(Q_OS_LINUX)
-    QFile data(QCoreApplication::applicationDirPath()+"/linux.qss");
-#else
-    QFile data(QCoreApplication::applicationDirPath()+"/windows.qss");
-#endif
-    QString style;
-    /* ...to open the file */
-    if(data.open(QFile::ReadOnly)) {
-        /* QTextStream... */
-        QTextStream styleIn(&data);
-        /* ...read file to a string. */
-        style = styleIn.readAll();
-        data.close();
-        /* We'll use qApp macro to get the QApplication pointer
-         * and set the style sheet application wide. */
-        qApp->setStyleSheet(style);
-        qDebug()<<"Loaded stylesheet:"<<style;
-    }
-}
-
 int main(int argc, char **argv)
 {
 #ifdef Q_OS_MAC
@@ -367,7 +343,6 @@ int main(int argc, char **argv)
         return sendArguments(app, pluginManager.arguments()) ? 0 : -1;
 
     pluginManager.loadPlugins();
-    loadStyleSheet();
     if (coreplugin->hasError()) {
         displayError(msgCoreLoadFailure(coreplugin->errorString()));
         return 1;
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
index 4ba5715c9..902241988 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
+++ b/ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro
@@ -63,7 +63,8 @@ SOURCES += mainwindow.cpp \
     workspacesettings.cpp \
     uavconfiginfo.cpp \
     authorsdialog.cpp \
-    telemetrymonitorwidget.cpp
+    telemetrymonitorwidget.cpp \
+    dialogs/importsettings.cpp
 HEADERS += mainwindow.h \
     tabpositionindicator.h \
     fancyactionbar.h \
@@ -124,12 +125,14 @@ HEADERS += mainwindow.h \
     uavconfiginfo.h \
     authorsdialog.h \
     iconfigurableplugin.h \
-    telemetrymonitorwidget.h
+    telemetrymonitorwidget.h \
+    dialogs/importsettings.h
 FORMS += dialogs/settingsdialog.ui \
     dialogs/shortcutsettings.ui \
     generalsettings.ui \
     uavgadgetoptionspage.ui \
-    workspacesettings.ui
+    workspacesettings.ui \
+    dialogs/importsettings.ui
 RESOURCES += core.qrc \
     fancyactionbar.qrc
 unix:!macx { 
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
index b35f21cc3..6ce411d8f 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
@@ -84,18 +84,8 @@
 #include <QtGui/QToolButton>
 #include <QtGui/QMessageBox>
 #include <QDesktopServices>
-
-/*
-#ifdef Q_OS_UNIX
-#include <signal.h>
-extern "C" void handleSigInt(int sig)
-{
-    Q_UNUSED(sig)
-    Core::ICore::instance()->exit();
-    qDebug() << "SIGINT caught. Shutting down.";
-}
-#endif
-*/
+#include "dialogs/importsettings.h"
+#include <QDir>
 
 using namespace Core;
 using namespace Core::Internal;
@@ -125,7 +115,6 @@ MainWindow::MainWindow() :
     m_modeManager(0),
     m_connectionManager(0),
     m_mimeDatabase(new MimeDatabase),
-//    m_rightPaneWidget(0),
     m_versionDialog(0),
     m_authorsDialog(0),
     m_activeContext(0),
@@ -197,12 +186,6 @@ MainWindow::MainWindow() :
     connect(m_workspaceSettings, SIGNAL(tabBarSettingsApplied(QTabWidget::TabPosition,bool)),
             this, SLOT(applyTabBarSettings(QTabWidget::TabPosition,bool)));
     connect(m_modeManager, SIGNAL(newModeOrder(QVector<IMode*>)), m_workspaceSettings, SLOT(newModeOrder(QVector<IMode*>)));
-
-//    setUnifiedTitleAndToolBarOnMac(true);
-#ifdef Q_OS_UNIX
-     //signal(SIGINT, handleSigInt);
-#endif
-
     statusBar()->setProperty("p_styled", true);
     setAcceptDrops(true);
     foreach (QString engine, qxtLog->allLoggerEngines())
@@ -254,9 +237,6 @@ MainWindow::~MainWindow()
     delete m_coreImpl;
     m_coreImpl = 0;
 
-//    delete m_rightPaneWidget;
-//    m_rightPaneWidget = 0;
-
     delete m_modeManager;
     m_modeManager = 0;
     delete m_mimeDatabase;
@@ -288,19 +268,24 @@ void MainWindow::extensionsInitialized()
 {
 
     QSettings* qs = m_settings;
-    QSettings defaultSettings(":/core/OpenPilotGCS.xml", XmlConfig::XmlSettingsFormat);
-//    QSettings defaultSettings(":/core/OpenPilotGCS.ini", QSettings::IniFormat);
-
+    QSettings * settings;
     if ( ! qs->allKeys().count() ){
-        QMessageBox msgBox;
-        msgBox.setText(tr("No configuration file could be found."));
-        msgBox.setInformativeText(tr("The default configuration will be loaded."));
-        msgBox.setStandardButtons(QMessageBox::Ok);
-        msgBox.exec();
-        qDebug() << "Load default config from resource /core/OpenPilotGCS.xml";
-        qs = &defaultSettings;
+        importSettings * dialog=new importSettings(this);
+        QDir directory(QCoreApplication::applicationDirPath());
+        directory.cdUp();
+        directory.cd("share");
+        directory.cd("openpilotgcs");
+        directory.cd("default_configurations");
+        dialog->loadFiles(directory.absolutePath());
+        dialog->exec();
+        settings=new QSettings(dialog->choosenConfig(), XmlConfig::XmlSettingsFormat);
+        qs=settings;
+        qDebug() << "Load default config from resource "<<dialog->choosenConfig();
+        delete dialog;
     }
-
+    qs->beginGroup("General");
+    loadStyleSheet(qs->value("StyleSheet","none").toString());
+    qs->endGroup();
     m_uavGadgetInstanceManager = new UAVGadgetInstanceManager(this);
     m_uavGadgetInstanceManager->readSettings(qs);
 
@@ -314,6 +299,37 @@ void MainWindow::extensionsInitialized()
     emit m_coreImpl->coreOpened();
 }
 
+void MainWindow::loadStyleSheet(QString name) {
+    /* Let's use QFile and point to a resource... */
+    QDir directory(QCoreApplication::applicationDirPath());
+    directory.cdUp();
+    directory.cd("share");
+    directory.cd("openpilotgcs");
+    directory.cd("stylesheets");
+#ifdef Q_OS_MAC
+    QFile data(directory.absolutePath()+"/"+name+"_macos.qss");
+#elif defined(Q_OS_LINUX)
+    QFile data(directory.absolutePath()+"/"+name+"_linux.qss");
+#else
+    QFile data(directory.absolutePath()+"/"+name+"_windows.qss");
+#endif
+    QString style;
+    /* ...to open the file */
+    if(data.open(QFile::ReadOnly)) {
+        /* QTextStream... */
+        QTextStream styleIn(&data);
+        /* ...read file to a string. */
+        style = styleIn.readAll();
+        data.close();
+        /* We'll use qApp macro to get the QApplication pointer
+         * and set the style sheet application wide. */
+        qApp->setStyleSheet(style);
+        qDebug()<<"Loaded stylesheet:"<<style;
+    }
+    else
+        qDebug()<<"Failed to openstylesheet file"<<directory.absolutePath();
+}
+
 void MainWindow::closeEvent(QCloseEvent *event)
 {
     if ( !m_generalSettings->saveSettingsOnExit() ){
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h
index 7ae640fef..18965b164 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h
@@ -170,6 +170,7 @@ private:
     void registerDefaultContainers();
     void registerDefaultActions();
     void createWorkspaces(QSettings* qs, bool diffOnly = false);
+    void loadStyleSheet(QString name);
 
     CoreImpl *m_coreImpl;
     UniqueIDManager *m_uniqueIDManager;

From 254f98aad56d8dedb7a6676a78934f688df50fde Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Thu, 9 Aug 2012 22:47:48 +0100
Subject: [PATCH 339/543] GCS-Updated configuration file with the latest
 changes

---
 .../default_configurations/OpenPilotGCS.xml   | 85 ++++++++++++++-----
 1 file changed, 66 insertions(+), 19 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
index 1ef73219e..092e1fa79 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
@@ -10,6 +10,15 @@
     <Details>Default configuration built to work on all screen sizes</Details>
     <StyleSheet>default</StyleSheet>
   </General>
+  <IPconnection>
+    <Current>
+      <arr_1>
+        <Port>1</Port>
+        <UseTCP>0</UseTCP>
+      </arr_1>
+      <size>1</size>
+    </Current>
+  </IPconnection>
   <KeyBindings>
     <size>0</size>
   </KeyBindings>
@@ -27,6 +36,58 @@
     <Mode6>86</Mode6>
     <Welcome>100</Welcome>
   </ModePriorities>
+  <Plugins>
+    <SoundNotifyPlugin>
+      <configInfo>
+        <locked>false</locked>
+        <version>1.0.0</version>
+      </configInfo>
+      <data>
+        <Current>
+          <arr_1>
+            <CurrentLanguage>default</CurrentLanguage>
+            <DataObject>FlightStatus</DataObject>
+            <ExpireTimeout>0</ExpireTimeout>
+            <Mute>false</Mute>
+            <ObjectField>Armed</ObjectField>
+            <RangeLimit>0</RangeLimit>
+            <Repeat>0</Repeat>
+            <SayOrder>0</SayOrder>
+            <Sound1>armed</Sound1>
+            <Sound2></Sound2>
+            <Sound3></Sound3>
+            <SoundCollectionPath>%%DATAPATH%%sounds</SoundCollectionPath>
+            <Value1>Armed</Value1>
+            <Value2>0</Value2>
+          </arr_1>
+          <size>1</size>
+        </Current>
+        <EnableSound>true</EnableSound>
+        <listNotifies>
+          <arr_1>
+            <CurrentLanguage>default</CurrentLanguage>
+            <DataObject>FlightStatus</DataObject>
+            <ExpireTimeout>15</ExpireTimeout>
+            <Mute>false</Mute>
+            <ObjectField>Armed</ObjectField>
+            <RangeLimit>0</RangeLimit>
+            <Repeat>0</Repeat>
+            <SayOrder>0</SayOrder>
+            <Sound1>armed</Sound1>
+            <Sound2></Sound2>
+            <Sound3></Sound3>
+            <SoundCollectionPath>%%DATAPATH%%sounds</SoundCollectionPath>
+            <Value1>Armed</Value1>
+            <Value2>0</Value2>
+          </arr_1>
+          <size>1</size>
+        </listNotifies>
+      </data>
+    </SoundNotifyPlugin>
+  </Plugins>
+  <SerialConnection>
+    <speed>57600</speed>
+  </SerialConnection>
   <UAVGadgetConfigurations>
     <ConfigGadget>
       <default>
@@ -1694,8 +1755,8 @@
           <altitude>2000</altitude>
           <cacheOnly>false</cacheOnly>
           <earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
-          <latitude>46.671478</latitude>
-          <longitude>10.158932</longitude>
+          <latitude>46.6715</latitude>
+          <longitude>10.1589</longitude>
           <qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
           <terrainEnabled>false</terrainEnabled>
         </data>
@@ -1710,10 +1771,10 @@
           <altitude>2000</altitude>
           <cacheOnly>false</cacheOnly>
           <earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
-          <latitude>46.671478</latitude>
-          <longitude>10.158932</longitude>
+          <latitude>46.6715</latitude>
+          <longitude>10.1589</longitude>
           <qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
-          <terrainEnabled>true</terrainEnabled>
+          <terrainEnabled>false</terrainEnabled>
         </data>
       </Terrain>
     </PfdQmlGadget>
@@ -1738,7 +1799,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -1784,7 +1844,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>20</dataSize>
           <plotCurve0>
@@ -1840,7 +1899,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -1886,7 +1944,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -1912,7 +1969,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>40</dataSize>
           <plotCurve0>
@@ -2008,7 +2064,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -2054,7 +2109,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -2100,7 +2154,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>60</dataSize>
           <plotCurve0>
@@ -2146,7 +2199,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>240</dataSize>
           <plotCurve0>
@@ -2282,7 +2334,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>20</dataSize>
           <plotCurve0>
@@ -2328,7 +2379,6 @@
         <data>
           <LoggingEnabled>false</LoggingEnabled>
           <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
-          <LoggingPath></LoggingPath>
           <configurationStreamVersion>1000</configurationStreamVersion>
           <dataSize>240</dataSize>
           <plotCurve0>
@@ -2343,9 +2393,6 @@
           </plotCurve0>
           <plotCurve1>
             <color>0</color>
-            <mathFunction></mathFunction>
-            <uavField></uavField>
-            <uavObject></uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
             <yMinimum>0</yMinimum>

From 9379eb73d7e119cd79a1b0612eddae7258c0b3ef Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Fri, 10 Aug 2012 03:03:52 +0100
Subject: [PATCH 340/543] GCS-Fix stylesheet not being saved.

---
 .../src/plugins/coreplugin/mainwindow.cpp          | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
index 6ce411d8f..a037cbe0e 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
@@ -307,11 +307,11 @@ void MainWindow::loadStyleSheet(QString name) {
     directory.cd("openpilotgcs");
     directory.cd("stylesheets");
 #ifdef Q_OS_MAC
-    QFile data(directory.absolutePath()+"/"+name+"_macos.qss");
+    QFile data(directory.absolutePath()+QDir::separator()+name+"_macos.qss");
 #elif defined(Q_OS_LINUX)
-    QFile data(directory.absolutePath()+"/"+name+"_linux.qss");
+    QFile data(directory.absolutePath()+QDir::separator()+name+"_linux.qss");
 #else
-    QFile data(directory.absolutePath()+"/"+name+"_windows.qss");
+    QFile data(directory.absolutePath()+QDir::separator()+name+"_windows.qss");
 #endif
     QString style;
     /* ...to open the file */
@@ -327,7 +327,7 @@ void MainWindow::loadStyleSheet(QString name) {
         qDebug()<<"Loaded stylesheet:"<<style;
     }
     else
-        qDebug()<<"Failed to openstylesheet file"<<directory.absolutePath();
+        qDebug()<<"Failed to openstylesheet file"<<directory.absolutePath()<<name;
 }
 
 void MainWindow::closeEvent(QCloseEvent *event)
@@ -1236,7 +1236,11 @@ void MainWindow::saveSettings(QSettings* qs)
 
     m_actionManager->saveSettings(qs);
     m_generalSettings->saveSettings(qs);
-
+    qs->beginGroup("General");
+    qs->setValue("Description",m_settings->value("Description","None"));
+    qs->setValue("Details",m_settings->value("Details","None"));
+    qs->setValue("StyleSheet",m_settings->value("StyleSheet","default"));
+    qs->endGroup();
 }
 
 void MainWindow::readSettings(IConfigurablePlugin* plugin, QSettings* qs)

From 7a42c7b10eebccd277c2fad0ab2b45dbbd52cd17 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 9 Aug 2012 08:54:02 -0500
Subject: [PATCH 341/543] AndroidGCS: Start supporting NAK and having uavTalk
 emit a transaction failed and succeeded call.  Had to change the mask on the
 AndroidGCS side to match the FC side.

---
 .../openpilot/androidgcs/ObjectBrowser.java   |  2 +-
 .../src/org/openpilot/uavtalk/Telemetry.java  | 28 +++++---
 .../src/org/openpilot/uavtalk/UAVTalk.java    | 70 ++++++++++++++++---
 3 files changed, 83 insertions(+), 17 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index 2c04ed248..20d9f09d2 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -173,7 +173,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 				selected_index = position;
 				allObjects.get(position).addUpdatedObserver(updatedObserver);
 				allObjects.get(position).updateRequested();
-				updateObject();
+				//updateObject();
 			}
 		});
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 2bb754979..af0b2ce3f 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -87,9 +87,9 @@ public class Telemetry {
     /**
      * Constructor
      */
-    public Telemetry(UAVTalk utalk, UAVObjectManager objMngr)
+    public Telemetry(UAVTalk utalkIn, UAVObjectManager objMngr)
     {
-        this.utalk = utalk;
+        this.utalk = utalkIn;
         this.objMngr = objMngr;
 
         // Process all objects in the list
@@ -113,16 +113,28 @@ public class Telemetry {
         });
 
         // Listen to transaction completions
-        utalk.addObserver(new Observer() {
+        this.utalk.setOnTransactionCompletedListener(
+        		this.utalk.new OnTransactionCompletedListener() {
 			@Override
-			public void update(Observable observable, Object data) {
-				try {
-					transactionCompleted((UAVObject) data);
+			void TransactionSucceeded(UAVObject data) {
+	        	try {
+					transactionCompleted(data);
 				} catch (IOException e) {
 					// Disconnect when stream fails
-					observable.deleteObserver(this);
+					utalk.setOnTransactionCompletedListener(null);
 				}
-			}
+	        }
+			@Override
+			void TransactionFailed(UAVObject data) {
+	        	try {
+	        		Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
+					transactionCompleted(data);
+				} catch (IOException e) {
+					// Disconnect when stream fails
+					utalk.setOnTransactionCompletedListener(null);
+				}
+	        }
+
         });
 
         // Get GCS stats object
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index be8f07208..c538352a4 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -33,14 +33,17 @@ import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.util.Observable;
 
+import junit.framework.Assert;
 import android.util.Log;
 
 public class UAVTalk extends Observable {
 
 	static final String TAG = "UAVTalk";
 	public static int LOGLEVEL = 0;
-	public static boolean WARN = LOGLEVEL > 1;
-	public static boolean DEBUG = LOGLEVEL > 0;
+	public static boolean VERBOSE = LOGLEVEL > 3;
+	public static boolean WARN = LOGLEVEL > 2;
+	public static boolean DEBUG = LOGLEVEL > 1;
+	public static boolean ERROR = LOGLEVEL > 0;
 
 	private Thread inputProcessingThread = null;
 
@@ -102,12 +105,13 @@ public class UAVTalk extends Observable {
 		STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS
 	};
 
-	static final int TYPE_MASK = 0xFC;
+	static final int TYPE_MASK = 0xF8;
 	static final int TYPE_VER = 0x20;
 	static final int TYPE_OBJ = (TYPE_VER | 0x00);
 	static final int TYPE_OBJ_REQ = (TYPE_VER | 0x01);
 	static final int TYPE_OBJ_ACK = (TYPE_VER | 0x02);
 	static final int TYPE_ACK = (TYPE_VER | 0x03);
+	static final int TYPE_NACK = (TYPE_VER | 0x04);
 
 	static final int MIN_HEADER_LENGTH = 8; // sync(1), type (1), size(2),
 											// object ID(4)
@@ -271,6 +275,8 @@ public class UAVTalk extends Observable {
 		// Send object depending on if a response is needed
 		if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ) {
 			if (transmitObject(obj, type, allInstances)) {
+				if(type == TYPE_OBJ_REQ)
+					if (ERROR) Log.e(TAG, "Sending obj req");
 				respObj = obj;
 				respAllInstances = allInstances;
 				return true;
@@ -290,7 +296,7 @@ public class UAVTalk extends Observable {
 	 * @throws IOException
 	 */
 	public synchronized boolean processInputByte(int rxbyte) throws IOException {
-		assert (objMngr != null);
+		Assert.assertNotNull(objMngr);
 
 		// Update stats
 		stats.rxBytes++;
@@ -318,12 +324,13 @@ public class UAVTalk extends Observable {
 			rxCS = updateCRC(rxCS, rxbyte);
 
 			if ((rxbyte & TYPE_MASK) != TYPE_VER) {
+				Log.e(TAG, "Unknown UAVTalk type:" + rxbyte);
 				rxState = RxStateType.STATE_SYNC;
 				break;
 			}
 
 			rxType = rxbyte;
-
+			if (VERBOSE) Log.v(TAG, "Received packet type: " + rxType);
 			packetSize = 0;
 
 			rxState = RxStateType.STATE_SIZE;
@@ -380,7 +387,7 @@ public class UAVTalk extends Observable {
 				}
 
 				// Determine data length
-				if (rxType == TYPE_OBJ_REQ || rxType == TYPE_ACK)
+				if (rxType == TYPE_OBJ_REQ || rxType == TYPE_ACK || rxType == TYPE_NACK)
 					rxLength = 0;
 				else
 					rxLength = rxObj.getNumBytes();
@@ -565,6 +572,24 @@ public class UAVTalk extends Observable {
 				error = true;
 			}
 			break;
+	    case TYPE_NACK:
+        	if (DEBUG) Log.d(TAG, "Received NAK: " + objId + " " + objMngr.getObject(objId).getName());
+        	// All instances, not allowed for NACK messages
+	        if (!allInstances)
+	        {
+	            // Get object
+	            obj = objMngr.getObject(objId, instId);
+	            // Check if object exists:
+	            if (obj != null)
+	            {
+	                updateNack(obj);
+	            }
+	            else
+	            {
+	             error = true;
+	            }
+	        }
+	        break;
 		case TYPE_ACK:
 			// All instances, not allowed for ACK messages
 			if (!allInstances) {
@@ -636,15 +661,34 @@ public class UAVTalk extends Observable {
 		}
 	}
 
+	/**
+	 * Check if a transaction is pending and if yes complete it.
+	 */
+	void updateNack(UAVObject obj)
+	{
+		if (DEBUG) Log.d(TAG, "NACK received: " + obj.getName());
+		Assert.assertNotNull(obj);
+	    //obj.transactionCompleted(false);
+		if (respObj != null && respObj.getObjID() == obj.getObjID() &&
+				(respObj.getInstID() == obj.getInstID() || respAllInstances)) {
+			if (transactionListener != null)
+				transactionListener.TransactionFailed(obj);
+		}
+	}
+
 	/**
 	 * Check if a transaction is pending and if yes complete it.
 	 */
 	synchronized void updateAck(UAVObject obj) {
+		if (DEBUG) Log.d(TAG, "ACK received: " + obj.getName());
+		Assert.assertNotNull(obj);
 		if (respObj != null && respObj.getObjID() == obj.getObjID()
 				&& (respObj.getInstID() == obj.getInstID() || respAllInstances)) {
-			respObj = null;
+			if (transactionListener != null)
+				transactionListener.TransactionSucceeded(obj);
+			/*respObj = null;
 			setChanged();
-			notifyObservers(obj);
+			notifyObservers(obj);*/
 		}
 	}
 
@@ -784,4 +828,14 @@ public class UAVTalk extends Observable {
 		return crc;
 	}
 
+	private OnTransactionCompletedListener transactionListener = null;
+	abstract class OnTransactionCompletedListener {
+    	abstract void TransactionSucceeded(UAVObject data);
+    	abstract void TransactionFailed(UAVObject data);
+    };
+    void setOnTransactionCompletedListener(OnTransactionCompletedListener onTransactionListener) {
+    	this.transactionListener = onTransactionListener;
+    }
+
+
 }

From f13f977177976833abe775b66d8a6fad06fe44fc Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 9 Aug 2012 23:24:36 -0500
Subject: [PATCH 342/543] Fix: Revert change to ObjectBrowser

---
 androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
index 20d9f09d2..2c04ed248 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java
@@ -173,7 +173,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 				selected_index = position;
 				allObjects.get(position).addUpdatedObserver(updatedObserver);
 				allObjects.get(position).updateRequested();
-				//updateObject();
+				updateObject();
 			}
 		});
 

From 57b91b776326c92c02b611761e7d33e9e34d5fc1 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 9 Aug 2012 23:26:36 -0500
Subject: [PATCH 343/543] AndroidGCS: UAVTalk no longer extends Observable
 since there is only one listener anyway we use a setListener pattern.

---
 androidgcs/src/org/openpilot/uavtalk/UAVTalk.java | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index c538352a4..722e96560 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -31,12 +31,11 @@ import java.io.InputStream;
 import java.io.OutputStream;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
-import java.util.Observable;
 
 import junit.framework.Assert;
 import android.util.Log;
 
-public class UAVTalk extends Observable {
+public class UAVTalk {
 
 	static final String TAG = "UAVTalk";
 	public static int LOGLEVEL = 0;
@@ -673,6 +672,7 @@ public class UAVTalk extends Observable {
 				(respObj.getInstID() == obj.getInstID() || respAllInstances)) {
 			if (transactionListener != null)
 				transactionListener.TransactionFailed(obj);
+			respObj = null;
 		}
 	}
 
@@ -686,9 +686,7 @@ public class UAVTalk extends Observable {
 				&& (respObj.getInstID() == obj.getInstID() || respAllInstances)) {
 			if (transactionListener != null)
 				transactionListener.TransactionSucceeded(obj);
-			/*respObj = null;
-			setChanged();
-			notifyObservers(obj);*/
+			respObj = null;
 		}
 	}
 

From 37c4880fbaa073b331052ccd1c92f5b37b6dd279 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 00:19:52 -0500
Subject: [PATCH 344/543] AndroidGCS: Unregister the activity broadcast
 receiver onStop().  Create it onStart() instead.

---
 .../androidgcs/ObjectManagerActivity.java     | 70 ++++++++++--------
 .../org/openpilot/androidgcs/UAVLocation.java | 74 +++++++++++--------
 2 files changed, 83 insertions(+), 61 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index 7eb55b8f1..cfdcb26b4 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -81,36 +81,6 @@ public abstract class ObjectManagerActivity extends Activity {
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
-
-		connectedReceiver = new BroadcastReceiver() {
-			@Override
-			public void onReceive(Context context, Intent intent) {
-				if (DEBUG)
-					Log.d(TAG, "Received intent");
-				TelemTask task;
-				if(intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_CONNECTED) == 0) {
-					if(binder  == null)
-						return;
-					if((task = binder.getTelemTask(0)) == null)
-						return;
-					objMngr = task.getObjectManager();
-					mConnected = true;
-					onOPConnected();
-					Log.d(TAG, "Connected()");
-				} else if (intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_DISCONNECTED) == 0) {
-					objMngr = null;
-					mConnected = false;
-					onOPDisconnected();
-					Log.d(TAG, "Disonnected()");
-				}
-			}
-		};
-
-		IntentFilter filter = new IntentFilter();
-		filter.addCategory(OPTelemetryService.INTENT_CATEGORY_GCS);
-		filter.addAction(OPTelemetryService.INTENT_ACTION_CONNECTED);
-		filter.addAction(OPTelemetryService.INTENT_ACTION_DISCONNECTED);
-		registerReceiver(connectedReceiver, filter);
 	}
 
 	/**
@@ -271,11 +241,47 @@ public abstract class ObjectManagerActivity extends Activity {
 	@Override
 	public void onStart() {
 		super.onStart();
+		if (DEBUG) Log.d(TAG, "onStart()");
+		// Register a receiver to get connected/disconnected signals from the telemetry
+		// service
+		connectedReceiver = new BroadcastReceiver() {
+			@Override
+			public void onReceive(Context context, Intent intent) {
+				if (DEBUG)
+					Log.d(TAG, "Received intent");
+				TelemTask task;
+				if(intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_CONNECTED) == 0) {
+					if(binder  == null)
+						return;
+					if((task = binder.getTelemTask(0)) == null)
+						return;
+					objMngr = task.getObjectManager();
+					mConnected = true;
+					onOPConnected();
+					Log.d(TAG, "Connected()");
+				} else if (intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_DISCONNECTED) == 0) {
+					objMngr = null;
+					mConnected = false;
+					onOPDisconnected();
+					Log.d(TAG, "Disonnected()");
+				}
+			}
+		};
+
+		// Set up the filters
+		IntentFilter filter = new IntentFilter();
+		filter.addCategory(OPTelemetryService.INTENT_CATEGORY_GCS);
+		filter.addAction(OPTelemetryService.INTENT_ACTION_CONNECTED);
+		filter.addAction(OPTelemetryService.INTENT_ACTION_DISCONNECTED);
+		registerReceiver(connectedReceiver, filter);
+
+		// Bind to the telemetry service (which will start it)
 		Intent intent = new Intent(getApplicationContext(),
 				org.openpilot.androidgcs.telemetry.OPTelemetryService.class);
 		if (DEBUG)
 			Log.d(TAG, "Attempting to bind: " + intent);
 		bindService(intent, mConnection, Context.BIND_AUTO_CREATE);
+
 	}
 
 	/**
@@ -284,8 +290,10 @@ public abstract class ObjectManagerActivity extends Activity {
 	@Override
 	public void onStop() {
 		super.onStop();
+		if (DEBUG) Log.d(TAG, "onStop()");
 		unbindService(mConnection);
-		//unregisterReceiver(connectedReceiver);
+		unregisterReceiver(connectedReceiver);
+		connectedReceiver = null;
 	}
 
 	public void onBind() {
diff --git a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
index f13b0ff1c..150773167 100644
--- a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
+++ b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
@@ -73,6 +73,7 @@ public class UAVLocation extends MapActivity
 	UAVObjectManager objMngr;
     boolean mBound = false;
     boolean mConnected = false;
+    BroadcastReceiver connectedReceiver;
 	org.openpilot.androidgcs.telemetry.OPTelemetryService.LocalBinder binder;
 
     GeoPoint homeLocation;
@@ -103,36 +104,6 @@ public class UAVLocation extends MapActivity
 
 		mapView.postInvalidate();
 
-		// ObjectManager related stuff (can't inherit standard class)
-		BroadcastReceiver connectedReceiver = new BroadcastReceiver() {
-			@Override
-			public void onReceive(Context context, Intent intent) {
-				Log.d(TAG, "Received intent");
-				TelemTask task;
-				if(intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_CONNECTED) == 0) {
-
-					if(binder  == null)
-						return;
-					if((task = binder.getTelemTask(0)) == null)
-						return;
-					objMngr = task.getObjectManager();
-					mConnected = true;
-					onOPConnected();
-					Log.d(TAG, "Connected()");
-				} else if (intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_DISCONNECTED) == 0) {
-					objMngr = null;
-					mConnected = false;
-					onOPDisconnected();
-					Log.d(TAG, "Disonnected()");
-				}
-			}
-		};
-
-		IntentFilter filter = new IntentFilter();
-		filter.addCategory(OPTelemetryService.INTENT_CATEGORY_GCS);
-		filter.addAction(OPTelemetryService.INTENT_ACTION_CONNECTED);
-		filter.addAction(OPTelemetryService.INTENT_ACTION_DISCONNECTED);
-		registerReceiver(connectedReceiver, filter);
 	}
 
 	//@Override
@@ -291,10 +262,53 @@ public class UAVLocation extends MapActivity
 	@Override
 	public void onStart() {
 		super.onStart();
+		// ObjectManager related stuff (can't inherit standard class)
+		connectedReceiver = new BroadcastReceiver() {
+			@Override
+			public void onReceive(Context context, Intent intent) {
+				Log.d(TAG, "Received intent");
+				TelemTask task;
+				if(intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_CONNECTED) == 0) {
+
+					if(binder  == null)
+						return;
+					if((task = binder.getTelemTask(0)) == null)
+						return;
+					objMngr = task.getObjectManager();
+					mConnected = true;
+					onOPConnected();
+					Log.d(TAG, "Connected()");
+				} else if (intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_DISCONNECTED) == 0) {
+					objMngr = null;
+					mConnected = false;
+					onOPDisconnected();
+					Log.d(TAG, "Disonnected()");
+				}
+			}
+		};
+
+		IntentFilter filter = new IntentFilter();
+		filter.addCategory(OPTelemetryService.INTENT_CATEGORY_GCS);
+		filter.addAction(OPTelemetryService.INTENT_ACTION_CONNECTED);
+		filter.addAction(OPTelemetryService.INTENT_ACTION_DISCONNECTED);
+		registerReceiver(connectedReceiver, filter);
+
 		Intent intent = new Intent(this, OPTelemetryService.class);
 		bindService(intent, mConnection, Context.BIND_AUTO_CREATE);
 	}
 
+	/**
+	 * When stopping disconnect form the service and the broadcast receiver
+	 */
+	@Override
+	public void onStop() {
+		super.onStop();
+		if (DEBUG) Log.d(TAG, "onStop()");
+		unbindService(mConnection);
+		unregisterReceiver(connectedReceiver);
+		connectedReceiver = null;
+	}
+
 	public void onBind() {
 
 	}

From 78469aa6a457affcf6fff3ff870edd418d8ea796 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 00:37:12 -0500
Subject: [PATCH 345/543] AndroidGCS: Use a WeakReference to stop the
 OPTelemetryService handle leaking.

---
 .../telemetry/OPTelemetryService.java         | 155 +++++++++---------
 1 file changed, 80 insertions(+), 75 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
index 502814731..58bfc8918 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
@@ -27,6 +27,7 @@
 package org.openpilot.androidgcs.telemetry;
 
 import java.io.IOException;
+import java.lang.ref.WeakReference;
 import java.util.Observable;
 import java.util.Observer;
 
@@ -83,75 +84,85 @@ public class OPTelemetryService extends Service {
 
 	private final IBinder mBinder = new LocalBinder();
 
-	private final class ServiceHandler extends Handler {
-		public ServiceHandler(Looper looper) {
-			super(looper);
-		}
-		@Override
-		public void handleMessage(Message msg) {
-			if (DEBUG)
-				Log.d(TAG, "handleMessage: " + msg);
-			switch(msg.arg1) {
-			case MSG_START:
-				stopSelf(msg.arg2);
-				break;
-			case MSG_CONNECT:
-				terminate = false;
-				int connection_type;
-				SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
-				try {
-					connection_type = Integer.decode(prefs.getString("connection_type", ""));
-				} catch (NumberFormatException e) {
-					connection_type = 0;
-				}
+	static class ServiceHandler extends Handler {
+	    private final WeakReference<OPTelemetryService> mService;
 
-				switch(connection_type) {
-				case 0: // No connection
-					return;
-				case 1:
-					Toast.makeText(getApplicationContext(), "Attempting fake connection", Toast.LENGTH_SHORT).show();
-					activeTelem = new FakeTelemetryThread();
-					break;
-				case 2:
-					Toast.makeText(getApplicationContext(), "Attempting BT connection", Toast.LENGTH_SHORT).show();
-					activeTelem = new BTTelemetryThread();
-					break;
-				case 3:
-					Toast.makeText(getApplicationContext(), "Attempting TCP connection", Toast.LENGTH_SHORT).show();
-					activeTelem = new TcpTelemetryThread();
-					break;
-				default:
-					throw new Error("Unsupported");
-				}
-				activeTelem.start();
-				break;
-			case MSG_DISCONNECT:
-				Toast.makeText(getApplicationContext(), "Disconnect requested", Toast.LENGTH_SHORT).show();
-				terminate = true;
-				activeTelem.interrupt();
-				try {
-					activeTelem.join();
-				} catch (InterruptedException e) {
-					e.printStackTrace();
-				}
-				activeTelem = null;
+	    ServiceHandler(OPTelemetryService service, Looper looper) {
+	    	super(looper);
+	        mService = new WeakReference<OPTelemetryService>(service);
+	    }
 
-				Intent intent = new Intent();
-				intent.setAction(INTENT_ACTION_DISCONNECTED);
-				sendBroadcast(intent,null);
+	    @Override
+	    public void handleMessage(Message msg)
+	    {
+	    	OPTelemetryService service = mService.get();
+	         if (service != null) {
+	              service.handleMessage(msg);
+	         }
+	    }
+	}
 
-				stopSelf();
-
-				break;
-            case MSG_TOAST:
-            	Toast.makeText(OPTelemetryService.this, (String) msg.obj, Toast.LENGTH_SHORT).show();
-            	break;
-			default:
-				System.out.println(msg.toString());
-				throw new Error("Invalid message");
+	void handleMessage(Message msg) {
+		switch(msg.arg1) {
+		case MSG_START:
+			stopSelf(msg.arg2);
+			break;
+		case MSG_CONNECT:
+			terminate = false;
+			int connection_type;
+			SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
+			try {
+				connection_type = Integer.decode(prefs.getString("connection_type", ""));
+			} catch (NumberFormatException e) {
+				connection_type = 0;
 			}
+
+			switch(connection_type) {
+			case 0: // No connection
+				return;
+			case 1:
+				Toast.makeText(getApplicationContext(), "Attempting fake connection", Toast.LENGTH_SHORT).show();
+				activeTelem = new FakeTelemetryThread();
+				break;
+			case 2:
+				Toast.makeText(getApplicationContext(), "Attempting BT connection", Toast.LENGTH_SHORT).show();
+				activeTelem = new BTTelemetryThread();
+				break;
+			case 3:
+				Toast.makeText(getApplicationContext(), "Attempting TCP connection", Toast.LENGTH_SHORT).show();
+				activeTelem = new TcpTelemetryThread();
+				break;
+			default:
+				throw new Error("Unsupported");
+			}
+			activeTelem.start();
+			break;
+		case MSG_DISCONNECT:
+			Toast.makeText(getApplicationContext(), "Disconnect requested", Toast.LENGTH_SHORT).show();
+			terminate = true;
+			activeTelem.interrupt();
+			try {
+				activeTelem.join();
+			} catch (InterruptedException e) {
+				e.printStackTrace();
+			}
+			activeTelem = null;
+
+			Intent intent = new Intent();
+			intent.setAction(INTENT_ACTION_DISCONNECTED);
+			sendBroadcast(intent,null);
+
+			stopSelf();
+
+			break;
+		case MSG_TOAST:
+			Toast.makeText(this, (String) msg.obj, Toast.LENGTH_SHORT).show();
+			break;
+		default:
+			System.out.println(msg.toString());
+			throw new Error("Invalid message");
 		}
-	};
+	}
 
 	/**
 	 * Called when the service starts.  It creates a thread to handle messages (e.g. connect and disconnect)
@@ -160,15 +171,12 @@ public class OPTelemetryService extends Service {
 	public void startup() {
 		Toast.makeText(getApplicationContext(), "Telemetry service starting", Toast.LENGTH_SHORT).show();
 
-		if (DEBUG)
-			Log.d(TAG, "startup()");
-
 		thread = new HandlerThread("TelemetryServiceHandler", Process.THREAD_PRIORITY_BACKGROUND);
 		thread.start();
 
 		// Get the HandlerThread's Looper and use it for our Handler
 		mServiceLooper = thread.getLooper();
-		mServiceHandler = new ServiceHandler(mServiceLooper);
+		mServiceHandler = new ServiceHandler(this, mServiceLooper);
 
 		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
 		if(prefs.getBoolean("autoconnect", false)) {
@@ -190,16 +198,13 @@ public class OPTelemetryService extends Service {
 	@Override
 	public int onStartCommand(Intent intent, int flags, int startId) {
 		// Currently only using as bound service
-		if (DEBUG)
-			Log.d(TAG, "onStartCommand()");
+
 		// If we get killed, after returning from here, restart
 		return START_STICKY;
 	}
 
 	@Override
 	public IBinder onBind(Intent intent) {
-		if (DEBUG)
-			Log.d(TAG, "onBind()");
 		return mBinder;
 	}
 
@@ -360,7 +365,7 @@ public class OPTelemetryService extends Service {
 			mon.addObserver(new Observer() {
 				@Override
 				public void update(Observable arg0, Object arg1) {
-					System.out.println("Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
+					if (DEBUG) Log.d(TAG, "Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
 					if(mon.getConnected() /*&& mon.getObjectsUpdated()*/) {
 						Intent intent = new Intent();
 						intent.setAction(INTENT_ACTION_CONNECTED);
@@ -439,8 +444,8 @@ public class OPTelemetryService extends Service {
 			mon.addObserver(new Observer() {
 				@Override
 				public void update(Observable arg0, Object arg1) {
-					System.out.println("Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
-					if(mon.getConnected() /*&& mon.getObjectsUpdated()*/) {
+					if (DEBUG) Log.d(TAG, "Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
+					if(mon.getConnected()) {
 						Intent intent = new Intent();
 						intent.setAction(INTENT_ACTION_CONNECTED);
 						sendBroadcast(intent,null);

From 5eabb1777d135409db21c8380377bf36bd32fa93 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 01:11:04 -0500
Subject: [PATCH 346/543] AndroidGCS: Whitespace fixing for TelemetryMonitor

---
 .../openpilot/uavtalk/TelemetryMonitor.java   | 455 +++++++++---------
 1 file changed, 232 insertions(+), 223 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index 233836e8a..59358a660 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -36,20 +36,20 @@ import java.util.TimerTask;
 
 import android.util.Log;
 
-public class TelemetryMonitor extends Observable{
+public class TelemetryMonitor extends Observable {
 
 	private static final String TAG = "TelemetryMonitor";
 	public static int LOGLEVEL = 0;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
-    static final int STATS_UPDATE_PERIOD_MS = 4000;
-    static final int STATS_CONNECT_PERIOD_MS = 1000;
-    static final int CONNECTION_TIMEOUT_MS = 8000;
+	static final int STATS_UPDATE_PERIOD_MS = 4000;
+	static final int STATS_CONNECT_PERIOD_MS = 1000;
+	static final int CONNECTION_TIMEOUT_MS = 8000;
 
 	private final UAVObjectManager objMngr;
 	private final Telemetry tel;
-//	private UAVObject objPending;
+	// private UAVObject objPending;
 	private UAVObject gcsStatsObj;
 	private UAVObject flightStatsObj;
 	private Timer periodicTask;
@@ -60,324 +60,333 @@ public class TelemetryMonitor extends Observable{
 	private boolean connected = false;
 	private boolean objects_updated = false;
 
-	public boolean getConnected() { return connected; };
-	public boolean getObjectsUpdated() { return objects_updated; };
+	public boolean getConnected() {
+		return connected;
+	};
 
-	public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel)
-	{
-	    this.objMngr = objMngr;
-	    this.tel = tel;
-//	    this.objPending = null;
-	    queue = new ArrayList<UAVObject>();
+	public boolean getObjectsUpdated() {
+		return objects_updated;
+	};
 
-	    // Get stats objects
-	    gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
-	    flightStatsObj = objMngr.getObject("FlightTelemetryStats");
+	public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel) {
+		this.objMngr = objMngr;
+		this.tel = tel;
+		// this.objPending = null;
+		queue = new ArrayList<UAVObject>();
 
-	    flightStatsObj.addUpdatedObserver(new Observer() {
+		// Get stats objects
+		gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
+		flightStatsObj = objMngr.getObject("FlightTelemetryStats");
+
+		flightStatsObj.addUpdatedObserver(new Observer() {
 			@Override
 			public void update(Observable observable, Object data) {
 				try {
 					flightStatsUpdated((UAVObject) data);
 				} catch (IOException e) {
 					// The UAVTalk stream was broken, disconnect this signal
-					// TODO: Should this actually be disconnected.  Do we create a new TelemetryMonitor for this
+					// TODO: Should this actually be disconnected. Do we create
+					// a new TelemetryMonitor for this
 					// or fix the stream?
 					flightStatsObj.removeUpdatedObserver(this);
 				}
 			}
-	    });
+		});
 
-	    // Start update timer
-	    setPeriod(STATS_CONNECT_PERIOD_MS);
+		// Start update timer
+		setPeriod(STATS_CONNECT_PERIOD_MS);
 	}
 
 	/**
 	 * Initiate object retrieval, initialize queue with objects to be retrieved.
+	 *
 	 * @throws IOException
 	 */
-	public synchronized void startRetrievingObjects() throws IOException
-	{
-		if (DEBUG) Log.d(TAG, "Start retrieving objects");
+	public synchronized void startRetrievingObjects() throws IOException {
+		if (DEBUG)
+			Log.d(TAG, "Start retrieving objects");
 
-	    // Clear object queue
-	    queue.clear();
-	    // Get all objects, add metaobjects, settings and data objects with OnChange update mode to the queue
-	    List< List<UAVObject> > objs = objMngr.getObjects();
+		// Clear object queue
+		queue.clear();
+		// Get all objects, add metaobjects, settings and data objects with
+		// OnChange update mode to the queue
+		List<List<UAVObject>> objs = objMngr.getObjects();
 
-	    ListIterator<List<UAVObject>> objListIterator = objs.listIterator();
-	    while( objListIterator.hasNext() )
-	    {
-	    	List <UAVObject> instList = objListIterator.next();
-	        UAVObject obj = instList.get(0);
-	        UAVObject.Metadata mdata = obj.getMetadata();
-	        if ( obj.isMetadata() )
-	        {
-	        	queue.add(obj);
-	        }
-	        else /* Data object */
-	        {
-	        	UAVDataObject dobj = (UAVDataObject) obj;
-	        	if ( dobj.isSettings() )
-	        	{
-	        		queue.add(obj);
-	        	}
-	        	else
-	        	{
-	        		if ( mdata.GetFlightTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE )
-	        		{
-	        			queue.add(obj);
-	        		}
-	        	}
-	        }
-	    }
-	    // Start retrieving
-	    System.out.println(TAG + "Starting to retrieve meta and settings objects from the autopilot (" + queue.size() + " objects)");
-	    retrieveNextObject();
+		ListIterator<List<UAVObject>> objListIterator = objs.listIterator();
+		while (objListIterator.hasNext()) {
+			List<UAVObject> instList = objListIterator.next();
+			UAVObject obj = instList.get(0);
+			UAVObject.Metadata mdata = obj.getMetadata();
+			if (obj.isMetadata()) {
+				queue.add(obj);
+			} else /* Data object */
+			{
+				UAVDataObject dobj = (UAVDataObject) obj;
+				if (dobj.isSettings()) {
+					queue.add(obj);
+				} else {
+					if (mdata.GetFlightTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) {
+						queue.add(obj);
+					}
+				}
+			}
+		}
+		// Start retrieving
+		Log.d(TAG,
+				"Starting to retrieve meta and settings objects from the autopilot ("
+						+ queue.size() + " objects)");
+		retrieveNextObject();
 	}
 
 	/**
 	 * Cancel the object retrieval
 	 */
-	public void stopRetrievingObjects()
-	{
+	public void stopRetrievingObjects() {
 		Log.d(TAG, "Stop retrieving objects");
-	    queue.clear();
+		queue.clear();
 	}
 
 	/**
 	 * Retrieve the next object in the queue
+	 *
 	 * @throws IOException
 	 */
-	public synchronized void retrieveNextObject() throws IOException
-	{
-	    // If queue is empty return
-	    if ( queue.isEmpty() )
-	    {
-	    	if (DEBUG) Log.d(TAG, "All objects retrieved: Connected Successfully");
-	    	objects_updated = true;
-	    	setChanged();
-	    	notifyObservers();
-	        return;
-	    }
-	    // Get next object from the queue
-	    UAVObject obj = queue.remove(0);
+	public synchronized void retrieveNextObject() throws IOException {
+		// If queue is empty return
+		if (queue.isEmpty()) {
+			if (DEBUG)
+				Log.d(TAG, "All objects retrieved: Connected Successfully");
+			objects_updated = true;
+			setChanged();
+			notifyObservers();
+			return;
+		}
+		// Get next object from the queue
+		UAVObject obj = queue.remove(0);
 
-	    if(obj == null) {
-	    	throw new Error("Got null object forom transaction queue");
-	    }
+		if (obj == null) {
+			throw new Error("Got null object forom transaction queue");
+		}
 
-	    if (DEBUG) Log.d(TAG, "Retrieving object: " + obj.getName()) ;
-	    // Connect to object
+		if (DEBUG)
+			Log.d(TAG, "Retrieving object: " + obj.getName());
 
-	    // TODO: Does this need to stay here permanently?  This appears to be used for setup mainly
-	    obj.addTransactionCompleted(new Observer() {
+		// TODO: Does this need to stay here permanently? This appears to be
+		// used for setup mainly
+		obj.addTransactionCompleted(new Observer() {
 			@Override
 			public void update(Observable observable, Object data) {
 				UAVObject.TransactionResult result = (UAVObject.TransactionResult) data;
-				if (DEBUG) Log.d(TAG,"Got transaction completed event from " + result.obj.getName() + " status: " + result.success);
+				if (DEBUG)
+					Log.d(TAG, "Got transaction completed event from "
+							+ result.obj.getName() + " status: "
+							+ result.success);
 				try {
 					transactionCompleted(result.obj, result.success);
 				} catch (IOException e) {
-					// When the telemetry stream is broken disconnect these updates
+					// When the telemetry stream is broken disconnect these
+					// updates
 					observable.deleteObserver(this);
 				}
 			}
-	    });
+		});
 
-	    // Request update
-	    tel.updateRequested(obj);
-//	    objPending = obj;
+		// Request update
+		tel.updateRequested(obj);
 	}
 
 	/**
 	 * Called by the retrieved object when a transaction is completed.
+	 *
 	 * @throws IOException
 	 */
-	public synchronized void transactionCompleted(UAVObject obj, boolean success) throws IOException
-	{
-	    //QMutexLocker locker(mutex);
-	    // Disconnect from sending object
-		if (DEBUG) Log.d(TAG,"transactionCompleted.  Status: " + success);
-		// TODO: Need to be able to disconnect signals
-	    //obj->disconnect(this);
-//	    objPending = null;
+	public synchronized void transactionCompleted(UAVObject obj, boolean success)
+			throws IOException {
+		if (DEBUG)
+			Log.d(TAG, "transactionCompleted.  Status: " + success);
 
-	    if(!success) {
-	    	//Log.e(TAG, "Transaction failed: " + obj.getName() + " sending again.");
-	    	return;
-	    }
+		if (!success) {
+			// Right now success = false means received a NAK so don't
+			// re-attempt
+			Log.e(TAG, "Transaction failed.");
+		}
 
-	    // Process next object if telemetry is still available
-	    if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
-	    {
-	        retrieveNextObject();
-	    }
-	    else
-	    {
-	        stopRetrievingObjects();
-	    }
+		// Process next object if telemetry is still available
+		if (((String) gcsStatsObj.getField("Status").getValue())
+				.compareTo("Connected") == 0) {
+			retrieveNextObject();
+		} else {
+			stopRetrievingObjects();
+		}
 	}
 
 	/**
 	 * Called each time the flight stats object is updated by the autopilot
+	 *
 	 * @throws IOException
 	 */
-	public synchronized void flightStatsUpdated(UAVObject obj) throws IOException
-	{
-	    // Force update if not yet connected
-	    gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
-	    flightStatsObj = objMngr.getObject("FlightTelemetryStats");
-	    if (DEBUG) Log.d(TAG,"GCS Status: " + gcsStatsObj.getField("Status").getValue());
-	    if (DEBUG) Log.d(TAG,"Flight Status: " + flightStatsObj.getField("Status").getValue());
-	    if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 ||
-	    		((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0 )
-	    {
-	        processStatsUpdates();
-	    }
+	public synchronized void flightStatsUpdated(UAVObject obj)
+			throws IOException {
+		// Force update if not yet connected
+		gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
+		flightStatsObj = objMngr.getObject("FlightTelemetryStats");
+		if (DEBUG)
+			Log.d(TAG, "GCS Status: "
+					+ gcsStatsObj.getField("Status").getValue());
+		if (DEBUG)
+			Log.d(TAG, "Flight Status: "
+					+ flightStatsObj.getField("Status").getValue());
+		if (((String) gcsStatsObj.getField("Status").getValue())
+				.compareTo("Connected") != 0
+				|| ((String) flightStatsObj.getField("Status").getValue())
+						.compareTo("Connected") == 0) {
+			processStatsUpdates();
+		}
 	}
 
 	private long lastStatsTime;
+
 	/**
 	 * Called periodically to update the statistics and connection status.
+	 *
 	 * @throws IOException
 	 */
-	public synchronized void processStatsUpdates() throws IOException
-	{
-	    // Get telemetry stats
-		if (DEBUG) Log.d(TAG, "processStatsUpdates()");
-	    Telemetry.TelemetryStats telStats = tel.getStats();
+	public synchronized void processStatsUpdates() throws IOException {
+		// Get telemetry stats
+		if (DEBUG)
+			Log.d(TAG, "processStatsUpdates()");
+		Telemetry.TelemetryStats telStats = tel.getStats();
 
-	    if (DEBUG) Log.d(TAG, "processStatsUpdates() - stats reset");
+		if (DEBUG)
+			Log.d(TAG, "processStatsUpdates() - stats reset");
 
-	    // Need to compute time because this update is not regular enough
-	    float dT = (System.currentTimeMillis() - lastStatsTime) / 1000.0f;
-	    lastStatsTime = System.currentTimeMillis();
+		// Need to compute time because this update is not regular enough
+		float dT = (System.currentTimeMillis() - lastStatsTime) / 1000.0f;
+		lastStatsTime = System.currentTimeMillis();
 
-	    // Update stats object
-	    gcsStatsObj.getField("RxDataRate").setDouble( telStats.rxBytes / dT );
-	    gcsStatsObj.getField("TxDataRate").setDouble( telStats.txBytes / dT );
-	    UAVObjectField field = gcsStatsObj.getField("RxFailures");
-	    field.setDouble(field.getDouble() + telStats.rxErrors);
-	    field = gcsStatsObj.getField("TxFailures");
-	    field.setDouble(field.getDouble() + telStats.txErrors);
-	    field = gcsStatsObj.getField("TxRetries");
-	    field.setDouble(field.getDouble() + telStats.txRetries);
+		// Update stats object
+		gcsStatsObj.getField("RxDataRate").setDouble(telStats.rxBytes / dT);
+		gcsStatsObj.getField("TxDataRate").setDouble(telStats.txBytes / dT);
+		UAVObjectField field = gcsStatsObj.getField("RxFailures");
+		field.setDouble(field.getDouble() + telStats.rxErrors);
+		field = gcsStatsObj.getField("TxFailures");
+		field.setDouble(field.getDouble() + telStats.txErrors);
+		field = gcsStatsObj.getField("TxRetries");
+		field.setDouble(field.getDouble() + telStats.txRetries);
 
-	    tel.resetStats();
+		tel.resetStats();
 
-	    if (DEBUG) Log.d(TAG, "processStatsUpdates() - stats updated");
+		if (DEBUG)
+			Log.d(TAG, "processStatsUpdates() - stats updated");
 
-	    // Check for a connection timeout
-	    boolean connectionTimeout;
-	    if ( telStats.rxObjects > 0 )
-	    {
-	    	lastUpdateTime = System.currentTimeMillis();
+		// Check for a connection timeout
+		boolean connectionTimeout;
+		if (telStats.rxObjects > 0) {
+			lastUpdateTime = System.currentTimeMillis();
 
-	    }
-	    if ( (System.currentTimeMillis() - lastUpdateTime) > CONNECTION_TIMEOUT_MS  )
-	    {
-	        connectionTimeout = true;
-	    }
-	    else
-	    {
-	        connectionTimeout = false;
-	    }
+		}
+		if ((System.currentTimeMillis() - lastUpdateTime) > CONNECTION_TIMEOUT_MS) {
+			connectionTimeout = true;
+		} else {
+			connectionTimeout = false;
+		}
 
-	    // Update connection state
-	    gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
-	    flightStatsObj = objMngr.getObject("FlightTelemetryStats");
-	    if(gcsStatsObj == null) {
-	    	System.out.println("No GCS stats yet");
-	    	return;
-	    }
-	    UAVObjectField statusField = gcsStatsObj.getField("Status");
-	    String oldStatus = new String((String) statusField.getValue());
+		// Update connection state
+		gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
+		flightStatsObj = objMngr.getObject("FlightTelemetryStats");
+		if (gcsStatsObj == null) {
+			Log.d(TAG, "No GCS stats yet");
+			return;
+		}
+		UAVObjectField statusField = gcsStatsObj.getField("Status");
+		String oldStatus = new String((String) statusField.getValue());
 
-	    if (DEBUG) Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
+		if (DEBUG)
+			Log.d(TAG, "GCS: " + statusField.getValue() + " Flight: "
+					+ flightStatsObj.getField("Status").getValue());
 
-	    if ( oldStatus.compareTo("Disconnected") == 0 )
-	    {
-	        // Request connection
-	    	statusField.setValue("HandshakeReq");
-	    }
-	    else if ( oldStatus.compareTo("HandshakeReq") == 0 )
-	    {
-	        // Check for connection acknowledge
-	        if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("HandshakeAck") == 0 )
-	        {
-	        	statusField.setValue("Connected");
-	        	if (DEBUG) Log.d(TAG,"Connected" + statusField.toString());
-	        }
-	    }
-	    else if ( oldStatus.compareTo("Connected") == 0 )
-	    {
-	        // Check if the connection is still active and the the autopilot is still connected
-	        if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("Disconnected") == 0 || connectionTimeout)
-	        {
-	        	statusField.setValue("Disconnected");
-	        }
-	    }
+		if (oldStatus.compareTo("Disconnected") == 0) {
+			// Request connection
+			statusField.setValue("HandshakeReq");
+		} else if (oldStatus.compareTo("HandshakeReq") == 0) {
+			// Check for connection acknowledge
+			if (((String) flightStatsObj.getField("Status").getValue())
+					.compareTo("HandshakeAck") == 0) {
+				statusField.setValue("Connected");
+				if (DEBUG)
+					Log.d(TAG, "Connected" + statusField.toString());
+			}
+		} else if (oldStatus.compareTo("Connected") == 0) {
+			// Check if the connection is still active and the the autopilot is
+			// still connected
+			if (((String) flightStatsObj.getField("Status").getValue())
+					.compareTo("Disconnected") == 0 || connectionTimeout) {
+				statusField.setValue("Disconnected");
+			}
+		}
 
-	    // Force telemetry update if not yet connected
-	    boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
+		// Force telemetry update if not yet connected
+		boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
 
-	    boolean gcsConnected = statusField.getValue().equals("Connected");
-	    boolean gcsDisconnected = statusField.getValue().equals("Disconnected");
-	    boolean flightConnected = flightStatsObj.getField("Status").equals("Connected");
+		boolean gcsConnected = statusField.getValue().equals("Connected");
+		boolean gcsDisconnected = statusField.getValue().equals("Disconnected");
+		boolean flightConnected = flightStatsObj.getField("Status").equals(
+				"Connected");
 
-	    if (  !gcsConnected || !flightConnected )
-	    {
-	    	if (DEBUG) Log.d(TAG,"Sending gcs status");
-	        gcsStatsObj.updated();
-	    }
+		if (!gcsConnected || !flightConnected) {
+			if (DEBUG)
+				Log.d(TAG, "Sending gcs status");
+			gcsStatsObj.updated();
+		}
 
-	    // Act on new connections or disconnections
-	    if (gcsConnected && gcsStatusChanged)
-	    {
-	    	if (DEBUG) Log.d(TAG,"Connection with the autopilot established");
-	    	setPeriod(STATS_UPDATE_PERIOD_MS);
-	    	connected = true;
-	    	objects_updated = false;
-	        startRetrievingObjects();
-	        setChanged();
-	    }
-	    if (gcsDisconnected && gcsStatusChanged)
-	    {
-	    	if (DEBUG) Log.d(TAG,"Trying to connect to the autopilot");
-	    	setPeriod(STATS_CONNECT_PERIOD_MS);
-	    	connected = false;
-	    	objects_updated = false;
-	        setChanged();
-	    }
+		// Act on new connections or disconnections
+		if (gcsConnected && gcsStatusChanged) {
+			if (DEBUG)
+				Log.d(TAG, "Connection with the autopilot established");
+			setPeriod(STATS_UPDATE_PERIOD_MS);
+			connected = true;
+			objects_updated = false;
+			startRetrievingObjects();
+			setChanged();
+		}
+		if (gcsDisconnected && gcsStatusChanged) {
+			if (DEBUG)
+				Log.d(TAG, "Trying to connect to the autopilot");
+			setPeriod(STATS_CONNECT_PERIOD_MS);
+			connected = false;
+			objects_updated = false;
+			setChanged();
+		}
 
-	    if (DEBUG) Log.d(TAG, "processStatsUpdates() - before notify");
-        notifyObservers();
-        if (DEBUG) Log.d(TAG, "processStatsUpdates() - after notify");
+		if (DEBUG)
+			Log.d(TAG, "processStatsUpdates() - before notify");
+		notifyObservers();
+		if (DEBUG)
+			Log.d(TAG, "processStatsUpdates() - after notify");
 	}
 
 	private void setPeriod(int ms) {
-		if(periodicTask == null)
-		    periodicTask = new Timer();
+		if (periodicTask == null)
+			periodicTask = new Timer();
 
 		periodicTask.cancel();
 		currentPeriod = ms;
 		periodicTask = new Timer();
-	    periodicTask.scheduleAtFixedRate(new TimerTask() {
+		periodicTask.scheduleAtFixedRate(new TimerTask() {
 			@Override
 			public void run() {
 				try {
 					processStatsUpdates();
 				} catch (IOException e) {
-					// Once the stream has died stop trying to process these updates
+					// Once the stream has died stop trying to process these
+					// updates
 					periodicTask.cancel();
 				}
 			}
-	    }, currentPeriod, currentPeriod);
+		}, currentPeriod, currentPeriod);
 	}
 
-	public void stopMonitor()
-	{
+	public void stopMonitor() {
 		periodicTask.cancel();
 		periodicTask = null;
 	}

From 92209f8e42b77629d7f17abf015fb2c2dbb7ea46 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 02:00:55 -0500
Subject: [PATCH 347/543] AndroidGCS bugfix: Missed a break in a case
 statement.

---
 androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index 5fb701b34..d07fdf6fd 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -174,9 +174,10 @@ public class UAVObjectField {
             		Integer val = (Integer) getValue(index);
             		dataOut.put(val.byteValue());
             	}
+            	break;
             case STRING:
             	// TODO: Implement strings
-            	throw new Error("Strings not yet implemented");
+            	throw new Error("Strings not yet implemented.  Field name: " + getName());
         }
         // Done
         return getNumBytes();

From 4bcac07c8cd420a78afaf81ccb4b940275c1c30b Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 02:01:27 -0500
Subject: [PATCH 348/543] AndroidGCS: Because right now the object updated
 callbacks are not diconnected when an activity goes away we need to check the
 view is valid when processing the object callbacks.

---
 .../androidgcs/fragments/SystemAlarmsFragment.java     | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/androidgcs/src/org/openpilot/androidgcs/fragments/SystemAlarmsFragment.java b/androidgcs/src/org/openpilot/androidgcs/fragments/SystemAlarmsFragment.java
index e311e7249..1bcbfee63 100644
--- a/androidgcs/src/org/openpilot/androidgcs/fragments/SystemAlarmsFragment.java
+++ b/androidgcs/src/org/openpilot/androidgcs/fragments/SystemAlarmsFragment.java
@@ -30,6 +30,7 @@ import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectField;
 import org.openpilot.uavtalk.UAVObjectManager;
 
+import android.app.Activity;
 import android.os.Bundle;
 import android.util.Log;
 import android.view.LayoutInflater;
@@ -72,7 +73,16 @@ public class SystemAlarmsFragment extends ObjectManagerFragment {
 		if (DEBUG)
 			Log.d(TAG, "Updated");
 		if (obj.getName().compareTo("SystemAlarms") == 0) {
+			Activity activity = getActivity();
+			if (activity == null) {
+				// TODO: Need to unregister all the callbacks
+				return;
+			}
 			TextView alarms = (TextView) getActivity().findViewById(R.id.system_alarms_fragment_field);
+			if (alarms == null) {
+				// TODO: Need to figure out how to unregister all the callbacks
+				return;
+			}
 			UAVObjectField a = obj.getField("Alarm");
 			List<String> names = a.getElementNames();
 			String contents = new String();

From 1b8db4eeec3a9c801a54110a793e643e1c2f5753 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 02:09:58 -0500
Subject: [PATCH 349/543] AndroidGCS: When priority transmit queue is full this
 is not a reason to crash.

---
 androidgcs/src/org/openpilot/uavtalk/Telemetry.java | 1 -
 1 file changed, 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index af0b2ce3f..4ddb60fc1 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -487,7 +487,6 @@ public class Telemetry {
                 ++txErrors;
                 obj.transactionCompleted(false);
                 Log.w(TAG,"Telemetry: priority event queue is full, event lost " + obj.getName());
-               new Exception().printStackTrace();
             }
         }
         else

From 749d695f4d3e44e6cea425ba95e0b62a0c0b5859 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 08:49:40 -0500
Subject: [PATCH 350/543] AndroidGCS: ObjectManagerActivity maintains a list of
 objects it is getting updates from and disconnects them on onStop().  This
 should probably move to onPause / onResume

---
 .../androidgcs/ObjectManagerActivity.java     | 33 +++++++++++++++++--
 1 file changed, 30 insertions(+), 3 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index cfdcb26b4..55fc8ea6c 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -29,10 +29,13 @@
  */
 package org.openpilot.androidgcs;
 
+import java.util.HashMap;
+import java.util.Iterator;
 import java.util.List;
 import java.util.ListIterator;
 import java.util.Observable;
 import java.util.Observer;
+import java.util.Set;
 
 import org.openpilot.androidgcs.fragments.ObjectManagerFragment;
 import org.openpilot.androidgcs.telemetry.OPTelemetryService;
@@ -128,13 +131,31 @@ public abstract class ObjectManagerActivity extends Activity {
 	 *
 	 * the objectUpdated() method will be called in the original UI thread
 	 */
+	HashMap<Observer, UAVObject> listeners = new HashMap<Observer,UAVObject>();
 	protected void registerObjectUpdates(UAVObject object) {
-		object.addUpdatedObserver(new ActivityUpdatedObserver(object));
+		Observer o = new ActivityUpdatedObserver(object);
+		object.addUpdatedObserver(o);
+		listeners.put(o,  object);
+	}
+	/**
+	 * Unregister all the objects connected to this activity
+	 */
+	protected void unregisterObjectUpdates()
+	{
+		Set<Observer> s = listeners.keySet();
+		Iterator<Observer> i = s.iterator();
+		while (i.hasNext()) {
+			Observer o = i.next();
+			UAVObject obj = listeners.get(o);
+			obj.removeUpdatedObserver(o);
+		}
+		listeners.clear();
 	}
-
 	public void registerObjectUpdates(UAVObject object,
 			ObjectManagerFragment frag) {
-		object.addUpdatedObserver(new FragmentUpdatedObserver(object, frag));
+		Observer o = new FragmentUpdatedObserver(object, frag);
+		object.addUpdatedObserver(o);
+		listeners.put(o, object);
 	}
 	protected void registerObjectUpdates(List<List<UAVObject>> objects) {
 		ListIterator<List<UAVObject>> li = objects.listIterator();
@@ -206,6 +227,9 @@ public abstract class ObjectManagerActivity extends Activity {
 
 		// Providing a null update triggers a disconnect on fragments
 		connectionListeners.disconnected();
+
+		// Disconnect from any UAVO updates
+		unregisterObjectUpdates();
 	}
 
 	@Override
@@ -294,6 +318,9 @@ public abstract class ObjectManagerActivity extends Activity {
 		unbindService(mConnection);
 		unregisterReceiver(connectedReceiver);
 		connectedReceiver = null;
+
+		// Disconnect from any UAVO updates
+		unregisterObjectUpdates();
 	}
 
 	public void onBind() {

From 176922f41cb9360f0b6fcd77e547daba6dd87f3d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 08:53:29 -0500
Subject: [PATCH 351/543] AndroidGCS: Also make the map disconnect its
 listeners.

---
 .../org/openpilot/androidgcs/UAVLocation.java | 138 +++++++++++++-----
 1 file changed, 104 insertions(+), 34 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
index 150773167..ffb3e427c 100644
--- a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
+++ b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
@@ -23,14 +23,18 @@
 
 package org.openpilot.androidgcs;
 
+import java.util.HashMap;
+import java.util.Iterator;
 import java.util.List;
+import java.util.ListIterator;
 import java.util.Observable;
 import java.util.Observer;
+import java.util.Set;
 
+import org.openpilot.androidgcs.fragments.ObjectManagerFragment;
 import org.openpilot.androidgcs.telemetry.OPTelemetryService;
 import org.openpilot.androidgcs.telemetry.OPTelemetryService.LocalBinder;
 import org.openpilot.androidgcs.telemetry.OPTelemetryService.TelemTask;
-import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectManager;
 
@@ -46,6 +50,7 @@ import android.graphics.Canvas;
 import android.graphics.Paint;
 import android.graphics.Point;
 import android.os.Bundle;
+import android.os.Handler;
 import android.os.IBinder;
 import android.util.Log;
 import android.view.Menu;
@@ -163,40 +168,10 @@ public class UAVLocation extends MapActivity
 
 	void onOPConnected() {
 		UAVObject obj = objMngr.getObject("HomeLocation");
-		if(obj != null)
-			obj.addUpdatedObserver(new Observer() {
-				@Override
-				public void update(Observable observable, Object data) {
-					UAVDataObject obj = (UAVDataObject) data;
-					Double lat = obj.getField("Latitude").getDouble() / 10;
-					Double lon = obj.getField("Longitude").getDouble() / 10;
-					homeLocation = new GeoPoint(lat.intValue(), lon.intValue());
-					runOnUiThread(new Runnable() {
-						@Override
-						public void run() {
-							mapController.setCenter(homeLocation);
-						}
-					});
-					System.out.println("HomeLocation: " + homeLocation.toString());
-				}
-			});
-		obj.updateRequested();
+		registerObjectUpdates(obj);
 
 		obj = objMngr.getObject("PositionActual");
-		if(obj != null)
-			obj.addUpdatedObserver(new Observer() {
-				@Override
-				public void update(Observable observable, Object data) {
-					uavLocation = getUavLocation();
-					runOnUiThread(new Runnable() {
-						@Override
-						public void run() {
-							mapView.invalidate();
-						}
-					});
-				}
-			});
-
+		registerObjectUpdates(obj);
 	}
 
 	private GeoPoint getUavLocation() {
@@ -231,7 +206,7 @@ public class UAVLocation extends MapActivity
 	}
 
 	void onOPDisconnected() {
-
+		unregisterObjectUpdates();
 	}
 
 	@Override
@@ -307,6 +282,9 @@ public class UAVLocation extends MapActivity
 		unbindService(mConnection);
 		unregisterReceiver(connectedReceiver);
 		connectedReceiver = null;
+
+		// TODO: The register and unregister probably should move to onPause / onResume
+		unregisterObjectUpdates();
 	}
 
 	public void onBind() {
@@ -344,4 +322,96 @@ public class UAVLocation extends MapActivity
 			onOPDisconnected();
 		}
 	};
+
+/******* STRAIGHT COPY PASTE FROM ObjectManagerActivity *************/
+	/**
+	 * Called whenever any objects subscribed to via registerObjects
+	 */
+	protected void objectUpdated(UAVObject obj) {
+		if (obj == null)
+			return;
+		if (obj.getName().compareTo("HomeLocation") == 0) {
+			Double lat = obj.getField("Latitude").getDouble() / 10;
+			Double lon = obj.getField("Longitude").getDouble() / 10;
+			homeLocation = new GeoPoint(lat.intValue(), lon.intValue());
+			mapController.setCenter(homeLocation);
+		} else if (obj.getName().compareTo("PositionActual") == 0) {
+			uavLocation = getUavLocation();
+			mapView.invalidate();
+		}
+	}
+
+	/**
+	 * A message handler and a custom Observer to use it which calls
+	 * objectUpdated with the right object type
+	 */
+	final Handler uavobjHandler = new Handler();
+	private class ActivityUpdatedObserver implements Observer  {
+		UAVObject obj;
+		ActivityUpdatedObserver(UAVObject obj) { this.obj = obj; };
+		@Override
+		public void update(Observable observable, Object data) {
+			uavobjHandler.post(new Runnable() {
+				@Override
+				public void run() { objectUpdated(obj); }
+			});
+		}
+	};
+	private class FragmentUpdatedObserver implements Observer  {
+		UAVObject obj;
+		ObjectManagerFragment frag;
+		FragmentUpdatedObserver(UAVObject obj, ObjectManagerFragment frag) {
+			this.obj = obj;
+			this.frag = frag;
+		};
+		@Override
+		public void update(Observable observable, Object data) {
+			uavobjHandler.post(new Runnable() {
+				@Override
+				public void run() { frag.objectUpdated(obj); }
+			});
+		}
+	};
+
+
+	/**
+	 * Register an activity to receive updates from this object
+	 *
+	 * the objectUpdated() method will be called in the original UI thread
+	 */
+	HashMap<Observer, UAVObject> listeners = new HashMap<Observer,UAVObject>();
+	protected void registerObjectUpdates(UAVObject object) {
+		Observer o = new ActivityUpdatedObserver(object);
+		object.addUpdatedObserver(o);
+		listeners.put(o,  object);
+	}
+	/**
+	 * Unregister all the objects connected to this activity
+	 */
+	protected void unregisterObjectUpdates()
+	{
+		Set<Observer> s = listeners.keySet();
+		Iterator<Observer> i = s.iterator();
+		while (i.hasNext()) {
+			Observer o = i.next();
+			UAVObject obj = listeners.get(o);
+			obj.removeUpdatedObserver(o);
+		}
+		listeners.clear();
+	}
+	public void registerObjectUpdates(UAVObject object,
+			ObjectManagerFragment frag) {
+		Observer o = new FragmentUpdatedObserver(object, frag);
+		object.addUpdatedObserver(o);
+		listeners.put(o, object);
+	}
+	protected void registerObjectUpdates(List<List<UAVObject>> objects) {
+		ListIterator<List<UAVObject>> li = objects.listIterator();
+		while(li.hasNext()) {
+			ListIterator<UAVObject> li2 = li.next().listIterator();
+			while(li2.hasNext())
+				registerObjectUpdates(li2.next());
+		}
+	}
+
 }

From 29d5365f0a1af8a1c4398f3316d531b7c07a8413 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 09:48:10 -0500
Subject: [PATCH 352/543] AndroidGCS: More refactoring of
 ObjectManagerActivity.  Now the updates are disconnected on pause and
 reestabilished on resume.  This only happens within an
 onConnected/onDisconnected life cycle.

---
 .../androidgcs/ObjectManagerActivity.java     | 327 ++++++++++++------
 1 file changed, 216 insertions(+), 111 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
index 55fc8ea6c..8cd89e8d8 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java
@@ -32,11 +32,11 @@ package org.openpilot.androidgcs;
 import java.util.HashMap;
 import java.util.Iterator;
 import java.util.List;
-import java.util.ListIterator;
 import java.util.Observable;
 import java.util.Observer;
 import java.util.Set;
 
+import org.junit.Assert;
 import org.openpilot.androidgcs.fragments.ObjectManagerFragment;
 import org.openpilot.androidgcs.telemetry.OPTelemetryService;
 import org.openpilot.androidgcs.telemetry.OPTelemetryService.LocalBinder;
@@ -79,7 +79,8 @@ public abstract class ObjectManagerActivity extends Activity {
 	BroadcastReceiver connectedReceiver;
 	//! Indicate if this activity has already connected it's telemetry callbacks
 	private boolean telemetryStatsConnected = false;
-
+	//! Maintain a list of all the UAVObject listeners for this activity
+	private HashMap<Observer, UAVObject> listeners;
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
@@ -88,84 +89,12 @@ public abstract class ObjectManagerActivity extends Activity {
 
 	/**
 	 * Called whenever any objects subscribed to via registerObjects
+	 * whenever this Activity is not paused
 	 */
 	protected void objectUpdated(UAVObject obj) {
 
 	}
 
-	/**
-	 * A message handler and a custom Observer to use it which calls
-	 * objectUpdated with the right object type
-	 */
-	final Handler uavobjHandler = new Handler();
-	private class ActivityUpdatedObserver implements Observer  {
-		UAVObject obj;
-		ActivityUpdatedObserver(UAVObject obj) { this.obj = obj; };
-		@Override
-		public void update(Observable observable, Object data) {
-			uavobjHandler.post(new Runnable() {
-				@Override
-				public void run() { objectUpdated(obj); }
-			});
-		}
-	};
-	private class FragmentUpdatedObserver implements Observer  {
-		UAVObject obj;
-		ObjectManagerFragment frag;
-		FragmentUpdatedObserver(UAVObject obj, ObjectManagerFragment frag) {
-			this.obj = obj;
-			this.frag = frag;
-		};
-		@Override
-		public void update(Observable observable, Object data) {
-			uavobjHandler.post(new Runnable() {
-				@Override
-				public void run() { frag.objectUpdated(obj); }
-			});
-		}
-	};
-
-
-	/**
-	 * Register an activity to receive updates from this object
-	 *
-	 * the objectUpdated() method will be called in the original UI thread
-	 */
-	HashMap<Observer, UAVObject> listeners = new HashMap<Observer,UAVObject>();
-	protected void registerObjectUpdates(UAVObject object) {
-		Observer o = new ActivityUpdatedObserver(object);
-		object.addUpdatedObserver(o);
-		listeners.put(o,  object);
-	}
-	/**
-	 * Unregister all the objects connected to this activity
-	 */
-	protected void unregisterObjectUpdates()
-	{
-		Set<Observer> s = listeners.keySet();
-		Iterator<Observer> i = s.iterator();
-		while (i.hasNext()) {
-			Observer o = i.next();
-			UAVObject obj = listeners.get(o);
-			obj.removeUpdatedObserver(o);
-		}
-		listeners.clear();
-	}
-	public void registerObjectUpdates(UAVObject object,
-			ObjectManagerFragment frag) {
-		Observer o = new FragmentUpdatedObserver(object, frag);
-		object.addUpdatedObserver(o);
-		listeners.put(o, object);
-	}
-	protected void registerObjectUpdates(List<List<UAVObject>> objects) {
-		ListIterator<List<UAVObject>> li = objects.listIterator();
-		while(li.hasNext()) {
-			ListIterator<UAVObject> li2 = li.next().listIterator();
-			while(li2.hasNext())
-				registerObjectUpdates(li2.next());
-		}
-	}
-
 	private void updateStats() {
 		UAVObject stats = objMngr.getObject("GCSTelemetryStats");
 		TextView rxRate = (TextView) findViewById(R.id.telemetry_stats_rx_rate);
@@ -199,14 +128,21 @@ public abstract class ObjectManagerActivity extends Activity {
 		if ( telemetryStatsConnected )
 			return;
 
+		// Create a map for all the object updates register for this activity.  If anyone
+		// tries to register an object update before this a null exception will occur
+		listeners = new HashMap<Observer,UAVObject>();
+
 		// We are not using the objectUpdated mechanism in place so that all the children
 		// don't have to sort through the messages.
-		UAVObject stats = objMngr.getObject("GCSTelemetryStats");
-		if (stats == null)
-			return;
 
-		stats.addUpdatedObserver(telemetryObserver);
-		telemetryStatsConnected = true;
+		if (!telemetryStatsConnected) {
+			UAVObject stats = objMngr.getObject("GCSTelemetryStats");
+			if (stats == null)
+				return;
+
+			stats.addUpdatedObserver(telemetryObserver);
+			telemetryStatsConnected = true;
+		}
 		updateStats();
 
 		if (DEBUG) Log.d(TAG, "Notifying listeners about connection.  There are " + connectionListeners.countObservers());
@@ -228,44 +164,62 @@ public abstract class ObjectManagerActivity extends Activity {
 		// Providing a null update triggers a disconnect on fragments
 		connectionListeners.disconnected();
 
+		if (objMngr == null) {
+			Log.d(TAG, "onOPDisconnected(): Object manager already went away");
+			return;
+		}
+
+		if (telemetryStatsConnected) {
+			UAVObject stats = objMngr.getObject("GCSTelemetryStats");
+			if (stats != null) {
+				stats.removeUpdatedObserver(telemetryObserver);
+			}
+			telemetryStatsConnected = false;
+		}
+
 		// Disconnect from any UAVO updates
-		unregisterObjectUpdates();
+		if (DEBUG) Log.d(TAG, "onOpDisconnected(): Pausing the listeners and deleting the list");
+		pauseObjectUpdates();
+		listeners = null;
+	}
+
+
+	@Override
+	protected void onResume() {
+		super.onResume();
+
+		if (mConnected && !telemetryStatsConnected) {
+			UAVObject stats = objMngr.getObject("GCSTelemetryStats");
+			if (stats == null)
+				return;
+
+			stats.addUpdatedObserver(telemetryObserver);
+			telemetryStatsConnected = true;
+		}
+
+		resumeObjectUpdates();
 	}
 
 	@Override
-	public boolean onOptionsItemSelected(MenuItem item) {
-		if (!mBound || binder == null) {
-			Log.e(TAG, "Unable to connect to service");
-			return super.onOptionsItemSelected(item);
-		}
-		switch(item.getItemId()) {
-		case R.id.menu_connect:
-			binder.openConnection();
-			return true;
-		case R.id.menu_disconnect:
-			binder.stopConnection();
-			return true;
-		case R.id.menu_settings:
-			startActivity(new Intent(this, Preferences.class));
-			return true;
-		default:
-			return super.onOptionsItemSelected(item);
+	protected void onPause() {
+		super.onPause();
+
+		if (telemetryStatsConnected) {
+			UAVObject stats = objMngr.getObject("GCSTelemetryStats");
+			Assert.assertNotNull(stats); // Should not be null if we connected
+
+			stats.removeUpdatedObserver(telemetryObserver);
+			telemetryStatsConnected = false;
 		}
 
-	}
-
-	@Override
-	public boolean onCreateOptionsMenu(Menu menu) {
-		MenuInflater inflater = getMenuInflater();
-		inflater.inflate(R.menu.status_menu, menu);
-		inflater.inflate(R.menu.options_menu, menu);
-		return true;
+		pauseObjectUpdates();
 	}
 
 	@Override
 	public void onStart() {
 		super.onStart();
 		if (DEBUG) Log.d(TAG, "onStart()");
+
 		// Register a receiver to get connected/disconnected signals from the telemetry
 		// service
 		connectedReceiver = new BroadcastReceiver() {
@@ -284,9 +238,9 @@ public abstract class ObjectManagerActivity extends Activity {
 					onOPConnected();
 					Log.d(TAG, "Connected()");
 				} else if (intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_DISCONNECTED) == 0) {
+					onOPDisconnected();
 					objMngr = null;
 					mConnected = false;
-					onOPDisconnected();
 					Log.d(TAG, "Disonnected()");
 				}
 			}
@@ -320,13 +274,131 @@ public abstract class ObjectManagerActivity extends Activity {
 		connectedReceiver = null;
 
 		// Disconnect from any UAVO updates
-		unregisterObjectUpdates();
+		if (DEBUG) Log.d(TAG, "onStop(): Pausing the listeners and deleting the list");
+		pauseObjectUpdates();
+		listeners = null;
 	}
 
-	public void onBind() {
+	/*********** This provides the object update messaging service ************/
+
+	/**
+	 * A message handler and a custom Observer to use it which calls
+	 * objectUpdated with the right object type
+	 */
+	final Handler uavobjHandler = new Handler();
+	private class ActivityUpdatedObserver implements Observer  {
+		UAVObject obj;
+		ActivityUpdatedObserver(UAVObject obj) { this.obj = obj; };
+		@Override
+		public void update(Observable observable, Object data) {
+			uavobjHandler.post(new Runnable() {
+				@Override
+				public void run() { objectUpdated(obj); }
+			});
+		}
+	};
+	private class FragmentUpdatedObserver implements Observer  {
+		UAVObject obj;
+		ObjectManagerFragment frag;
+		FragmentUpdatedObserver(UAVObject obj, ObjectManagerFragment frag) {
+			this.obj = obj;
+			this.frag = frag;
+		};
+		@Override
+		public void update(Observable observable, Object data) {
+			uavobjHandler.post(new Runnable() {
+				@Override
+				public void run() { frag.objectUpdated(obj); }
+			});
+		}
+	};
+
+	/**
+	 * Unregister all the objects connected to this activity
+	 */
+	private boolean paused = false;
+
+	/**
+	 * When an activity is paused, disconnect from all
+	 * updates to ensure we don't draw to an invalid view
+	 */
+	protected void pauseObjectUpdates()
+	{
+		// When listeners is null then a pause occurred after
+		// disconnecting from the service
+		if (listeners == null)
+			return;
+
+		Set<Observer> s = listeners.keySet();
+		Iterator<Observer> i = s.iterator();
+		while (i.hasNext()) {
+			Observer o = i.next();
+			UAVObject obj = listeners.get(o);
+			obj.removeUpdatedObserver(o);
+		}
+		paused = true;
 
 	}
 
+	/**
+	 * When an activity is resumed, reconnect all now the view
+	 * is valid again
+	 */
+	protected void resumeObjectUpdates()
+	{
+		// When listeners is null this is the resume at the beginning
+		// before connecting to the telemetry service
+		if(listeners == null)
+			return;
+
+		Set<Observer> s = listeners.keySet();
+		Iterator<Observer> i = s.iterator();
+		while (i.hasNext()) {
+			Observer o = i.next();
+			UAVObject obj = listeners.get(o);
+			obj.addUpdatedObserver(o);
+		}
+		paused = false;
+	}
+
+	/**
+	 * Register to listen to a single object from a fragment
+	 * @param object The object to listen to updates from
+	 * @param frag The fragment who should be notified
+ 	 * the objectUpdated() method will be called in the original UI thread
+	 */
+	public void registerObjectUpdates(UAVObject object,
+			ObjectManagerFragment frag) {
+		Observer o = new FragmentUpdatedObserver(object, frag);
+		listeners.put(o, object);
+		if (!paused)
+			object.addUpdatedObserver(o);
+	}
+
+	/**
+	 * Register an activity to receive updates from this object
+	 * @param object The object the activity should listen to updates from
+ 	 * the objectUpdated() method will be called in the original UI thread
+	 */
+	protected void registerObjectUpdates(UAVObject object) {
+		Observer o = new ActivityUpdatedObserver(object);
+		listeners.put(o,  object);
+		if (!paused)
+			object.addUpdatedObserver(o);
+	}
+
+	/**
+	 * Helper method to register array of objects
+	 */
+	protected void registerObjectUpdates(List<List<UAVObject>> objects) {
+		for (int i = 0; i < objects.size(); i++) {
+			List<UAVObject> inner = objects.get(i);
+			for (int j = 0; j < inner.size(); j++)
+				registerObjectUpdates(inner.get(j));
+		}
+	}
+
+	/*********** Deals with fragments listening for connections ***************/
 
 	/**
 	 * Callbacks so ObjectManagerFragments get the onOPConnected and onOPDisconnected signals
@@ -363,7 +435,6 @@ public abstract class ObjectManagerActivity extends Activity {
 		}
 
 	} ;
-
 	public void addOnConnectionListenerFragment(ObjectManagerFragment frag) {
 		connectionListeners.addObserver(new OnConnectionListener(frag));
 		if (DEBUG) Log.d(TAG, "Connecting " + frag + " there are now " + connectionListeners.countObservers());
@@ -372,6 +443,8 @@ public abstract class ObjectManagerActivity extends Activity {
 	}
 
 
+	/*********** Deals with (dis)connection to telemetry service ***************/
+
 	/** Defines callbacks for service binding, passed to bindService() */
 	private final ServiceConnection mConnection = new ServiceConnection() {
 		@Override
@@ -394,13 +467,45 @@ public abstract class ObjectManagerActivity extends Activity {
 
 		@Override
 		public void onServiceDisconnected(ComponentName name) {
+			onOPDisconnected();
 			mBound = false;
 			binder = null;
 			mConnected = false;
 			objMngr = null;
 			objMngr = null;
 			mConnected = false;
-			onOPDisconnected();
 		}
 	};
+
+	/************* Deals with menus *****************/
+	@Override
+	public boolean onOptionsItemSelected(MenuItem item) {
+		if (!mBound || binder == null) {
+			Log.e(TAG, "Unable to connect to service");
+			return super.onOptionsItemSelected(item);
+		}
+		switch(item.getItemId()) {
+		case R.id.menu_connect:
+			binder.openConnection();
+			return true;
+		case R.id.menu_disconnect:
+			binder.stopConnection();
+			return true;
+		case R.id.menu_settings:
+			startActivity(new Intent(this, Preferences.class));
+			return true;
+		default:
+			return super.onOptionsItemSelected(item);
+		}
+
+	}
+
+	@Override
+	public boolean onCreateOptionsMenu(Menu menu) {
+		MenuInflater inflater = getMenuInflater();
+		inflater.inflate(R.menu.status_menu, menu);
+		inflater.inflate(R.menu.options_menu, menu);
+		return true;
+	}
+
 }

From 6b9b49734ec5ece501b3ccc4ff26709a11b1b028 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 10:14:25 -0500
Subject: [PATCH 353/543] Check there is an active telemetry before trying to
 disconnect it

---
 .../androidgcs/telemetry/OPTelemetryService.java  | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
index 58bfc8918..2e518b7e0 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
@@ -140,14 +140,15 @@ public class OPTelemetryService extends Service {
 		case MSG_DISCONNECT:
 			Toast.makeText(getApplicationContext(), "Disconnect requested", Toast.LENGTH_SHORT).show();
 			terminate = true;
-			activeTelem.interrupt();
-			try {
-				activeTelem.join();
-			} catch (InterruptedException e) {
-				e.printStackTrace();
+			if (activeTelem != null) {
+				activeTelem.interrupt();
+				try {
+					activeTelem.join();
+				} catch (InterruptedException e) {
+					e.printStackTrace();
+				}
+				activeTelem = null;
 			}
-			activeTelem = null;
-
 			Intent intent = new Intent();
 			intent.setAction(INTENT_ACTION_DISCONNECTED);
 			sendBroadcast(intent,null);

From 6ebf4fe87cbcf5c4d914742d4d437ebe0d3a6c03 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 14:18:41 -0500
Subject: [PATCH 354/543] AndroidGCS UAVTalk: Pretty thorough clean up focused
 on how transactions are handled at the UAVTalk level where there can only be
 one pending transaction on the wire.

---
 .../src/org/openpilot/uavtalk/Telemetry.java  |  23 +-
 .../openpilot/uavtalk/TelemetryMonitor.java   |   9 +-
 .../src/org/openpilot/uavtalk/UAVTalk.java    | 486 ++++++++++--------
 3 files changed, 297 insertions(+), 221 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 4ddb60fc1..0941a9b72 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -118,7 +118,7 @@ public class Telemetry {
 			@Override
 			void TransactionSucceeded(UAVObject data) {
 	        	try {
-					transactionCompleted(data);
+					transactionCompleted(data, true);
 				} catch (IOException e) {
 					// Disconnect when stream fails
 					utalk.setOnTransactionCompletedListener(null);
@@ -127,8 +127,8 @@ public class Telemetry {
 			@Override
 			void TransactionFailed(UAVObject data) {
 	        	try {
-	        		Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
-					transactionCompleted(data);
+	        		if (DEBUG) Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
+					transactionCompleted(data, false);
 				} catch (IOException e) {
 					// Disconnect when stream fails
 					utalk.setOnTransactionCompletedListener(null);
@@ -376,7 +376,7 @@ public class Telemetry {
      * Called when a transaction is successfully completed (uavtalk event)
      * @throws IOException
      */
-    private synchronized void transactionCompleted(UAVObject obj) throws IOException
+    private synchronized void transactionCompleted(UAVObject obj, boolean result) throws IOException
     {
     	if (DEBUG) Log.d(TAG,"UAVTalk transactionCompleted");
         // Check if there is a pending transaction and the objects match
@@ -386,8 +386,9 @@ public class Telemetry {
             // Complete transaction
         	transTimer.cancel();
             transPending = false;
-            // Send signal
-            obj.transactionCompleted(true);
+
+            //Send signal
+            obj.transactionCompleted(result);
             // Process new object updates from queue
             processObjectQueue();
         } else
@@ -416,13 +417,9 @@ public class Telemetry {
             }
             else
             {
-                // Terminate transaction
-                utalk.cancelTransaction();
-                transPending = false;
-                // Send signal
-                transInfo.obj.transactionCompleted(false);
-                // Process new object updates from queue
-                processObjectQueue();
+                // Terminate transaction.  This triggers UAVTalk to send a transaction
+            	// failed signal which will make the next queue entry be processed
+                //utalk.cancelPendingTransaction();
                 ++txErrors;
             }
         }
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index 59358a660..3a44cc535 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -39,9 +39,10 @@ import android.util.Log;
 public class TelemetryMonitor extends Observable {
 
 	private static final String TAG = "TelemetryMonitor";
-	public static int LOGLEVEL = 0;
-	public static boolean WARN = LOGLEVEL > 1;
-	public static boolean DEBUG = LOGLEVEL > 0;
+	public static final int LOGLEVEL = 0;
+	public static boolean DEBUG = LOGLEVEL > 2;
+	public static final boolean WARN = LOGLEVEL > 1;
+	public static final boolean ERROR = LOGLEVEL > 0;
 
 	static final int STATS_UPDATE_PERIOD_MS = 4000;
 	static final int STATS_CONNECT_PERIOD_MS = 1000;
@@ -208,7 +209,7 @@ public class TelemetryMonitor extends Observable {
 		if (!success) {
 			// Right now success = false means received a NAK so don't
 			// re-attempt
-			Log.e(TAG, "Transaction failed.");
+			if (ERROR) Log.e(TAG, "Transaction failed.");
 		}
 
 		// Process next object if telemetry is still available
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 722e96560..190dbfaf9 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -106,9 +106,13 @@ public class UAVTalk {
 
 	static final int TYPE_MASK = 0xF8;
 	static final int TYPE_VER = 0x20;
+	//! Packet contains an object
 	static final int TYPE_OBJ = (TYPE_VER | 0x00);
+	//! Packet is a request for an object
 	static final int TYPE_OBJ_REQ = (TYPE_VER | 0x01);
+	//! Packet is an object with a request for an ack
 	static final int TYPE_OBJ_ACK = (TYPE_VER | 0x02);
+	//! Packet is an ack for an object
 	static final int TYPE_ACK = (TYPE_VER | 0x03);
 	static final int TYPE_NACK = (TYPE_VER | 0x04);
 
@@ -135,8 +139,14 @@ public class UAVTalk {
 	OutputStream outStream;
 	UAVObjectManager objMngr;
 
+	//! Currently only one UAVTalk transaction is permitted at a time.  If this is null none are in process
+	//! otherwise points to the pending object
 	UAVObject respObj;
+	//! If the pending transaction is for all the instances
 	boolean respAllInstances;
+	//! The type of response we are expecting
+	int respType;
+
 	// Variables used by the receive state machine
 	ByteBuffer rxTmpBuffer /* 4 */;
 	ByteBuffer rxBuffer;
@@ -234,7 +244,6 @@ public class UAVTalk {
 	 * @throws IOException
 	 */
 	public boolean sendObjectRequest(UAVObject obj, boolean allInstances) throws IOException {
-		// QMutexLocker locker(mutex);
 		return objectTransaction(obj, TYPE_OBJ_REQ, allInstances);
 	}
 
@@ -245,8 +254,7 @@ public class UAVTalk {
 	 * Success (true), Failure (false)
 	 * @throws IOException
 	 */
-	public synchronized boolean sendObject(UAVObject obj, boolean acked,
-			boolean allInstances) throws IOException {
+	public boolean sendObject(UAVObject obj, boolean acked, boolean allInstances) throws IOException {
 		if (acked) {
 			return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
 		} else {
@@ -255,10 +263,46 @@ public class UAVTalk {
 	}
 
 	/**
-	 * Cancel a pending transaction
+	 * UAVTalk takes care of it's own transactions but if the caller knows
+	 * it wants to give up on one (after a timeout) then it can cancel it
+	 * @return True if that object was pending, False otherwise
 	 */
-	public synchronized void cancelTransaction() {
+	public synchronized boolean cancelPendingTransaction(UAVObject obj) {
+		if(respObj != null && respObj.getObjID() == obj.getObjID()) {
+			if(transactionListener != null) {
+				Log.d(TAG,"Canceling transaction: " + respObj.getName());
+				transactionListener.TransactionFailed(respObj);
+			}
+			respObj = null;
+			return true;
+		} else
+			return false;
+	}
+
+	/**
+	 * Cancel a pending transaction.  If there is a pending transaction and
+	 * a listener then notify them that the transaction failed.
+	 */
+	/*private synchronized void cancelPendingTransaction() {
+		if(respObj != null && transactionListener != null) {
+			Log.d(TAG,"Canceling transaction: " + respObj.getName());
+			transactionListener.TransactionFailed(respObj);
+		}
 		respObj = null;
+	}*/
+
+	/**
+	 * This is the code that sets up a new UAVTalk packet that expects a response.
+	 */
+	private synchronized void setupTransaction(UAVObject obj, boolean allInstances, int type) {
+
+		// Only cancel if it is for a different object
+		if(respObj != null && respObj.getObjID() != obj.getObjID())
+			cancelPendingTransaction(obj);
+
+		respObj = obj;
+		respAllInstances = allInstances;
+		respType = type;
 	}
 
 	/**
@@ -269,21 +313,9 @@ public class UAVTalk {
 	 * Success (true), Failure (false)
 	 * @throws IOException
 	 */
-	public boolean objectTransaction(UAVObject obj, int type,
-			boolean allInstances) throws IOException {
-		// Send object depending on if a response is needed
-		if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ) {
-			if (transmitObject(obj, type, allInstances)) {
-				if(type == TYPE_OBJ_REQ)
-					if (ERROR) Log.e(TAG, "Sending obj req");
-				respObj = obj;
-				respAllInstances = allInstances;
-				return true;
-			} else {
-				return false;
-			}
-		} else if (type == TYPE_OBJ) {
-			return transmitObject(obj, TYPE_OBJ, allInstances);
+	private synchronized boolean objectTransaction(UAVObject obj, int type, boolean allInstances) throws IOException {
+		if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ || type == TYPE_OBJ) {
+			return transmitObject(obj, type, allInstances);
 		} else {
 			return false;
 		}
@@ -294,207 +326,210 @@ public class UAVTalk {
 	 * byte \return Success (true), Failure (false)
 	 * @throws IOException
 	 */
-	public synchronized boolean processInputByte(int rxbyte) throws IOException {
+	public boolean processInputByte(int rxbyte) throws IOException {
 		Assert.assertNotNull(objMngr);
 
-		// Update stats
-		stats.rxBytes++;
+		// Only need to synchronize this method on the state machine state
+		synchronized(rxState) {
+			// Update stats
+			stats.rxBytes++;
 
-		rxPacketLength++; // update packet byte count
+			rxPacketLength++; // update packet byte count
 
-		// Receive state machine
-		switch (rxState) {
-		case STATE_SYNC:
+			// Receive state machine
+			switch (rxState) {
+			case STATE_SYNC:
 
-			if (rxbyte != SYNC_VAL)
+				if (rxbyte != SYNC_VAL)
+					break;
+
+				// Initialize and update CRC
+				rxCS = updateCRC(0, rxbyte);
+
+				rxPacketLength = 1;
+
+				rxState = RxStateType.STATE_TYPE;
 				break;
 
-			// Initialize and update CRC
-			rxCS = updateCRC(0, rxbyte);
+			case STATE_TYPE:
 
-			rxPacketLength = 1;
+				// Update CRC
+				rxCS = updateCRC(rxCS, rxbyte);
 
-			rxState = RxStateType.STATE_TYPE;
-			break;
-
-		case STATE_TYPE:
-
-			// Update CRC
-			rxCS = updateCRC(rxCS, rxbyte);
-
-			if ((rxbyte & TYPE_MASK) != TYPE_VER) {
-				Log.e(TAG, "Unknown UAVTalk type:" + rxbyte);
-				rxState = RxStateType.STATE_SYNC;
-				break;
-			}
-
-			rxType = rxbyte;
-			if (VERBOSE) Log.v(TAG, "Received packet type: " + rxType);
-			packetSize = 0;
-
-			rxState = RxStateType.STATE_SIZE;
-			rxCount = 0;
-			break;
-
-		case STATE_SIZE:
-
-			// Update CRC
-			rxCS = updateCRC(rxCS, rxbyte);
-
-			if (rxCount == 0) {
-				packetSize += rxbyte;
-				rxCount++;
-				break;
-			}
-
-			packetSize += (rxbyte << 8) & 0xff00;
-
-			if (packetSize < MIN_HEADER_LENGTH
-					|| packetSize > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH) { // incorrect
-																				// packet
-																				// size
-				rxState = RxStateType.STATE_SYNC;
-				break;
-			}
-
-			rxCount = 0;
-			rxState = RxStateType.STATE_OBJID;
-			rxTmpBuffer.position(0);
-			break;
-
-		case STATE_OBJID:
-
-			// Update CRC
-			rxCS = updateCRC(rxCS, rxbyte);
-
-			rxTmpBuffer.put(rxCount++, (byte) (rxbyte & 0xff));
-			if (rxCount < 4)
-				break;
-
-			// Search for object, if not found reset state machine
-			rxObjId = rxTmpBuffer.getInt(0);
-			// Because java treats ints as only signed we need to do this manually
-			if (rxObjId < 0)
-				rxObjId = 0x100000000l + rxObjId;
-			{
-				UAVObject rxObj = objMngr.getObject(rxObjId);
-				if (rxObj == null) {
-					if (DEBUG) Log.d(TAG, "Unknown ID: " + rxObjId);
-					stats.rxErrors++;
+				if ((rxbyte & TYPE_MASK) != TYPE_VER) {
+					Log.e(TAG, "Unknown UAVTalk type:" + rxbyte);
 					rxState = RxStateType.STATE_SYNC;
 					break;
 				}
 
-				// Determine data length
-				if (rxType == TYPE_OBJ_REQ || rxType == TYPE_ACK || rxType == TYPE_NACK)
-					rxLength = 0;
-				else
-					rxLength = rxObj.getNumBytes();
+				rxType = rxbyte;
+				if (VERBOSE) Log.v(TAG, "Received packet type: " + rxType);
+				packetSize = 0;
 
-				// Check length and determine next state
-				if (rxLength >= MAX_PAYLOAD_LENGTH) {
-					stats.rxErrors++;
+				rxState = RxStateType.STATE_SIZE;
+				rxCount = 0;
+				break;
+
+			case STATE_SIZE:
+
+				// Update CRC
+				rxCS = updateCRC(rxCS, rxbyte);
+
+				if (rxCount == 0) {
+					packetSize += rxbyte;
+					rxCount++;
+					break;
+				}
+
+				packetSize += (rxbyte << 8) & 0xff00;
+
+				if (packetSize < MIN_HEADER_LENGTH
+						|| packetSize > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH) { // incorrect
+					// packet
+					// size
 					rxState = RxStateType.STATE_SYNC;
 					break;
 				}
 
-				// Check the lengths match
-				if ((rxPacketLength + rxLength) != packetSize) { // packet error
-																	// -
-																	// mismatched
-																	// packet
-																	// size
-					stats.rxErrors++;
-					rxState = RxStateType.STATE_SYNC;
-					break;
-				}
+				rxCount = 0;
+				rxState = RxStateType.STATE_OBJID;
+				rxTmpBuffer.position(0);
+				break;
 
-				// Check if this is a single instance object (i.e. if the
-				// instance ID field is coming next)
-				if (rxObj.isSingleInstance()) {
-					// If there is a payload get it, otherwise receive checksum
-					if (rxLength > 0)
-						rxState = RxStateType.STATE_DATA;
+			case STATE_OBJID:
+
+				// Update CRC
+				rxCS = updateCRC(rxCS, rxbyte);
+
+				rxTmpBuffer.put(rxCount++, (byte) (rxbyte & 0xff));
+				if (rxCount < 4)
+					break;
+
+				// Search for object, if not found reset state machine
+				rxObjId = rxTmpBuffer.getInt(0);
+				// Because java treats ints as only signed we need to do this manually
+				if (rxObjId < 0)
+					rxObjId = 0x100000000l + rxObjId;
+				{
+					UAVObject rxObj = objMngr.getObject(rxObjId);
+					if (rxObj == null) {
+						if (DEBUG) Log.d(TAG, "Unknown ID: " + rxObjId);
+						stats.rxErrors++;
+						rxState = RxStateType.STATE_SYNC;
+						break;
+					}
+
+					// Determine data length
+					if (rxType == TYPE_OBJ_REQ || rxType == TYPE_ACK || rxType == TYPE_NACK)
+						rxLength = 0;
 					else
-						rxState = RxStateType.STATE_CS;
-					rxInstId = 0;
-					rxCount = 0;
-				} else {
-					rxState = RxStateType.STATE_INSTID;
-					rxCount = 0;
+						rxLength = rxObj.getNumBytes();
+
+					// Check length and determine next state
+					if (rxLength >= MAX_PAYLOAD_LENGTH) {
+						stats.rxErrors++;
+						rxState = RxStateType.STATE_SYNC;
+						break;
+					}
+
+					// Check the lengths match
+					if ((rxPacketLength + rxLength) != packetSize) { // packet error
+						// -
+						// mismatched
+						// packet
+						// size
+						stats.rxErrors++;
+						rxState = RxStateType.STATE_SYNC;
+						break;
+					}
+
+					// Check if this is a single instance object (i.e. if the
+					// instance ID field is coming next)
+					if (rxObj.isSingleInstance()) {
+						// If there is a payload get it, otherwise receive checksum
+						if (rxLength > 0)
+							rxState = RxStateType.STATE_DATA;
+						else
+							rxState = RxStateType.STATE_CS;
+						rxInstId = 0;
+						rxCount = 0;
+					} else {
+						rxState = RxStateType.STATE_INSTID;
+						rxCount = 0;
+					}
 				}
-			}
 
-			break;
-
-		case STATE_INSTID:
-
-			// Update CRC
-			rxCS = updateCRC(rxCS, rxbyte);
-
-			rxTmpBuffer.put(rxCount++, (byte) (rxbyte & 0xff));
-			if (rxCount < 2)
 				break;
 
-			rxInstId = rxTmpBuffer.getShort(0);
+			case STATE_INSTID:
 
-			rxCount = 0;
+				// Update CRC
+				rxCS = updateCRC(rxCS, rxbyte);
+
+				rxTmpBuffer.put(rxCount++, (byte) (rxbyte & 0xff));
+				if (rxCount < 2)
+					break;
+
+				rxInstId = rxTmpBuffer.getShort(0);
+
+				rxCount = 0;
+
+				// If there is a payload get it, otherwise receive checksum
+				if (rxLength > 0)
+					rxState = RxStateType.STATE_DATA;
+				else
+					rxState = RxStateType.STATE_CS;
+
+				break;
+
+			case STATE_DATA:
+
+				// Update CRC
+				rxCS = updateCRC(rxCS, rxbyte);
+
+				rxBuffer.put(rxCount++, (byte) (rxbyte & 0xff));
+				if (rxCount < rxLength)
+					break;
 
-			// If there is a payload get it, otherwise receive checksum
-			if (rxLength > 0)
-				rxState = RxStateType.STATE_DATA;
-			else
 				rxState = RxStateType.STATE_CS;
-
-			break;
-
-		case STATE_DATA:
-
-			// Update CRC
-			rxCS = updateCRC(rxCS, rxbyte);
-
-			rxBuffer.put(rxCount++, (byte) (rxbyte & 0xff));
-			if (rxCount < rxLength)
+				rxCount = 0;
 				break;
 
-			rxState = RxStateType.STATE_CS;
-			rxCount = 0;
-			break;
+			case STATE_CS:
 
-		case STATE_CS:
+				// The CRC byte
+				rxCSPacket = rxbyte;
 
-			// The CRC byte
-			rxCSPacket = rxbyte;
+				if (rxCS != rxCSPacket) { // packet error - faulty CRC
+					if (DEBUG) Log.d(TAG,"Bad crc");
+					stats.rxErrors++;
+					rxState = RxStateType.STATE_SYNC;
+					break;
+				}
+
+				if (rxPacketLength != (packetSize + 1)) { // packet error -
+					// mismatched packet
+					// size
+					if (DEBUG) Log.d(TAG,"Bad size");
+					stats.rxErrors++;
+					rxState = RxStateType.STATE_SYNC;
+					break;
+				}
+
+				if (DEBUG) Log.d(TAG,"Received");
+
+				rxBuffer.position(0);
+				receiveObject(rxType, rxObjId, rxInstId, rxBuffer);
+				stats.rxObjectBytes += rxLength;
+				stats.rxObjects++;
 
-			if (rxCS != rxCSPacket) { // packet error - faulty CRC
-				if (DEBUG) Log.d(TAG,"Bad crc");
-				stats.rxErrors++;
 				rxState = RxStateType.STATE_SYNC;
 				break;
-			}
 
-			if (rxPacketLength != (packetSize + 1)) { // packet error -
-														// mismatched packet
-														// size
-				if (DEBUG) Log.d(TAG,"Bad size");
-				stats.rxErrors++;
+			default:
 				rxState = RxStateType.STATE_SYNC;
-				break;
+				stats.rxErrors++;
 			}
-
-			if (DEBUG) Log.d(TAG,"Received");
-
-			rxBuffer.position(0);
-			receiveObject(rxType, rxObjId, rxInstId, rxBuffer);
-			stats.rxObjectBytes += rxLength;
-			stats.rxObjects++;
-
-			rxState = RxStateType.STATE_SYNC;
-			break;
-
-		default:
-			rxState = RxStateType.STATE_SYNC;
-			stats.rxErrors++;
 		}
 
 		// Done
@@ -510,8 +545,7 @@ public class UAVTalk {
 	 * length \return Success (true), Failure (false)
 	 * @throws IOException
 	 */
-	public boolean receiveObject(int type, long objId, long instId,
-			ByteBuffer data) throws IOException {
+	public boolean receiveObject(int type, long objId, long instId, ByteBuffer data) throws IOException {
 
 		if (DEBUG) Log.d(TAG, "Received object ID: " + objId);
 		assert (objMngr != null);
@@ -526,11 +560,13 @@ public class UAVTalk {
 			// All instances, not allowed for OBJ messages
 			if (!allInstances) {
 				if (DEBUG) Log.d(TAG,"Received object: " + objMngr.getObject(objId).getName());
+
 				// Get object and update its data
 				obj = updateObject(objId, instId, data);
-				// Check if an ack is pending
+
 				if (obj != null) {
-					updateAck(obj);
+					// Check if this is a response to a UAVTalk transaction
+					updateObjReq(obj);
 				} else {
 					error = true;
 				}
@@ -581,7 +617,7 @@ public class UAVTalk {
 	            // Check if object exists:
 	            if (obj != null)
 	            {
-	                updateNack(obj);
+	                receivedNack(obj);
 	            }
 	            else
 	            {
@@ -620,11 +656,13 @@ public class UAVTalk {
 
 		// Get object
 		UAVObject obj = objMngr.getObject(objId, instId);
+
 		// If the instance does not exist create it
 		if (obj == null) {
 			// Get the object type
 			UAVObject tobj = objMngr.getObject(objId);
 			if (tobj == null) {
+				// TODO: Return a NAK since we don't know this object
 				return null;
 			}
 			// Make sure this is a data object
@@ -661,32 +699,62 @@ public class UAVTalk {
 	}
 
 	/**
-	 * Check if a transaction is pending and if yes complete it.
+	 * Called when an object is received to check if this completes
+	 * a UAVTalk transaction
 	 */
-	void updateNack(UAVObject obj)
-	{
-		if (DEBUG) Log.d(TAG, "NACK received: " + obj.getName());
+	private synchronized void updateObjReq(UAVObject obj) {
+		// Check if this is not a possible candidate
 		Assert.assertNotNull(obj);
-	    //obj.transactionCompleted(false);
-		if (respObj != null && respObj.getObjID() == obj.getObjID() &&
-				(respObj.getInstID() == obj.getInstID() || respAllInstances)) {
-			if (transactionListener != null)
-				transactionListener.TransactionFailed(obj);
+
+		if(respObj != null && respType == TYPE_OBJ_REQ && respObj.getObjID() == obj.getObjID() &&
+				((respObj.getInstID() == obj.getInstID() || !respAllInstances))) {
+
+			// Indicate complete
 			respObj = null;
+
+			// Notify listener
+			if (transactionListener != null)
+				transactionListener.TransactionSucceeded(obj);
 		}
+
 	}
 
 	/**
 	 * Check if a transaction is pending and if yes complete it.
 	 */
-	synchronized void updateAck(UAVObject obj) {
-		if (DEBUG) Log.d(TAG, "ACK received: " + obj.getName());
+	private synchronized void receivedNack(UAVObject obj)
+	{
+		Assert.assertNotNull(obj);
+		if(respObj != null && (respType == TYPE_OBJ_REQ || respType == TYPE_OBJ_ACK ) &&
+				respObj.getObjID() == obj.getObjID()) {
+
+			if (DEBUG) Log.d(TAG, "NAK: " + obj.getName());
+
+			// Indicate complete
+			respObj = null;
+
+			// Notify listener
+			if (transactionListener != null)
+				transactionListener.TransactionFailed(obj);
+		}
+	}
+
+	/**
+	 * Check if a transaction is pending that this acked object corresponds to
+	 * and if yes complete it.
+	 */
+	private synchronized void updateAck(UAVObject obj) {
+		if (DEBUG) Log.d(TAG, "Received ack: " + obj.getName());
 		Assert.assertNotNull(obj);
 		if (respObj != null && respObj.getObjID() == obj.getObjID()
 				&& (respObj.getInstID() == obj.getInstID() || respAllInstances)) {
+
+			// Indicate complete
+			respObj = null;
+
+			// Notify listener
 			if (transactionListener != null)
 				transactionListener.TransactionSucceeded(obj);
-			respObj = null;
 		}
 	}
 
@@ -698,7 +766,7 @@ public class UAVTalk {
 	 * @return Success (true), Failure (false)
 	 * @throws IOException
 	 */
-	public synchronized boolean transmitObject(UAVObject obj, int type, boolean allInstances) throws IOException {
+	private boolean transmitObject(UAVObject obj, int type, boolean allInstances) throws IOException {
 		// If all instances are requested on a single instance object it is an
 		// error
 		if (allInstances && obj.isSingleInstance()) {
@@ -712,6 +780,10 @@ public class UAVTalk {
 				int numInst = objMngr.getNumInstances(obj.getObjID());
 				// Send all instances
 				for (int instId = 0; instId < numInst; ++instId) {
+					// TODO: This code is buggy probably.  We should send each request
+					// and wait for an ack in the case of an TYPE_OBJ_ACK
+					Assert.assertNotSame(type, TYPE_OBJ_ACK); // catch any buggy calls
+
 					UAVObject inst = objMngr.getObject(obj.getObjID(), instId);
 					transmitSingleObject(inst, type, false);
 				}
@@ -738,8 +810,7 @@ public class UAVTalk {
 	 * @param[in] obj Object handle to send
 	 * @param[in] type Transaction type \return Success (true), Failure (false)
 	 */
-	public synchronized boolean transmitSingleObject(UAVObject obj, int type,
-			boolean allInstances) throws IOException {
+	private boolean transmitSingleObject(UAVObject obj, int type, boolean allInstances) throws IOException {
 		int length;
 		int allInstId = ALL_INSTANCES;
 
@@ -793,6 +864,13 @@ public class UAVTalk {
 		bbuf.position(0);
 		byte[] dst = new byte[packlen];
 		bbuf.get(dst, 0, packlen);
+
+		if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ) {
+			// Once we send a UAVTalk packet that requires an ack or object let's set up
+			// the transaction here
+			setupTransaction(obj, allInstances, type);
+		}
+
 		outStream.write(dst);
 
 

From de26c3297ed9c567411fa2be3024f23ed309ce87 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 15:22:56 -0500
Subject: [PATCH 355/543] AndroidGCS Telemetry: Get rid of a tier of
 redirection through annoymous classes that was legacy from the GCS port.

---
 .../src/org/openpilot/uavtalk/Telemetry.java  | 188 +++++++++---------
 .../openpilot/uavtalk/TelemetryMonitor.java   |   2 +-
 2 files changed, 100 insertions(+), 90 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 0941a9b72..67ca24b4e 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -26,6 +26,7 @@ package org.openpilot.uavtalk;
 
 import java.io.IOException;
 import java.util.ArrayList;
+import java.util.Iterator;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.ListIterator;
@@ -40,7 +41,7 @@ import android.util.Log;
 public class Telemetry {
 
 	private final String TAG = "Telemetry";
-	public static int LOGLEVEL = 0;
+	public static int LOGLEVEL = 3;
 	public static boolean WARN = LOGLEVEL > 2;
 	public static boolean ERROR = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
@@ -66,6 +67,10 @@ public class Telemetry {
         UAVObject obj;
         int event;
         boolean allInstances;
+
+        boolean equals(ObjectQueueInfo e) {
+			return (e.obj.getObjID() == obj.getObjID() &&  e.event == event && e.allInstances == allInstances) || true;
+        }
     };
 
     class ObjectTransactionInfo {
@@ -112,9 +117,9 @@ public class Telemetry {
         	}
         });
 
-        // Listen to transaction completions
-        this.utalk.setOnTransactionCompletedListener(
-        		this.utalk.new OnTransactionCompletedListener() {
+        // Listen to transaction completions from uavtalk
+        utalk.setOnTransactionCompletedListener(
+        		utalk.new OnTransactionCompletedListener() {
 			@Override
 			void TransactionSucceeded(UAVObject data) {
 	        	try {
@@ -250,6 +255,54 @@ public class Telemetry {
         }
     }
 
+    final Observer unpackedObserver = new Observer() {
+		@Override
+		public void update(Observable observable, Object data) {
+    		try {
+				processObjectUpdates((UAVObject) data, EV_UNPACKED, false, true);
+			} catch (IOException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+    	}
+	};
+
+	final Observer updatedAutoObserver = new Observer() {
+		@Override
+		public void update(Observable observable, Object data) {
+			try {
+				processObjectUpdates((UAVObject) data, EV_UPDATED, false, true);
+			} catch (IOException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+    	}
+	};
+
+	final Observer updatedManualObserver = new Observer() {
+		@Override
+		public void update(Observable observable, Object data) {
+			try {
+				processObjectUpdates((UAVObject) data, EV_UPDATED_MANUAL, false, true);
+			} catch (IOException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+    	}
+	};
+
+	final Observer updatedRequestedObserver = new Observer() {
+		@Override
+		public void update(Observable observable, Object data) {
+			try {
+				processObjectUpdates((UAVObject) data, EV_UPDATE_REQ, false, true);
+			} catch (IOException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+    	}
+	};
+
     /**
      * Connect to all instances of an object depending on the event mask specified
      */
@@ -260,65 +313,25 @@ public class Telemetry {
         while(li.hasNext())
         {
         	obj = li.next();
-            //TODO: Disconnect all
-            // obj.disconnect(this);
+            // TODO: Disconnect all previous observers from telemetry.  This is imortant as this can
+        	// be called multiple times
 
             // Connect only the selected events
             if ( (eventMask&EV_UNPACKED) != 0)
             {
-            	obj.addUnpackedObserver(new Observer() {
-					@Override
-					public void update(Observable observable, Object data) {
-	            		try {
-							objectUnpacked( (UAVObject) data);
-						} catch (IOException e) {
-							// TODO Auto-generated catch block
-							e.printStackTrace();
-						}
-	            	}
-            	});
+            	obj.addUnpackedObserver(unpackedObserver);
             }
             if ( (eventMask&EV_UPDATED) != 0)
             {
-            	obj.addUpdatedAutoObserver(new Observer() {
-					@Override
-					public void update(Observable observable, Object data) {
-						try {
-							objectUpdatedAuto( (UAVObject) data);
-						} catch (IOException e) {
-							// TODO Auto-generated catch block
-							e.printStackTrace();
-						}
-	            	}
-            	});
+            	obj.addUpdatedAutoObserver(updatedAutoObserver);
             }
             if ( (eventMask&EV_UPDATED_MANUAL) != 0)
             {
-            	obj.addUpdatedManualObserver(new Observer() {
-					@Override
-					public void update(Observable observable, Object data) {
-						try {
-							objectUpdatedManual( (UAVObject) data);
-						} catch (IOException e) {
-							// TODO Auto-generated catch block
-							e.printStackTrace();
-						}
-	            	}
-            	});
+            	obj.addUpdatedManualObserver(updatedManualObserver);
             }
             if ( (eventMask&EV_UPDATE_REQ) != 0)
             {
-            	obj.addUpdateRequestedObserver(new Observer() {
-					@Override
-					public void update(Observable observable, Object data) {
-						try {
-							updateRequested( (UAVObject) data);
-						} catch (IOException e) {
-							// TODO Auto-generated catch block
-							e.printStackTrace();
-						}
-	            	}
-            	});
+            	obj.addUpdateRequestedObserver(updatedRequestedObserver);
             }
         }
     }
@@ -463,7 +476,7 @@ public class Telemetry {
      * Process the event received from an object
      * @throws IOException
      */
-    private synchronized void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) throws IOException
+    private void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) throws IOException
     {
         // Push event into queue
     	if (DEBUG) Log.d(TAG, "Push event into queue for obj " + obj.getName() + " event " + event);
@@ -475,28 +488,44 @@ public class Telemetry {
         objInfo.allInstances = allInstances;
         if (priority)
         {
-            if ( objPriorityQueue.size() < MAX_QUEUE_SIZE )
-            {
-                objPriorityQueue.add(objInfo);
-            }
-            else
-            {
-                ++txErrors;
-                obj.transactionCompleted(false);
-                Log.w(TAG,"Telemetry: priority event queue is full, event lost " + obj.getName());
-            }
+        	Iterator <ObjectQueueInfo> it = objPriorityQueue.iterator();
+        	boolean found = false;
+        	while(it.hasNext()) {
+    			ObjectQueueInfo test = it.next();
+    			if (test.obj.getObjID() == obj.getObjID())
+    				found = true;
+        	}
+        	found= false;
+        	if(found) {
+        		Log.w(TAG, "Identical event already in transaction queue: " + objInfo);
+        	} else {
+        		if ( objPriorityQueue.size() < MAX_QUEUE_SIZE )
+        		{
+        			objPriorityQueue.add(objInfo);
+        		}
+        		else
+        		{
+        			++txErrors;
+        			obj.transactionCompleted(false);
+        			Log.w(TAG,"Telemetry: priority event queue is full, event lost " + obj.getName());
+        		}
+        	}
         }
         else
         {
-            if ( objQueue.size() < MAX_QUEUE_SIZE )
-            {
-                objQueue.add(objInfo);
-            }
-            else
-            {
-                ++txErrors;
-                obj.transactionCompleted(false);
-            }
+        	if(objQueue.contains(objInfo)) {
+        		Log.w(TAG, "Identical event already in queue: " + objInfo);
+        	} else {
+        		if ( objQueue.size() < MAX_QUEUE_SIZE )
+        		{
+        			objQueue.add(objInfo);
+        		}
+        		else
+        		{
+        			++txErrors;
+        			obj.transactionCompleted(false);
+        		}
+        	}
         }
 
         // If there is no transaction in progress then process event
@@ -679,25 +708,6 @@ public class Telemetry {
         txRetries = 0;
     }
 
-    private synchronized void objectUpdatedAuto(UAVObject obj) throws IOException
-    {
-        processObjectUpdates(obj, EV_UPDATED, false, true);
-    }
-
-    private synchronized void objectUpdatedManual(UAVObject obj) throws IOException
-    {
-        processObjectUpdates(obj, EV_UPDATED_MANUAL, false, true);
-    }
-
-    private synchronized void objectUnpacked(UAVObject obj) throws IOException
-    {
-        processObjectUpdates(obj, EV_UNPACKED, false, true);
-    }
-
-    public synchronized void updateRequested(UAVObject obj) throws IOException
-    {
-        processObjectUpdates(obj, EV_UPDATE_REQ, false, true);
-    }
 
     private void newObject(UAVObject obj)
     {
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index 3a44cc535..34894de74 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -193,7 +193,7 @@ public class TelemetryMonitor extends Observable {
 		});
 
 		// Request update
-		tel.updateRequested(obj);
+		obj.updateRequested();
 	}
 
 	/**

From 1d361a53cd4c1fd1f40774e0d8023608bc1c924c Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 15:27:43 -0500
Subject: [PATCH 356/543] AndroidGCS Telemetry: Make sure when telemetry
 changes settings it removes it's listeners before adding more

---
 .../src/org/openpilot/uavtalk/Telemetry.java  | 15 ++++++--------
 .../openpilot/uavtalk/TelemetryMonitor.java   |  4 ++--
 .../src/org/openpilot/uavtalk/UAVObject.java  | 20 +++++++++++++++++++
 3 files changed, 28 insertions(+), 11 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 67ca24b4e..39b0a8bb6 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -313,26 +313,23 @@ public class Telemetry {
         while(li.hasNext())
         {
         	obj = li.next();
-            // TODO: Disconnect all previous observers from telemetry.  This is imortant as this can
+
+            // Disconnect all previous observers from telemetry.  This is imortant as this can
         	// be called multiple times
+        	obj.removeUnpackedObserver(unpackedObserver);
+        	obj.removeUpdatedAutoObserver(updatedAutoObserver);
+        	obj.removeUpdatedManualObserver(updatedManualObserver);
+        	obj.removeUpdateRequestedObserver(updatedRequestedObserver);
 
             // Connect only the selected events
             if ( (eventMask&EV_UNPACKED) != 0)
-            {
             	obj.addUnpackedObserver(unpackedObserver);
-            }
             if ( (eventMask&EV_UPDATED) != 0)
-            {
             	obj.addUpdatedAutoObserver(updatedAutoObserver);
-            }
             if ( (eventMask&EV_UPDATED_MANUAL) != 0)
-            {
             	obj.addUpdatedManualObserver(updatedManualObserver);
-            }
             if ( (eventMask&EV_UPDATE_REQ) != 0)
-            {
             	obj.addUpdateRequestedObserver(updatedRequestedObserver);
-            }
         }
     }
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index 34894de74..f0ee84fb3 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -158,8 +158,8 @@ public class TelemetryMonitor extends Observable {
 			if (DEBUG)
 				Log.d(TAG, "All objects retrieved: Connected Successfully");
 			objects_updated = true;
-			setChanged();
-			notifyObservers();
+			//setChanged();
+			//notifyObservers();
 			return;
 		}
 		// Get next object from the queue
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
index b905f8387..a0a8fc8f8 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObject.java
@@ -105,6 +105,11 @@ public abstract class UAVObject {
 			unpackedListeners.addObserver(o);
 		}
 	}
+	public void removeUnpackedObserver(Observer o) {
+		synchronized(unpackedListeners) {
+			unpackedListeners.deleteObserver(o);
+		}
+	}
 	void unpacked() {
 		synchronized(unpackedListeners) {
 			unpackedListeners.event();
@@ -117,6 +122,11 @@ public abstract class UAVObject {
 			updatedAutoListeners.addObserver(o);
 		}
 	}
+	public void removeUpdatedAutoObserver(Observer o) {
+		synchronized(updatedAutoListeners) {
+			updatedAutoListeners.deleteObserver(o);
+		}
+	}
 	void updatedAuto() {
 		synchronized(updatedAutoListeners) {
 			updatedAutoListeners.event();
@@ -129,6 +139,11 @@ public abstract class UAVObject {
 			updatedManualListeners.addObserver(o);
 		}
 	}
+	public void removeUpdatedManualObserver(Observer o) {
+		synchronized(updatedManualListeners) {
+			updatedManualListeners.deleteObserver(o);
+		}
+	}
 	void updatedManual() {
 		synchronized(updatedManualListeners) {
 			updatedManualListeners.event();
@@ -141,6 +156,11 @@ public abstract class UAVObject {
 			updateRequestedListeners.addObserver(o);
 		}
 	}
+	public void removeUpdateRequestedObserver(Observer o) {
+		synchronized(updateRequestedListeners) {
+			updateRequestedListeners.deleteObserver(o);
+		}
+	}
 	public void updateRequested() {
 		synchronized(updateRequestedListeners) {
 			updateRequestedListeners.event();

From 38117f6e694596db9bd3c752447faea2f616977f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 15:58:52 -0500
Subject: [PATCH 357/543] AndroidGCS Telemetry: Telemetry no longer enqueues
 identical object transactions multiple times so only the most recent will
 occur.  Since it doesn't enqueue the data the end behavior to the UAV should
 be identical.

Also renamed processObjectUpdates to enqueueObjectUpdates to make it more
intuitive.
---
 .../src/org/openpilot/uavtalk/Telemetry.java  | 64 ++++++++++---------
 .../src/org/openpilot/uavtalk/UAVTalk.java    |  2 +-
 2 files changed, 34 insertions(+), 32 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 39b0a8bb6..2e0b57f41 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -26,7 +26,6 @@ package org.openpilot.uavtalk;
 
 import java.io.IOException;
 import java.util.ArrayList;
-import java.util.Iterator;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.ListIterator;
@@ -41,10 +40,10 @@ import android.util.Log;
 public class Telemetry {
 
 	private final String TAG = "Telemetry";
-	public static int LOGLEVEL = 3;
+	public static int LOGLEVEL = 1;
 	public static boolean WARN = LOGLEVEL > 2;
-	public static boolean ERROR = LOGLEVEL > 1;
-	public static boolean DEBUG = LOGLEVEL > 0;
+	public static boolean DEBUG = LOGLEVEL > 1;
+	public static boolean ERROR = LOGLEVEL > 0;
     public class TelemetryStats {
         public int txBytes;
         public int rxBytes;
@@ -68,8 +67,15 @@ public class Telemetry {
         int event;
         boolean allInstances;
 
-        boolean equals(ObjectQueueInfo e) {
-			return (e.obj.getObjID() == obj.getObjID() &&  e.event == event && e.allInstances == allInstances) || true;
+        @Override
+		public boolean equals(Object e) {
+        	try {
+        		ObjectQueueInfo o = (ObjectQueueInfo) e;
+        		return o.obj.getObjID() == obj.getObjID() &&  o.event == event && o.allInstances == allInstances;
+        	} catch (Exception err) {
+
+        	};
+        	return false;
         }
     };
 
@@ -133,6 +139,7 @@ public class Telemetry {
 			void TransactionFailed(UAVObject data) {
 	        	try {
 	        		if (DEBUG) Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
+
 					transactionCompleted(data, false);
 				} catch (IOException e) {
 					// Disconnect when stream fails
@@ -259,7 +266,7 @@ public class Telemetry {
 		@Override
 		public void update(Observable observable, Object data) {
     		try {
-				processObjectUpdates((UAVObject) data, EV_UNPACKED, false, true);
+    			enqueueObjectUpdates((UAVObject) data, EV_UNPACKED, false, true);
 			} catch (IOException e) {
 				// TODO Auto-generated catch block
 				e.printStackTrace();
@@ -271,7 +278,7 @@ public class Telemetry {
 		@Override
 		public void update(Observable observable, Object data) {
 			try {
-				processObjectUpdates((UAVObject) data, EV_UPDATED, false, true);
+				enqueueObjectUpdates((UAVObject) data, EV_UPDATED, false, true);
 			} catch (IOException e) {
 				// TODO Auto-generated catch block
 				e.printStackTrace();
@@ -283,7 +290,7 @@ public class Telemetry {
 		@Override
 		public void update(Observable observable, Object data) {
 			try {
-				processObjectUpdates((UAVObject) data, EV_UPDATED_MANUAL, false, true);
+				enqueueObjectUpdates((UAVObject) data, EV_UPDATED_MANUAL, false, true);
 			} catch (IOException e) {
 				// TODO Auto-generated catch block
 				e.printStackTrace();
@@ -295,7 +302,7 @@ public class Telemetry {
 		@Override
 		public void update(Observable observable, Object data) {
 			try {
-				processObjectUpdates((UAVObject) data, EV_UPDATE_REQ, false, true);
+				enqueueObjectUpdates((UAVObject) data, EV_UPDATE_REQ, false, true);
 			} catch (IOException e) {
 				// TODO Auto-generated catch block
 				e.printStackTrace();
@@ -404,6 +411,7 @@ public class Telemetry {
         } else
         {
         	if (ERROR) Log.e(TAG,"Error: received a transaction completed when did not expect it.");
+        	transPending = false;
         }
     }
 
@@ -427,9 +435,13 @@ public class Telemetry {
             }
             else
             {
+            	if (ERROR) Log.e(TAG, "Transaction failed for: " + transInfo.obj.getName());
+
                 // Terminate transaction.  This triggers UAVTalk to send a transaction
             	// failed signal which will make the next queue entry be processed
-                //utalk.cancelPendingTransaction();
+            	// Note this is UAVTalk listener TransactionFailed function and not the
+            	// object specific transaction failed.
+                utalk.cancelPendingTransaction(transInfo.obj);
                 ++txErrors;
             }
         }
@@ -470,10 +482,10 @@ public class Telemetry {
     }
 
     /**
-     * Process the event received from an object
-     * @throws IOException
+     * Enqueue the event received from an object.  This is the main method that handles all the callbacks
+     * from UAVObjects (due to updates, or update requests)
      */
-    private void processObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) throws IOException
+    private synchronized void enqueueObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) throws IOException
     {
         // Push event into queue
     	if (DEBUG) Log.d(TAG, "Push event into queue for obj " + obj.getName() + " event " + event);
@@ -485,17 +497,8 @@ public class Telemetry {
         objInfo.allInstances = allInstances;
         if (priority)
         {
-        	Iterator <ObjectQueueInfo> it = objPriorityQueue.iterator();
-        	boolean found = false;
-        	while(it.hasNext()) {
-    			ObjectQueueInfo test = it.next();
-    			if (test.obj.getObjID() == obj.getObjID())
-    				found = true;
-        	}
-        	found= false;
-        	if(found) {
-        		Log.w(TAG, "Identical event already in transaction queue: " + objInfo);
-        	} else {
+        	// Only enqueue if an identical transaction does not already exist
+        	if(!objPriorityQueue.contains(objInfo)) {
         		if ( objPriorityQueue.size() < MAX_QUEUE_SIZE )
         		{
         			objPriorityQueue.add(objInfo);
@@ -510,9 +513,8 @@ public class Telemetry {
         }
         else
         {
-        	if(objQueue.contains(objInfo)) {
-        		Log.w(TAG, "Identical event already in queue: " + objInfo);
-        	} else {
+        	// Only enqueue if an identical transaction does not already exist
+        	if(!objQueue.contains(objInfo)) {
         		if ( objQueue.size() < MAX_QUEUE_SIZE )
         		{
         			objQueue.add(objInfo);
@@ -543,7 +545,7 @@ public class Telemetry {
         // Don nothing if a transaction is already in progress (should not happen)
         if (transPending)
         {
-        	if (ERROR) Log.e(TAG,"Dequeue while a transaction pending");
+        	if (WARN) Log.e(TAG,"Dequeue while a transaction pending");
             return;
         }
 
@@ -611,7 +613,7 @@ public class Telemetry {
         // we do not have additional objects still in the queue,
         // so we have to reschedule queue processing to make sure they are not
         // stuck:
-        if ( objInfo.event == EV_UNPACKED )
+        if ( objInfo.event == EV_UNPACKED && !transPending)
             processObjectQueue();
 
     }
@@ -651,7 +653,7 @@ public class Telemetry {
                     objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs - offset;
                     // Send object
                     startTime = System.currentTimeMillis();
-                    processObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false);
+                    enqueueObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false);
                     elapsedMs = (int) (System.currentTimeMillis() - startTime);
                     // Update timeToNextUpdateMs with the elapsed delay of sending the object;
                     timeToNextUpdateMs += elapsedMs;
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 190dbfaf9..1c4d25db6 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -38,7 +38,7 @@ import android.util.Log;
 public class UAVTalk {
 
 	static final String TAG = "UAVTalk";
-	public static int LOGLEVEL = 0;
+	public static int LOGLEVEL = 1;
 	public static boolean VERBOSE = LOGLEVEL > 3;
 	public static boolean WARN = LOGLEVEL > 2;
 	public static boolean DEBUG = LOGLEVEL > 1;

From 99859109697c679780ed4124e344ed3f4f720535 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 16:11:20 -0500
Subject: [PATCH 358/543] AndroidGCS TelemetryMonitor: Now that transactions
 are working more reliably we can emit the connected signal at the end of
 fetching all the objects.

---
 .../openpilot/uavtalk/TelemetryMonitor.java   | 51 ++++++++++---------
 1 file changed, 27 insertions(+), 24 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index f0ee84fb3..a1e341197 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -48,6 +48,8 @@ public class TelemetryMonitor extends Observable {
 	static final int STATS_CONNECT_PERIOD_MS = 1000;
 	static final int CONNECTION_TIMEOUT_MS = 8000;
 
+	private final boolean HANDSHAKE_IS_CONNECTED = false;
+
 	private final UAVObjectManager objMngr;
 	private final Telemetry tel;
 	// private UAVObject objPending;
@@ -147,6 +149,20 @@ public class TelemetryMonitor extends Observable {
 		queue.clear();
 	}
 
+	final Observer transactionObserver = new Observer() {
+		@Override
+		public void update(Observable observable, Object data) {
+			try {
+				UAVObject.TransactionResult result = (UAVObject.TransactionResult) data;
+				transactionCompleted(result.obj, result.success);
+			} catch (IOException e) {
+				// When the telemetry stream is broken disconnect these
+				// updates
+				observable.deleteObserver(this);
+			}
+		}
+	};
+
 	/**
 	 * Retrieve the next object in the queue
 	 *
@@ -155,11 +171,12 @@ public class TelemetryMonitor extends Observable {
 	public synchronized void retrieveNextObject() throws IOException {
 		// If queue is empty return
 		if (queue.isEmpty()) {
-			if (DEBUG)
-				Log.d(TAG, "All objects retrieved: Connected Successfully");
+			if (DEBUG || true) Log.d(TAG, "All objects retrieved: Connected Successfully");
 			objects_updated = true;
-			//setChanged();
-			//notifyObservers();
+			if (!HANDSHAKE_IS_CONNECTED) {
+				setChanged();
+				notifyObservers();
+			}
 			return;
 		}
 		// Get next object from the queue
@@ -174,23 +191,7 @@ public class TelemetryMonitor extends Observable {
 
 		// TODO: Does this need to stay here permanently? This appears to be
 		// used for setup mainly
-		obj.addTransactionCompleted(new Observer() {
-			@Override
-			public void update(Observable observable, Object data) {
-				UAVObject.TransactionResult result = (UAVObject.TransactionResult) data;
-				if (DEBUG)
-					Log.d(TAG, "Got transaction completed event from "
-							+ result.obj.getName() + " status: "
-							+ result.success);
-				try {
-					transactionCompleted(result.obj, result.success);
-				} catch (IOException e) {
-					// When the telemetry stream is broken disconnect these
-					// updates
-					observable.deleteObserver(this);
-				}
-			}
-		});
+		obj.addTransactionCompleted(transactionObserver);
 
 		// Request update
 		obj.updateRequested();
@@ -206,6 +207,9 @@ public class TelemetryMonitor extends Observable {
 		if (DEBUG)
 			Log.d(TAG, "transactionCompleted.  Status: " + success);
 
+		// Remove the listener for the event that just finished
+		obj.removeTransactionCompleted(transactionObserver);
+
 		if (!success) {
 			// Right now success = false means received a NAK so don't
 			// re-attempt
@@ -213,8 +217,7 @@ public class TelemetryMonitor extends Observable {
 		}
 
 		// Process next object if telemetry is still available
-		if (((String) gcsStatsObj.getField("Status").getValue())
-				.compareTo("Connected") == 0) {
+		if (((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") == 0) {
 			retrieveNextObject();
 		} else {
 			stopRetrievingObjects();
@@ -348,7 +351,7 @@ public class TelemetryMonitor extends Observable {
 			connected = true;
 			objects_updated = false;
 			startRetrievingObjects();
-			setChanged();
+			if (HANDSHAKE_IS_CONNECTED) setChanged(); // Enabling this line makes the opConnected signal occur whenever we get a handshake
 		}
 		if (gcsDisconnected && gcsStatusChanged) {
 			if (DEBUG)

From cab661e94b52525c2ae2e701cc592581584feb5d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 16:16:39 -0500
Subject: [PATCH 359/543] AndroidGCS: Update the controller gadget to the newer
 style updates

---
 .../org/openpilot/androidgcs/Controller.java  | 57 ++++++-------------
 1 file changed, 18 insertions(+), 39 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/Controller.java b/androidgcs/src/org/openpilot/androidgcs/Controller.java
index e2b2c87da..3ef291d4d 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Controller.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Controller.java
@@ -35,7 +35,6 @@ import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectField;
 
 import android.os.Bundle;
-import android.os.Handler;
 import android.util.Log;
 import android.widget.TextView;
 import android.widget.Toast;
@@ -72,8 +71,6 @@ public class Controller extends ObjectManagerActivity {
 		super.onCreate(savedInstanceState);
 		setContentView(R.layout.controller);
 		TextView manualView = (TextView) findViewById(R.id.manualControlValues);
-		if(manualView != null)
-			manualView.setText("Hello");
 	}
 
 	Observer settingsUpdated = new Observer() {
@@ -93,19 +90,16 @@ public class Controller extends ObjectManagerActivity {
 	void onOPConnected() {
 		super.onOPConnected();
 
+		Log.d(TAG, "onOPConnected()");
+
 		// Subscribe to updates from ManualControlCommand and show the values for crude feedback
 		UAVDataObject manualControl = (UAVDataObject) objMngr.getObject("ManualControlCommand");
-		if(manualControl != null) {
-			manualControl.addUpdatedObserver(updatedObserver);
-		}
+		registerObjectUpdates(manualControl);
 
-
-		UAVDataObject manualControlSettings = (UAVDataObject) objMngr.getObject("ManualControlSettings");
-		if(manualControlSettings != null) {
-			Log.d(TAG, "Requested settings update");
-			manualControlSettings.addUpdatedObserver(updatedObserver);
-			manualControlSettings.updateRequested();
-		}
+		// Request a one time update before configuring for GCS control mode
+		UAVDataObject manualSettings = (UAVDataObject) objMngr.getObject("ManualControlSettings");
+		manualSettings.addUpdatedObserver(settingsUpdated);
+		manualSettings.updateRequested();
 
 		final double MOVEMENT_RANGE = 50.0;
 		DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
@@ -138,7 +132,9 @@ public class Controller extends ObjectManagerActivity {
 			public void OnReleased() { rightJoystickHeld = false; throttle = -1; updated = true; }
 			@Override
 			public void OnReturnedToCenter() { }
-		}) ;
+		});
+
+		//! This timer task actually periodically sends updates to the UAV
 		TimerTask controllerTask = new TimerTask() {
 			@Override
 			public void run() {
@@ -175,36 +171,19 @@ public class Controller extends ObjectManagerActivity {
 				});
 			}
 		};
-		sendTimer.schedule(controllerTask, 500, 100);
+		sendTimer.schedule(controllerTask, 500, 10);
 	}
 
-	/**
-	 * The callbacks from the UAVOs must run in the correct thread to update the
-	 * UI.  This is what using a runnable does.
-	 */
-	final Handler uavobjHandler = new Handler();
-	final Runnable updateText = new Runnable() {
-		@Override
-		public void run() {
-			updateManualControl();
-		}
-	};
-
-	private final Observer updatedObserver = new Observer() {
-		@Override
-		public void update(Observable observable, Object data) {
-			uavobjHandler.post(updateText);
-		}
-	};
-
 	/**
 	 * Show the string description of manual control command
 	 */
-	private void updateManualControl() {
-		UAVDataObject manualControl = (UAVDataObject) objMngr.getObject("ManualControlCommand");
-		TextView manualView = (TextView) findViewById(R.id.manualControlValues);
-		if (manualView != null && manualControl != null)
-			manualView.setText(manualControl.toStringData());
+	@Override
+	protected void objectUpdated(UAVObject obj) {
+		if (obj.getName().compareTo("ManualControlCommand") == 0) {
+			TextView manualView = (TextView) findViewById(R.id.manualControlValues);
+			if (manualView != null)
+				manualView.setText(obj.toStringData());
+		}
 	}
 
 	/**

From 6e413d1779c38cb75003230f4bdfbcb2d53c2788 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sat, 11 Aug 2012 11:29:38 -0700
Subject: [PATCH 360/543] locked the column headers in airframe yaw and txPID
 so they hopefully dont go all gigantic in windows

---
 .../src/plugins/config/airframe.ui            | 20 ++++--
 .../openpilotgcs/src/plugins/config/txpid.ui  | 72 +++++++++++++++++++
 2 files changed, 88 insertions(+), 4 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index de0e70591..6336052c9 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>862</width>
+    <width>867</width>
     <height>598</height>
    </rect>
   </property>
@@ -128,7 +128,7 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>808</width>
+            <width>813</width>
             <height>491</height>
            </rect>
           </property>
@@ -1352,6 +1352,18 @@ margin:1px;</string>
                  <layout class="QVBoxLayout" name="verticalLayout_4">
                   <item>
                    <widget class="QLabel" name="label_2">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>0</width>
+                      <height>16</height>
+                     </size>
+                    </property>
                     <property name="styleSheet">
                      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -2733,8 +2745,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>902</width>
-            <height>595</height>
+            <width>813</width>
+            <height>455</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
diff --git a/ground/openpilotgcs/src/plugins/config/txpid.ui b/ground/openpilotgcs/src/plugins/config/txpid.ui
index 78c15a829..914ac344e 100644
--- a/ground/openpilotgcs/src/plugins/config/txpid.ui
+++ b/ground/openpilotgcs/src/plugins/config/txpid.ui
@@ -187,6 +187,18 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.</str
              <layout class="QGridLayout" name="gridLayout">
               <item row="1" column="1">
                <widget class="QLabel" name="label_51">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
                 <property name="styleSheet">
                  <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -204,6 +216,18 @@ margin:1px;</string>
               </item>
               <item row="1" column="2">
                <widget class="QLabel" name="label_50">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
                 <property name="styleSheet">
                  <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -221,6 +245,18 @@ margin:1px;</string>
               </item>
               <item row="1" column="3">
                <widget class="QLabel" name="label_49">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
                 <property name="styleSheet">
                  <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -238,6 +274,18 @@ margin:1px;</string>
               </item>
               <item row="1" column="4">
                <widget class="QLabel" name="label">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
                 <property name="styleSheet">
                  <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -545,6 +593,18 @@ only when system is armed without disabling the module.</string>
               </item>
               <item row="6" column="1">
                <widget class="QLabel" name="label_4">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
                 <property name="styleSheet">
                  <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -562,6 +622,18 @@ margin:1px;</string>
               </item>
               <item row="6" column="2">
                <widget class="QLabel" name="label_5">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
                 <property name="styleSheet">
                  <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);

From edec2888125cbb7a057a45c7ff64903faf9b95dd Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 12 Aug 2012 16:11:49 -0500
Subject: [PATCH 361/543] Update the config file so the mag scopes selection
 works

---
 .../openpilotgcs/default_configurations/OpenPilotGCS.xml    | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
index 092e1fa79..a378d1649 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
@@ -2159,7 +2159,7 @@
           <plotCurve0>
             <color>4294901760</color>
             <mathFunction>None</mathFunction>
-            <uavField>X</uavField>
+            <uavField>x</uavField>
             <uavObject>Magnetometer</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
@@ -2169,7 +2169,7 @@
           <plotCurve1>
             <color>4283782655</color>
             <mathFunction>None</mathFunction>
-            <uavField>Y</uavField>
+            <uavField>y</uavField>
             <uavObject>Magnetometer</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>
@@ -2179,7 +2179,7 @@
           <plotCurve2>
             <color>4283804160</color>
             <mathFunction>None</mathFunction>
-            <uavField>Z</uavField>
+            <uavField>z</uavField>
             <uavObject>Magnetometer</uavObject>
             <yMaximum>0</yMaximum>
             <yMeanSamples>1</yMeanSamples>

From b4da3b5e54dda4129d1d1a7a76332dd0e6453ce7 Mon Sep 17 00:00:00 2001
From: Chris Pember <chris.pember@gmail.com>
Date: Sun, 12 Aug 2012 22:08:56 -0700
Subject: [PATCH 362/543] added a little padding for the scroll area in
 airframe form so in windows it doesnt get squashed...i hope.

---
 .../src/plugins/config/airframe.ui            | 29 ++++++++++---------
 1 file changed, 16 insertions(+), 13 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 6336052c9..96b092db5 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,14 +6,17 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>867</width>
-    <height>598</height>
+    <width>920</width>
+    <height>626</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_10">
+   <property name="bottomMargin">
+    <number>12</number>
+   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -28,7 +31,7 @@
         <number>12</number>
        </property>
        <property name="topMargin">
-        <number>0</number>
+        <number>12</number>
        </property>
        <property name="rightMargin">
         <number>12</number>
@@ -128,8 +131,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>813</width>
-            <height>491</height>
+            <width>866</width>
+            <height>507</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -2745,8 +2748,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>813</width>
-            <height>455</height>
+            <width>866</width>
+            <height>483</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
@@ -3190,18 +3193,18 @@ p, li { white-space: pre-wrap; }
   </layout>
  </widget>
  <customwidgets>
-  <customwidget>
-   <class>ConfigCcpmWidget</class>
-   <extends>QWidget</extends>
-   <header>cfg_vehicletypes/configccpmwidget.h</header>
-   <container>1</container>
-  </customwidget>
   <customwidget>
    <class>MixerCurve</class>
    <extends>QWidget</extends>
    <header location="global">mixercurve.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>ConfigCcpmWidget</class>
+   <extends>QWidget</extends>
+   <header>cfg_vehicletypes/configccpmwidget.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <resources>
   <include location="../coreplugin/core.qrc"/>

From e9a355077f4d38ef9e0fe51a732991160f12c464 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 13 Aug 2012 16:18:53 -0500
Subject: [PATCH 363/543] Look for the default configurations in a platform
 dependent location, unfortunately.

---
 ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
index a037cbe0e..dcbc1fa87 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
@@ -272,10 +272,17 @@ void MainWindow::extensionsInitialized()
     if ( ! qs->allKeys().count() ){
         importSettings * dialog=new importSettings(this);
         QDir directory(QCoreApplication::applicationDirPath());
+#ifdef Q_OS_MAC
+        directory.cdUp();
+        directory.cd("Resources");
+#else
         directory.cdUp();
         directory.cd("share");
         directory.cd("openpilotgcs");
+#endif
         directory.cd("default_configurations");
+
+        qDebug() << "Looking for default config files in: " + directory.absolutePath();
         dialog->loadFiles(directory.absolutePath());
         dialog->exec();
         settings=new QSettings(dialog->choosenConfig(), XmlConfig::XmlSettingsFormat);

From 40da558131f4140f6ac9a3ec24d43c68f80a3032 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Mon, 13 Aug 2012 22:48:45 +0100
Subject: [PATCH 364/543] GCS-Update the path to the stylesheets on Mac to.

---
 ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
index dcbc1fa87..7f2cf4e44 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
@@ -309,9 +309,14 @@ void MainWindow::extensionsInitialized()
 void MainWindow::loadStyleSheet(QString name) {
     /* Let's use QFile and point to a resource... */
     QDir directory(QCoreApplication::applicationDirPath());
+#ifdef Q_OS_MAC
+    directory.cdUp();
+    directory.cd("Resources");
+#else
     directory.cdUp();
     directory.cd("share");
     directory.cd("openpilotgcs");
+#endif
     directory.cd("stylesheets");
 #ifdef Q_OS_MAC
     QFile data(directory.absolutePath()+QDir::separator()+name+"_macos.qss");

From 31cb4b7ea59774dc0b3a008116e7c2f4be549499 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Tue, 14 Aug 2012 22:46:35 +1000
Subject: [PATCH 365/543] Welcome page: added wizard buttons

Not connected to anything yet, may be necessary
to update the workspace names once new workspaces added.
---
 .../plugins/welcome/qml/WelcomePageButton.qml |   3 ++-
 .../welcome/qml/images/bttn-txwizard-off.png  | Bin 0 -> 13667 bytes
 .../welcome/qml/images/bttn-txwizard-on.png   | Bin 0 -> 13809 bytes
 .../welcome/qml/images/bttn-vehwizard-off.png | Bin 0 -> 16263 bytes
 .../welcome/qml/images/bttn-vehwizard-on.png  | Bin 0 -> 16339 bytes
 .../src/plugins/welcome/qml/main.qml          |  22 ++++++++++++++++++
 .../src/plugins/welcome/welcome.qrc           |   4 ++++
 7 files changed, 28 insertions(+), 1 deletion(-)
 create mode 100644 ground/openpilotgcs/src/plugins/welcome/qml/images/bttn-txwizard-off.png
 create mode 100644 ground/openpilotgcs/src/plugins/welcome/qml/images/bttn-txwizard-on.png
 create mode 100644 ground/openpilotgcs/src/plugins/welcome/qml/images/bttn-vehwizard-off.png
 create mode 100644 ground/openpilotgcs/src/plugins/welcome/qml/images/bttn-vehwizard-on.png

diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/WelcomePageButton.qml b/ground/openpilotgcs/src/plugins/welcome/qml/WelcomePageButton.qml
index a31a252eb..09834d3ed 100644
--- a/ground/openpilotgcs/src/plugins/welcome/qml/WelcomePageButton.qml
+++ b/ground/openpilotgcs/src/plugins/welcome/qml/WelcomePageButton.qml
@@ -3,7 +3,7 @@ import QtQuick 1.1
 
 Item {
     id: welcomeButton
-    width: 116
+    width: Math.max(116, icon.width)
     height: 116
 
     property string baseIconName
@@ -28,6 +28,7 @@ Item {
         id: labelImage
         source: "images/button-label.png"
         opacity: 0
+        visible: labelText.text.length > 0 //don't show label bg without text
 
         anchors.horizontalCenter: parent.horizontalCenter
         anchors.bottom: hoveredIcon.top
diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/images/bttn-txwizard-off.png b/ground/openpilotgcs/src/plugins/welcome/qml/images/bttn-txwizard-off.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb0aab3048678d86f7093cec3424aa0e5abdaaed
GIT binary patch
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Uc0BR<pE7$Xae1){5&eMw1M!Giz5oCK

literal 0
HcmV?d00001

diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/main.qml b/ground/openpilotgcs/src/plugins/welcome/qml/main.qml
index 4db07bd8e..8af49ed76 100644
--- a/ground/openpilotgcs/src/plugins/welcome/qml/main.qml
+++ b/ground/openpilotgcs/src/plugins/welcome/qml/main.qml
@@ -24,6 +24,28 @@ Rectangle {
         smooth: true
     }
 
+    Column {
+        id: wizarButtonsColumn
+
+        anchors {
+            top: parent.top
+            right: parent.right
+            margins: 8
+        }
+        spacing: 8
+
+        WelcomePageButton {
+            baseIconName: "bttn-vehwizard"
+            onClicked: welcomePlugin.openPage("VehWizard")
+        }
+
+        WelcomePageButton {
+            baseIconName: "bttn-txwizard"
+            onClicked: welcomePlugin.openPage("TxWizard")
+        }
+    }
+
+
     Column {
         anchors.horizontalCenter: parent.horizontalCenter
         // distribute a vertical space between the icons blocks an community widget as:
diff --git a/ground/openpilotgcs/src/plugins/welcome/welcome.qrc b/ground/openpilotgcs/src/plugins/welcome/welcome.qrc
index 0f1903a2b..34fea14fc 100644
--- a/ground/openpilotgcs/src/plugins/welcome/welcome.qrc
+++ b/ground/openpilotgcs/src/plugins/welcome/welcome.qrc
@@ -24,5 +24,9 @@
         <file>qml/images/scopes-off.png</file>
         <file>qml/images/system-on.png</file>
         <file>qml/images/system-off.png</file>
+        <file>qml/images/bttn-txwizard-on.png</file>
+        <file>qml/images/bttn-txwizard-off.png</file>
+        <file>qml/images/bttn-vehwizard-on.png</file>
+        <file>qml/images/bttn-vehwizard-off.png</file>
     </qresource>
 </RCC>

From 81d4fd37400ae11d77cf5e815be49f1c42cb86e2 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Tue, 14 Aug 2012 22:54:08 +1000
Subject: [PATCH 366/543] Updated welcome page to work better on small screen

if the buttons grid overlaps vertically with wizard buttons,
move it left to use only the space left to wizard buttons;

Hide the OpenPilot Logo when workspace buttons don't
fir the screen;

Limit the size of community panel on small screen
---
 .../src/plugins/welcome/qml/CommunityPanel.qml       |  3 ++-
 ground/openpilotgcs/src/plugins/welcome/qml/main.qml | 12 +++++++++++-
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/CommunityPanel.qml b/ground/openpilotgcs/src/plugins/welcome/qml/CommunityPanel.qml
index 60cdfb1ed..245887b62 100644
--- a/ground/openpilotgcs/src/plugins/welcome/qml/CommunityPanel.qml
+++ b/ground/openpilotgcs/src/plugins/welcome/qml/CommunityPanel.qml
@@ -2,7 +2,8 @@
 import QtQuick 1.1
 
 Item {
-    width: background.sourceSize.width
+    property alias sourceSize: background.sourceSize
+    width: sourceSize.width
     height: 300
 
     BorderImage {
diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/main.qml b/ground/openpilotgcs/src/plugins/welcome/qml/main.qml
index 8af49ed76..f2f2a302c 100644
--- a/ground/openpilotgcs/src/plugins/welcome/qml/main.qml
+++ b/ground/openpilotgcs/src/plugins/welcome/qml/main.qml
@@ -47,6 +47,7 @@ Rectangle {
 
 
     Column {
+        id: buttonsGrid
         anchors.horizontalCenter: parent.horizontalCenter
         // distribute a vertical space between the icons blocks an community widget as:
         // top - 48% - Icons - 27% - CommunityWidget - 25% - bottom
@@ -55,13 +56,20 @@ Rectangle {
         spacing: (parent.height - buttons.height - communityPanel.height) * 0.27
 
         Row {
-            anchors.horizontalCenter: parent.horizontalCenter
+            //if the buttons grid overlaps vertically with the wizard buttons,
+            //move it left to use only the space left to wizard buttons
+            property real availableWidth: buttonsGrid.y > wizarButtonsColumn.y+wizarButtonsColumn.height ?
+                                           container.width : wizarButtonsColumn.x
+            x: (availableWidth-width)/2
             spacing: 16
 
             Image {
                 source: "images/welcome-op-logo.png"
                 anchors.verticalCenter: parent.verticalCenter
                 anchors.verticalCenterOffset: -2 //it looks better aligned to icons grid
+
+                //hide the logo on the very small screen to fit the buttons
+                visible: parent.availableWidth > width + parent.spacing + buttons.width
             }
 
             Grid {
@@ -111,6 +119,8 @@ Rectangle {
         CommunityPanel {
             id: communityPanel
             anchors.horizontalCenter: parent.horizontalCenter
+            width: Math.min(sourceSize.width, container.width)
+            height: Math.min(300, container.height*0.5)
         }
     }
 }

From 69bd17c6a8f1412f431d01c8ffaf1f160bed163c Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Tue, 14 Aug 2012 23:06:31 +1000
Subject: [PATCH 367/543] Welcome page: display the scroll decorator

To give a hint the news list is scrollable
---
 .../src/plugins/welcome/qml/NewsPanel.qml     |  4 ++
 .../plugins/welcome/qml/ScrollDecorator.qml   | 37 +++++++++++++++++++
 .../src/plugins/welcome/welcome.qrc           |  1 +
 3 files changed, 42 insertions(+)
 create mode 100644 ground/openpilotgcs/src/plugins/welcome/qml/ScrollDecorator.qml

diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/NewsPanel.qml b/ground/openpilotgcs/src/plugins/welcome/qml/NewsPanel.qml
index a0e33c647..cb95da906 100644
--- a/ground/openpilotgcs/src/plugins/welcome/qml/NewsPanel.qml
+++ b/ground/openpilotgcs/src/plugins/welcome/qml/NewsPanel.qml
@@ -28,6 +28,10 @@ Item {
         clip: true
     }
 
+    ScrollDecorator {
+        flickableItem: view
+    }
+
     XmlListModel {
         id: xmlModel
         source: "http://www.openpilot.org/feed/"
diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/ScrollDecorator.qml b/ground/openpilotgcs/src/plugins/welcome/qml/ScrollDecorator.qml
new file mode 100644
index 000000000..a393690ae
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/welcome/qml/ScrollDecorator.qml
@@ -0,0 +1,37 @@
+import QtQuick 1.1
+
+Rectangle {
+    id: scrollDecorator
+
+    property Flickable flickableItem: null
+
+    Loader {
+        sourceComponent: scrollDecorator.flickableItem ? scrollBar : undefined
+    }
+
+    Component {
+        id: scrollBar
+        Rectangle {
+            property Flickable flickable: scrollDecorator.flickableItem
+
+            parent: flickable
+            anchors.right: parent.right
+
+            smooth: true
+            radius: 2
+            color: "gray"
+            border.color: "lightgray"
+            border.width: 1.0
+            opacity: flickable.moving ? 0.8 : 0.4
+
+            Behavior on opacity {
+                NumberAnimation { duration: 500 }
+            }
+
+            width: 4
+            height: flickable.height * (flickable.height / flickable.contentHeight)
+            y: flickable.height * (flickable.contentY / flickable.contentHeight)
+            visible: flickable.height < flickable.contentHeight
+        }
+    }
+}
diff --git a/ground/openpilotgcs/src/plugins/welcome/welcome.qrc b/ground/openpilotgcs/src/plugins/welcome/welcome.qrc
index 34fea14fc..8edecd01e 100644
--- a/ground/openpilotgcs/src/plugins/welcome/welcome.qrc
+++ b/ground/openpilotgcs/src/plugins/welcome/welcome.qrc
@@ -5,6 +5,7 @@
         <file>qml/SitesPanel.qml</file>
         <file>qml/WelcomePageButton.qml</file>
         <file>qml/NewsPanel.qml</file>
+        <file>qml/ScrollDecorator.qml</file>
         <file>qml/images/welcome-news-bg.png</file>
         <file>qml/images/welcome-op-logo.png</file>
         <file>qml/images/button-label.png</file>

From 8c3488e2204052971425008233ca7ba4ee45b296 Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Tue, 14 Aug 2012 12:35:53 -0700
Subject: [PATCH 368/543] TelemetryMonitorWidget: add op-131 support for
 connect/disconnect signals from telemetrymonitor, slots and timers in
 connectionmanager;

---
 .../plugins/coreplugin/connectionmanager.cpp  | 84 +++++++++++++++----
 .../plugins/coreplugin/connectionmanager.h    | 15 +++-
 .../src/plugins/uavtalk/telemetrymonitor.cpp  |  2 +
 3 files changed, 79 insertions(+), 22 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index fbc75b042..d053e70d9 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -50,18 +50,13 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidge
     m_ioDev(NULL),	
 	m_mainWindow(mainWindow)
 {
- //   Q_UNUSED(mainWindow);
-
-/*    QVBoxLayout *top = new QVBoxLayout;
-    top->setSpacing(0);
-    top->setMargin(0);*/
 
     QHBoxLayout *layout = new QHBoxLayout;
     layout->setSpacing(5);
     layout->setContentsMargins(5,2,5,2);
 
-    m_monitor = new TelemetryMonitorWidget(this);
-    layout->addWidget(m_monitor, Qt::AlignHCenter);
+    m_monitorWidget = new TelemetryMonitorWidget(this);
+    layout->addWidget(m_monitorWidget, Qt::AlignHCenter);
 
     layout->addWidget(new QLabel(tr("Connections:")));
 
@@ -76,22 +71,26 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidge
     m_connectBtn->setEnabled(false);
     layout->addWidget(m_connectBtn);
 
-/*    Utils::StyledBar *bar = new Utils::StyledBar;
-    bar->setLayout(layout);
-
-    top->addWidget(bar);*/
     setLayout(layout);
 
-    //    modeStack->insertCornerWidget(modeStack->cornerWidgetCount()-1, this);
     modeStack->setCornerWidget(this, Qt::TopRightCorner);
 
     QObject::connect(m_connectBtn, SIGNAL(clicked()), this, SLOT(onConnectClicked()));
+
+    // setup our reconnect timers
+    reconnect = new QTimer(this);
+    reconnectCheck = new QTimer(this);
+    connect(reconnect,SIGNAL(timeout()),this,SLOT(reconnectSlot()));
+    connect(reconnectCheck,SIGNAL(timeout()),this,SLOT(reconnectCheckSlot()));
 }
 
 ConnectionManager::~ConnectionManager()
 {
 	disconnectDevice();	// Pip
 	suspendPolling();	// Pip
+
+    if (m_monitorWidget)
+        delete m_monitorWidget;
 }
 
 void ConnectionManager::init()
@@ -145,8 +144,8 @@ bool ConnectionManager::connectDevice()
     m_connectBtn->setText("Disconnect");
     m_availableDevList->setEnabled(false);
 
-    // tell the monitor we're connected
-    m_monitor->connect();
+    // tell the monitorwidget we're conneced
+    m_monitorWidget->connect();
 
     return true;
 }
@@ -157,6 +156,9 @@ bool ConnectionManager::connectDevice()
 */
 bool ConnectionManager::disconnectDevice()
 {
+    // tell the monitor widget we're disconnected
+    m_monitorWidget->disconnect();
+
     if (!m_ioDev) {
         // apparently we are already disconnected: this can
         // happen if a plugin tries to force a disconnect whereas
@@ -166,6 +168,12 @@ bool ConnectionManager::disconnectDevice()
 
     // We are connected - disconnect from the device
 
+    // stop our timers
+    if(reconnect->isActive())
+        reconnect->stop();
+    if(reconnectCheck->isActive())
+        reconnectCheck->stop();
+
     // signal interested plugins that user is disconnecting his device
     emit deviceAboutToDisconnect();
 
@@ -176,9 +184,6 @@ bool ConnectionManager::disconnectDevice()
         qDebug() << "Exception: m_connectionDevice.connection->closeDevice(" << m_connectionDevice.devName << ")";
     }
 
-    //tell the monitor we're disconnected
-    m_monitor->disconnect();
-
     m_connectionDevice.connection = NULL;
     m_ioDev = NULL;
 
@@ -250,12 +255,55 @@ void ConnectionManager::onConnectClicked()
     }
 }
 
+/**
+*   Slot called when the telemetry is connected
+*/
+void ConnectionManager::telemetryConnected()
+{
+    qDebug() << "TelemetryMonitor: connected";
+
+    //tell the monitor we're connected
+    m_monitorWidget->connect();
+}
+
+/**
+*   Slot called when the telemetry is disconnected
+*/
+void ConnectionManager::telemetryDisconnected()
+{
+    qDebug() << "TelemetryMonitor: disconnected";
+
+    //tell the monitor we're disconnected
+    m_monitorWidget->disconnect();
+}
+
 /**
 *   Slot called when the telemetry rates are updated
 */
 void ConnectionManager::telemetryUpdated(double txRate, double rxRate)
 {
-    m_monitor->updateTelemetry(txRate, rxRate);
+    m_monitorWidget->updateTelemetry(txRate, rxRate);
+}
+
+void ConnectionManager::reconnectSlot()
+{
+    qDebug()<<"reconnect";
+    if(m_ioDev->isOpen())
+        m_ioDev->close();
+
+    if(m_ioDev->open(QIODevice::ReadWrite)) {
+        qDebug()<<"reconnect successfull";
+        reconnect->stop();
+        reconnectCheck->start(20000);
+    }
+    else
+        qDebug()<<"reconnect NOT successfull";
+}
+
+void ConnectionManager::reconnectCheckSlot()
+{
+    reconnectCheck->stop();
+    reconnect->start(1000);
 }
 
 /**
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 4ed3e9530..1d1c7a088 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -91,6 +91,8 @@ signals:
     void deviceAboutToDisconnect();
 
 public slots:
+    void telemetryConnected();
+    void telemetryDisconnected();
     void telemetryUpdated(double txRate, double rxRate);
 
 private slots:
@@ -102,7 +104,10 @@ private slots:
 
 //	void onConnectionClosed(QObject *obj);
 	void onConnectionDestroyed(QObject *obj);
-        void connectionsCallBack(); //used to call devChange after all the plugins are loaded
+    void connectionsCallBack(); //used to call devChange after all the plugins are loaded
+    void reconnectSlot();
+    void reconnectCheckSlot();
+
 protected:
     QComboBox *m_availableDevList;
     QPushButton *m_connectBtn;
@@ -110,7 +115,7 @@ protected:
     QList<IConnection*> m_connectionsList;
 
     //tx/rx telemetry monitor
-    TelemetryMonitorWidget* m_monitor;
+    TelemetryMonitorWidget* m_monitorWidget;
 
     //currently connected connection plugin
     devListItem m_connectionDevice;
@@ -120,8 +125,10 @@ protected:
 
 private:
 	bool connectDevice();
-        Internal::MainWindow *m_mainWindow;
-        QList <IConnection *> connectionBackup;
+    Internal::MainWindow *m_mainWindow;
+    QList <IConnection *> connectionBackup;
+    QTimer *reconnect;
+    QTimer *reconnectCheck;
 
 };
 
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp b/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp
index 00c997374..73467129b 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp
@@ -56,6 +56,8 @@ TelemetryMonitor::TelemetryMonitor(UAVObjectManager* objMngr, Telemetry* tel)
     statsTimer->start(STATS_CONNECT_PERIOD_MS);
 
     Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
+    connect(this,SIGNAL(connected()),cm,SLOT(telemetryConnected()));
+    connect(this,SIGNAL(disconnected()),cm,SLOT(telemetryDisconnected()));
     connect(this,SIGNAL(telemetryUpdated(double,double)),cm,SLOT(telemetryUpdated(double,double)));
 }
 

From 69133c1427be94303e8388b3e894ddaddd99b9b9 Mon Sep 17 00:00:00 2001
From: Laura Sebesta <kenn@eissq.com>
Date: Thu, 16 Aug 2012 00:13:19 +0200
Subject: [PATCH 369/543] Further optimized Matlab parsing. It now does most
 typecast as vectorized operations.

The upshot is an approximately 50% performance boost.
---
 .../plugins/uavobjects/uavobjecttemplate.m    | 125 ++++++++------
 .../matlab/uavobjectgeneratormatlab.cpp       | 156 +++++++++++++-----
 .../matlab/uavobjectgeneratormatlab.h         |   3 +-
 3 files changed, 189 insertions(+), 95 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m b/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
index 42d388a31..61b968bf1 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
@@ -59,45 +59,50 @@ $(ALLOCATIONCODE)
 
 
 fid = fopen(logfile);
+buffer=fread(fid,Inf,'uchar=>uchar');
+fseek(fid, 0, 'bof');
+
+bufferIdx=1;
+
 correctMsgByte=hex2dec('20');
 correctSyncByte=hex2dec('3C');
 unknownObjIDList=zeros(1,2);
 
 % Parse log file, entry by entry
-prebuf = fread(fid, 12, 'uint8');
-log_size = dir(logfile);
-log_size = log_size.bytes;
-last_print = 0;
+% prebuf = buffer(1:12);
+
+last_print = -1e10;
 
 startTime=clock;
 
 while (1)
-	if (feof(fid)); break; end
-
 	%% Read message header
 	% get sync field (0x3C, 1 byte)
-	sync = fread(fid, 1, 'uint8');
-	if sync ~= correctSyncByte
-        	prebuf = [prebuf(2:end); sync];
-		wrongSyncByte = wrongSyncByte + 1;	
-       		continue
-    	end
-    
-    	%% Process header if we are aligned
-	timestamp = typecast(uint8(prebuf(1:4)), 'uint32');
-	datasize = typecast(uint8(prebuf(5:12)), 'uint64');
+	sync = buffer(bufferIdx+12);
+	
+	
+	if buffer(bufferIdx+12) ~= correctSyncByte
+		bufferIdx=bufferIdx+1;
+		wrongSyncByte = wrongSyncByte + 1;
+		continue
+	end
+	
+  	%% Process header, if we are aligned
+% 	timestamp = typecast(buffer(bufferIdx:bufferIdx + 4-1), 'uint32'); %We do this one later
+	datasizeBufferIdx = bufferIdx; %Just grab the index. We'll do a typecast later, if necessary
+% 	sync = buffer(bufferIdx+12); %This one has already been done
+	msgType = buffer(bufferIdx+13); % get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
+% 	msgSize = typecast(buffer(bufferIdx+14:bufferIdx+ 14+2-1), 'uint16'); % NOT USED: get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
+	objID = typecast(buffer(bufferIdx+16:bufferIdx+ 16+4-1), 'uint32'); % get obj id (quint32 4 bytes)
 
-	% get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
-	msgType = fread(fid, 1, 'uint8');
+	%Advance buffer past header
+	bufferIdx=bufferIdx+20;
+
+	%Check that message type is correct
 	if msgType ~= correctMsgByte
 		wrongMessageByte = wrongMessageByte + 1;	
 		continue
 	end
-
-	% get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
-	msgSize = fread(fid, 1, 'uint16');
-	% get obj id (quint32 4 bytes)
-	objID = fread(fid, 1, 'uint32');
 	
 	if (isempty(objID)) 	%End of file
 		break;
@@ -110,15 +115,18 @@ $(SWITCHCODE)
 		otherwise
 			unknownObjIDListIdx=find(unknownObjIDList(:,1)==objID, 1, 'first');
 			if isempty(unknownObjIDListIdx)
-				unknownObjIDList=[unknownObjIDList; objID 1]; 
+				unknownObjIDList=[unknownObjIDList; uint32(objID) 1]; %#ok<AGROW>
 			else
-				unknownObjIDList(unknownObjIDListIdx,2)=unknownObjIDList(unknownObjIDListIdx,2)+1;
+				unknownObjIDList(unknownObjIDListIdx,2)=unknownObjIDList(unknownObjIDListIdx,2)+1; 
 			end
+			
+			datasize = typecast(buffer(datasizeBufferIdx + 4:datasizeBufferIdx + 12-1), 'uint64');
+
 			msgBytesLeft = datasize - 1 - 1 - 2 - 4;
 			if msgBytesLeft > 255
 				msgBytesLeft = 0;
 			end
-			fread(fid, msgBytesLeft, 'uint8');
+			bufferIdx=bufferIdx+msgBytesLeft;
 	end
 	catch
 		% One of the reads failed - indicates EOF
@@ -126,42 +134,41 @@ $(SWITCHCODE)
 	end
 
 	if (wrongSyncByte ~= lastWrongSyncByte || wrongMessageByte~=lastWrongMessageByte ) ||...
-			(ftell(fid) / log_size - last_print) > 0.01
+			bufferIdx - last_print > 5e4 %Every 50,000 bytes show the status update
 
 		lastWrongSyncByte=wrongSyncByte;
 		lastWrongMessageByte=wrongMessageByte;
 
 		str1=[];
 		for i=1:length([str2 str3 str4 str5]);
-			str1=[str1 sprintf('\b')];
+			str1=[str1 sprintf('\b')]; %#ok<AGROW>
 		end
 		str2=sprintf('wrongSyncByte instances:    % 10d\n', wrongSyncByte );
 		str3=sprintf('wrongMessageByte instances: % 10d\n\n', wrongMessageByte );
 		
-		str4=sprintf('Completed bytes: % 9d of % 9d\n', ftell(fid), log_size);
+		str4=sprintf('Completed bytes: % 9d of % 9d\n', bufferIdx, length(buffer));
 		
 	        % Arbitrary times two so that it is at least as long	
-		estTimeRemaining=(log_size-ftell(fid))/(ftell(fid)/etime(clock,startTime)) * 2;
+		estTimeRemaining=(length(buffer)-bufferIdx)/(bufferIdx/etime(clock,startTime)) * 2;
 		h=floor(estTimeRemaining/3600);
 		m=floor((estTimeRemaining-h*3600)/60);
 		s=ceil(estTimeRemaining-h*3600-m*60);
 		
 		str5=sprintf('Est. time remaining, %02dh:%02dm:%02ds \n', h,m,s);
 
-		last_print = ftell(fid) / log_size;
+		last_print = bufferIdx;
 		
 		fprintf([str1 str2 str3 str4 str5]);
 	end
 
+	%Check if at end of file. If not, load next prebuffer
+	if bufferIdx+12-1 > length(buffer)
+		break;
+	end
+% 	bufferIdx=bufferIdx+12;
 
-	prebuf = fread(fid, 12, 'uint8');
 end
 
-fprintf('%d records in %0.2f seconds.\n', ftell(fid), etime(clock,startTime));
-
-for i=2:size(unknownObjIDList,1) %Don't show the first one, as it was simply a dummy placeholder
-   disp(['Unknown object ID: 0x' dec2hex(unknownObjIDList(i,1),8) ' appeared ' int2str(unknownObjIDList(i,2)) ' times.']);
-end
 
 for i=2:size(unknownObjIDList,1) %Don't show the first one, as it was simply a dummy placeholder
    disp(['Unknown object ID: 0x' dec2hex(unknownObjIDList(i,1),8) ' appeared ' int2str(unknownObjIDList(i,2)) ' times.']);
@@ -170,28 +177,23 @@ end
 %% Clean Up and Save mat file
 fclose(fid);
 
-% Trim output structs
+%% Prune vectors
 $(CLEANUPCODE)
 
+
+%% Perform typecasting on vectors
+$(FUNCTIONSCODE)
+
 if strcmpi(outputType,'mat')
 	matfile = strrep(logfile,'opl','mat');
 	save(matfile $(SAVEOBJECTSCODE));
 else
-$(EXPORTCSVCODE);
+$(EXPORTCSVCODE)
 end
 
+fprintf('%d records in %0.2f seconds.\n', length(buffer), etime(clock,startTime));
 
 
-%% Object reading functions
-$(FUNCTIONSCODE)
-
-% This function prunes the excess pre-allocated space
-function [structOut]=PruneStructOfArrays(structIn, lastIndex)
-
-	fieldNames = fieldnames(structIn);
-	for i=1:length(fieldNames)
-		structOut.(fieldNames{i})=structIn.(fieldNames{i})(:,1:lastIndex);
-	end
 
 	
 function	OPLog2csv(structIn, structName, logfile)
@@ -229,3 +231,28 @@ function crc = compute_crc(data)
         crc = crc_table(1+bitxor(data(i),crc));
     end
 
+function out=mcolon(inStart, inFinish)
+%% This function was inspired by Bruno Luong's 'mcolon'. The name is kept the same as his 'mcolon'
+% function, found on Matlab's file exchange. The two functions return identical
+% results, although his is much faster. Unfortunately, C-compiled mex
+% code would make this function non-cross-platform, so a Matlab scripted
+% version is provided here.
+	if size(inStart,1) > 1 || size(inFinish,1) > 1
+		if size(inStart,2) > 1 || size(inFinish,2) > 1
+			error('Inputs must be vectors, i.e just one column wide.')		
+		else
+			inStart=inStart';
+			inFinish=inFinish';
+		end
+	end
+	
+	diffIn=diff([inStart; inFinish]);
+	numElements=sum(diffIn)+length(inStart);
+	
+	out=zeros(1,numElements);
+	
+	idx=1;
+	for i=1:length(inStart)
+		out(idx:idx+diffIn(i))=inStart(i):inFinish(i);
+		idx=idx+diffIn(i)+1;
+	end
diff --git a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
index 97e3e9e92..78fd102a1 100644
--- a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
+++ b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
@@ -31,7 +31,9 @@ using namespace std;
 bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) {
 
     fieldTypeStrMatlab << "int8" << "int16" << "int32"
-        << "uint8" << "uint16" << "uint32" << "float32" << "uint8";
+        << "uint8" << "uint16" << "uint32" << "single" << "uint8";
+    fieldSizeStrMatlab << "1" << "2" << "4"
+        << "1" << "2" << "4" << "4" << "1";
 
     QDir matlabTemplatePath = QDir( templatepath + QString("ground/openpilotgcs/src/plugins/uavobjects"));
     QDir matlabOutputPath = QDir( outputpath + QString("matlab") );
@@ -46,7 +48,8 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
 
     for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
         ObjectInfo* info=parser->getObjectByIndex(objidx);
-        process_object(info);
+        int numBytes=parser->getNumBytes(objidx);
+        process_object(info, numBytes);
     }
 
     matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
@@ -68,7 +71,7 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
 /**
  * Generate the matlab object files
  */
-bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
+bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info, int numBytes)
 {
     if (info == NULL)
         return false;
@@ -82,12 +85,15 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
     QString functionCall(functionName + "(fid, timestamp, checkCRC, ");
     QString objectID(QString().setNum(info->id));
     QString isSingleInst = boolTo01String( info->isSingleInst );
+    QString numBytesString=QString("%1").arg(numBytes);
 
 	
 	//===================================================================//
     // Generate allocation code (will replace the $(ALLOCATIONCODE) tag) //
 	//===================================================================//
 	//    matlabSwitchCode.append("\t\tcase " + objectID + "\n");
+
+
     matlabAllocationCode.append("\n\t" + tableIdxName + " = 0;\n");
 	QString type;
 	QString allocfields;
@@ -121,6 +127,9 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
     }
     matlabAllocationCode.append(allocfields);
     matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
+    matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_NUMBYTES=" + numBytesString + ";\n");
+    matlabAllocationCode.append("\t" + objectName + "FidIdx = [];\n");
+
 
 
     //==============================================================//
@@ -130,8 +139,8 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
 
 	
     matlabSwitchCode.append("\t\tcase " + objectTableName.toUpper() + "_OBJID\n");
-//	matlabSwitchCode.append("\t\t\t" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
-	matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
+    matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
+    if(0){
 	matlabSwitchCode.append("\t\t\t" + objectTableName + "= " + functionCall + objectTableName + ", " + tableIdxName + ");\n");
     matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +".timestamp) %Check to see if pre-allocated memory is exhausted\n");
     matlabSwitchCode.append("\t\t\t\tFieldNames= fieldnames(" + objectTableName +");\n");
@@ -139,12 +148,22 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
     matlabSwitchCode.append("\t\t\t\t\t" + objectTableName + ".(FieldNames{i})(:," + tableIdxName + "*2+1) = 0;\n");
     matlabSwitchCode.append("\t\t\t\tend\n");
     matlabSwitchCode.append("\t\t\tend\n");
+} else{
+        matlabSwitchCode.append("\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + ") = bufferIdx; %#ok<*AGROW>\n");
+        matlabSwitchCode.append("\t\t\tbufferIdx=bufferIdx + " +  objectTableName.toUpper() + "_NUMBYTES+1; %+1 is for CRC\n");
+        if(!info->isSingleInst){
+            matlabSwitchCode.append("\t\t\tbufferIdx = bufferIdx + 2; %An extra two bytes for the instance ID\n");
+        }
+        matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +"FidIdx) %Check to see if pre-allocated memory is exhausted\n");
+        matlabSwitchCode.append("\t\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + "*2) = 0;\n");
+        matlabSwitchCode.append("\t\t\tend\n");
+    }
 	
 	
-    //============================================================//
-    // Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) //
-    //============================================================//
-    matlabCleanupCode.append(objectTableName + "=PruneStructOfArrays(" + objectTableName + "," + tableIdxName +");\n" );
+//    //============================================================//
+//    // Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) //
+//    //============================================================//
+    matlabCleanupCode.append(objectTableName + "FidIdx =" + objectTableName + "FidIdx(1:" + tableIdxName +");\n" );
 
 	
     //========================================================================//
@@ -163,51 +182,98 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
     // Generate functions code (will replace the $(FUNCTIONSCODE) tag) //
 	//=================================================================//
     //Generate function description comment
-    matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
-	
-    matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + objectTableName + ", " + tableIdxName + ")" + "\n");
+    if(0){
+        matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
 
-    
-    matlabFunctionsCode.append("\t" + objectName + ".timestamp(" + tableIdxName + ")= timestamp;\n");
-    matlabFunctionsCode.append("\tif " + isSingleInst + "\n");
-    matlabFunctionsCode.append("\t\theaderSize = 8;\n");
-    matlabFunctionsCode.append("\telse\n");
-    matlabFunctionsCode.append("\t\t" + objectName + ".instanceID(" + tableIdxName + ") = (fread(fid, 1, 'uint16'));\n");
-    matlabFunctionsCode.append("\t\theaderSize = 10;\n");
-    matlabFunctionsCode.append("\tend\n\n");
+        matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + objectTableName + ", " + tableIdxName + ")" + "\n");
 
-    // Generate functions code, actual fields of the object
-    QString funcfields;
 
-    matlabFunctionsCode.append("\tstartPos = ftell(fid) - headerSize;\n");    
+        matlabFunctionsCode.append("\t" + objectName + ".timestamp(" + tableIdxName + ")= timestamp;\n");
+        matlabFunctionsCode.append("\tif " + isSingleInst + "\n");
+        matlabFunctionsCode.append("\t\theaderSize = 8;\n");
+        matlabFunctionsCode.append("\telse\n");
+        matlabFunctionsCode.append("\t\t" + objectName + ".instanceID(" + tableIdxName + ") = (fread(fid, 1, 'uint16'));\n");
+        matlabFunctionsCode.append("\t\theaderSize = 10;\n");
+        matlabFunctionsCode.append("\tend\n\n");
 
-    for (int n = 0; n < info->fields.length(); ++n) {
-        // Determine type
-        type = fieldTypeStrMatlab[info->fields[n]->type];
-        // Append field
-        if ( info->fields[n]->numElements > 1 )
-            funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(:," + tableIdxName + ") = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
-        else
-            funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(" + tableIdxName + ") = double(fread(fid, 1, '" + type + "'));\n");
+        // Generate functions code, actual fields of the object
+        QString funcfields;
+
+        matlabFunctionsCode.append("\tstartPos = ftell(fid) - headerSize;\n");
+
+        for (int n = 0; n < info->fields.length(); ++n) {
+            // Determine type
+            type = fieldTypeStrMatlab[info->fields[n]->type];
+            // Append field
+            if ( info->fields[n]->numElements > 1 )
+                funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(:," + tableIdxName + ") = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
+            else
+                funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(" + tableIdxName + ") = double(fread(fid, 1, '" + type + "'));\n");
+        }
+        matlabFunctionsCode.append(funcfields);
+
+        matlabFunctionsCode.append("\tobjLen = ftell(fid) - startPos;\n");
+    //    matlabFunctionsCode.append(QString("\tobjLen - %1 -headerSize\n").arg(numBytes));
+
+        matlabFunctionsCode.append("\t% read CRC\n");
+        matlabFunctionsCode.append("\tcrc_read = fread(fid, 1, '*uint8');\n");
+
+        matlabFunctionsCode.append("\tif checkCRC\n");
+        matlabFunctionsCode.append("\t\tfseek(fid, startPos, 'bof');\n");
+        matlabFunctionsCode.append("\t\tcrc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));\n");
+        matlabFunctionsCode.append("\t\tfread(fid,1,'uint8');\n");
+        matlabFunctionsCode.append("\t\tif (crc_calc ~= crc_read)\n");
+        matlabFunctionsCode.append("\t\t\tdisp('CRC Error')\n");
+        matlabFunctionsCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName + " - 1;\n");
+        matlabFunctionsCode.append("\t\tend\n");
+        matlabFunctionsCode.append("\tend\n");
+
+        matlabFunctionsCode.append("\n\n");
     }
-    matlabFunctionsCode.append(funcfields);
+    else{
+        matlabFunctionsCode.append("% " + objectName + " typecasting\n");
+        QString funcfields;
 
-    matlabFunctionsCode.append("\tobjLen = ftell(fid) - startPos;\n");
+        //Add timestamp
+        funcfields.append("\t" + objectName + ".timestamp = " +
+                          "double(typecast(buffer(mcolon(" + objectName + "FidIdx "
+                          "- 20, " + objectName + "FidIdx + 4-1 -20)), 'uint32'))';\n");
 
-    matlabFunctionsCode.append("\t% read CRC\n");
-    matlabFunctionsCode.append("\tcrc_read = fread(fid, 1, '*uint8');\n");
+        int currentIdx=0;
 
-    matlabFunctionsCode.append("\tif checkCRC\n");
-    matlabFunctionsCode.append("\t\tfseek(fid, startPos, 'bof');\n");
-    matlabFunctionsCode.append("\t\tcrc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));\n");
-    matlabFunctionsCode.append("\t\tfread(fid,1,'uint8');\n");
-    matlabFunctionsCode.append("\t\tif (crc_calc ~= crc_read)\n");    
-    matlabFunctionsCode.append("\t\t\tdisp('CRC Error')\n");
-    matlabFunctionsCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName + " - 1;\n");
-    matlabFunctionsCode.append("\t\tend\n");
-    matlabFunctionsCode.append("\tend\n");
+        //Add instance, if necessary
+        if(!info->isSingleInst){
+            funcfields.append("\t" + objectName + ".instanceID = " +
+                              "double(typecast(buffer(mcolon(" + objectName + "FidIdx "
+                              ", " + objectName + "FidIdx + 2-1)), 'uint16'))';\n");
+            currentIdx+=2;
+        }
 
-    matlabFunctionsCode.append("\n\n");
+        for (int n = 0; n < info->fields.length(); ++n) {
+            // Determine type
+            type = fieldTypeStrMatlab[info->fields[n]->type];
+
+            //Determine variable length
+            QString size = fieldSizeStrMatlab[info->fields[n]->type];
+            // Append field
+            if ( info->fields[n]->numElements > 1 ){
+                funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
+                                  "reshape(double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
+                                  ", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt()*info->fields[n]->numElements - 1) + ")), '" + type + "')), "+ QString::number(info->fields[n]->numElements, 10) + ", [] );\n");
+            }
+            else{
+                funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
+                                  "double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
+                                  ", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt() - 1) + ")), '" + type + "'))';\n");
+            }
+            currentIdx+=size.toInt()*info->fields[n]->numElements;
+        }
+        matlabFunctionsCode.append(funcfields);
+        matlabFunctionsCode.append("\n");
+
+    }
+
+//    ActuatorSettings.ChannelUpdateFreq(:,actuatorsettingsIdx) = double(fread(fid, 4, 'uint16'));
 
     return true;
 }
diff --git a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h
index c4025a4f4..afeaf7410 100644
--- a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h
+++ b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h
@@ -35,7 +35,7 @@ public:
     bool generate(UAVObjectParser* gen,QString templatepath,QString outputpath);
 
 private:
-    bool process_object(ObjectInfo* info);
+    bool process_object(ObjectInfo* info, int numBytes);
     QString matlabAllocationCode;
     QString matlabSwitchCode;
     QString matlabCleanupCode;
@@ -43,6 +43,7 @@ private:
     QString matlabExportCsvCode;
     QString matlabFunctionsCode;
     QStringList fieldTypeStrMatlab;
+    QStringList fieldSizeStrMatlab;
 
 };
 

From 699b2f30305b11907a53bffec0804d3aad5174b7 Mon Sep 17 00:00:00 2001
From: Laura Sebesta <kenn@eissq.com>
Date: Thu, 16 Aug 2012 08:37:26 +0200
Subject: [PATCH 370/543] Cleaned up variable names, fixed bug in saving
 whereby the a log file could be saved over if the extension were not "opl".

---
 .../plugins/uavobjects/uavobjecttemplate.m    |   8 +-
 .../matlab/uavobjectgeneratormatlab.cpp       | 243 ++++++------------
 .../matlab/uavobjectgeneratormatlab.h         |   4 +-
 3 files changed, 87 insertions(+), 168 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m b/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
index 61b968bf1..29ea1e084 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
@@ -55,7 +55,7 @@ if ~strcmpi(outputType,'mat') && ~strcmpi(outputType,'csv')
 	error('Incorrect file format specified. Second argument must be ''mat'' or ''csv''.');
 end
 
-$(ALLOCATIONCODE)
+$(INSTANTIATIONCODE)
 
 
 fid = fopen(logfile);
@@ -182,10 +182,12 @@ $(CLEANUPCODE)
 
 
 %% Perform typecasting on vectors
-$(FUNCTIONSCODE)
+$(ALLOCATIONCODE)
 
+%% Save data to file
 if strcmpi(outputType,'mat')
-	matfile = strrep(logfile,'opl','mat');
+	[path, name]=fileparts(logfile);
+	matfile = fullfile(path,[name '.mat']);
 	save(matfile $(SAVEOBJECTSCODE));
 else
 $(EXPORTCSVCODE)
diff --git a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
index 78fd102a1..97b89ad80 100644
--- a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
+++ b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
@@ -52,11 +52,11 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
         process_object(info, numBytes);
     }
 
-    matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
+    matlabCodeTemplate.replace( QString("$(INSTANTIATIONCODE)"), matlabInstantiationCode);
     matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwitchCode);
     matlabCodeTemplate.replace( QString("$(CLEANUPCODE)"), matlabCleanupCode);
     matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode);
-    matlabCodeTemplate.replace( QString("$(FUNCTIONSCODE)"), matlabFunctionsCode);
+    matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
     matlabCodeTemplate.replace( QString("$(EXPORTCSVCODE)"), matlabExportCsvCode);
 
     bool res = writeFile( matlabOutputPath.absolutePath() + "/OPLogConvert.m", matlabCodeTemplate );
@@ -81,91 +81,103 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info, int numBytes)
     // QString objectTableName(objectName + "Objects");
     QString objectTableName(objectName);
     QString tableIdxName(objectName.toLower() + "Idx");
-    QString functionName("Read" + info->name + "Object");
-    QString functionCall(functionName + "(fid, timestamp, checkCRC, ");
     QString objectID(QString().setNum(info->id));
-    QString isSingleInst = boolTo01String( info->isSingleInst );
     QString numBytesString=QString("%1").arg(numBytes);
 
-	
+
 	//===================================================================//
     // Generate allocation code (will replace the $(ALLOCATIONCODE) tag) //
 	//===================================================================//
-	//    matlabSwitchCode.append("\t\tcase " + objectID + "\n");
+    QString type;
+    QString allocfields;
 
-
-    matlabAllocationCode.append("\n\t" + tableIdxName + " = 0;\n");
-	QString type;
-	QString allocfields;
-	if (0){
-		matlabAllocationCode.append("\t" + objectTableName + ".timestamp = 0;\n");
-		for (int n = 0; n < info->fields.length(); ++n) {
-			// Determine type
-			type = fieldTypeStrMatlab[info->fields[n]->type];
-			// Append field
-			if ( info->fields[n]->numElements > 1 )
-				allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1);\n");
-			else
-				allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n");
-		}
-	}
-	else{
-		matlabAllocationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
-		if (!info->isSingleInst) {
-			allocfields.append(",...\n\t\t 'instanceID', 0");
-		}
-		for (int n = 0; n < info->fields.length(); ++n) {
-			// Determine type
-			type = fieldTypeStrMatlab[info->fields[n]->type];
-			// Append field
-			if ( info->fields[n]->numElements > 1 )
-				allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)");
-			else
-				allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
-		}
-		allocfields.append(");\n");
+    matlabInstantiationCode.append("\n\t" + tableIdxName + " = 0;\n");
+    matlabInstantiationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
+    if (!info->isSingleInst) {
+        allocfields.append(",...\n\t\t 'instanceID', 0");
     }
-    matlabAllocationCode.append(allocfields);
-    matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
-    matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_NUMBYTES=" + numBytesString + ";\n");
-    matlabAllocationCode.append("\t" + objectName + "FidIdx = [];\n");
+    for (int n = 0; n < info->fields.length(); ++n) {
+        // Determine type
+        type = fieldTypeStrMatlab[info->fields[n]->type];
+        // Append field
+        if ( info->fields[n]->numElements > 1 )
+            allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)");
+        else
+            allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
+    }
+    allocfields.append(");\n");
 
+    matlabInstantiationCode.append(allocfields);
+    matlabInstantiationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
+    matlabInstantiationCode.append("\t" + objectTableName.toUpper() + "_NUMBYTES=" + numBytesString + ";\n");
+    matlabInstantiationCode.append("\t" + objectName + "FidIdx = [];\n");
 
 
     //==============================================================//
     // Generate 'Switch:' code (will replace the $(SWITCHCODE) tag) //
     //==============================================================//
-	
-
-	
     matlabSwitchCode.append("\t\tcase " + objectTableName.toUpper() + "_OBJID\n");
     matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
-    if(0){
-	matlabSwitchCode.append("\t\t\t" + objectTableName + "= " + functionCall + objectTableName + ", " + tableIdxName + ");\n");
-    matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +".timestamp) %Check to see if pre-allocated memory is exhausted\n");
-    matlabSwitchCode.append("\t\t\t\tFieldNames= fieldnames(" + objectTableName +");\n");
-    matlabSwitchCode.append("\t\t\t\tfor i=1:length(FieldNames) %Grow structure\n");
-    matlabSwitchCode.append("\t\t\t\t\t" + objectTableName + ".(FieldNames{i})(:," + tableIdxName + "*2+1) = 0;\n");
-    matlabSwitchCode.append("\t\t\t\tend\n");
-    matlabSwitchCode.append("\t\t\tend\n");
-} else{
-        matlabSwitchCode.append("\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + ") = bufferIdx; %#ok<*AGROW>\n");
-        matlabSwitchCode.append("\t\t\tbufferIdx=bufferIdx + " +  objectTableName.toUpper() + "_NUMBYTES+1; %+1 is for CRC\n");
-        if(!info->isSingleInst){
-            matlabSwitchCode.append("\t\t\tbufferIdx = bufferIdx + 2; %An extra two bytes for the instance ID\n");
-        }
-        matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +"FidIdx) %Check to see if pre-allocated memory is exhausted\n");
-        matlabSwitchCode.append("\t\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + "*2) = 0;\n");
-        matlabSwitchCode.append("\t\t\tend\n");
+    matlabSwitchCode.append("\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + ") = bufferIdx; %#ok<*AGROW>\n");
+    matlabSwitchCode.append("\t\t\tbufferIdx=bufferIdx + " +  objectTableName.toUpper() + "_NUMBYTES+1; %+1 is for CRC\n");
+    if(!info->isSingleInst){
+        matlabSwitchCode.append("\t\t\tbufferIdx = bufferIdx + 2; %An extra two bytes for the instance ID\n");
     }
-	
-	
-//    //============================================================//
-//    // Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) //
-//    //============================================================//
-    matlabCleanupCode.append(objectTableName + "FidIdx =" + objectTableName + "FidIdx(1:" + tableIdxName +");\n" );
+    matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +"FidIdx) %Check to see if pre-allocated memory is exhausted\n");
+    matlabSwitchCode.append("\t\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + "*2) = 0;\n");
+    matlabSwitchCode.append("\t\t\tend\n");
 
 	
+    //============================================================//
+    // Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) //
+    //============================================================//
+    matlabCleanupCode.append(objectTableName + "FidIdx =" + objectTableName + "FidIdx(1:" + tableIdxName +");\n" );
+
+    //=================================================================//
+    // Generate functions code (will replace the $(ALLOCATIONCODE) tag) //
+	//=================================================================//
+    //Generate function description comment
+    matlabAllocationCode.append("% " + objectName + " typecasting\n");
+    QString allocationFields;
+
+    //Add timestamp
+    allocationFields.append("\t" + objectName + ".timestamp = " +
+                      "double(typecast(buffer(mcolon(" + objectName + "FidIdx "
+                      "- 20, " + objectName + "FidIdx + 4-1 -20)), 'uint32'))';\n");
+
+    int currentIdx=0;
+
+    //Add Instance ID, if necessary
+    if(!info->isSingleInst){
+        allocationFields.append("\t" + objectName + ".instanceID = " +
+                          "double(typecast(buffer(mcolon(" + objectName + "FidIdx "
+                          ", " + objectName + "FidIdx + 2-1)), 'uint16'))';\n");
+        currentIdx+=2;
+    }
+
+    for (int n = 0; n < info->fields.length(); ++n) {
+        // Determine variabel type
+        type = fieldTypeStrMatlab[info->fields[n]->type];
+
+        //Determine variable type length
+        QString size = fieldSizeStrMatlab[info->fields[n]->type];
+        // Append field
+        if ( info->fields[n]->numElements > 1 ){
+            allocationFields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
+                              "reshape(double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
+                              ", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt()*info->fields[n]->numElements - 1) + ")), '" + type + "')), "+ QString::number(info->fields[n]->numElements, 10) + ", [] );\n");
+        }
+        else{
+            allocationFields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
+                              "double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
+                              ", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt() - 1) + ")), '" + type + "'))';\n");
+        }
+        currentIdx+=size.toInt()*info->fields[n]->numElements;
+    }
+    matlabAllocationCode.append(allocationFields);
+    matlabAllocationCode.append("\n");
+
+
     //========================================================================//
     // Generate objects saving code (will replace the $(SAVEOBJECTSCODE) tag) //
     //========================================================================//
@@ -177,103 +189,8 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info, int numBytes)
     //==========================================================================//
     matlabExportCsvCode.append("\tOPLog2csv(" + objectTableName + ", '"+objectTableName+"', logfile);\n");
 //	OPLog2csv(ActuatorCommand, 'ActuatorCommand', logfile)
-	
-	//=================================================================//
-    // Generate functions code (will replace the $(FUNCTIONSCODE) tag) //
-	//=================================================================//
-    //Generate function description comment
-    if(0){
-        matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
-
-        matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + objectTableName + ", " + tableIdxName + ")" + "\n");
 
 
-        matlabFunctionsCode.append("\t" + objectName + ".timestamp(" + tableIdxName + ")= timestamp;\n");
-        matlabFunctionsCode.append("\tif " + isSingleInst + "\n");
-        matlabFunctionsCode.append("\t\theaderSize = 8;\n");
-        matlabFunctionsCode.append("\telse\n");
-        matlabFunctionsCode.append("\t\t" + objectName + ".instanceID(" + tableIdxName + ") = (fread(fid, 1, 'uint16'));\n");
-        matlabFunctionsCode.append("\t\theaderSize = 10;\n");
-        matlabFunctionsCode.append("\tend\n\n");
-
-        // Generate functions code, actual fields of the object
-        QString funcfields;
-
-        matlabFunctionsCode.append("\tstartPos = ftell(fid) - headerSize;\n");
-
-        for (int n = 0; n < info->fields.length(); ++n) {
-            // Determine type
-            type = fieldTypeStrMatlab[info->fields[n]->type];
-            // Append field
-            if ( info->fields[n]->numElements > 1 )
-                funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(:," + tableIdxName + ") = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
-            else
-                funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(" + tableIdxName + ") = double(fread(fid, 1, '" + type + "'));\n");
-        }
-        matlabFunctionsCode.append(funcfields);
-
-        matlabFunctionsCode.append("\tobjLen = ftell(fid) - startPos;\n");
-    //    matlabFunctionsCode.append(QString("\tobjLen - %1 -headerSize\n").arg(numBytes));
-
-        matlabFunctionsCode.append("\t% read CRC\n");
-        matlabFunctionsCode.append("\tcrc_read = fread(fid, 1, '*uint8');\n");
-
-        matlabFunctionsCode.append("\tif checkCRC\n");
-        matlabFunctionsCode.append("\t\tfseek(fid, startPos, 'bof');\n");
-        matlabFunctionsCode.append("\t\tcrc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));\n");
-        matlabFunctionsCode.append("\t\tfread(fid,1,'uint8');\n");
-        matlabFunctionsCode.append("\t\tif (crc_calc ~= crc_read)\n");
-        matlabFunctionsCode.append("\t\t\tdisp('CRC Error')\n");
-        matlabFunctionsCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName + " - 1;\n");
-        matlabFunctionsCode.append("\t\tend\n");
-        matlabFunctionsCode.append("\tend\n");
-
-        matlabFunctionsCode.append("\n\n");
-    }
-    else{
-        matlabFunctionsCode.append("% " + objectName + " typecasting\n");
-        QString funcfields;
-
-        //Add timestamp
-        funcfields.append("\t" + objectName + ".timestamp = " +
-                          "double(typecast(buffer(mcolon(" + objectName + "FidIdx "
-                          "- 20, " + objectName + "FidIdx + 4-1 -20)), 'uint32'))';\n");
-
-        int currentIdx=0;
-
-        //Add instance, if necessary
-        if(!info->isSingleInst){
-            funcfields.append("\t" + objectName + ".instanceID = " +
-                              "double(typecast(buffer(mcolon(" + objectName + "FidIdx "
-                              ", " + objectName + "FidIdx + 2-1)), 'uint16'))';\n");
-            currentIdx+=2;
-        }
-
-        for (int n = 0; n < info->fields.length(); ++n) {
-            // Determine type
-            type = fieldTypeStrMatlab[info->fields[n]->type];
-
-            //Determine variable length
-            QString size = fieldSizeStrMatlab[info->fields[n]->type];
-            // Append field
-            if ( info->fields[n]->numElements > 1 ){
-                funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
-                                  "reshape(double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
-                                  ", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt()*info->fields[n]->numElements - 1) + ")), '" + type + "')), "+ QString::number(info->fields[n]->numElements, 10) + ", [] );\n");
-            }
-            else{
-                funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
-                                  "double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
-                                  ", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt() - 1) + ")), '" + type + "'))';\n");
-            }
-            currentIdx+=size.toInt()*info->fields[n]->numElements;
-        }
-        matlabFunctionsCode.append(funcfields);
-        matlabFunctionsCode.append("\n");
-
-    }
-
-//    ActuatorSettings.ChannelUpdateFreq(:,actuatorsettingsIdx) = double(fread(fid, 4, 'uint16'));
 
     return true;
 }
diff --git a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h
index afeaf7410..67817867b 100644
--- a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h
+++ b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h
@@ -36,12 +36,12 @@ public:
 
 private:
     bool process_object(ObjectInfo* info, int numBytes);
-    QString matlabAllocationCode;
+    QString matlabInstantiationCode;
     QString matlabSwitchCode;
     QString matlabCleanupCode;
+    QString matlabAllocationCode;
     QString matlabSaveObjectsCode;
     QString matlabExportCsvCode;
-    QString matlabFunctionsCode;
     QStringList fieldTypeStrMatlab;
     QStringList fieldSizeStrMatlab;
 

From f23eabf469bf84fd87dcb3baae02e99bc63bb82c Mon Sep 17 00:00:00 2001
From: Laura Sebesta <kenn@eissq.com>
Date: Thu, 16 Aug 2012 08:47:45 +0200
Subject: [PATCH 371/543] Fixed comments to mention "instantiation" instead of
 "allocation".

---
 .../matlab/uavobjectgeneratormatlab.cpp        | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
index 97b89ad80..515366112 100644
--- a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
+++ b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
@@ -85,29 +85,29 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info, int numBytes)
     QString numBytesString=QString("%1").arg(numBytes);
 
 
-	//===================================================================//
-    // Generate allocation code (will replace the $(ALLOCATIONCODE) tag) //
-	//===================================================================//
+    //=========================================================================//
+    // Generate instantiation code (will replace the $(INSTANTIATIONCODE) tag) //
+    //=========================================================================//
     QString type;
-    QString allocfields;
+    QString instantiationFields;
 
     matlabInstantiationCode.append("\n\t" + tableIdxName + " = 0;\n");
     matlabInstantiationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
     if (!info->isSingleInst) {
-        allocfields.append(",...\n\t\t 'instanceID', 0");
+        instantiationFields.append(",...\n\t\t 'instanceID', 0");
     }
     for (int n = 0; n < info->fields.length(); ++n) {
         // Determine type
         type = fieldTypeStrMatlab[info->fields[n]->type];
         // Append field
         if ( info->fields[n]->numElements > 1 )
-            allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)");
+            instantiationFields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)");
         else
-            allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
+            instantiationFields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
     }
-    allocfields.append(");\n");
+    instantiationFields.append(");\n");
 
-    matlabInstantiationCode.append(allocfields);
+    matlabInstantiationCode.append(instantiationFields);
     matlabInstantiationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
     matlabInstantiationCode.append("\t" + objectTableName.toUpper() + "_NUMBYTES=" + numBytesString + ";\n");
     matlabInstantiationCode.append("\t" + objectName + "FidIdx = [];\n");

From dc90210cfabb958452b69feaac9947fca94698ea Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 10 Aug 2012 23:19:47 -0500
Subject: [PATCH 372/543] AndroidGCS: Add support for HID to AndroidGCS

---
 androidgcs/AndroidManifest.xml                |  11 +-
 androidgcs/res/values/arrays.xml              |   4 +-
 androidgcs/res/xml/device_filter.xml          |   9 +
 .../androidgcs/telemetry/HidUAVTalk.java      | 622 ++++++++++++++++++
 .../telemetry/OPTelemetryService.java         | 124 +++-
 .../src/org/openpilot/uavtalk/UAVTalk.java    |   2 +-
 6 files changed, 766 insertions(+), 6 deletions(-)
 create mode 100644 androidgcs/res/xml/device_filter.xml
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 1fbb16f55..3dc9bc3e3 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -10,17 +10,26 @@
 	<uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
 	<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
 	<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/>  
-
+	<uses-feature android:name="android.hardware.usb.host" />
+	
 	<application android:icon="@drawable/ic_logo" android:label="@string/app_name" android:theme="@android:style/Theme.Holo">
 		<!-- for map overlay -->
 		<uses-library android:name="com.google.android.maps" />
 
 		<!-- Object browser - main activity at the moment -->
 		<activity android:name="HomePage" android:label="@string/app_name">
+		    
 			<intent-filter>
 				<action android:name="android.intent.action.MAIN" />
 				<category android:name="android.intent.category.LAUNCHER" />
 			</intent-filter>
+ 			
+<!--  			<intent-filter> -->
+<!--                 <action android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" /> -->
+<!--             </intent-filter> -->
+
+<!--             <meta-data android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" -->
+<!--                 android:resource="@xml/device_filter" /> -->
 		</activity>
 
 		<activity android:name="ObjectBrowser" android:label="@string/object_browser_name" />
diff --git a/androidgcs/res/values/arrays.xml b/androidgcs/res/values/arrays.xml
index 18ee52298..4461c31d8 100644
--- a/androidgcs/res/values/arrays.xml
+++ b/androidgcs/res/values/arrays.xml
@@ -5,11 +5,13 @@
         <item>Fake</item>
         <item>Bluetooth</item>
         <item>Network</item>
+        <item>HID</item>
     </string-array>
     <string-array name="connectTypeValues">
         <item>0</item>
         <item>1</item>
         <item>2</item>
         <item>3</item>
-    </string-array>
+        <item>4</item>
+   </string-array>
 </resources>
\ No newline at end of file
diff --git a/androidgcs/res/xml/device_filter.xml b/androidgcs/res/xml/device_filter.xml
new file mode 100644
index 000000000..8347ef270
--- /dev/null
+++ b/androidgcs/res/xml/device_filter.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<resources>
+    <usb-device vendor-id="8352" product-id="16730" />  
+    <usb-device vendor-id="8352" product-id="16731" />  
+	<usb-device vendor-id="8352" product-id="16732" />  
+	<usb-device vendor-id="8352" product-id="16733" />  
+	<usb-device vendor-id="8352" product-id="16734" />  
+</resources>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
new file mode 100644
index 000000000..879c02ba2
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
@@ -0,0 +1,622 @@
+package org.openpilot.androidgcs.telemetry;
+
+// Code based on notes from http://torvafirmus-android.blogspot.com/2011/09/implementing-usb-hid-interface-in.html
+// Taken 2012-08-10
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.nio.ByteBuffer;
+import java.util.HashMap;
+import java.util.Iterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVTalk;
+
+import android.app.PendingIntent;
+import android.app.Service;
+import android.content.BroadcastReceiver;
+import android.content.Context;
+import android.content.Intent;
+import android.content.IntentFilter;
+import android.hardware.usb.UsbConstants;
+import android.hardware.usb.UsbDevice;
+import android.hardware.usb.UsbDeviceConnection;
+import android.hardware.usb.UsbEndpoint;
+import android.hardware.usb.UsbInterface;
+import android.hardware.usb.UsbManager;
+import android.hardware.usb.UsbRequest;
+import android.util.Log;
+
+public class HidUAVTalk {
+
+	private static final String TAG = HidUAVTalk.class.getSimpleName();
+	public static int LOGLEVEL = 2;
+	public static boolean DEBUG = LOGLEVEL > 1;
+	public static boolean WARN = LOGLEVEL > 0;
+
+
+	Service hostDisplayActivity;
+
+	private boolean connected;
+
+	private UAVTalk uavTalk;
+
+	private UAVObjectManager objMngr;
+
+	//! USB constants
+	static final int OPENPILOT_VENDOR_ID = 0x20A0;
+
+	static final int USB_PRODUCT_ID_OPENPILOT_MAIN = 0x415A;
+	static final int USB_PRODUCT_ID_COPTERCONTROL  = 0x415B;
+	static final int USB_PRODUCT_ID_PIPXTREME      = 0x415C;
+	static final int USB_PRODUCT_ID_CC3D           = 0x415D;
+	static final int USB_PRODUCT_ID_REVOLUTION     = 0x415E;
+	static final int USB_PRODUCT_ID_OSD            = 0x4194;
+	static final int USB_PRODUCT_ID_SPARE          = 0x4195;
+
+	public HidUAVTalk(Service service) {
+		hostDisplayActivity = service;
+	}
+
+	public boolean getConnected() {
+		return connected;
+	}
+
+	public UAVTalk getUavtalk() {
+		return uavTalk;
+	}
+
+	/**
+	 * Opens a TCP socket to the address determined on construction.  If successful
+	 * creates a UAVTalk stream connection this socket to the passed in object manager
+	 */
+	public boolean openTelemetryHid(UAVObjectManager objMngr) {
+		uavTalk = new UAVTalk(inStream, outStream, objMngr);
+		this.objMngr = objMngr;
+		return true;
+	}
+
+	public void disconnect() {
+		CleanUpAndClose();
+		//hostDisplayActivity.unregisterReceiver(usbReceiver);
+		//hostDisplayActivity.unregisterReceiver(usbPermissionReceiver);
+		inStream.stop();
+		outStream.stop();
+	}
+
+	public boolean connect(UAVObjectManager objMngr) {
+		if (DEBUG) Log.d(TAG, "connect()");
+
+		// Register to get permission requested dialog
+		usbManager = (UsbManager) hostDisplayActivity.getSystemService(Context.USB_SERVICE);
+		permissionIntent = PendingIntent.getBroadcast(hostDisplayActivity, 0, new Intent(ACTION_USB_PERMISSION), 0);
+		permissionFilter = new IntentFilter(ACTION_USB_PERMISSION);
+		hostDisplayActivity.registerReceiver(usbPermissionReceiver, permissionFilter);
+
+		// Register to get notified on device attached
+		/*deviceAttachedFilter = new IntentFilter();
+		deviceAttachedFilter.addAction(UsbManager.ACTION_USB_DEVICE_DETACHED);
+		deviceAttachedFilter.addAction(UsbManager.ACTION_USB_DEVICE_ATTACHED);
+		hostDisplayActivity.registerReceiver(usbReceiver, deviceAttachedFilter);*/
+
+		HashMap<String, UsbDevice> deviceList = usbManager.getDeviceList();
+		if (DEBUG) Log.d(TAG, "Found " + deviceList.size() + " devices");
+		Iterator<UsbDevice> deviceIterator = deviceList.values().iterator();
+		while(deviceIterator.hasNext()){
+			UsbDevice dev = deviceIterator.next();
+			if (DEBUG) Log.d(TAG, "Testing device: " + dev);
+			usbManager.requestPermission(dev, permissionIntent);
+			//ConnectToDeviceInterface(dev);
+		}
+
+		if (DEBUG) Log.d(TAG, "Registered the deviceAttachedFilter");
+
+		try {
+			Thread.sleep(1000);
+		} catch (InterruptedException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+
+		if( !openTelemetryHid(objMngr) )
+			return false;
+
+		return connected;
+
+	}
+
+	public HidUAVTalk(OPTelemetryService opTelemetryService) {
+		this.hostDisplayActivity = opTelemetryService;
+	}
+
+	private static final String ACTION_USB_PERMISSION = "com.access.device.USB_PERMISSION";
+
+	UsbDevice currentDevice;
+
+	/*
+	 * Receives a requested broadcast from the operating system.
+	 * In this case the following actions are handled:
+	 *   USB_PERMISSION
+	 *   UsbManager.ACTION_USB_DEVICE_DETACHED
+	 *   UsbManager.ACTION_USB_DEVICE_ATTACHED
+	 */
+	private final BroadcastReceiver usbPermissionReceiver = new BroadcastReceiver()
+	{
+		@Override
+		public void onReceive(Context context, Intent intent)
+		{
+			if (DEBUG) Log.d(TAG,"Broadcast receiver caught intent: " + intent);
+			String action = intent.getAction();
+			// Validate the action against the actions registered
+			if (ACTION_USB_PERMISSION.equals(action))
+			{
+				// A permission response has been received, validate if the user has
+				// GRANTED, or DENIED permission
+				synchronized (this)
+				{
+					UsbDevice deviceConnected = (UsbDevice)intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
+
+					if (DEBUG) Log.d(TAG, "Device Permission requested" + deviceConnected);
+					if (intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false))
+					{
+						// Permission has been granted, so connect to the device
+						// If this fails, then keep looking
+						if (deviceConnected != null)
+						{
+							// call method to setup device communication
+							currentDevice = deviceConnected;
+							if (DEBUG) Log.d(TAG, "Device Permission Acquired" + currentDevice);
+							if (!ConnectToDeviceInterface(currentDevice))
+							{
+								if (DEBUG) Log.d(TAG, "Unable to connect to device");
+							}
+							sendEnabledMessage();
+							// TODO: Create a listener to receive messages from the host
+
+						}
+					}
+					else
+					{
+						// Permission has not been granted, so keep looking for another
+						// device to be attached....
+						if (DEBUG) Log.d(TAG, "Device Permission Denied" + deviceConnected);
+						currentDevice = null;
+					}
+				}
+			}
+		}
+	};
+	private final BroadcastReceiver usbReceiver = new BroadcastReceiver()
+	{
+		@Override
+		public void onReceive(Context context, Intent intent)
+		{
+			if (DEBUG) Log.d(TAG,"Broadcast receiver taught intent: " + intent);
+			String action = intent.getAction();
+			// Validate the action against the actions registered
+
+			if (UsbManager.ACTION_USB_DEVICE_DETACHED.equals(action))
+			{
+				// A device has been detached from the device, so close all the connections
+				// and restart the search for a new device being attached
+				UsbDevice device = (UsbDevice)intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
+				if ((device != null) && (currentDevice != null))
+				{
+					if (device.equals(currentDevice))
+					{
+						// call your method that cleans up and closes communication with the device
+						CleanUpAndClose();
+					}
+				}
+			}
+			else if (UsbManager.ACTION_USB_DEVICE_ATTACHED.equals(action))
+			{
+				// A device has been attached. If not already connected to a device,
+				// validate if this device is supported
+				UsbDevice searchDevice = (UsbDevice)intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
+				if (DEBUG) Log.d(TAG, "Device found" + searchDevice);
+				if ((searchDevice != null) && (currentDevice == null))
+				{
+					// call your method that cleans up and closes communication with the device
+					ValidateFoundDevice(searchDevice);
+				}
+			}
+		}
+
+		private void sendEnabledMessage() {
+			// TODO Auto-generated method stub
+
+		};
+	};
+	private UsbEndpoint usbEndpointRead;
+
+	private UsbEndpoint usbEndpointWrite;
+
+	private UsbManager usbManager;
+
+	private PendingIntent permissionIntent;
+
+	private UsbDeviceConnection connectionRead;
+
+	private UsbDeviceConnection connectionWrite;
+
+	private IntentFilter deviceAttachedFilter;
+
+	private IntentFilter permissionFilter;
+
+	protected void sendEnabledMessage() {
+		// TODO Auto-generated method stub
+
+	}
+
+	protected void CleanUpAndClose() {
+		if (UsingSingleInterface) {
+			if(connectionRead != null && usbInterfaceRead != null)
+				connectionRead.releaseInterface(usbInterfaceRead);
+			usbInterfaceRead = null;
+		}
+	else {
+		if(connectionRead != null && usbInterfaceRead != null)
+			connectionRead.releaseInterface(usbInterfaceRead);
+		if(connectionWrite != null && usbInterfaceWrite != null)
+			connectionWrite.releaseInterface(usbInterfaceWrite);
+		usbInterfaceWrite = null;
+		usbInterfaceRead = null;
+		}
+	}
+
+	//Validating the Connected Device - Before asking for permission to connect to the device, it is essential that you ensure that this is a device that you support or expect to connect to. This can be done by validating the devices Vendor ID and Product ID.
+	boolean ValidateFoundDevice(UsbDevice searchDevice) {
+		//A vendor id is a global identifier for the manufacturer. A product id refers to the product itself, and is unique to the manufacturer. The vendor id, product id combination refers to a particular product manufactured by a vendor.
+		if (DEBUG) Log.d(TAG, "ValidateFoundDevice: " + searchDevice );
+
+		if ( searchDevice.getVendorId() == OPENPILOT_VENDOR_ID ) {
+			//Requesting permission
+			if (DEBUG) Log.d(TAG, "Device: " + searchDevice );
+			usbManager.requestPermission(searchDevice, permissionIntent);
+			return true;
+		}
+		else
+			return false;
+	}
+
+	private UsbInterface usbInterfaceRead = null;
+	private UsbInterface usbInterfaceWrite = null;
+	private final boolean UsingSingleInterface = true;
+
+	private UsbDevice connectedDevice;
+
+	boolean ConnectToDeviceInterface(UsbDevice connectDevice) {
+		// Connecting to the Device - If you are reading and writing, then the device
+		// can either have two end points on a single interface, or two interfaces
+		// each with a single end point. Either way, it is best if you know which interface
+		// you need to use and which end points
+
+		if (DEBUG) Log.d(TAG, "ConnectToDeviceInterface:");
+		UsbEndpoint ep1 = null;
+		UsbEndpoint ep2 = null;
+
+
+		if (UsingSingleInterface)
+		{
+			// Using the same interface for reading and writing
+			usbInterfaceRead = connectDevice.getInterface(0x2);
+			usbInterfaceWrite = usbInterfaceRead;
+			if (usbInterfaceRead.getEndpointCount() == 2)
+			{
+				ep1 = usbInterfaceRead.getEndpoint(0);
+				ep2 = usbInterfaceRead.getEndpoint(1);
+			}
+		}
+		else        // if (!UsingSingleInterface)
+		{
+			usbInterfaceRead = connectDevice.getInterface(0x01);
+			usbInterfaceWrite = connectDevice.getInterface(0x02);
+			if ((usbInterfaceRead.getEndpointCount() == 1) && (usbInterfaceWrite.getEndpointCount() == 1))
+			{
+				ep1 = usbInterfaceRead.getEndpoint(0);
+				ep2 = usbInterfaceWrite.getEndpoint(0);
+			}
+		}
+
+
+		if ((ep1 == null) || (ep2 == null))
+		{
+			if (DEBUG) Log.d(TAG, "Null endpoints");
+			return false;
+		}
+
+		// Determine which endpoint is the read, and which is the write
+
+		if (ep1.getType() == UsbConstants.USB_ENDPOINT_XFER_INT)
+		{
+			if (ep1.getDirection() == UsbConstants.USB_DIR_IN)
+			{
+				usbEndpointRead = ep1;
+			}
+			else if (ep1.getDirection() == UsbConstants.USB_DIR_OUT)
+			{
+				usbEndpointWrite = ep1;
+			}
+		}
+		if (ep2.getType() == UsbConstants.USB_ENDPOINT_XFER_INT)
+		{
+			if (ep2.getDirection() == UsbConstants.USB_DIR_IN)
+			{
+				usbEndpointRead = ep2;
+			}
+			else if (ep2.getDirection() == UsbConstants.USB_DIR_OUT)
+			{
+				usbEndpointWrite = ep2;
+			}
+		}
+		if ((usbEndpointRead == null) || (usbEndpointWrite == null))
+		{
+			if (DEBUG) Log.d(TAG, "Endpoints wrong way around");
+			return false;
+		}
+		connectionRead = usbManager.openDevice(connectDevice);
+		connectionRead.claimInterface(usbInterfaceRead, true);
+
+
+		if (UsingSingleInterface)
+		{
+			connectionWrite = connectionRead;
+		}
+		else // if (!UsingSingleInterface)
+		{
+			connectionWrite = usbManager.openDevice(connectDevice);
+			connectionWrite.claimInterface(usbInterfaceWrite, true);
+		}
+
+		connectedDevice = connectDevice;
+		connected = true;
+		if (DEBUG) Log.d(TAG, "Opened endpoints");
+
+		return true;
+	}
+
+	private class TalkInputStream extends InputStream {
+		ByteBuffer data = null;
+		boolean stopped = false;
+		private static final int SIZE = 1024;
+		int readPosition = 0;
+		TalkInputStream() {
+			data = ByteBuffer.allocate(SIZE);
+			data.limit(SIZE);
+			data.clear();
+		}
+
+		@Override
+		public int read() throws IOException {
+			while(!stopped) {
+				synchronized(data) {
+					if(data.capacity() > readPosition)
+						return data.get(readPosition++);
+					else
+						try {
+							data.wait(50);
+						} catch (InterruptedException e) {
+							// TODO Auto-generated catch block
+							e.printStackTrace();
+						}
+				}
+			}
+			throw new IOException();
+		}
+
+		void compress() {
+			if (readPosition > (data.capacity() * 3.0 / 4.0)) {
+				synchronized(data) {
+					data.position(readPosition);
+					data.compact();
+					readPosition = 0;
+					if (DEBUG) Log.d(TAG, "Compact() Capacity: " + data.capacity() + " Position: " + data.position() + " Available: " + data.remaining() + " Limit: " + data.limit());
+				}
+			}
+		}
+
+		public void stop() {
+			stopped = true;
+		}
+
+		public void put(byte b) {
+			synchronized(data) {
+				if(data.hasRemaining()) {
+					data.compact();
+					data.put(b);
+					data.notify();
+				}
+			}
+		}
+
+		public void write(byte[] b) {
+			synchronized(data) {
+				int available = data.remaining();
+				if(available >= b.length) {
+					if (DEBUG) Log.d(TAG, "Size: " + b.length + " Capacity: " + data.capacity() + " Position: " + data.position() + " Available: " + available + " Limit: " + data.limit());
+					//data.compact();
+					data.put(b);
+					data.notify();
+				}
+			}
+		}
+	};
+	private final TalkInputStream inStream = new TalkInputStream();
+
+	/**
+	 * Gets a report from HID, extract the meaningful data and push
+	 * it to the input stream
+	 */
+	public int readData() {
+		int bufferDataLength = usbEndpointRead.getMaxPacketSize();
+		ByteBuffer buffer = ByteBuffer.allocate(bufferDataLength + 1);
+		UsbRequest request = new UsbRequest();
+		request.initialize(connectionRead, usbEndpointRead);
+
+
+        // queue a request on the interrupt endpoint
+        if(!request.queue(buffer, bufferDataLength)) {
+        	if (DEBUG) Log.d(TAG, "Failed to queue request");
+        	return 0;
+        }
+
+        if (DEBUG) Log.d(TAG, "Request queued");
+
+        int dataSize;
+        // wait for status event
+        if (connectionRead.requestWait() == request) {
+        	// Packet format:
+        	// 0: Report ID (1)
+        	// 1: Number of valid bytes
+        	// 2:63: Data
+
+        	dataSize = buffer.get(1);    // Data size
+        	//Assert.assertEquals(1, buffer.get()); // Report ID
+        	//Assert.assertTrue(dataSize < buffer.capacity());
+
+        	if (buffer.get(0) != 1 || buffer.get(1) < 0 || buffer.get(2) > (buffer.capacity() - 2)) {
+        		if (DEBUG) Log.d(TAG, "Badly formatted HID packet");
+        	} else {
+        		byte[] dst = new byte[dataSize];
+        		buffer.position(2);
+        		buffer.get(dst, 0, dataSize);
+        		inStream.write(dst);
+        		if (DEBUG) Log.d(TAG, "Got read: " + dataSize + " bytes");
+        	}
+        } else
+        	return 0;
+
+        return dataSize;
+	}
+
+	private class TalkOutputStream extends OutputStream {
+		ByteBuffer data = ByteBuffer.allocate(128);
+		boolean stopped = false;
+
+		public int read() throws IOException {
+			if (stopped)
+				while(!stopped) {
+					synchronized(data) {
+						if(data.hasRemaining())
+							return data.get();
+						else
+							try {
+								data.wait();
+							} catch (InterruptedException e) {
+								// TODO Auto-generated catch block
+								e.printStackTrace();
+							}
+					}
+					throw new IOException();
+				}
+			return 0;
+		}
+
+		public void stop() {
+			stopped = true;
+		}
+
+		@Override
+		public void write(int oneByte) throws IOException {
+			if (stopped)
+				throw new IOException();
+			synchronized(data) {
+				data.put((byte) oneByte);
+				data.notify();
+			}
+		}
+
+		@Override
+		public void write(byte[] b) throws IOException {
+			if (stopped)
+				throw new IOException();
+
+			synchronized(data) {
+				//data.put(b);
+				data.notify();
+			}
+		}
+	};
+	private final TalkOutputStream outStream = new TalkOutputStream();
+
+	boolean WriteToDevice(ByteBuffer DataToSend) {
+
+		//The report must be formatted correctly for the device being connected to. On some devices, this requires that a specific value must be the first byte in the report. This can be followed by the length of the data in the report. This format is determined by the device, and isn't specified here.
+
+		int bufferDataLength = usbEndpointWrite.getMaxPacketSize();
+		ByteBuffer buffer = ByteBuffer.allocate(bufferDataLength + 1);
+		UsbRequest request = new UsbRequest();
+
+		buffer.put(DataToSend);
+
+		request.initialize(connectionWrite, usbEndpointWrite);
+		request.queue(buffer, bufferDataLength);
+		try
+		{
+			if (request.equals(connectionWrite.requestWait()))
+			{
+				return true;
+			}
+		}
+		catch (Exception ex)
+		{
+			// An exception has occured
+			return false;
+		}
+		return false;
+	}
+
+
+	//Reading from the Device - As USB devices work with reports of a specific length. The data received from the device will always be the size specified by the report length. Even if there isn't enough data to fill the report. Some devices require the controlTransfer method for reading data. I don't cover this command in this blog.
+	void ReadFromDevice() {
+		//If you are expecting unsolicited data from the device, then a read thread should be started so that the data can be processed as soon as it arrives.
+
+		int bufferDataLength = usbEndpointRead.getMaxPacketSize();
+		ByteBuffer buffer = ByteBuffer.allocate(bufferDataLength + 1);
+		UsbRequest requestQueued = null;
+		UsbRequest request = new UsbRequest();
+		request.initialize(connectionRead, usbEndpointRead);
+
+		try
+		{
+			while (!getStopping())
+			{
+				request.queue(buffer, bufferDataLength);
+				requestQueued = connectionRead.requestWait();
+				if (request.equals(requestQueued))
+				{
+					byte[] byteBuffer = new byte[bufferDataLength + 1];
+					buffer.get(byteBuffer, 0, bufferDataLength);
+
+					// Handle data received
+
+					buffer.clear();
+				}
+				else
+				{
+					Thread.sleep(20);
+				}
+			}
+		}
+		catch (Exception ex)
+		{
+			// An exception has occured
+		}
+		try
+		{
+			request.cancel();
+			request.close();
+		}
+		catch (Exception ex)
+		{
+			// An exception has occured
+		}
+	}
+
+	private boolean getStopping() {
+		// TODO Auto-generated method stub
+		return false;
+	}
+}
diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
index 2e518b7e0..7406909da 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
@@ -56,9 +56,9 @@ public class OPTelemetryService extends Service {
 
 	// Logging settings
 	private final String TAG = OPTelemetryService.class.getSimpleName();
-	public static int LOGLEVEL = 0;
-	public static boolean WARN = LOGLEVEL > 1;
-	public static boolean DEBUG = LOGLEVEL > 0;
+	public static int LOGLEVEL = 2;
+	public static boolean DEBUG = LOGLEVEL > 1;
+	public static boolean WARN = LOGLEVEL > 0;
 
 	// Intent category
 	public final static String INTENT_CATEGORY_GCS        = "org.openpilot.intent.category.GCS";
@@ -132,6 +132,10 @@ public class OPTelemetryService extends Service {
 				Toast.makeText(getApplicationContext(), "Attempting TCP connection", Toast.LENGTH_SHORT).show();
 				activeTelem = new TcpTelemetryThread();
 				break;
+			case 4:
+				Toast.makeText(getApplicationContext(), "Attempting USB HID connection", Toast.LENGTH_SHORT).show();
+				activeTelem = new HidTelemetryThread();
+				break;
 			default:
 				throw new Error("Unsupported");
 			}
@@ -482,4 +486,118 @@ public class OPTelemetryService extends Service {
 		}
 
 	};
+
+	private class HidTelemetryThread extends Thread implements TelemTask {
+
+		private final UAVObjectManager objMngr;
+		private UAVTalk uavTalk;
+		private Telemetry tel;
+		private TelemetryMonitor mon;
+
+		@Override
+		public UAVObjectManager getObjectManager() { return objMngr; };
+
+		HidTelemetryThread() {
+			objMngr = new UAVObjectManager();
+			UAVObjectsInitialize.register(objMngr);
+		}
+
+		@Override
+		public void run() {
+			if (DEBUG) Log.d(TAG, "HID Telemetry Thread started");
+
+			Looper.prepare();
+
+			final HidUAVTalk hid = new HidUAVTalk(OPTelemetryService.this);
+			hid.connect(objMngr);
+
+			try {
+				Thread.sleep(200);
+			} catch (InterruptedException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+
+			if( !hid.getConnected() ) {
+				toastMessage("HID connection failed");
+				return;
+			}
+
+			hid.readData();
+			hid.readData();
+			hid.readData();
+			hid.readData();
+
+			uavTalk = hid.getUavtalk();
+			tel = new Telemetry(uavTalk, objMngr);
+			mon = new TelemetryMonitor(objMngr,tel);
+			mon.addObserver(new Observer() {
+				@Override
+				public void update(Observable arg0, Object arg1) {
+					if (DEBUG) Log.d(TAG, "Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
+					if(mon.getConnected()) {
+						Intent intent = new Intent();
+						intent.setAction(INTENT_ACTION_CONNECTED);
+						sendBroadcast(intent,null);
+					}
+				}
+			});
+
+			// Read data from HID and push it ont the UAVTalk input stream
+			Thread t = new Thread(this) {
+				@Override
+				public void run() {
+					while(!terminate) {
+						hid.readData();
+					}
+				}
+			};
+			t.start();
+
+			// Process any bytes that have been pushed onto the UAVTalk stream
+			if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
+			while( !terminate ) {
+				try {
+					if( !uavTalk.processInputStream() )
+						break;
+				} catch (IOException e) {
+					e.printStackTrace();
+					toastMessage("TCP Stream interrupted");
+					break;
+				}
+			}
+
+			try {
+				Thread.sleep(5000);
+			} catch (InterruptedException e1) {
+				// TODO Auto-generated catch block
+				e1.printStackTrace();
+			}
+
+			Looper.myLooper().quit();
+
+			// Stop the HID reading loop
+			t.interrupt();
+			try {
+				t.join();
+			} catch (InterruptedException e) {
+				e.printStackTrace();
+			}
+
+			hid.disconnect();
+
+			// Shut down all the attached
+			mon.stopMonitor();
+			mon = null;
+			tel.stopTelemetry();
+			tel = null;
+
+			// Finally close the stream if it is still open
+			hid.disconnect();
+
+			if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
+			toastMessage("TCP Thread finished");
+		}
+
+	};
 }
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index 1c4d25db6..c2a0a577b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -38,7 +38,7 @@ import android.util.Log;
 public class UAVTalk {
 
 	static final String TAG = "UAVTalk";
-	public static int LOGLEVEL = 1;
+	public static int LOGLEVEL = 4;
 	public static boolean VERBOSE = LOGLEVEL > 3;
 	public static boolean WARN = LOGLEVEL > 2;
 	public static boolean DEBUG = LOGLEVEL > 1;

From 4eb846ba93b8d5cba4a1184fbd1e0f710f58d4b9 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 11 Aug 2012 02:29:26 -0500
Subject: [PATCH 373/543] AndroidGCS: Get HID working properly for PipX

---
 .../androidgcs/telemetry/HidUAVTalk.java      | 217 ++++++++++++------
 .../telemetry/OPTelemetryService.java         |  26 ++-
 .../src/org/openpilot/uavtalk/UAVTalk.java    |   6 +-
 3 files changed, 178 insertions(+), 71 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
index 879c02ba2..81e6ca7d7 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
@@ -10,6 +10,8 @@ import java.nio.ByteBuffer;
 import java.util.HashMap;
 import java.util.Iterator;
 
+import junit.framework.Assert;
+
 import org.openpilot.uavtalk.UAVObjectManager;
 import org.openpilot.uavtalk.UAVTalk;
 
@@ -31,10 +33,9 @@ import android.util.Log;
 public class HidUAVTalk {
 
 	private static final String TAG = HidUAVTalk.class.getSimpleName();
-	public static int LOGLEVEL = 2;
-	public static boolean DEBUG = LOGLEVEL > 1;
-	public static boolean WARN = LOGLEVEL > 0;
-
+	public static int LOGLEVEL = 0;
+	public static boolean WARN = LOGLEVEL > 1;
+	public static boolean DEBUG = LOGLEVEL > 0;
 
 	Service hostDisplayActivity;
 
@@ -377,44 +378,24 @@ public class HidUAVTalk {
 		return true;
 	}
 
+	private int byteToInt(byte b) { return b & 0x000000ff; }
+
 	private class TalkInputStream extends InputStream {
-		ByteBuffer data = null;
+
+		ByteFifo data = new ByteFifo();
 		boolean stopped = false;
-		private static final int SIZE = 1024;
-		int readPosition = 0;
+
 		TalkInputStream() {
-			data = ByteBuffer.allocate(SIZE);
-			data.limit(SIZE);
-			data.clear();
 		}
 
 		@Override
-		public int read() throws IOException {
-			while(!stopped) {
-				synchronized(data) {
-					if(data.capacity() > readPosition)
-						return data.get(readPosition++);
-					else
-						try {
-							data.wait(50);
-						} catch (InterruptedException e) {
-							// TODO Auto-generated catch block
-							e.printStackTrace();
-						}
-				}
-			}
-			throw new IOException();
-		}
-
-		void compress() {
-			if (readPosition > (data.capacity() * 3.0 / 4.0)) {
-				synchronized(data) {
-					data.position(readPosition);
-					data.compact();
-					readPosition = 0;
-					if (DEBUG) Log.d(TAG, "Compact() Capacity: " + data.capacity() + " Position: " + data.position() + " Available: " + data.remaining() + " Limit: " + data.limit());
-				}
+		public int read() {
+			try {
+				return data.getByteBlocking();
+			} catch (InterruptedException e) {
+				e.printStackTrace();
 			}
+			return -1;
 		}
 
 		public void stop() {
@@ -422,42 +403,89 @@ public class HidUAVTalk {
 		}
 
 		public void put(byte b) {
-			synchronized(data) {
-				if(data.hasRemaining()) {
-					data.compact();
-					data.put(b);
-					data.notify();
-				}
-			}
 		}
 
 		public void write(byte[] b) {
-			synchronized(data) {
-				int available = data.remaining();
-				if(available >= b.length) {
-					if (DEBUG) Log.d(TAG, "Size: " + b.length + " Capacity: " + data.capacity() + " Position: " + data.position() + " Available: " + available + " Limit: " + data.limit());
-					//data.compact();
-					data.put(b);
-					data.notify();
-				}
-			}
+			data.put(b);
 		}
 	};
 	private final TalkInputStream inStream = new TalkInputStream();
 
+	private class ByteFifo {
+
+		//! The maximum size of the fifo
+		private final int MAX_SIZE = 1024;
+		//! The number of bytes in the buffer
+		private int size = 0;
+		//! Internal buffer
+		private final ByteBuffer buf;
+
+		ByteFifo() {
+			buf = ByteBuffer.allocate(MAX_SIZE);
+			size = 0;
+		}
+
+		public boolean put(byte[] dat) {
+			if ((size + dat.length) > MAX_SIZE)
+				return false;
+
+			// Place data at the end of the buffer
+			synchronized(buf) {
+				buf.position(size);
+				buf.put(dat);
+				size = size + dat.length;
+				buf.notify();
+			}
+			return true;
+		}
+
+		public byte[] get(int size) throws InterruptedException {
+			size = Math.min(size, this.size);
+			if (size > 0) {
+				synchronized(buf) {
+					byte[] dst = new byte[size];
+					buf.position(0);
+					buf.get(dst,0,size);
+					buf.compact();
+					this.size = this.size - size;
+					Assert.assertEquals(this.size, buf.position());
+
+					buf.wait();
+				}
+			}
+			return new byte[0];
+		}
+
+		public int getByteBlocking() throws InterruptedException {
+			synchronized(buf) {
+				if (size == 0)
+					buf.wait();
+				int val = byteToInt(buf.get(0));
+				buf.position(1);
+				buf.compact();
+				size--;
+
+				return val;
+			}
+		}
+	}
+
 	/**
 	 * Gets a report from HID, extract the meaningful data and push
 	 * it to the input stream
 	 */
+	UsbRequest readRequest = null;
 	public int readData() {
 		int bufferDataLength = usbEndpointRead.getMaxPacketSize();
 		ByteBuffer buffer = ByteBuffer.allocate(bufferDataLength + 1);
-		UsbRequest request = new UsbRequest();
-		request.initialize(connectionRead, usbEndpointRead);
 
+		if(readRequest == null) {
+			readRequest = new UsbRequest();
+			readRequest.initialize(connectionRead, usbEndpointRead);
+		}
 
         // queue a request on the interrupt endpoint
-        if(!request.queue(buffer, bufferDataLength)) {
+        if(!readRequest.queue(buffer, bufferDataLength)) {
         	if (DEBUG) Log.d(TAG, "Failed to queue request");
         	return 0;
         }
@@ -466,7 +494,7 @@ public class HidUAVTalk {
 
         int dataSize;
         // wait for status event
-        if (connectionRead.requestWait() == request) {
+        if (connectionRead.requestWait() == readRequest) {
         	// Packet format:
         	// 0: Report ID (1)
         	// 1: Number of valid bytes
@@ -482,21 +510,30 @@ public class HidUAVTalk {
         		byte[] dst = new byte[dataSize];
         		buffer.position(2);
         		buffer.get(dst, 0, dataSize);
+        		if (DEBUG) Log.d(TAG, "Entered read");
         		inStream.write(dst);
         		if (DEBUG) Log.d(TAG, "Got read: " + dataSize + " bytes");
         	}
         } else
         	return 0;
 
+        if(false) {
+        	readRequest.cancel();
+        	readRequest.close();
+        }
+
         return dataSize;
 	}
 
 	private class TalkOutputStream extends OutputStream {
-		ByteBuffer data = ByteBuffer.allocate(128);
+		ByteBuffer data = ByteBuffer.allocate(1024);
 		boolean stopped = false;
+		int writePosition = 0;
 
 		public int read() throws IOException {
-			if (stopped)
+			if (!stopped)
+
+
 				while(!stopped) {
 					synchronized(data) {
 						if(data.hasRemaining())
@@ -523,6 +560,7 @@ public class HidUAVTalk {
 			if (stopped)
 				throw new IOException();
 			synchronized(data) {
+
 				data.put((byte) oneByte);
 				data.notify();
 			}
@@ -534,37 +572,88 @@ public class HidUAVTalk {
 				throw new IOException();
 
 			synchronized(data) {
-				//data.put(b);
+				// Move the cursor to the end of the byte array to append
+				data.position(writePosition);
+				if (b.length < data.remaining()) {
+					data.put(b);
+					writePosition = data.position();
+				}
 				data.notify();
 			}
 		}
+
+		public void packetizeData() {
+			ByteBuffer packet;
+			synchronized(data) {
+				// Determine how much data to put in the packet
+				int size = Math.min(writePosition, MAX_HID_PACKET_SIZE - 2);
+				if (size <= 0)
+					return;
+
+				// Format into a HID packet
+				packet = ByteBuffer.allocate(MAX_HID_PACKET_SIZE);
+				packet.put(0,(byte) 2);             // Report ID
+				packet.put(1,(byte) size);          // The number of bytes of data
+				data.position(0);
+				data.get(packet.array(), 2, size);  // Copy data into the other array
+
+				// Remove that data from the write buffer
+				data.compact();
+				writePosition -= size;
+			}
+			WriteToDevice(packet);
+		}
+
 	};
 	private final TalkOutputStream outStream = new TalkOutputStream();
+	private static final int MAX_HID_PACKET_SIZE = 64;
 
+	/**
+	 * Send a packet or wait for data to be available
+	 */
+	public void send() {
+		synchronized(outStream.data){
+			if (outStream.writePosition > 0)
+				outStream.packetizeData();
+			else {
+				outStream.data.notify();
+				outStream.packetizeData();
+			}
+		}
+	}
+
+	UsbRequest writeRequest = null;
 	boolean WriteToDevice(ByteBuffer DataToSend) {
 
 		//The report must be formatted correctly for the device being connected to. On some devices, this requires that a specific value must be the first byte in the report. This can be followed by the length of the data in the report. This format is determined by the device, and isn't specified here.
 
 		int bufferDataLength = usbEndpointWrite.getMaxPacketSize();
 		ByteBuffer buffer = ByteBuffer.allocate(bufferDataLength + 1);
-		UsbRequest request = new UsbRequest();
+
+		if(writeRequest == null) {
+			writeRequest = new UsbRequest();
+			writeRequest.initialize(connectionWrite, usbEndpointWrite);
+		}
 
 		buffer.put(DataToSend);
 
-		request.initialize(connectionWrite, usbEndpointWrite);
-		request.queue(buffer, bufferDataLength);
+		writeRequest.queue(buffer, bufferDataLength);
 		try
 		{
-			if (request.equals(connectionWrite.requestWait()))
-			{
+			if (writeRequest.equals(connectionWrite.requestWait()))
 				return true;
-			}
 		}
 		catch (Exception ex)
 		{
 			// An exception has occured
 			return false;
 		}
+
+		if (false) {
+			writeRequest.cancel();
+			writeRequest.close();
+		}
+
 		return false;
 	}
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
index 7406909da..38a9a4087 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
@@ -523,11 +523,6 @@ public class OPTelemetryService extends Service {
 				return;
 			}
 
-			hid.readData();
-			hid.readData();
-			hid.readData();
-			hid.readData();
-
 			uavTalk = hid.getUavtalk();
 			tel = new Telemetry(uavTalk, objMngr);
 			mon = new TelemetryMonitor(objMngr,tel);
@@ -549,11 +544,30 @@ public class OPTelemetryService extends Service {
 				public void run() {
 					while(!terminate) {
 						hid.readData();
+						hid.send();
 					}
+					Log.e(TAG, "TERMINATED");
 				}
 			};
 			t.start();
 
+			// Read data from HID and push it ont the UAVTalk input stream
+			Thread t2 = new Thread(this) {
+				@Override
+				public void run() {
+					while(!terminate) {
+						hid.send();
+						try {
+							sleep(100);
+						} catch (InterruptedException e) {
+							// TODO Auto-generated catch block
+							e.printStackTrace();
+						}
+					}
+				}
+			};
+			//t2.start();
+
 			// Process any bytes that have been pushed onto the UAVTalk stream
 			if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
 			while( !terminate ) {
@@ -584,6 +598,8 @@ public class OPTelemetryService extends Service {
 				e.printStackTrace();
 			}
 
+
+
 			hid.disconnect();
 
 			// Shut down all the attached
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index c2a0a577b..f7618bfeb 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -38,7 +38,7 @@ import android.util.Log;
 public class UAVTalk {
 
 	static final String TAG = "UAVTalk";
-	public static int LOGLEVEL = 4;
+	public static int LOGLEVEL = 0;
 	public static boolean VERBOSE = LOGLEVEL > 3;
 	public static boolean WARN = LOGLEVEL > 2;
 	public static boolean DEBUG = LOGLEVEL > 1;
@@ -227,6 +227,8 @@ public class UAVTalk {
 		//inStream.wait();
 		val = inStream.read();
 
+		if (VERBOSE) Log.v(TAG, "Read: " + val);
+
 		if (val == -1) {
 			return false;
 		}
@@ -357,7 +359,7 @@ public class UAVTalk {
 				rxCS = updateCRC(rxCS, rxbyte);
 
 				if ((rxbyte & TYPE_MASK) != TYPE_VER) {
-					Log.e(TAG, "Unknown UAVTalk type:" + rxbyte);
+					if (ERROR) Log.e(TAG, "Unknown UAVTalk type:" + rxbyte);
 					rxState = RxStateType.STATE_SYNC;
 					break;
 				}

From 90779506be663e6fd006e2fb83028ed97ed80ee0 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 11 Aug 2012 14:49:35 -0500
Subject: [PATCH 374/543] AndroidGCS: Refactor TCP and HID onto a common
 TelemTask class which handles most of the logic of setting up the UAVTalk,
 ObjectMangager, Telemetry and TelemetryMonitor classes.  Provides a cleaner
 shutdown too.

---
 .../androidgcs/telemetry/HidUAVTalk.java      | 196 +++++++------
 .../telemetry/OPTelemetryService.java         | 257 +++---------------
 .../androidgcs/telemetry/TcpUAVTalk.java      |  96 +++----
 .../androidgcs/telemetry/TelemetryTask.java   | 235 ++++++++++++++++
 4 files changed, 405 insertions(+), 379 deletions(-)
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
index 81e6ca7d7..35c7b6cce 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
@@ -11,12 +11,7 @@ import java.util.HashMap;
 import java.util.Iterator;
 
 import junit.framework.Assert;
-
-import org.openpilot.uavtalk.UAVObjectManager;
-import org.openpilot.uavtalk.UAVTalk;
-
 import android.app.PendingIntent;
-import android.app.Service;
 import android.content.BroadcastReceiver;
 import android.content.Context;
 import android.content.Intent;
@@ -30,21 +25,13 @@ import android.hardware.usb.UsbManager;
 import android.hardware.usb.UsbRequest;
 import android.util.Log;
 
-public class HidUAVTalk {
+public class HidUAVTalk extends TelemetryTask {
 
 	private static final String TAG = HidUAVTalk.class.getSimpleName();
 	public static int LOGLEVEL = 0;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
-	Service hostDisplayActivity;
-
-	private boolean connected;
-
-	private UAVTalk uavTalk;
-
-	private UAVObjectManager objMngr;
-
 	//! USB constants
 	static final int OPENPILOT_VENDOR_ID = 0x20A0;
 
@@ -56,51 +43,57 @@ public class HidUAVTalk {
 	static final int USB_PRODUCT_ID_OSD            = 0x4194;
 	static final int USB_PRODUCT_ID_SPARE          = 0x4195;
 
-	public HidUAVTalk(Service service) {
-		hostDisplayActivity = service;
-	}
-
-	public boolean getConnected() {
-		return connected;
-	}
-
-	public UAVTalk getUavtalk() {
-		return uavTalk;
-	}
-
-	/**
-	 * Opens a TCP socket to the address determined on construction.  If successful
-	 * creates a UAVTalk stream connection this socket to the passed in object manager
-	 */
-	public boolean openTelemetryHid(UAVObjectManager objMngr) {
-		uavTalk = new UAVTalk(inStream, outStream, objMngr);
-		this.objMngr = objMngr;
-		return true;
+	private static final String ACTION_USB_PERMISSION = "com.access.device.USB_PERMISSION";
+
+	UsbDevice currentDevice;
+
+	public HidUAVTalk(OPTelemetryService service) {
+		super(service);
 	}
 
+	@Override
 	public void disconnect() {
+
 		CleanUpAndClose();
 		//hostDisplayActivity.unregisterReceiver(usbReceiver);
-		//hostDisplayActivity.unregisterReceiver(usbPermissionReceiver);
-		inStream.stop();
-		outStream.stop();
+		telemService.unregisterReceiver(usbPermissionReceiver);
+		((TalkInputStream)inStream).stop();
+		((TalkOutputStream)outStream).stop();
+
+		super.disconnect();
+
+		try {
+			readThread.join();
+			writeThread.join();
+		} catch (InterruptedException e) {
+			e.printStackTrace();
+		}
+
+		if (readRequest != null) {
+			readRequest.cancel();
+			readRequest.close();
+			readRequest = null;
+		}
+
+		if (writeRequest != null) {
+			writeRequest.cancel();
+			writeRequest.close();
+			writeRequest = null;
+		}
+
 	}
 
-	public boolean connect(UAVObjectManager objMngr) {
+	@Override
+	boolean attemptConnection() {
 		if (DEBUG) Log.d(TAG, "connect()");
 
 		// Register to get permission requested dialog
-		usbManager = (UsbManager) hostDisplayActivity.getSystemService(Context.USB_SERVICE);
-		permissionIntent = PendingIntent.getBroadcast(hostDisplayActivity, 0, new Intent(ACTION_USB_PERMISSION), 0);
+		usbManager = (UsbManager) telemService.getSystemService(Context.USB_SERVICE);
+		permissionIntent = PendingIntent.getBroadcast(telemService, 0, new Intent(ACTION_USB_PERMISSION), 0);
 		permissionFilter = new IntentFilter(ACTION_USB_PERMISSION);
-		hostDisplayActivity.registerReceiver(usbPermissionReceiver, permissionFilter);
-
-		// Register to get notified on device attached
-		/*deviceAttachedFilter = new IntentFilter();
-		deviceAttachedFilter.addAction(UsbManager.ACTION_USB_DEVICE_DETACHED);
-		deviceAttachedFilter.addAction(UsbManager.ACTION_USB_DEVICE_ATTACHED);
-		hostDisplayActivity.registerReceiver(usbReceiver, deviceAttachedFilter);*/
+		telemService.registerReceiver(usbPermissionReceiver, permissionFilter);
 
+		// Go through all the devices plugged in
 		HashMap<String, UsbDevice> deviceList = usbManager.getDeviceList();
 		if (DEBUG) Log.d(TAG, "Found " + deviceList.size() + " devices");
 		Iterator<UsbDevice> deviceIterator = deviceList.values().iterator();
@@ -108,33 +101,13 @@ public class HidUAVTalk {
 			UsbDevice dev = deviceIterator.next();
 			if (DEBUG) Log.d(TAG, "Testing device: " + dev);
 			usbManager.requestPermission(dev, permissionIntent);
-			//ConnectToDeviceInterface(dev);
 		}
 
 		if (DEBUG) Log.d(TAG, "Registered the deviceAttachedFilter");
 
-		try {
-			Thread.sleep(1000);
-		} catch (InterruptedException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-		}
-
-		if( !openTelemetryHid(objMngr) )
-			return false;
-
-		return connected;
-
+		return deviceList.size() > 0;
 	}
 
-	public HidUAVTalk(OPTelemetryService opTelemetryService) {
-		this.hostDisplayActivity = opTelemetryService;
-	}
-
-	private static final String ACTION_USB_PERMISSION = "com.access.device.USB_PERMISSION";
-
-	UsbDevice currentDevice;
-
 	/*
 	 * Receives a requested broadcast from the operating system.
 	 * In this case the following actions are handled:
@@ -172,9 +145,6 @@ public class HidUAVTalk {
 							{
 								if (DEBUG) Log.d(TAG, "Unable to connect to device");
 							}
-							sendEnabledMessage();
-							// TODO: Create a listener to receive messages from the host
-
 						}
 					}
 					else
@@ -224,12 +194,8 @@ public class HidUAVTalk {
 				}
 			}
 		}
-
-		private void sendEnabledMessage() {
-			// TODO Auto-generated method stub
-
-		};
 	};
+
 	private UsbEndpoint usbEndpointRead;
 
 	private UsbEndpoint usbEndpointWrite;
@@ -246,11 +212,6 @@ public class HidUAVTalk {
 
 	private IntentFilter permissionFilter;
 
-	protected void sendEnabledMessage() {
-		// TODO Auto-generated method stub
-
-	}
-
 	protected void CleanUpAndClose() {
 		if (UsingSingleInterface) {
 			if(connectionRead != null && usbInterfaceRead != null)
@@ -372,12 +333,53 @@ public class HidUAVTalk {
 		}
 
 		connectedDevice = connectDevice;
-		connected = true;
 		if (DEBUG) Log.d(TAG, "Opened endpoints");
 
+		// Create the USB requests
+		readRequest = new UsbRequest();
+		readRequest.initialize(connectionRead, usbEndpointRead);
+
+		writeRequest = new UsbRequest();
+		writeRequest.initialize(connectionWrite, usbEndpointWrite);
+
+
+		handler.post(new Runnable() {
+			@Override
+			public void run() {
+				inStream = new TalkInputStream();
+				outStream = new TalkOutputStream();
+				attemptSucceeded();
+			}
+		});
+
+		readThread = new Thread(new Runnable() {
+			@Override
+			public void run() {
+				while (!shutdown) {
+					readData();
+					sendData();
+				}
+			}
+
+		});
+		readThread.start();
+
+		writeThread = new Thread(new Runnable() {
+			@Override
+			public void run() {
+				while (!shutdown) {
+					sendData();
+				}
+			}
+
+		});
+		//writeThread.start();
+
 		return true;
 	}
 
+	Thread readThread;
+	Thread writeThread;
 	private int byteToInt(byte b) { return b & 0x000000ff; }
 
 	private class TalkInputStream extends InputStream {
@@ -409,7 +411,6 @@ public class HidUAVTalk {
 			data.put(b);
 		}
 	};
-	private final TalkInputStream inStream = new TalkInputStream();
 
 	private class ByteFifo {
 
@@ -479,11 +480,6 @@ public class HidUAVTalk {
 		int bufferDataLength = usbEndpointRead.getMaxPacketSize();
 		ByteBuffer buffer = ByteBuffer.allocate(bufferDataLength + 1);
 
-		if(readRequest == null) {
-			readRequest = new UsbRequest();
-			readRequest.initialize(connectionRead, usbEndpointRead);
-		}
-
         // queue a request on the interrupt endpoint
         if(!readRequest.queue(buffer, bufferDataLength)) {
         	if (DEBUG) Log.d(TAG, "Failed to queue request");
@@ -511,17 +507,12 @@ public class HidUAVTalk {
         		buffer.position(2);
         		buffer.get(dst, 0, dataSize);
         		if (DEBUG) Log.d(TAG, "Entered read");
-        		inStream.write(dst);
+        		((TalkInputStream)inStream).write(dst);
         		if (DEBUG) Log.d(TAG, "Got read: " + dataSize + " bytes");
         	}
         } else
         	return 0;
 
-        if(false) {
-        	readRequest.cancel();
-        	readRequest.close();
-        }
-
         return dataSize;
 	}
 
@@ -600,30 +591,32 @@ public class HidUAVTalk {
 				// Remove that data from the write buffer
 				data.compact();
 				writePosition -= size;
+				if (DEBUG) Log.d(TAG, "packetizeData(): size="+size);
 			}
 			WriteToDevice(packet);
 		}
 
 	};
-	private final TalkOutputStream outStream = new TalkOutputStream();
 	private static final int MAX_HID_PACKET_SIZE = 64;
 
 	/**
 	 * Send a packet or wait for data to be available
 	 */
-	public void send() {
-		synchronized(outStream.data){
-			if (outStream.writePosition > 0)
-				outStream.packetizeData();
+	public void sendData() {
+		TalkOutputStream o = (TalkOutputStream) outStream;
+		synchronized(o.data){
+			if (o.writePosition > 0)
+				o.packetizeData();
 			else {
-				outStream.data.notify();
-				outStream.packetizeData();
+				o.data.notify();
+				o.packetizeData();
 			}
 		}
 	}
 
 	UsbRequest writeRequest = null;
 	boolean WriteToDevice(ByteBuffer DataToSend) {
+		if (DEBUG) Log.d(TAG, "Writing to device()");
 
 		//The report must be formatted correctly for the device being connected to. On some devices, this requires that a specific value must be the first byte in the report. This can be followed by the length of the data in the report. This format is determined by the device, and isn't specified here.
 
@@ -708,4 +701,5 @@ public class HidUAVTalk {
 		// TODO Auto-generated method stub
 		return false;
 	}
+
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
index 38a9a4087..0ce1ab166 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
@@ -81,6 +81,7 @@ public class OPTelemetryService extends Service {
 	private boolean terminate = false;
 
 	private Thread activeTelem;
+	private TelemetryTask telemTask;
 
 	private final IBinder mBinder = new LocalBinder();
 
@@ -130,11 +131,13 @@ public class OPTelemetryService extends Service {
 				break;
 			case 3:
 				Toast.makeText(getApplicationContext(), "Attempting TCP connection", Toast.LENGTH_SHORT).show();
-				activeTelem = new TcpTelemetryThread();
+				telemTask = new TcpUAVTalk(this);
+				activeTelem = new Thread(telemTask);
 				break;
 			case 4:
 				Toast.makeText(getApplicationContext(), "Attempting USB HID connection", Toast.LENGTH_SHORT).show();
-				activeTelem = new HidTelemetryThread();
+				telemTask = new HidUAVTalk(this);
+				activeTelem = new Thread(telemTask);
 				break;
 			default:
 				throw new Error("Unsupported");
@@ -143,8 +146,19 @@ public class OPTelemetryService extends Service {
 			break;
 		case MSG_DISCONNECT:
 			Toast.makeText(getApplicationContext(), "Disconnect requested", Toast.LENGTH_SHORT).show();
+			if (DEBUG) Log.d(TAG, "Calling disconnect");
 			terminate = true;
-			if (activeTelem != null) {
+			if (telemTask != null) {
+				telemTask.disconnect();
+				telemTask = null;
+
+				try {
+					activeTelem.join();
+				} catch (InterruptedException e) {
+					e.printStackTrace();
+				}
+			}
+			else  if (activeTelem != null) {
 				activeTelem.interrupt();
 				try {
 					activeTelem.join();
@@ -153,6 +167,7 @@ public class OPTelemetryService extends Service {
 				}
 				activeTelem = null;
 			}
+			if (DEBUG) Log.d(TAG, "Telemetry thread terminated");
 			Intent intent = new Intent();
 			intent.setAction(INTENT_ACTION_DISCONNECTED);
 			sendBroadcast(intent,null);
@@ -215,12 +230,25 @@ public class OPTelemetryService extends Service {
 
 	@Override
 	public void onDestroy() {
+
+		if (telemTask != null) {
+			Log.d(TAG, "onDestory() shutting down telemetry task");
+			telemTask.disconnect();
+			telemTask = null;
+
+			try {
+				activeTelem.join();
+			} catch (InterruptedException e) {
+				e.printStackTrace();
+			}
+		}
+		Log.d(TAG, "onDestory() shut down telemetry task");
 		Toast.makeText(this, "Telemetry service done", Toast.LENGTH_SHORT).show();
 	}
 
 	public class LocalBinder extends Binder {
 		public TelemTask getTelemTask(int id) {
-			return (TelemTask) activeTelem;
+			return telemTask.getTelemTaskIface();
 		}
 		public void openConnection() {
 			Toast.makeText(getApplicationContext(), "Requested open connection", Toast.LENGTH_SHORT).show();
@@ -395,225 +423,4 @@ public class OPTelemetryService extends Service {
 		}
 
 	};
-
-	private class TcpTelemetryThread extends Thread implements TelemTask {
-
-		private final UAVObjectManager objMngr;
-		private UAVTalk uavTalk;
-		private Telemetry tel;
-		private TelemetryMonitor mon;
-
-		@Override
-		public UAVObjectManager getObjectManager() { return objMngr; };
-
-		TcpTelemetryThread() {
-			objMngr = new UAVObjectManager();
-			UAVObjectsInitialize.register(objMngr);
-		}
-
-		@Override
-		public void run() {
-			if (DEBUG) Log.d(TAG, "Telemetry Thread started");
-
-			Looper.prepare();
-
-			TcpUAVTalk tcp = new TcpUAVTalk(OPTelemetryService.this);
-			for( int i = 0; i < 10; i++ ) {
-				if (DEBUG) Log.d(TAG, "Attempting network Connection");
-
-				tcp.connect(objMngr);
-
-				if( tcp.getConnected() )
-
-					break;
-
-				try {
-					Thread.sleep(1000);
-				} catch (InterruptedException e) {
-					Log.e(TAG, "Thread interrupted while trying to connect");
-					e.printStackTrace();
-					return;
-				}
-			}
-			if( ! tcp.getConnected() || terminate ) {
-				toastMessage("TCP connection failed");
-				return;
-			}
-			toastMessage("TCP Connected");
-
-			if (DEBUG) Log.d(TAG, "Connected via network");
-
-			uavTalk = tcp.getUavtalk();
-			tel = new Telemetry(uavTalk, objMngr);
-			mon = new TelemetryMonitor(objMngr,tel);
-			mon.addObserver(new Observer() {
-				@Override
-				public void update(Observable arg0, Object arg1) {
-					if (DEBUG) Log.d(TAG, "Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
-					if(mon.getConnected()) {
-						Intent intent = new Intent();
-						intent.setAction(INTENT_ACTION_CONNECTED);
-						sendBroadcast(intent,null);
-					}
-				}
-			});
-
-
-			if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
-			while( !terminate ) {
-				try {
-					if( !uavTalk.processInputStream() )
-						break;
-				} catch (IOException e) {
-					e.printStackTrace();
-					toastMessage("TCP Stream interrupted");
-					break;
-				}
-			}
-			Looper.myLooper().quit();
-
-			// Shut down all the attached
-			mon.stopMonitor();
-			mon = null;
-			tel.stopTelemetry();
-			tel = null;
-
-			// Finally close the stream if it is still open
-			tcp.disconnect();
-
-			if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
-			toastMessage("TCP Thread finished");
-		}
-
-	};
-
-	private class HidTelemetryThread extends Thread implements TelemTask {
-
-		private final UAVObjectManager objMngr;
-		private UAVTalk uavTalk;
-		private Telemetry tel;
-		private TelemetryMonitor mon;
-
-		@Override
-		public UAVObjectManager getObjectManager() { return objMngr; };
-
-		HidTelemetryThread() {
-			objMngr = new UAVObjectManager();
-			UAVObjectsInitialize.register(objMngr);
-		}
-
-		@Override
-		public void run() {
-			if (DEBUG) Log.d(TAG, "HID Telemetry Thread started");
-
-			Looper.prepare();
-
-			final HidUAVTalk hid = new HidUAVTalk(OPTelemetryService.this);
-			hid.connect(objMngr);
-
-			try {
-				Thread.sleep(200);
-			} catch (InterruptedException e) {
-				// TODO Auto-generated catch block
-				e.printStackTrace();
-			}
-
-			if( !hid.getConnected() ) {
-				toastMessage("HID connection failed");
-				return;
-			}
-
-			uavTalk = hid.getUavtalk();
-			tel = new Telemetry(uavTalk, objMngr);
-			mon = new TelemetryMonitor(objMngr,tel);
-			mon.addObserver(new Observer() {
-				@Override
-				public void update(Observable arg0, Object arg1) {
-					if (DEBUG) Log.d(TAG, "Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
-					if(mon.getConnected()) {
-						Intent intent = new Intent();
-						intent.setAction(INTENT_ACTION_CONNECTED);
-						sendBroadcast(intent,null);
-					}
-				}
-			});
-
-			// Read data from HID and push it ont the UAVTalk input stream
-			Thread t = new Thread(this) {
-				@Override
-				public void run() {
-					while(!terminate) {
-						hid.readData();
-						hid.send();
-					}
-					Log.e(TAG, "TERMINATED");
-				}
-			};
-			t.start();
-
-			// Read data from HID and push it ont the UAVTalk input stream
-			Thread t2 = new Thread(this) {
-				@Override
-				public void run() {
-					while(!terminate) {
-						hid.send();
-						try {
-							sleep(100);
-						} catch (InterruptedException e) {
-							// TODO Auto-generated catch block
-							e.printStackTrace();
-						}
-					}
-				}
-			};
-			//t2.start();
-
-			// Process any bytes that have been pushed onto the UAVTalk stream
-			if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
-			while( !terminate ) {
-				try {
-					if( !uavTalk.processInputStream() )
-						break;
-				} catch (IOException e) {
-					e.printStackTrace();
-					toastMessage("TCP Stream interrupted");
-					break;
-				}
-			}
-
-			try {
-				Thread.sleep(5000);
-			} catch (InterruptedException e1) {
-				// TODO Auto-generated catch block
-				e1.printStackTrace();
-			}
-
-			Looper.myLooper().quit();
-
-			// Stop the HID reading loop
-			t.interrupt();
-			try {
-				t.join();
-			} catch (InterruptedException e) {
-				e.printStackTrace();
-			}
-
-
-
-			hid.disconnect();
-
-			// Shut down all the attached
-			mon.stopMonitor();
-			mon = null;
-			tel.stopTelemetry();
-			tel = null;
-
-			// Finally close the stream if it is still open
-			hid.disconnect();
-
-			if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
-			toastMessage("TCP Thread finished");
-		}
-
-	};
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/TcpUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/TcpUAVTalk.java
index 439069d29..b51ee8b13 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/TcpUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/TcpUAVTalk.java
@@ -28,15 +28,11 @@ import java.net.InetAddress;
 import java.net.Socket;
 import java.net.UnknownHostException;
 
-import org.openpilot.uavtalk.UAVObjectManager;
-import org.openpilot.uavtalk.UAVTalk;
-
-import android.content.Context;
 import android.content.SharedPreferences;
 import android.preference.PreferenceManager;
 import android.util.Log;
 
-public class TcpUAVTalk {
+public class TcpUAVTalk extends TelemetryTask {
 	private final String TAG = "TcpUAVTalk";
 	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
@@ -46,16 +42,23 @@ public class TcpUAVTalk {
 	private String ip_address = "1";
 	private int port = 9001;
 
-	private UAVTalk uavTalk;
-	private boolean connected;
 	private Socket socket;
 
 	/**
 	 * Construct a TcpUAVTalk object attached to the OPTelemetryService.  Gets the
 	 * connection settings from the preferences.
 	 */
-	public TcpUAVTalk(Context caller) {
-		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(caller);
+	public TcpUAVTalk(OPTelemetryService caller) {
+		super(caller);
+	}
+
+	@Override
+	boolean attemptConnection() {
+
+		if( getConnected() )
+			return true;
+
+		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(telemService);
 		ip_address = prefs.getString("ip_address","127.0.0.1");
 		try {
 			port = Integer.decode(prefs.getString("port", ""));
@@ -65,44 +68,6 @@ public class TcpUAVTalk {
 
 		if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + ip_address);
 
-        connected = false;
-    }
-
-	/**
-	 * Connect a TCP object to an object manager.  Returns true if already
-	 * connected, otherwise returns true if managed a successful socket.
-	 */
-	public boolean connect(UAVObjectManager objMngr) {
-		if( getConnected() )
-			return true;
-		if( !openTelemetryTcp(objMngr) )
-			return false;
-		return true;
-	}
-
-	public void disconnect() {
-		try {
-			socket.close();
-		} catch (IOException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-		}
-		socket = null;
-	}
-
-	public boolean getConnected() {
-		return connected;
-	}
-
-	public UAVTalk getUavtalk() {
-		return uavTalk;
-	}
-
-	/**
-	 * Opens a TCP socket to the address determined on construction.  If successful
-	 * creates a UAVTalk stream connection this socket to the passed in object manager
-	 */
-	private boolean openTelemetryTcp(UAVObjectManager objMngr) {
 		Log.d(TAG, "Opening connection to " + ip_address + " at address " + port);
 
 		InetAddress serverAddr = null;
@@ -121,18 +86,43 @@ public class TcpUAVTalk {
 			return false;
 		}
 
-		connected = true;
-
 		try {
-			uavTalk = new UAVTalk(socket.getInputStream(), socket.getOutputStream(), objMngr);
+			inStream = socket.getInputStream();
+			outStream = socket.getOutputStream();
 		} catch (IOException e) {
-			Log.e(TAG,"Error starting UAVTalk");
-			// TODO Auto-generated catch block
-			//e.printStackTrace();
+			try {
+				socket.close();
+			} catch (IOException e2) {
+
+			}
 			return false;
 		}
 
+
+		// Post message to call attempt succeeded on the parent class
+		handler.post(new Runnable() {
+			@Override
+			public void run() {
+				TcpUAVTalk.this.attemptSucceeded();
+			}
+		});
+
 		return true;
 	}
 
+
+	@Override
+	public void disconnect() {
+		super.disconnect();
+		if (socket != null) {
+			try {
+				socket.close();
+			} catch (IOException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+			socket = null;
+		}
+	}
+
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java
new file mode 100644
index 000000000..3210ebebf
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java
@@ -0,0 +1,235 @@
+package org.openpilot.androidgcs.telemetry;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.util.Observable;
+import java.util.Observer;
+
+import org.openpilot.uavtalk.Telemetry;
+import org.openpilot.uavtalk.TelemetryMonitor;
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVTalk;
+import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
+
+import android.content.Intent;
+import android.os.Handler;
+import android.os.Looper;
+import android.util.Log;
+
+public abstract class TelemetryTask implements Runnable {
+
+	// Logging settings
+	private final String TAG = TelemetryTask.class.getSimpleName();
+	public static final int LOGLEVEL = 2;
+	public static final boolean WARN = LOGLEVEL > 1;
+	public static final boolean DEBUG = LOGLEVEL > 0;
+
+	/*
+	 * This is a self contained runnable that will establish (if possible)
+	 * a telemetry connection and provides a listener interface to be
+	 * notified of a set of events
+	 *
+	 * 1. attempt to establish connection
+	 * 2. callback when it succeeds (or fails) which notifies listener
+	 * 3. once physical connection is established instantiate uavtalk / objectmanager
+	 * 4. notify listener they are connected
+	 * 5. detect physical link failure and notify listener about that
+	 * 6. provide "close link" method
+	 *
+	 * There are essentially four tasks that need to occur here
+	 * 1. Transfer data from the outputStream to the physical link (some protocols do this automatically)
+	 * 2. Transfer data from the physical link to the inputStream (again some protocols do this automatically)
+	 * 3. Transfer data from the inputStream to UAVTalk (uavTalk.processInputByte)
+	 * 4. Transfer data from objects via UAVTalk to output stream (occurs from Telemetry object)
+	 */
+
+	//! Private variables
+	protected Handler handler;
+
+	//! Handle to the parent service
+	protected final OPTelemetryService telemService;
+
+	//! The object manager that will be used for this telemetry task
+	protected UAVObjectManager objMngr;
+
+	//! The UAVTalk connected to the below streams
+	private UAVTalk uavTalk;
+
+	//! The input stream for the telemetry channel
+	protected InputStream inStream;
+
+	//! The output stream for the telemetry channel
+	protected OutputStream outStream;
+
+	//! The telemetry object which takes care of higher level transactions
+	private Telemetry tel;
+
+	//! The telemetry monitor which takes care of high level connects / disconnects
+	private TelemetryMonitor mon;
+
+	//! Flag to indicate a shut down was requested.  Derived classes should take care to respect this.
+	boolean shutdown;
+
+	//! Indicate a physical connection is established
+	private boolean connected;
+
+	TelemetryTask(OPTelemetryService s) {
+		telemService = s;
+		shutdown = false;
+		connected = false;
+	}
+
+	/**
+	 * Attempt a connection.  This method may return before the results are
+	 * known.
+	 * @return False if the attempt failed and no connection will be established
+	 * @return True if the attempt succeeded but does not guarantee success
+	 */
+	abstract boolean attemptConnection();
+
+	/**
+	 * Called when a physical channel is opened
+	 *
+	 * When this method is called the derived class must have
+	 * created a valid inStream and outStream
+	 */
+	boolean attemptSucceeded() {
+		// Create a new object manager and register all objects
+		// in the future the particular register method should
+		// be dependent on what is connected (e.g. board and
+		// version number).
+		objMngr = new UAVObjectManager();
+		UAVObjectsInitialize.register(objMngr);
+
+		// Create the required telemetry objects attached to this
+		// data stream
+		uavTalk = new UAVTalk(inStream, outStream, objMngr);
+		tel = new Telemetry(uavTalk, objMngr);
+		mon = new TelemetryMonitor(objMngr,tel);
+
+		// Create an observer to notify system of connection
+		mon.addObserver(connectionObserver);
+
+		// Create a new thread that processes the input bytes
+		startInputProcessing();
+
+		connected = true;
+		return connected;
+	}
+
+	boolean attemptedFailed() {
+		connected = false;
+		return connected;
+	}
+
+	void disconnect() {
+		// Make the default input procesing loop stop
+		shutdown = true;
+
+		// Shut down all the attached
+		if (mon != null) {
+			mon.stopMonitor();
+			mon.deleteObserver(connectionObserver);
+			mon = null;
+		}
+		if (tel != null) {
+			tel.stopTelemetry();
+			tel = null;
+		}
+
+		// Stop the master telemetry thread
+		handler.post(new Runnable() {
+			@Override
+			public void run() {
+				Looper.myLooper().quit();
+			}
+		});
+
+		// TODO: Make sure the input and output stream is closed
+
+		// TODO: Make sure any threads for input and output are closed
+	}
+
+	/**
+	 * Default implementation for processing input stream
+	 * which creates a new thread that keeps attempting
+	 * to read from the input stream.
+	 */
+	private void startInputProcessing() {
+		new Thread(new processUavTalk()).start();
+	}
+
+	//! Runnable to process input stream
+	class processUavTalk implements Runnable {
+		@Override
+		public void run() {
+			if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
+			while (!shutdown) {
+				try {
+					if( !uavTalk.processInputStream() )
+						break;
+				} catch (IOException e) {
+					e.printStackTrace();
+					telemService.toastMessage("Telemetry input stream interrupted");
+					break;
+				}
+			}
+			if (DEBUG) Log.d(TAG, "UAVTalk processing loop finished");
+		}
+	};
+
+	@Override
+	public void run() {
+		try {
+
+			Looper.prepare();
+			handler = new Handler();
+
+			if (DEBUG) Log.d(TAG, "Attempting connection");
+			if( attemptConnection() == false )
+				return; // Attempt failed
+
+			Looper.loop();
+
+			if (DEBUG) Log.d(TAG, "TelemetryTask runnable finished");
+
+		} catch (Throwable t) {
+			Log.e(TAG, "halted due to an error", t);
+		}
+
+		telemService.toastMessage("Telemetry Thread finished");
+	}
+
+	private final Observer connectionObserver = new Observer() {
+		@Override
+		public void update(Observable arg0, Object arg1) {
+			if (DEBUG) Log.d(TAG, "Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
+			if(mon.getConnected()) {
+				Intent intent = new Intent();
+				intent.setAction(OPTelemetryService.INTENT_ACTION_CONNECTED);
+				telemService.sendBroadcast(intent,null);
+			}
+		}
+	};
+
+	/**** General accessors ****/
+
+	public boolean getConnected() {
+		return connected;
+	}
+
+	public UAVTalk getUavtalk() {
+		return uavTalk;
+	}
+
+	public OPTelemetryService.TelemTask getTelemTaskIface() {
+		return new OPTelemetryService.TelemTask() {
+			@Override
+			public UAVObjectManager getObjectManager() {
+				return objMngr;
+			}
+		};
+	}
+
+}

From 5fa36ddd5c71ada4144ca3fc886823cf4fa35cc4 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 12 Aug 2012 00:29:13 -0500
Subject: [PATCH 375/543] AndroidGCS: Make sure not to try and get interface to
 expired telemetry

---
 .../openpilot/androidgcs/telemetry/OPTelemetryService.java    | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
index 0ce1ab166..33e2be728 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
@@ -248,7 +248,9 @@ public class OPTelemetryService extends Service {
 
 	public class LocalBinder extends Binder {
 		public TelemTask getTelemTask(int id) {
-			return telemTask.getTelemTaskIface();
+			if (telemTask != null)
+				return telemTask.getTelemTaskIface();
+			return null;
 		}
 		public void openConnection() {
 			Toast.makeText(getApplicationContext(), "Requested open connection", Toast.LENGTH_SHORT).show();

From 3d34a5d28010bdf73a8598cecc590c248afabaf4 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 12 Aug 2012 00:30:19 -0500
Subject: [PATCH 376/543] AndrodGCS: Correctly check HID packet format

---
 .../src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
index 35c7b6cce..b9cab9854 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
@@ -500,7 +500,7 @@ public class HidUAVTalk extends TelemetryTask {
         	//Assert.assertEquals(1, buffer.get()); // Report ID
         	//Assert.assertTrue(dataSize < buffer.capacity());
 
-        	if (buffer.get(0) != 1 || buffer.get(1) < 0 || buffer.get(2) > (buffer.capacity() - 2)) {
+        	if (buffer.get(0) != 1 || buffer.get(1) < 0 || buffer.get(1) > (buffer.capacity() - 2)) {
         		if (DEBUG) Log.d(TAG, "Badly formatted HID packet");
         	} else {
         		byte[] dst = new byte[dataSize];

From 405c5a60f0e4aee5dbac484ac01f8a6fdc8ae0de Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 12 Aug 2012 01:14:21 -0500
Subject: [PATCH 377/543] AndroidGCS: Cleanup of the HID telemetry code

---
 .../androidgcs/telemetry/HidUAVTalk.java      | 437 +++++++-----------
 .../telemetry/OPTelemetryService.java         |   4 +-
 .../androidgcs/telemetry/TelemetryTask.java   |   2 +-
 .../src/org/openpilot/uavtalk/UAVTalk.java    |   3 -
 4 files changed, 164 insertions(+), 282 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
index b9cab9854..991e83871 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
@@ -33,6 +33,7 @@ public class HidUAVTalk extends TelemetryTask {
 	public static boolean DEBUG = LOGLEVEL > 0;
 
 	//! USB constants
+	private static final int MAX_HID_PACKET_SIZE = 64;
 	static final int OPENPILOT_VENDOR_ID = 0x20A0;
 
 	static final int USB_PRODUCT_ID_OPENPILOT_MAIN = 0x415A;
@@ -57,14 +58,14 @@ public class HidUAVTalk extends TelemetryTask {
 		CleanUpAndClose();
 		//hostDisplayActivity.unregisterReceiver(usbReceiver);
 		telemService.unregisterReceiver(usbPermissionReceiver);
-		((TalkInputStream)inStream).stop();
-		((TalkOutputStream)outStream).stop();
 
 		super.disconnect();
 
 		try {
-			readThread.join();
-			writeThread.join();
+			if(readWriteThread != null) {
+				readWriteThread.join();
+				readWriteThread = null;
+			}
 		} catch (InterruptedException e) {
 			e.printStackTrace();
 		}
@@ -158,6 +159,8 @@ public class HidUAVTalk extends TelemetryTask {
 			}
 		}
 	};
+
+	/* TODO: Detect dettached events and close the connection
 	private final BroadcastReceiver usbReceiver = new BroadcastReceiver()
 	{
 		@Override
@@ -194,7 +197,7 @@ public class HidUAVTalk extends TelemetryTask {
 				}
 			}
 		}
-	};
+	}; */
 
 	private UsbEndpoint usbEndpointRead;
 
@@ -208,8 +211,6 @@ public class HidUAVTalk extends TelemetryTask {
 
 	private UsbDeviceConnection connectionWrite;
 
-	private IntentFilter deviceAttachedFilter;
-
 	private IntentFilter permissionFilter;
 
 	protected void CleanUpAndClose() {
@@ -247,7 +248,9 @@ public class HidUAVTalk extends TelemetryTask {
 	private UsbInterface usbInterfaceWrite = null;
 	private final boolean UsingSingleInterface = true;
 
-	private UsbDevice connectedDevice;
+	private TalkInputStream inTalkStream;
+	private TalkOutputStream outTalkStream;
+	UsbRequest writeRequest = null;
 
 	boolean ConnectToDeviceInterface(UsbDevice connectDevice) {
 		// Connecting to the Device - If you are reading and writing, then the device
@@ -332,7 +335,6 @@ public class HidUAVTalk extends TelemetryTask {
 			connectionWrite.claimInterface(usbInterfaceWrite, true);
 		}
 
-		connectedDevice = connectDevice;
 		if (DEBUG) Log.d(TAG, "Opened endpoints");
 
 		// Create the USB requests
@@ -342,17 +344,18 @@ public class HidUAVTalk extends TelemetryTask {
 		writeRequest = new UsbRequest();
 		writeRequest.initialize(connectionWrite, usbEndpointWrite);
 
-
+		inTalkStream = new TalkInputStream();
+		outTalkStream = new TalkOutputStream();
+		inStream = inTalkStream;
+		outStream = outTalkStream;
 		handler.post(new Runnable() {
 			@Override
 			public void run() {
-				inStream = new TalkInputStream();
-				outStream = new TalkOutputStream();
 				attemptSucceeded();
 			}
 		});
 
-		readThread = new Thread(new Runnable() {
+		readWriteThread = new Thread(new Runnable() {
 			@Override
 			public void run() {
 				while (!shutdown) {
@@ -361,116 +364,22 @@ public class HidUAVTalk extends TelemetryTask {
 				}
 			}
 
-		});
-		readThread.start();
-
-		writeThread = new Thread(new Runnable() {
-			@Override
-			public void run() {
-				while (!shutdown) {
-					sendData();
-				}
-			}
-
-		});
-		//writeThread.start();
+		}, "HID Read Write");
+		readWriteThread.start();
 
 		return true;
 	}
 
-	Thread readThread;
-	Thread writeThread;
-	private int byteToInt(byte b) { return b & 0x000000ff; }
+	Thread readWriteThread;
 
-	private class TalkInputStream extends InputStream {
-
-		ByteFifo data = new ByteFifo();
-		boolean stopped = false;
-
-		TalkInputStream() {
-		}
-
-		@Override
-		public int read() {
-			try {
-				return data.getByteBlocking();
-			} catch (InterruptedException e) {
-				e.printStackTrace();
-			}
-			return -1;
-		}
-
-		public void stop() {
-			stopped = true;
-		}
-
-		public void put(byte b) {
-		}
-
-		public void write(byte[] b) {
-			data.put(b);
-		}
-	};
-
-	private class ByteFifo {
-
-		//! The maximum size of the fifo
-		private final int MAX_SIZE = 1024;
-		//! The number of bytes in the buffer
-		private int size = 0;
-		//! Internal buffer
-		private final ByteBuffer buf;
-
-		ByteFifo() {
-			buf = ByteBuffer.allocate(MAX_SIZE);
-			size = 0;
-		}
-
-		public boolean put(byte[] dat) {
-			if ((size + dat.length) > MAX_SIZE)
-				return false;
-
-			// Place data at the end of the buffer
-			synchronized(buf) {
-				buf.position(size);
-				buf.put(dat);
-				size = size + dat.length;
-				buf.notify();
-			}
-			return true;
-		}
-
-		public byte[] get(int size) throws InterruptedException {
-			size = Math.min(size, this.size);
-			if (size > 0) {
-				synchronized(buf) {
-					byte[] dst = new byte[size];
-					buf.position(0);
-					buf.get(dst,0,size);
-					buf.compact();
-					this.size = this.size - size;
-					Assert.assertEquals(this.size, buf.position());
-
-					buf.wait();
-				}
-			}
-			return new byte[0];
-		}
-
-		public int getByteBlocking() throws InterruptedException {
-			synchronized(buf) {
-				if (size == 0)
-					buf.wait();
-				int val = byteToInt(buf.get(0));
-				buf.position(1);
-				buf.compact();
-				size--;
-
-				return val;
-			}
+	void displayBuffer(String msg, byte[] buf) {
+		msg += " (";
+		for (int i = 0; i < buf.length; i++) {
+			msg += buf[i] + " ";
 		}
+		msg += ")";
+		Log.d(TAG, msg);
 	}
-
 	/**
 	 * Gets a report from HID, extract the meaningful data and push
 	 * it to the input stream
@@ -507,7 +416,7 @@ public class HidUAVTalk extends TelemetryTask {
         		buffer.position(2);
         		buffer.get(dst, 0, dataSize);
         		if (DEBUG) Log.d(TAG, "Entered read");
-        		((TalkInputStream)inStream).write(dst);
+        		inTalkStream.write(dst);
         		if (DEBUG) Log.d(TAG, "Got read: " + dataSize + " bytes");
         	}
         } else
@@ -516,42 +425,64 @@ public class HidUAVTalk extends TelemetryTask {
         return dataSize;
 	}
 
-	private class TalkOutputStream extends OutputStream {
-		ByteBuffer data = ByteBuffer.allocate(1024);
-		boolean stopped = false;
-		int writePosition = 0;
+	/**
+	 * Send a packet if data is available
+	 */
+	public void sendData() {
+		ByteBuffer packet = null;
+		do { // Send all the data available to prevent sending backlog
+			packet = outTalkStream.getHIDpacket();
+			if (packet != null) {
+				if (DEBUG) Log.d(TAG, "Writing to device()");
 
-		public int read() throws IOException {
-			if (!stopped)
+				int bufferDataLength = usbEndpointWrite.getMaxPacketSize();
+				Assert.assertTrue(packet.capacity() <= bufferDataLength);
 
-
-				while(!stopped) {
-					synchronized(data) {
-						if(data.hasRemaining())
-							return data.get();
-						else
-							try {
-								data.wait();
-							} catch (InterruptedException e) {
-								// TODO Auto-generated catch block
-								e.printStackTrace();
-							}
-					}
-					throw new IOException();
+				writeRequest.queue(packet, bufferDataLength);
+				try
+				{
+					if (!writeRequest.equals(connectionWrite.requestWait()))
+						Log.e(TAG, "writeRequest failed");
 				}
-			return 0;
-		}
+				catch (Exception ex)
+				{
+				}
+			}
+		} while (packet != null);
+	}
 
-		public void stop() {
-			stopped = true;
-		}
+	/*********** Helper classes for telemetry streams ************/
 
+	class TalkOutputStream extends OutputStream {
+		// Uses ByteFifo.getByteBlocking()
+		// and  ByteFifo.put(byte [])
+		ByteFifo data = new ByteFifo();
+
+		public ByteBuffer getHIDpacket() {
+			ByteBuffer packet = null;
+			synchronized(data) {
+				// Determine how much data to put in the packet
+				int size = Math.min(data.remaining(), MAX_HID_PACKET_SIZE - 2);
+				if (size <= 0)
+					return packet;
+
+				// Format into a HID packet
+				packet = ByteBuffer.allocate(MAX_HID_PACKET_SIZE);
+				packet.put(0,(byte) 2);             // Report ID
+				packet.put(1,(byte) size);          // The number of useful bytes
+				data.get(packet.array(), 2, size);
+
+				if (DEBUG) Log.d(TAG, "packetizeData(): size="+size);
+			}
+			return packet;
+		}
 		@Override
 		public void write(int oneByte) throws IOException {
-			if (stopped)
+			// Throw exception when try and read after shutdown
+			if (shutdown)
 				throw new IOException();
-			synchronized(data) {
 
+			synchronized(data) {
 				data.put((byte) oneByte);
 				data.notify();
 			}
@@ -559,147 +490,101 @@ public class HidUAVTalk extends TelemetryTask {
 
 		@Override
 		public void write(byte[] b) throws IOException {
-			if (stopped)
+			if (shutdown)
 				throw new IOException();
 
 			synchronized(data) {
-				// Move the cursor to the end of the byte array to append
-				data.position(writePosition);
-				if (b.length < data.remaining()) {
-					data.put(b);
-					writePosition = data.position();
-				}
+				data.put(b);
 				data.notify();
 			}
 		}
 
-		public void packetizeData() {
-			ByteBuffer packet;
-			synchronized(data) {
-				// Determine how much data to put in the packet
-				int size = Math.min(writePosition, MAX_HID_PACKET_SIZE - 2);
-				if (size <= 0)
-					return;
-
-				// Format into a HID packet
-				packet = ByteBuffer.allocate(MAX_HID_PACKET_SIZE);
-				packet.put(0,(byte) 2);             // Report ID
-				packet.put(1,(byte) size);          // The number of bytes of data
-				data.position(0);
-				data.get(packet.array(), 2, size);  // Copy data into the other array
-
-				// Remove that data from the write buffer
-				data.compact();
-				writePosition -= size;
-				if (DEBUG) Log.d(TAG, "packetizeData(): size="+size);
-			}
-			WriteToDevice(packet);
-		}
-
 	};
-	private static final int MAX_HID_PACKET_SIZE = 64;
 
-	/**
-	 * Send a packet or wait for data to be available
-	 */
-	public void sendData() {
-		TalkOutputStream o = (TalkOutputStream) outStream;
-		synchronized(o.data){
-			if (o.writePosition > 0)
-				o.packetizeData();
-			else {
-				o.data.notify();
-				o.packetizeData();
+	private class TalkInputStream extends InputStream {
+		// Uses ByteFifo.getByteBlocking()
+		// Uses ByteFifo.put(byte[])
+		ByteFifo data = new ByteFifo();
+
+		TalkInputStream() {
+		}
+
+		@Override
+		public int read() {
+			try {
+				return data.getByteBlocking();
+			} catch (InterruptedException e) {
+				Log.e(TAG, "Timed out");
+				e.printStackTrace();
+			}
+			return -1;
+		}
+
+		public void write(byte[] b) {
+			data.put(b);
+		}
+	};
+
+	private class ByteFifo {
+
+		//! The maximum size of the fifo
+		private final int MAX_SIZE = 256;
+		//! The number of bytes in the buffer
+		private int size = 0;
+		//! Internal buffer
+		private final ByteBuffer buf;
+
+		ByteFifo() {
+			buf = ByteBuffer.allocate(MAX_SIZE);
+			size = 0;
+		}
+
+		private int byteToInt(byte b) { return b & 0x000000ff; }
+
+		final int remaining() { return size; };
+
+		public boolean put(byte b) {
+			byte[] a = {b};
+			return put(a);
+		}
+
+		public boolean put(byte[] dat) {
+			if ((size + dat.length) > MAX_SIZE) {
+				Log.e(TAG, "Dropped data.  Size:" + size + " data length: " + dat.length);
+				return false;
+			}
+
+			// Place data at the end of the buffer
+			synchronized(buf) {
+				buf.position(size);
+				buf.put(dat);
+				size = size + dat.length;
+				buf.notify();
+			}
+			return true;
+		}
+
+		public ByteBuffer get(byte[] dst, int offset, int size) {
+			synchronized(buf) {
+				buf.flip();
+				buf.get(dst, offset, size);
+				buf.compact();
+				this.size -= size;
+			}
+			return buf;
+		}
+
+		public int getByteBlocking() throws InterruptedException {
+			synchronized(buf) {
+				if (size == 0) {
+					buf.wait();
+				}
+				int val = byteToInt(buf.get(0));
+				buf.position(1);
+				buf.compact();
+				size--;
+				return val;
 			}
 		}
 	}
-
-	UsbRequest writeRequest = null;
-	boolean WriteToDevice(ByteBuffer DataToSend) {
-		if (DEBUG) Log.d(TAG, "Writing to device()");
-
-		//The report must be formatted correctly for the device being connected to. On some devices, this requires that a specific value must be the first byte in the report. This can be followed by the length of the data in the report. This format is determined by the device, and isn't specified here.
-
-		int bufferDataLength = usbEndpointWrite.getMaxPacketSize();
-		ByteBuffer buffer = ByteBuffer.allocate(bufferDataLength + 1);
-
-		if(writeRequest == null) {
-			writeRequest = new UsbRequest();
-			writeRequest.initialize(connectionWrite, usbEndpointWrite);
-		}
-
-		buffer.put(DataToSend);
-
-		writeRequest.queue(buffer, bufferDataLength);
-		try
-		{
-			if (writeRequest.equals(connectionWrite.requestWait()))
-				return true;
-		}
-		catch (Exception ex)
-		{
-			// An exception has occured
-			return false;
-		}
-
-		if (false) {
-			writeRequest.cancel();
-			writeRequest.close();
-		}
-
-		return false;
-	}
-
-
-	//Reading from the Device - As USB devices work with reports of a specific length. The data received from the device will always be the size specified by the report length. Even if there isn't enough data to fill the report. Some devices require the controlTransfer method for reading data. I don't cover this command in this blog.
-	void ReadFromDevice() {
-		//If you are expecting unsolicited data from the device, then a read thread should be started so that the data can be processed as soon as it arrives.
-
-		int bufferDataLength = usbEndpointRead.getMaxPacketSize();
-		ByteBuffer buffer = ByteBuffer.allocate(bufferDataLength + 1);
-		UsbRequest requestQueued = null;
-		UsbRequest request = new UsbRequest();
-		request.initialize(connectionRead, usbEndpointRead);
-
-		try
-		{
-			while (!getStopping())
-			{
-				request.queue(buffer, bufferDataLength);
-				requestQueued = connectionRead.requestWait();
-				if (request.equals(requestQueued))
-				{
-					byte[] byteBuffer = new byte[bufferDataLength + 1];
-					buffer.get(byteBuffer, 0, bufferDataLength);
-
-					// Handle data received
-
-					buffer.clear();
-				}
-				else
-				{
-					Thread.sleep(20);
-				}
-			}
-		}
-		catch (Exception ex)
-		{
-			// An exception has occured
-		}
-		try
-		{
-			request.cancel();
-			request.close();
-		}
-		catch (Exception ex)
-		{
-			// An exception has occured
-		}
-	}
-
-	private boolean getStopping() {
-		// TODO Auto-generated method stub
-		return false;
-	}
-
-}
+}
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
index 33e2be728..4eeb57abe 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
@@ -132,12 +132,12 @@ public class OPTelemetryService extends Service {
 			case 3:
 				Toast.makeText(getApplicationContext(), "Attempting TCP connection", Toast.LENGTH_SHORT).show();
 				telemTask = new TcpUAVTalk(this);
-				activeTelem = new Thread(telemTask);
+				activeTelem = new Thread(telemTask, "Tcp telemetry thread");
 				break;
 			case 4:
 				Toast.makeText(getApplicationContext(), "Attempting USB HID connection", Toast.LENGTH_SHORT).show();
 				telemTask = new HidUAVTalk(this);
-				activeTelem = new Thread(telemTask);
+				activeTelem = new Thread(telemTask, "Hid telemetry thread");
 				break;
 			default:
 				throw new Error("Unsupported");
diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java
index 3210ebebf..87196bc1e 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java
@@ -157,7 +157,7 @@ public abstract class TelemetryTask implements Runnable {
 	 * to read from the input stream.
 	 */
 	private void startInputProcessing() {
-		new Thread(new processUavTalk()).start();
+		new Thread(new processUavTalk(), "Process UAV talk").start();
 	}
 
 	//! Runnable to process input stream
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
index f7618bfeb..c996da845 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVTalk.java
@@ -686,14 +686,11 @@ public class UAVTalk {
 				// TODO Auto-generated catch block
 				e.printStackTrace();
 			}
-			// System.out.println("Unpacking new object");
 			if (DEBUG) Log.d(TAG, "Unpacking new object");
 			instobj.unpack(data);
 			return instobj;
 		} else {
 			// Unpack data into object instance
-			// System.out.println("Unpacking existing object: " +
-			// data.position() + " / " + data.capacity() );
 			if (DEBUG) Log.d(TAG, "Unpacking existing object: " + obj.getName());
 			obj.unpack(data);
 			return obj;

From f8ba049d565765d26d99a619091a8c75ac43b61f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 12 Aug 2012 13:16:49 -0500
Subject: [PATCH 378/543] AndroidGCS: In the telemetry class use a thread safe
 queue for transations and removed the synhronized blocks to prevent
 deadlocks.

---
 androidgcs/src/org/openpilot/uavtalk/Telemetry.java | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 2e0b57f41..21525ea14 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -26,7 +26,6 @@ package org.openpilot.uavtalk;
 
 import java.io.IOException;
 import java.util.ArrayList;
-import java.util.LinkedList;
 import java.util.List;
 import java.util.ListIterator;
 import java.util.Observable;
@@ -34,6 +33,7 @@ import java.util.Observer;
 import java.util.Queue;
 import java.util.Timer;
 import java.util.TimerTask;
+import java.util.concurrent.ConcurrentLinkedQueue;
 
 import android.util.Log;
 
@@ -485,7 +485,7 @@ public class Telemetry {
      * Enqueue the event received from an object.  This is the main method that handles all the callbacks
      * from UAVObjects (due to updates, or update requests)
      */
-    private synchronized void enqueueObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) throws IOException
+    private void enqueueObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) throws IOException
     {
         // Push event into queue
     	if (DEBUG) Log.d(TAG, "Push event into queue for obj " + obj.getName() + " event " + event);
@@ -538,7 +538,7 @@ public class Telemetry {
      * Process events from the object queue
      * @throws IOException
      */
-    private synchronized void processObjectQueue() throws IOException
+    private void processObjectQueue() throws IOException
     {
       	if (DEBUG) Log.d(TAG, "Process object queue - Depth " + objQueue.size() + " priority " + objPriorityQueue.size());
 
@@ -744,8 +744,8 @@ public class Telemetry {
     private final UAVTalk utalk;
     private UAVObject gcsStatsObj;
     private final List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
-    private final Queue<ObjectQueueInfo> objQueue = new LinkedList<ObjectQueueInfo>();
-    private final Queue<ObjectQueueInfo> objPriorityQueue = new LinkedList<ObjectQueueInfo>();
+    private final Queue<ObjectQueueInfo> objQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
+    private final Queue<ObjectQueueInfo> objPriorityQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
     private final ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
     private boolean transPending;
 

From 050ec8096ba89cdc769179f3c30ee4e883299c92 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 12 Aug 2012 13:28:38 -0500
Subject: [PATCH 379/543] HID: move all the variables to the top

---
 .../androidgcs/telemetry/HidUAVTalk.java      | 44 ++++++++-----------
 1 file changed, 19 insertions(+), 25 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
index 991e83871..6ec0a950a 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
@@ -28,7 +28,7 @@ import android.util.Log;
 public class HidUAVTalk extends TelemetryTask {
 
 	private static final String TAG = HidUAVTalk.class.getSimpleName();
-	public static int LOGLEVEL = 0;
+	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
@@ -46,7 +46,24 @@ public class HidUAVTalk extends TelemetryTask {
 
 	private static final String ACTION_USB_PERMISSION = "com.access.device.USB_PERMISSION";
 
-	UsbDevice currentDevice;
+	//! Define whether to use a single interface for reading and writing
+	private final boolean UsingSingleInterface = true;
+
+	private UsbDevice currentDevice;
+	private UsbEndpoint usbEndpointRead;
+	private UsbEndpoint usbEndpointWrite;
+	private UsbManager usbManager;
+	private PendingIntent permissionIntent;
+	private UsbDeviceConnection connectionRead;
+	private UsbDeviceConnection connectionWrite;
+	private IntentFilter permissionFilter;
+	private UsbInterface usbInterfaceRead = null;
+	private UsbInterface usbInterfaceWrite = null;
+	private TalkInputStream inTalkStream;
+	private TalkOutputStream outTalkStream;
+	private UsbRequest writeRequest = null;
+	private UsbRequest readRequest = null;
+	private Thread readWriteThread;
 
 	public HidUAVTalk(OPTelemetryService service) {
 		super(service);
@@ -199,19 +216,6 @@ public class HidUAVTalk extends TelemetryTask {
 		}
 	}; */
 
-	private UsbEndpoint usbEndpointRead;
-
-	private UsbEndpoint usbEndpointWrite;
-
-	private UsbManager usbManager;
-
-	private PendingIntent permissionIntent;
-
-	private UsbDeviceConnection connectionRead;
-
-	private UsbDeviceConnection connectionWrite;
-
-	private IntentFilter permissionFilter;
 
 	protected void CleanUpAndClose() {
 		if (UsingSingleInterface) {
@@ -244,14 +248,6 @@ public class HidUAVTalk extends TelemetryTask {
 			return false;
 	}
 
-	private UsbInterface usbInterfaceRead = null;
-	private UsbInterface usbInterfaceWrite = null;
-	private final boolean UsingSingleInterface = true;
-
-	private TalkInputStream inTalkStream;
-	private TalkOutputStream outTalkStream;
-	UsbRequest writeRequest = null;
-
 	boolean ConnectToDeviceInterface(UsbDevice connectDevice) {
 		// Connecting to the Device - If you are reading and writing, then the device
 		// can either have two end points on a single interface, or two interfaces
@@ -370,7 +366,6 @@ public class HidUAVTalk extends TelemetryTask {
 		return true;
 	}
 
-	Thread readWriteThread;
 
 	void displayBuffer(String msg, byte[] buf) {
 		msg += " (";
@@ -384,7 +379,6 @@ public class HidUAVTalk extends TelemetryTask {
 	 * Gets a report from HID, extract the meaningful data and push
 	 * it to the input stream
 	 */
-	UsbRequest readRequest = null;
 	public int readData() {
 		int bufferDataLength = usbEndpointRead.getMaxPacketSize();
 		ByteBuffer buffer = ByteBuffer.allocate(bufferDataLength + 1);

From 6b4a14fa87c0869ddf893050a1f2c883089f9d3e Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 12 Aug 2012 13:41:15 -0500
Subject: [PATCH 380/543] Remove legacy code for supporting two USB interfaces

---
 .../androidgcs/telemetry/HidUAVTalk.java      | 93 +++++--------------
 1 file changed, 23 insertions(+), 70 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
index 6ec0a950a..4f3c64a5a 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
@@ -28,9 +28,10 @@ import android.util.Log;
 public class HidUAVTalk extends TelemetryTask {
 
 	private static final String TAG = HidUAVTalk.class.getSimpleName();
-	public static int LOGLEVEL = 2;
-	public static boolean WARN = LOGLEVEL > 1;
-	public static boolean DEBUG = LOGLEVEL > 0;
+	public static final int LOGLEVEL = 2;
+	public static final boolean DEBUG = LOGLEVEL > 2;
+	public static final boolean WARN = LOGLEVEL > 1;
+	public static final boolean ERROR = LOGLEVEL > 0;
 
 	//! USB constants
 	private static final int MAX_HID_PACKET_SIZE = 64;
@@ -46,19 +47,14 @@ public class HidUAVTalk extends TelemetryTask {
 
 	private static final String ACTION_USB_PERMISSION = "com.access.device.USB_PERMISSION";
 
-	//! Define whether to use a single interface for reading and writing
-	private final boolean UsingSingleInterface = true;
-
 	private UsbDevice currentDevice;
 	private UsbEndpoint usbEndpointRead;
 	private UsbEndpoint usbEndpointWrite;
 	private UsbManager usbManager;
 	private PendingIntent permissionIntent;
-	private UsbDeviceConnection connectionRead;
-	private UsbDeviceConnection connectionWrite;
+	private UsbDeviceConnection usbDeviceConnection;
 	private IntentFilter permissionFilter;
-	private UsbInterface usbInterfaceRead = null;
-	private UsbInterface usbInterfaceWrite = null;
+	private UsbInterface usbInterface = null;
 	private TalkInputStream inTalkStream;
 	private TalkOutputStream outTalkStream;
 	private UsbRequest writeRequest = null;
@@ -218,19 +214,9 @@ public class HidUAVTalk extends TelemetryTask {
 
 
 	protected void CleanUpAndClose() {
-		if (UsingSingleInterface) {
-			if(connectionRead != null && usbInterfaceRead != null)
-				connectionRead.releaseInterface(usbInterfaceRead);
-			usbInterfaceRead = null;
-		}
-	else {
-		if(connectionRead != null && usbInterfaceRead != null)
-			connectionRead.releaseInterface(usbInterfaceRead);
-		if(connectionWrite != null && usbInterfaceWrite != null)
-			connectionWrite.releaseInterface(usbInterfaceWrite);
-		usbInterfaceWrite = null;
-		usbInterfaceRead = null;
-		}
+		if(usbDeviceConnection != null && usbInterface != null)
+			usbDeviceConnection.releaseInterface(usbInterface);
+		usbInterface = null;
 	}
 
 	//Validating the Connected Device - Before asking for permission to connect to the device, it is essential that you ensure that this is a device that you support or expect to connect to. This can be done by validating the devices Vendor ID and Product ID.
@@ -258,87 +244,54 @@ public class HidUAVTalk extends TelemetryTask {
 		UsbEndpoint ep1 = null;
 		UsbEndpoint ep2 = null;
 
-
-		if (UsingSingleInterface)
+		// Using the same interface for reading and writing
+		usbInterface = connectDevice.getInterface(0x2);
+		if (usbInterface.getEndpointCount() == 2)
 		{
-			// Using the same interface for reading and writing
-			usbInterfaceRead = connectDevice.getInterface(0x2);
-			usbInterfaceWrite = usbInterfaceRead;
-			if (usbInterfaceRead.getEndpointCount() == 2)
-			{
-				ep1 = usbInterfaceRead.getEndpoint(0);
-				ep2 = usbInterfaceRead.getEndpoint(1);
-			}
+			ep1 = usbInterface.getEndpoint(0);
+			ep2 = usbInterface.getEndpoint(1);
 		}
-		else        // if (!UsingSingleInterface)
-		{
-			usbInterfaceRead = connectDevice.getInterface(0x01);
-			usbInterfaceWrite = connectDevice.getInterface(0x02);
-			if ((usbInterfaceRead.getEndpointCount() == 1) && (usbInterfaceWrite.getEndpointCount() == 1))
-			{
-				ep1 = usbInterfaceRead.getEndpoint(0);
-				ep2 = usbInterfaceWrite.getEndpoint(0);
-			}
-		}
-
 
 		if ((ep1 == null) || (ep2 == null))
 		{
-			if (DEBUG) Log.d(TAG, "Null endpoints");
+			if (ERROR) Log.e(TAG, "Null endpoints");
 			return false;
 		}
 
 		// Determine which endpoint is the read, and which is the write
-
 		if (ep1.getType() == UsbConstants.USB_ENDPOINT_XFER_INT)
 		{
 			if (ep1.getDirection() == UsbConstants.USB_DIR_IN)
-			{
 				usbEndpointRead = ep1;
-			}
 			else if (ep1.getDirection() == UsbConstants.USB_DIR_OUT)
-			{
 				usbEndpointWrite = ep1;
-			}
 		}
 		if (ep2.getType() == UsbConstants.USB_ENDPOINT_XFER_INT)
 		{
 			if (ep2.getDirection() == UsbConstants.USB_DIR_IN)
-			{
 				usbEndpointRead = ep2;
-			}
 			else if (ep2.getDirection() == UsbConstants.USB_DIR_OUT)
-			{
 				usbEndpointWrite = ep2;
-			}
 		}
 		if ((usbEndpointRead == null) || (usbEndpointWrite == null))
 		{
-			if (DEBUG) Log.d(TAG, "Endpoints wrong way around");
+			if (ERROR) Log.e(TAG, "Could not find write and read endpoint");
 			return false;
 		}
-		connectionRead = usbManager.openDevice(connectDevice);
-		connectionRead.claimInterface(usbInterfaceRead, true);
 
+		// Claim the interface
+		usbDeviceConnection = usbManager.openDevice(connectDevice);
+		usbDeviceConnection.claimInterface(usbInterface, true);
 
-		if (UsingSingleInterface)
-		{
-			connectionWrite = connectionRead;
-		}
-		else // if (!UsingSingleInterface)
-		{
-			connectionWrite = usbManager.openDevice(connectDevice);
-			connectionWrite.claimInterface(usbInterfaceWrite, true);
-		}
 
 		if (DEBUG) Log.d(TAG, "Opened endpoints");
 
 		// Create the USB requests
 		readRequest = new UsbRequest();
-		readRequest.initialize(connectionRead, usbEndpointRead);
+		readRequest.initialize(usbDeviceConnection, usbEndpointRead);
 
 		writeRequest = new UsbRequest();
-		writeRequest.initialize(connectionWrite, usbEndpointWrite);
+		writeRequest.initialize(usbDeviceConnection, usbEndpointWrite);
 
 		inTalkStream = new TalkInputStream();
 		outTalkStream = new TalkOutputStream();
@@ -393,7 +346,7 @@ public class HidUAVTalk extends TelemetryTask {
 
         int dataSize;
         // wait for status event
-        if (connectionRead.requestWait() == readRequest) {
+        if (usbDeviceConnection.requestWait() == readRequest) {
         	// Packet format:
         	// 0: Report ID (1)
         	// 1: Number of valid bytes
@@ -435,7 +388,7 @@ public class HidUAVTalk extends TelemetryTask {
 				writeRequest.queue(packet, bufferDataLength);
 				try
 				{
-					if (!writeRequest.equals(connectionWrite.requestWait()))
+					if (!writeRequest.equals(usbDeviceConnection.requestWait()))
 						Log.e(TAG, "writeRequest failed");
 				}
 				catch (Exception ex)

From 69fbefee85088ef82cd3a5bcd9ed026b1b19310d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 12 Aug 2012 14:00:50 -0500
Subject: [PATCH 381/543] HID: Since there is only one usb device connection
 queue read and write events onto that single connection and wait for either.

---
 .../androidgcs/telemetry/HidUAVTalk.java      | 99 +++++++++++--------
 1 file changed, 56 insertions(+), 43 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
index 4f3c64a5a..5abb4dd09 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
@@ -28,7 +28,7 @@ import android.util.Log;
 public class HidUAVTalk extends TelemetryTask {
 
 	private static final String TAG = HidUAVTalk.class.getSimpleName();
-	public static final int LOGLEVEL = 2;
+	public static final int LOGLEVEL = 0;
 	public static final boolean DEBUG = LOGLEVEL > 2;
 	public static final boolean WARN = LOGLEVEL > 1;
 	public static final boolean ERROR = LOGLEVEL > 0;
@@ -61,6 +61,9 @@ public class HidUAVTalk extends TelemetryTask {
 	private UsbRequest readRequest = null;
 	private Thread readWriteThread;
 
+	private boolean readPending = false;
+	private boolean writePending = false;
+
 	public HidUAVTalk(OPTelemetryService service) {
 		super(service);
 	}
@@ -307,8 +310,23 @@ public class HidUAVTalk extends TelemetryTask {
 		readWriteThread = new Thread(new Runnable() {
 			@Override
 			public void run() {
+
+				// Enqueue the first read
+				readData();
+
 				while (!shutdown) {
-					readData();
+					// If there are no request
+
+					// Enqueue requests appropriately first
+					UsbRequest returned = usbDeviceConnection.requestWait();
+					if (returned == readRequest) {
+						if (DEBUG) Log.d(TAG, "Received read request");
+						readData();
+					} else if (returned == writeRequest) {
+						if (DEBUG) Log.d(TAG, "Received write completed request");
+						writePending = false;
+					}
+
 					sendData();
 				}
 			}
@@ -332,70 +350,65 @@ public class HidUAVTalk extends TelemetryTask {
 	 * Gets a report from HID, extract the meaningful data and push
 	 * it to the input stream
 	 */
-	public int readData() {
-		int bufferDataLength = usbEndpointRead.getMaxPacketSize();
-		ByteBuffer buffer = ByteBuffer.allocate(bufferDataLength + 1);
+	ByteBuffer readBuffer = ByteBuffer.allocate(MAX_HID_PACKET_SIZE);
+	private void queueRead() {
+        if(!readRequest.queue(readBuffer, MAX_HID_PACKET_SIZE)) {
+        	if (ERROR) Log.e(TAG, "Failed to queue request");
+        } else
+        	readPending = true;
+	}
+	public void readData() {
 
-        // queue a request on the interrupt endpoint
-        if(!readRequest.queue(buffer, bufferDataLength)) {
-        	if (DEBUG) Log.d(TAG, "Failed to queue request");
-        	return 0;
-        }
-
-        if (DEBUG) Log.d(TAG, "Request queued");
-
-        int dataSize;
-        // wait for status event
-        if (usbDeviceConnection.requestWait() == readRequest) {
-        	// Packet format:
+		if (!readPending) {
+			queueRead();
+		} else { // We just received a read
+			readPending = false;
+			// Packet format:
         	// 0: Report ID (1)
         	// 1: Number of valid bytes
         	// 2:63: Data
 
-        	dataSize = buffer.get(1);    // Data size
+        	int dataSize = readBuffer.get(1);    // Data size
         	//Assert.assertEquals(1, buffer.get()); // Report ID
         	//Assert.assertTrue(dataSize < buffer.capacity());
 
-        	if (buffer.get(0) != 1 || buffer.get(1) < 0 || buffer.get(1) > (buffer.capacity() - 2)) {
-        		if (DEBUG) Log.d(TAG, "Badly formatted HID packet");
+        	if (readBuffer.get(0) != 1 || readBuffer.get(1) < 0 || readBuffer.get(1) > (readBuffer.capacity() - 2)) {
+        		if (ERROR) Log.e(TAG, "Badly formatted HID packet");
         	} else {
         		byte[] dst = new byte[dataSize];
-        		buffer.position(2);
-        		buffer.get(dst, 0, dataSize);
+        		readBuffer.position(2);
+        		readBuffer.get(dst, 0, dataSize);
         		if (DEBUG) Log.d(TAG, "Entered read");
         		inTalkStream.write(dst);
         		if (DEBUG) Log.d(TAG, "Got read: " + dataSize + " bytes");
         	}
-        } else
-        	return 0;
 
-        return dataSize;
+        	// Queue another read
+        	queueRead();
+        }
 	}
 
 	/**
 	 * Send a packet if data is available
 	 */
 	public void sendData() {
-		ByteBuffer packet = null;
-		do { // Send all the data available to prevent sending backlog
-			packet = outTalkStream.getHIDpacket();
-			if (packet != null) {
-				if (DEBUG) Log.d(TAG, "Writing to device()");
 
-				int bufferDataLength = usbEndpointWrite.getMaxPacketSize();
-				Assert.assertTrue(packet.capacity() <= bufferDataLength);
+		// Don't try and send data till previous request completes
+		if (writePending)
+			return;
 
-				writeRequest.queue(packet, bufferDataLength);
-				try
-				{
-					if (!writeRequest.equals(usbDeviceConnection.requestWait()))
-						Log.e(TAG, "writeRequest failed");
-				}
-				catch (Exception ex)
-				{
-				}
-			}
-		} while (packet != null);
+		ByteBuffer packet = outTalkStream.getHIDpacket();
+		if (packet != null) {
+			if (DEBUG) Log.d(TAG, "Writing to device()");
+
+			int bufferDataLength = usbEndpointWrite.getMaxPacketSize();
+			Assert.assertTrue(packet.capacity() <= bufferDataLength);
+
+			if(writeRequest.queue(packet, bufferDataLength))
+				writePending = true;
+			else if (ERROR)
+				Log.e(TAG, "Write queuing failed");
+		}
 	}
 
 	/*********** Helper classes for telemetry streams ************/

From 75ce520503ca120f5dabf482333211b08032671e Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 12 Aug 2012 14:12:35 -0500
Subject: [PATCH 382/543] Make sure the USB scheduling is thread safe.

---
 .../androidgcs/telemetry/HidUAVTalk.java      | 110 +++++++++++-------
 1 file changed, 65 insertions(+), 45 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
index 5abb4dd09..a074e79ca 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
@@ -312,7 +312,7 @@ public class HidUAVTalk extends TelemetryTask {
 			public void run() {
 
 				// Enqueue the first read
-				readData();
+				queueRead();
 
 				while (!shutdown) {
 					// If there are no request
@@ -325,9 +325,8 @@ public class HidUAVTalk extends TelemetryTask {
 					} else if (returned == writeRequest) {
 						if (DEBUG) Log.d(TAG, "Received write completed request");
 						writePending = false;
+						sendData();
 					}
-
-					sendData();
 				}
 			}
 
@@ -351,63 +350,79 @@ public class HidUAVTalk extends TelemetryTask {
 	 * it to the input stream
 	 */
 	ByteBuffer readBuffer = ByteBuffer.allocate(MAX_HID_PACKET_SIZE);
-	private void queueRead() {
-        if(!readRequest.queue(readBuffer, MAX_HID_PACKET_SIZE)) {
-        	if (ERROR) Log.e(TAG, "Failed to queue request");
-        } else
-        	readPending = true;
-	}
-	public void readData() {
 
-		if (!readPending) {
-			queueRead();
-		} else { // We just received a read
+	/**
+	 * Schedules a USB read
+	 */
+	private void queueRead() {
+		synchronized(readRequest) {
+			if(!readRequest.queue(readBuffer, MAX_HID_PACKET_SIZE)) {
+				if (ERROR) Log.e(TAG, "Failed to queue request");
+			} else
+				readPending = true;
+		}
+	}
+
+	/**
+	 * Reads data from the last USB transaction and schedules another read
+	 */
+	public void readData() {
+		synchronized(readRequest) {
+
+			if (!readPending) {
+				if (ERROR) Log.e(TAG, "Tried to read read while a transaction was not pending");
+				return;
+			}
+
+			// We just received a read
 			readPending = false;
 			// Packet format:
-        	// 0: Report ID (1)
-        	// 1: Number of valid bytes
-        	// 2:63: Data
+			// 0: Report ID (1)
+			// 1: Number of valid bytes
+			// 2:63: Data
 
-        	int dataSize = readBuffer.get(1);    // Data size
-        	//Assert.assertEquals(1, buffer.get()); // Report ID
-        	//Assert.assertTrue(dataSize < buffer.capacity());
+			int dataSize = readBuffer.get(1);    // Data size
+			//Assert.assertEquals(1, buffer.get()); // Report ID
+			//Assert.assertTrue(dataSize < buffer.capacity());
 
-        	if (readBuffer.get(0) != 1 || readBuffer.get(1) < 0 || readBuffer.get(1) > (readBuffer.capacity() - 2)) {
-        		if (ERROR) Log.e(TAG, "Badly formatted HID packet");
-        	} else {
-        		byte[] dst = new byte[dataSize];
-        		readBuffer.position(2);
-        		readBuffer.get(dst, 0, dataSize);
-        		if (DEBUG) Log.d(TAG, "Entered read");
-        		inTalkStream.write(dst);
-        		if (DEBUG) Log.d(TAG, "Got read: " + dataSize + " bytes");
-        	}
+			if (readBuffer.get(0) != 1 || readBuffer.get(1) < 0 || readBuffer.get(1) > (readBuffer.capacity() - 2)) {
+				if (ERROR) Log.e(TAG, "Badly formatted HID packet");
+			} else {
+				byte[] dst = new byte[dataSize];
+				readBuffer.position(2);
+				readBuffer.get(dst, 0, dataSize);
+				if (DEBUG) Log.d(TAG, "Entered read");
+				inTalkStream.write(dst);
+				if (DEBUG) Log.d(TAG, "Got read: " + dataSize + " bytes");
+			}
 
-        	// Queue another read
-        	queueRead();
-        }
+			// Queue another read
+			queueRead();
+
+		}
 	}
 
 	/**
 	 * Send a packet if data is available
 	 */
 	public void sendData() {
+		synchronized(writeRequest) {
+			// Don't try and send data till previous request completes
+			if (writePending)
+				return;
 
-		// Don't try and send data till previous request completes
-		if (writePending)
-			return;
+			ByteBuffer packet = outTalkStream.getHIDpacket();
+			if (packet != null) {
+				if (DEBUG) Log.d(TAG, "Writing to device()");
 
-		ByteBuffer packet = outTalkStream.getHIDpacket();
-		if (packet != null) {
-			if (DEBUG) Log.d(TAG, "Writing to device()");
+				int bufferDataLength = usbEndpointWrite.getMaxPacketSize();
+				Assert.assertTrue(packet.capacity() <= bufferDataLength);
 
-			int bufferDataLength = usbEndpointWrite.getMaxPacketSize();
-			Assert.assertTrue(packet.capacity() <= bufferDataLength);
-
-			if(writeRequest.queue(packet, bufferDataLength))
-				writePending = true;
-			else if (ERROR)
-				Log.e(TAG, "Write queuing failed");
+				if(writeRequest.queue(packet, bufferDataLength))
+					writePending = true;
+				else if (ERROR)
+					Log.e(TAG, "Write queuing failed");
+			}
 		}
 	}
 
@@ -446,6 +461,9 @@ public class HidUAVTalk extends TelemetryTask {
 				data.put((byte) oneByte);
 				data.notify();
 			}
+
+			// If there is not a write request queued, add one
+			sendData();
 		}
 
 		@Override
@@ -457,6 +475,8 @@ public class HidUAVTalk extends TelemetryTask {
 				data.put(b);
 				data.notify();
 			}
+
+			sendData();
 		}
 
 	};

From 335ccc54a3bbe5cca7014b6fe0ace0d6f3bfc05c Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 12 Aug 2012 17:21:13 -0500
Subject: [PATCH 383/543] AndroidGCS Controller: Make sure to remove the
 callback on manual control settings before updating it.

---
 androidgcs/src/org/openpilot/androidgcs/Controller.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/Controller.java b/androidgcs/src/org/openpilot/androidgcs/Controller.java
index 3ef291d4d..0d3a3c911 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Controller.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Controller.java
@@ -78,11 +78,11 @@ public class Controller extends ObjectManagerActivity {
 		public void update(Observable observable, Object data) {
 			// Once we have updated settings we can active the GCS receiver mode
 			Log.d(TAG,"Got update from settings");
-			activateGcsReceiver();
 			UAVDataObject manualControlSettings = (UAVDataObject) objMngr.getObject("ManualControlSettings");
 			if(manualControlSettings != null) {
 				manualControlSettings.removeUpdatedObserver(this);
 			}
+			activateGcsReceiver();
 		}
 	};
 

From 785cda805236bf7ab9cda098a62cf7f631125651 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 12 Aug 2012 17:21:40 -0500
Subject: [PATCH 384/543] AndroidGCS: Add back a few synchronize blocks in
 telemetry to avoid removing elements twice.

---
 .../src/org/openpilot/uavtalk/Telemetry.java  | 27 +++++++++++--------
 1 file changed, 16 insertions(+), 11 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 21525ea14..f130c33eb 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -551,17 +551,22 @@ public class Telemetry {
 
         // Get object information from queue (first the priority and then the regular queue)
         ObjectQueueInfo objInfo;
-        if ( !objPriorityQueue.isEmpty() )
-        {
-            objInfo = objPriorityQueue.remove();
-        }
-        else if ( !objQueue.isEmpty() )
-        {
-            objInfo = objQueue.remove();
-        }
-        else
-        {
-            return;
+        synchronized (objPriorityQueue) {
+        	if ( !objPriorityQueue.isEmpty() )
+        	{
+        		objInfo = objPriorityQueue.remove();
+        	} else {
+        		synchronized (objQueue) {
+        			if ( !objQueue.isEmpty() )
+        	        {
+        	            objInfo = objQueue.remove();
+        	        }
+        	        else
+        	        {
+        	            return;
+        	        }
+        		}
+        	}
         }
 
         // Check if a connection has been established, only process GCSTelemetryStats updates

From 5e163861a45a75995c5fefa95c84f06224e77a50 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 13 Aug 2012 01:07:09 -0500
Subject: [PATCH 385/543] AndroidGCS HID: Go back to a read and write thread
 but now use synchronous bultTransfer for write which gets rid of the
 segfaults with running two asynchronous transfers.

---
 .../androidgcs/telemetry/HidUAVTalk.java      | 98 ++++++++++++-------
 1 file changed, 64 insertions(+), 34 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
index a074e79ca..9cb2d8be7 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
@@ -28,7 +28,7 @@ import android.util.Log;
 public class HidUAVTalk extends TelemetryTask {
 
 	private static final String TAG = HidUAVTalk.class.getSimpleName();
-	public static final int LOGLEVEL = 0;
+	public static final int LOGLEVEL = 1;
 	public static final boolean DEBUG = LOGLEVEL > 2;
 	public static final boolean WARN = LOGLEVEL > 1;
 	public static final boolean ERROR = LOGLEVEL > 0;
@@ -57,9 +57,10 @@ public class HidUAVTalk extends TelemetryTask {
 	private UsbInterface usbInterface = null;
 	private TalkInputStream inTalkStream;
 	private TalkOutputStream outTalkStream;
-	private UsbRequest writeRequest = null;
+	private final UsbRequest writeRequest = null;
 	private UsbRequest readRequest = null;
-	private Thread readWriteThread;
+	private Thread readThread;
+	private Thread writeThread;
 
 	private boolean readPending = false;
 	private boolean writePending = false;
@@ -78,9 +79,15 @@ public class HidUAVTalk extends TelemetryTask {
 		super.disconnect();
 
 		try {
-			if(readWriteThread != null) {
-				readWriteThread.join();
-				readWriteThread = null;
+			if(readThread != null) {
+				readThread.interrupt(); // Make sure not blocking for data
+				readThread.join();
+				readThread = null;
+			}
+			if(writeThread != null) {
+				writeThread.interrupt();
+				writeThread.join();
+				writeThread = null;
 			}
 		} catch (InterruptedException e) {
 			e.printStackTrace();
@@ -91,13 +98,6 @@ public class HidUAVTalk extends TelemetryTask {
 			readRequest.close();
 			readRequest = null;
 		}
-
-		if (writeRequest != null) {
-			writeRequest.cancel();
-			writeRequest.close();
-			writeRequest = null;
-		}
-
 	}
 
 	@Override
@@ -293,9 +293,6 @@ public class HidUAVTalk extends TelemetryTask {
 		readRequest = new UsbRequest();
 		readRequest.initialize(usbDeviceConnection, usbEndpointRead);
 
-		writeRequest = new UsbRequest();
-		writeRequest.initialize(usbDeviceConnection, usbEndpointWrite);
-
 		inTalkStream = new TalkInputStream();
 		outTalkStream = new TalkOutputStream();
 		inStream = inTalkStream;
@@ -307,31 +304,39 @@ public class HidUAVTalk extends TelemetryTask {
 			}
 		});
 
-		readWriteThread = new Thread(new Runnable() {
+		readThread = new Thread(new Runnable() {
 			@Override
 			public void run() {
-
 				// Enqueue the first read
 				queueRead();
-
 				while (!shutdown) {
-					// If there are no request
-
-					// Enqueue requests appropriately first
 					UsbRequest returned = usbDeviceConnection.requestWait();
 					if (returned == readRequest) {
 						if (DEBUG) Log.d(TAG, "Received read request");
 						readData();
-					} else if (returned == writeRequest) {
-						if (DEBUG) Log.d(TAG, "Received write completed request");
-						writePending = false;
-						sendData();
-					}
+					} else
+						Log.e(TAG, "Received unknown USB response");
 				}
 			}
 
-		}, "HID Read Write");
-		readWriteThread.start();
+		}, "HID Read");
+		readThread.start();
+
+		writeThread = new Thread(new Runnable() {
+			@Override
+			public void run() {
+				if (DEBUG) Log.d(TAG, "Starting HID write thread");
+				while(!shutdown) {
+					try {
+						sendDataSynchronous();
+					} catch (InterruptedException e) {
+						break;
+					}
+				}
+				if (DEBUG) Log.d(TAG, "Ending HID write thread");
+			}
+		}, "HID Write");
+		writeThread.start();
 
 		return true;
 	}
@@ -402,6 +407,7 @@ public class HidUAVTalk extends TelemetryTask {
 		}
 	}
 
+
 	/**
 	 * Send a packet if data is available
 	 */
@@ -426,6 +432,21 @@ public class HidUAVTalk extends TelemetryTask {
 		}
 	}
 
+	/**
+	 * Send a packet if data is available
+	 * @throws InterruptedException
+	 */
+	public void sendDataSynchronous() throws InterruptedException {
+
+		ByteBuffer packet = outTalkStream.getHIDpacketBlocking();
+		if (packet != null) {
+			if (DEBUG) Log.d(TAG, "sendDataSynchronous() Writing to device()");
+
+			if (usbDeviceConnection.bulkTransfer(usbEndpointWrite, packet.array(), MAX_HID_PACKET_SIZE, 1000) < 0)
+				Log.e(TAG, "Failed to perform bult write");
+		}
+	}
+
 	/*********** Helper classes for telemetry streams ************/
 
 	class TalkOutputStream extends OutputStream {
@@ -433,6 +454,20 @@ public class HidUAVTalk extends TelemetryTask {
 		// and  ByteFifo.put(byte [])
 		ByteFifo data = new ByteFifo();
 
+		/**
+		 * Blocks until data is available and then returns a properly formatted HID packet
+		 */
+		public ByteBuffer getHIDpacketBlocking() throws InterruptedException {
+			synchronized(data) {
+				if (data.remaining() == 0)
+					data.wait();
+				return getHIDpacket();
+			}
+		}
+
+		/**
+		 * Gets data from the ByteFifo in a properly formatted HID packet
+		 */
 		public ByteBuffer getHIDpacket() {
 			ByteBuffer packet = null;
 			synchronized(data) {
@@ -461,9 +496,6 @@ public class HidUAVTalk extends TelemetryTask {
 				data.put((byte) oneByte);
 				data.notify();
 			}
-
-			// If there is not a write request queued, add one
-			sendData();
 		}
 
 		@Override
@@ -475,8 +507,6 @@ public class HidUAVTalk extends TelemetryTask {
 				data.put(b);
 				data.notify();
 			}
-
-			sendData();
 		}
 
 	};

From 53d4d8b5079fef5f4142268de78ce46bbd8cb2ad Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 13 Aug 2012 01:25:08 -0500
Subject: [PATCH 386/543] AndroidGCS HID: Use the dettached message to shut
 down HID telemetry properly

---
 .../androidgcs/telemetry/HidUAVTalk.java      | 31 +++++++++++++------
 1 file changed, 22 insertions(+), 9 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
index 9cb2d8be7..c1c848a0a 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
@@ -64,6 +64,7 @@ public class HidUAVTalk extends TelemetryTask {
 
 	private boolean readPending = false;
 	private boolean writePending = false;
+	private IntentFilter deviceAttachedFilter;
 
 	public HidUAVTalk(OPTelemetryService service) {
 		super(service);
@@ -73,7 +74,7 @@ public class HidUAVTalk extends TelemetryTask {
 	public void disconnect() {
 
 		CleanUpAndClose();
-		//hostDisplayActivity.unregisterReceiver(usbReceiver);
+		telemService.unregisterReceiver(usbReceiver);
 		telemService.unregisterReceiver(usbPermissionReceiver);
 
 		super.disconnect();
@@ -110,6 +111,11 @@ public class HidUAVTalk extends TelemetryTask {
 		permissionFilter = new IntentFilter(ACTION_USB_PERMISSION);
 		telemService.registerReceiver(usbPermissionReceiver, permissionFilter);
 
+		deviceAttachedFilter = new IntentFilter();
+		//deviceAttachedFilter.addAction(UsbManager.ACTION_USB_DEVICE_ATTACHED);
+		deviceAttachedFilter.addAction(UsbManager.ACTION_USB_DEVICE_DETACHED);
+		telemService.registerReceiver(usbReceiver, deviceAttachedFilter);
+
 		// Go through all the devices plugged in
 		HashMap<String, UsbDevice> deviceList = usbManager.getDeviceList();
 		if (DEBUG) Log.d(TAG, "Found " + deviceList.size() + " devices");
@@ -176,7 +182,6 @@ public class HidUAVTalk extends TelemetryTask {
 		}
 	};
 
-	/* TODO: Detect dettached events and close the connection
 	private final BroadcastReceiver usbReceiver = new BroadcastReceiver()
 	{
 		@Override
@@ -195,8 +200,10 @@ public class HidUAVTalk extends TelemetryTask {
 				{
 					if (device.equals(currentDevice))
 					{
+						if (DEBUG) Log.d(TAG, "Matching device disconnected");
+
 						// call your method that cleans up and closes communication with the device
-						CleanUpAndClose();
+						disconnect();
 					}
 				}
 			}
@@ -213,7 +220,7 @@ public class HidUAVTalk extends TelemetryTask {
 				}
 			}
 		}
-	}; */
+	};
 
 
 	protected void CleanUpAndClose() {
@@ -314,8 +321,10 @@ public class HidUAVTalk extends TelemetryTask {
 					if (returned == readRequest) {
 						if (DEBUG) Log.d(TAG, "Received read request");
 						readData();
-					} else
+					} else {
 						Log.e(TAG, "Received unknown USB response");
+						break;
+					}
 				}
 			}
 
@@ -328,7 +337,8 @@ public class HidUAVTalk extends TelemetryTask {
 				if (DEBUG) Log.d(TAG, "Starting HID write thread");
 				while(!shutdown) {
 					try {
-						sendDataSynchronous();
+						if (sendDataSynchronous() == false)
+							break;
 					} catch (InterruptedException e) {
 						break;
 					}
@@ -436,15 +446,18 @@ public class HidUAVTalk extends TelemetryTask {
 	 * Send a packet if data is available
 	 * @throws InterruptedException
 	 */
-	public void sendDataSynchronous() throws InterruptedException {
+	public boolean sendDataSynchronous() throws InterruptedException {
 
 		ByteBuffer packet = outTalkStream.getHIDpacketBlocking();
 		if (packet != null) {
 			if (DEBUG) Log.d(TAG, "sendDataSynchronous() Writing to device()");
 
-			if (usbDeviceConnection.bulkTransfer(usbEndpointWrite, packet.array(), MAX_HID_PACKET_SIZE, 1000) < 0)
-				Log.e(TAG, "Failed to perform bult write");
+			if (usbDeviceConnection.bulkTransfer(usbEndpointWrite, packet.array(), MAX_HID_PACKET_SIZE, 1000) < 0) {
+				Log.e(TAG, "Failed to perform bulk write");
+				return false;
+			}
 		}
+		return true;
 	}
 
 	/*********** Helper classes for telemetry streams ************/

From f96b419a85b34f5d04efc95a3314d04c6d1f3dd5 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 13 Aug 2012 01:37:15 -0500
Subject: [PATCH 387/543] AndroidGCS: Add a toast message when connected (all
 objects downloaded)

---
 .../openpilot/androidgcs/telemetry/HidUAVTalk.java   |  6 ++++--
 .../androidgcs/telemetry/TelemetryTask.java          |  2 +-
 .../src/org/openpilot/uavtalk/TelemetryMonitor.java  | 12 +++++++++++-
 3 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
index c1c848a0a..ab170ff48 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/HidUAVTalk.java
@@ -112,7 +112,7 @@ public class HidUAVTalk extends TelemetryTask {
 		telemService.registerReceiver(usbPermissionReceiver, permissionFilter);
 
 		deviceAttachedFilter = new IntentFilter();
-		//deviceAttachedFilter.addAction(UsbManager.ACTION_USB_DEVICE_ATTACHED);
+		deviceAttachedFilter.addAction(UsbManager.ACTION_USB_DEVICE_ATTACHED);
 		deviceAttachedFilter.addAction(UsbManager.ACTION_USB_DEVICE_DETACHED);
 		telemService.registerReceiver(usbReceiver, deviceAttachedFilter);
 
@@ -200,8 +200,8 @@ public class HidUAVTalk extends TelemetryTask {
 				{
 					if (device.equals(currentDevice))
 					{
+						telemService.toastMessage("Device unplugged while in use");
 						if (DEBUG) Log.d(TAG, "Matching device disconnected");
-
 						// call your method that cleans up and closes communication with the device
 						disconnect();
 					}
@@ -348,6 +348,8 @@ public class HidUAVTalk extends TelemetryTask {
 		}, "HID Write");
 		writeThread.start();
 
+		telemService.toastMessage("HID Device Opened");
+
 		return true;
 	}
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java
index 87196bc1e..f09cc7236 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java
@@ -106,7 +106,7 @@ public abstract class TelemetryTask implements Runnable {
 		// data stream
 		uavTalk = new UAVTalk(inStream, outStream, objMngr);
 		tel = new Telemetry(uavTalk, objMngr);
-		mon = new TelemetryMonitor(objMngr,tel);
+		mon = new TelemetryMonitor(objMngr,tel, telemService);
 
 		// Create an observer to notify system of connection
 		mon.addObserver(connectionObserver);
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index a1e341197..121a5ebcc 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -34,6 +34,8 @@ import java.util.Observer;
 import java.util.Timer;
 import java.util.TimerTask;
 
+import org.openpilot.androidgcs.telemetry.OPTelemetryService;
+
 import android.util.Log;
 
 public class TelemetryMonitor extends Observable {
@@ -60,6 +62,7 @@ public class TelemetryMonitor extends Observable {
 	private long lastUpdateTime;
 	private final List<UAVObject> queue;
 
+	private OPTelemetryService telemService;
 	private boolean connected = false;
 	private boolean objects_updated = false;
 
@@ -71,6 +74,11 @@ public class TelemetryMonitor extends Observable {
 		return objects_updated;
 	};
 
+	public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel, OPTelemetryService s) {
+		this(objMngr, tel);
+		telemService = s;
+	}
+
 	public TelemetryMonitor(UAVObjectManager objMngr, Telemetry tel) {
 		this.objMngr = objMngr;
 		this.tel = tel;
@@ -171,7 +179,9 @@ public class TelemetryMonitor extends Observable {
 	public synchronized void retrieveNextObject() throws IOException {
 		// If queue is empty return
 		if (queue.isEmpty()) {
-			if (DEBUG || true) Log.d(TAG, "All objects retrieved: Connected Successfully");
+			if (telemService != null)
+				telemService.toastMessage("Connected");
+			if (DEBUG) Log.d(TAG, "All objects retrieved: Connected Successfully");
 			objects_updated = true;
 			if (!HANDSHAKE_IS_CONNECTED) {
 				setChanged();

From d5c1e3578e3dc02d3eaca79e67bb14fb677aca86 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 13 Aug 2012 02:00:54 -0500
Subject: [PATCH 388/543] AndroidGCS HID: Remove more locks to try and prevent
 HID deadlocking

---
 .../src/org/openpilot/uavtalk/Telemetry.java  | 72 ++++++++++---------
 1 file changed, 40 insertions(+), 32 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index f130c33eb..8e6161074 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -343,7 +343,7 @@ public class Telemetry {
     /**
      * Update an object based on its metadata properties
      */
-    private synchronized void updateObject(UAVObject obj)
+    private void updateObject(UAVObject obj)
     {
         // Get metadata
         UAVObject.Metadata metadata = obj.getMetadata();
@@ -393,7 +393,7 @@ public class Telemetry {
      * Called when a transaction is successfully completed (uavtalk event)
      * @throws IOException
      */
-    private synchronized void transactionCompleted(UAVObject obj, boolean result) throws IOException
+    private void transactionCompleted(UAVObject obj, boolean result) throws IOException
     {
     	if (DEBUG) Log.d(TAG,"UAVTalk transactionCompleted");
         // Check if there is a pending transaction and the objects match
@@ -401,8 +401,11 @@ public class Telemetry {
         {
         	if (DEBUG) Log.d(TAG,"Telemetry: transaction completed for " + obj.getName());
             // Complete transaction
-        	transTimer.cancel();
-            transPending = false;
+
+        	synchronized(transTimer) {
+        		transTimer.cancel();
+        		transPending = false;
+        	}
 
             //Send signal
             obj.transactionCompleted(result);
@@ -419,39 +422,41 @@ public class Telemetry {
      * Called when a transaction is not completed within the timeout period (timer event)
      * @throws IOException
      */
-    private synchronized void transactionTimeout() throws IOException
+    private void transactionTimeout() throws IOException
     {
     	if (DEBUG) Log.d(TAG,"Telemetry: transaction timeout.");
-        transTimer.cancel();
-        // Proceed only if there is a pending transaction
-        if ( transPending )
-        {
-            // Check if more retries are pending
-            if (transInfo.retriesRemaining > 0)
-            {
-                --transInfo.retriesRemaining;
-                processObjectTransaction();
-                ++txRetries;
-            }
-            else
-            {
-            	if (ERROR) Log.e(TAG, "Transaction failed for: " + transInfo.obj.getName());
+    	synchronized(transTimer) {
+    		transTimer.cancel();
+    		// Proceed only if there is a pending transaction
+    		if ( transPending )
+    		{
+    			// Check if more retries are pending
+    			if (transInfo.retriesRemaining > 0)
+    			{
+    				--transInfo.retriesRemaining;
+    				processObjectTransaction();
+    				++txRetries;
+    			}
+    			else
+    			{
+    				if (ERROR) Log.e(TAG, "Transaction failed for: " + transInfo.obj.getName());
 
-                // Terminate transaction.  This triggers UAVTalk to send a transaction
-            	// failed signal which will make the next queue entry be processed
-            	// Note this is UAVTalk listener TransactionFailed function and not the
-            	// object specific transaction failed.
-                utalk.cancelPendingTransaction(transInfo.obj);
-                ++txErrors;
-            }
-        }
+    				// Terminate transaction.  This triggers UAVTalk to send a transaction
+    				// failed signal which will make the next queue entry be processed
+    				// Note this is UAVTalk listener TransactionFailed function and not the
+    				// object specific transaction failed.
+    				utalk.cancelPendingTransaction(transInfo.obj);
+    				++txErrors;
+    			}
+    		}
+    	}
     }
 
     /**
      * Start an object transaction with UAVTalk, all information is stored in transInfo
      * @throws IOException
      */
-    private synchronized void processObjectTransaction() throws IOException
+    private void processObjectTransaction() throws IOException
     {
         if (transPending)
         {
@@ -472,8 +477,10 @@ public class Telemetry {
             }
             else
             {
-            	transTimer.cancel();
-                transPending = false;
+            	synchronized(transTimer) {
+            		transTimer.cancel();
+            		transPending = false;
+            	}
             }
         } else
         {
@@ -628,11 +635,12 @@ public class Telemetry {
      * TODO: Clean-up
      * @throws IOException
      */
-    private synchronized void processPeriodicUpdates() throws IOException
+    private void processPeriodicUpdates() throws IOException
     {
 
     	if (DEBUG) Log.d(TAG, "processPeriodicUpdates()");
         // Stop timer
+
     	updateTimer.cancel();
 
         // Iterate through each object and update its timer, if zero then transmit object.
@@ -705,7 +713,7 @@ public class Telemetry {
         return stats;
     }
 
-    public synchronized void resetStats()
+    public void resetStats()
     {
         utalk.resetStats();
         txErrors = 0;

From 319baa9e6f1c833559b0071e2bd072f6383e26fa Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 13 Aug 2012 15:02:15 -0500
Subject: [PATCH 389/543] AndroidGCS: Start moving the telemetry object queue
 to a handler and a looper

---
 .../telemetry/OPTelemetryService.java         |  15 +-
 .../androidgcs/telemetry/TelemetryTask.java   |   2 +-
 .../src/org/openpilot/uavtalk/Telemetry.java  | 238 ++++++++++++------
 .../uavtalk/TelemetryMonitorTest.java         |  20 +-
 4 files changed, 176 insertions(+), 99 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
index 4eeb57abe..4698900ef 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
@@ -26,16 +26,10 @@
  */
 package org.openpilot.androidgcs.telemetry;
 
-import java.io.IOException;
 import java.lang.ref.WeakReference;
-import java.util.Observable;
-import java.util.Observer;
 
-import org.openpilot.uavtalk.Telemetry;
-import org.openpilot.uavtalk.TelemetryMonitor;
 import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObjectManager;
-import org.openpilot.uavtalk.UAVTalk;
 import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
 
 import android.app.Service;
@@ -127,7 +121,7 @@ public class OPTelemetryService extends Service {
 				break;
 			case 2:
 				Toast.makeText(getApplicationContext(), "Attempting BT connection", Toast.LENGTH_SHORT).show();
-				activeTelem = new BTTelemetryThread();
+				//activeTelem = new BTTelemetryThread();
 				break;
 			case 3:
 				Toast.makeText(getApplicationContext(), "Attempting TCP connection", Toast.LENGTH_SHORT).show();
@@ -347,6 +341,8 @@ public class OPTelemetryService extends Service {
 			}
 		}
 	}
+
+	/*
 	private class BTTelemetryThread extends Thread implements TelemTask {
 
 		private final UAVObjectManager objMngr;
@@ -401,7 +397,7 @@ public class OPTelemetryService extends Service {
 				@Override
 				public void update(Observable arg0, Object arg1) {
 					if (DEBUG) Log.d(TAG, "Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
-					if(mon.getConnected() /*&& mon.getObjectsUpdated()*/) {
+					if(mon.getConnected() ) {
 						Intent intent = new Intent();
 						intent.setAction(INTENT_ACTION_CONNECTED);
 						sendBroadcast(intent,null);
@@ -423,6 +419,5 @@ public class OPTelemetryService extends Service {
 			}
 			if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
 		}
-
-	};
+	};*/
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java
index f09cc7236..3d16d94f9 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java
@@ -105,7 +105,7 @@ public abstract class TelemetryTask implements Runnable {
 		// Create the required telemetry objects attached to this
 		// data stream
 		uavTalk = new UAVTalk(inStream, outStream, objMngr);
-		tel = new Telemetry(uavTalk, objMngr);
+		tel = new Telemetry(uavTalk, objMngr, Looper.myLooper());
 		mon = new TelemetryMonitor(objMngr,tel, telemService);
 
 		// Create an observer to notify system of connection
diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 8e6161074..ac814e76b 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -35,9 +35,17 @@ import java.util.Timer;
 import java.util.TimerTask;
 import java.util.concurrent.ConcurrentLinkedQueue;
 
+import junit.framework.Assert;
+import android.os.Handler;
+import android.os.Looper;
 import android.util.Log;
 
 public class Telemetry {
+	/**
+	 * Telemetry provides a messaging handler to handle all the object updates and transfer
+	 * requests.  This handler can either be attached to a new loop attached to the thread
+	 * started by the telemetry service.
+	 */
 
 	private final String TAG = "Telemetry";
 	public static int LOGLEVEL = 1;
@@ -98,11 +106,14 @@ public class Telemetry {
     /**
      * Constructor
      */
-    public Telemetry(UAVTalk utalkIn, UAVObjectManager objMngr)
+    public Telemetry(UAVTalk utalkIn, UAVObjectManager objMngr, Looper l)
     {
         this.utalk = utalkIn;
         this.objMngr = objMngr;
 
+        // Create a handler for object messages
+        handler = new ObjectUpdateHandler(l);
+
         // Process all objects in the list
         List< List<UAVObject> > objs = objMngr.getObjects();
         ListIterator<List<UAVObject>> li = objs.listIterator();
@@ -265,48 +276,28 @@ public class Telemetry {
     final Observer unpackedObserver = new Observer() {
 		@Override
 		public void update(Observable observable, Object data) {
-    		try {
-    			enqueueObjectUpdates((UAVObject) data, EV_UNPACKED, false, true);
-			} catch (IOException e) {
-				// TODO Auto-generated catch block
-				e.printStackTrace();
-			}
+			handler.unpacked((UAVObject) data);
     	}
 	};
 
 	final Observer updatedAutoObserver = new Observer() {
 		@Override
 		public void update(Observable observable, Object data) {
-			try {
-				enqueueObjectUpdates((UAVObject) data, EV_UPDATED, false, true);
-			} catch (IOException e) {
-				// TODO Auto-generated catch block
-				e.printStackTrace();
-			}
+			handler.updatedAuto((UAVObject) data);
     	}
 	};
 
 	final Observer updatedManualObserver = new Observer() {
 		@Override
 		public void update(Observable observable, Object data) {
-			try {
-				enqueueObjectUpdates((UAVObject) data, EV_UPDATED_MANUAL, false, true);
-			} catch (IOException e) {
-				// TODO Auto-generated catch block
-				e.printStackTrace();
-			}
+			handler.updatedManual((UAVObject) data);
     	}
 	};
 
 	final Observer updatedRequestedObserver = new Observer() {
 		@Override
 		public void update(Observable observable, Object data) {
-			try {
-				enqueueObjectUpdates((UAVObject) data, EV_UPDATE_REQ, false, true);
-			} catch (IOException e) {
-				// TODO Auto-generated catch block
-				e.printStackTrace();
-			}
+			handler.updateRequested((UAVObject) data);
     	}
 	};
 
@@ -488,59 +479,6 @@ public class Telemetry {
         }
     }
 
-    /**
-     * Enqueue the event received from an object.  This is the main method that handles all the callbacks
-     * from UAVObjects (due to updates, or update requests)
-     */
-    private void enqueueObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) throws IOException
-    {
-        // Push event into queue
-    	if (DEBUG) Log.d(TAG, "Push event into queue for obj " + obj.getName() + " event " + event);
-    	if(event == 8 && obj.getName().compareTo("GCSTelemetryStats") == 0)
-    		Thread.dumpStack();
-        ObjectQueueInfo objInfo = new ObjectQueueInfo();
-        objInfo.obj = obj;
-        objInfo.event = event;
-        objInfo.allInstances = allInstances;
-        if (priority)
-        {
-        	// Only enqueue if an identical transaction does not already exist
-        	if(!objPriorityQueue.contains(objInfo)) {
-        		if ( objPriorityQueue.size() < MAX_QUEUE_SIZE )
-        		{
-        			objPriorityQueue.add(objInfo);
-        		}
-        		else
-        		{
-        			++txErrors;
-        			obj.transactionCompleted(false);
-        			Log.w(TAG,"Telemetry: priority event queue is full, event lost " + obj.getName());
-        		}
-        	}
-        }
-        else
-        {
-        	// Only enqueue if an identical transaction does not already exist
-        	if(!objQueue.contains(objInfo)) {
-        		if ( objQueue.size() < MAX_QUEUE_SIZE )
-        		{
-        			objQueue.add(objInfo);
-        		}
-        		else
-        		{
-        			++txErrors;
-        			obj.transactionCompleted(false);
-        		}
-        	}
-        }
-
-        // If there is no transaction in progress then process event
-        if (!transPending)
-        {
-            processObjectQueue();
-        }
-    }
-
     /**
      * Process events from the object queue
      * @throws IOException
@@ -666,7 +604,8 @@ public class Telemetry {
                     objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs - offset;
                     // Send object
                     startTime = System.currentTimeMillis();
-                    enqueueObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false);
+                    handler.updatedManual(objinfo.obj);
+                    //enqueueObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false);
                     elapsedMs = (int) (System.currentTimeMillis() - startTime);
                     // Update timeToNextUpdateMs with the elapsed delay of sending the object;
                     timeToNextUpdateMs += elapsedMs;
@@ -780,6 +719,147 @@ public class Telemetry {
     private static final int MIN_UPDATE_PERIOD_MS = 1;
     private static final int MAX_QUEUE_SIZE = 20;
 
+    private final ObjectUpdateHandler handler;
 
+    public class ObjectUpdateHandler extends Handler {
 
+    	//! This can only be created while attaching to a particular looper
+    	ObjectUpdateHandler(Looper l) {
+    		super(l);
+    	}
+
+        //! Generic enqueue
+        void enqueueObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) {
+
+        	if (DEBUG) Log.d(TAG, "Enqueing update " + obj.getName() + " event " + event);
+
+        	ObjectQueueInfo objInfo = new ObjectQueueInfo();
+            objInfo.obj = obj;
+            objInfo.event = event;
+            objInfo.allInstances = allInstances;
+
+            post(new ObjectRunnable(objInfo));
+        }
+
+    	//! Enqueue an unpacked event
+    	void unpacked(UAVObject obj) {
+    		enqueueObjectUpdates(obj, EV_UNPACKED, false, true);
+		}
+
+    	//! Enqueue an updated auto event
+    	void updatedAuto(UAVObject obj) {
+    		enqueueObjectUpdates(obj,EV_UPDATED, false, true);
+    	}
+
+    	//! Enqueue an updated manual event
+    	void updatedManual(UAVObject obj) {
+    		enqueueObjectUpdates(obj, EV_UPDATE_REQ, false, true);
+    	}
+
+    	//! Enqueue an update requested event
+    	void updateRequested(UAVObject obj) {
+    		enqueueObjectUpdates(obj, EV_UPDATE_REQ, false, true);
+    	}
+
+    }
+
+    class ObjectRunnable implements Runnable {
+
+    	//! Transaction information to perform
+    	private final ObjectQueueInfo objInfo;
+//    	private final ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
+
+    	ObjectRunnable(ObjectQueueInfo info) {
+    		Assert.assertNotNull(info);
+    		objInfo = info;
+    	}
+
+    	//! Perform the transaction on the looper thread
+    	@Override
+		public void run () {
+    		Log.d(TAG,"object transaction running");
+    		// 1. Check GCS is connected, throw this out if not
+    		// 2. Set up a transaction which includes multiple retries, whether to wait for ack etc
+    		// 3. Send UAVTalk message
+    		// 4. Based on transaction type either wait for update or end
+
+    		// 1. Check if a connection has been established, only process GCSTelemetryStats updates
+            // (used to establish the connection)
+            gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
+            if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 )
+            {
+                if ( objInfo.obj.getObjID() != objMngr.getObject("GCSTelemetryStats").getObjID() )
+                {
+                	if (DEBUG) Log.d(TAG,"transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
+                    objInfo.obj.transactionCompleted(false);
+                    return;
+                }
+            }
+
+            Log.e(TAG, "A");
+            // 2. Setup transaction (skip if unpack event)
+            if ( objInfo.event != EV_UNPACKED )
+            {
+                Log.e(TAG, "A1");
+                UAVObject.Metadata metadata = objInfo.obj.getMetadata();
+                transInfo.obj = objInfo.obj;
+                transInfo.allInstances = objInfo.allInstances;
+                transInfo.retriesRemaining = MAX_RETRIES;
+                transInfo.acked = metadata.GetGcsTelemetryAcked();
+                if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL )
+                {
+                    transInfo.objRequest = false;
+                }
+                else if ( objInfo.event == EV_UPDATE_REQ )
+                {
+                    transInfo.objRequest = true;
+                }
+                // Start transaction
+                transPending = true;
+            }
+            Log.e(TAG, "B");
+            // If this is a metaobject then make necessary telemetry updates (this is why we catch unpack)
+            if (objInfo.obj.isMetadata())
+            {
+            	UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
+                updateObject( metaobj.getParentObject() );
+            }
+            Log.e(TAG, "C");
+            // 3. Execute transaction
+            if (transPending)
+            {
+                Log.e(TAG, "D");
+            	try {
+            		if (DEBUG || true) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
+            		// Initiate transaction
+            		if (transInfo.objRequest)
+            		{
+            			utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
+            		}
+            		else
+            		{
+            			Log.d(TAG, "Sending object");
+            			utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
+            		}
+
+            		// TODO: Block if request expected (??)
+            		if ( transInfo.objRequest || transInfo.acked )
+            		{
+            			transTimerSetPeriod(REQ_TIMEOUT_MS);
+            		}
+            		else
+            		{
+            			synchronized(transTimer) {
+            				transTimer.cancel();
+            				transPending = false;
+            			}
+            		}
+            	} catch (IOException e) {
+            		// TODO Auto-generated catch block
+            		Log.e(TAG, "E");
+            		e.printStackTrace();
+            	}
+            }
+    	}
+    }
 }
diff --git a/androidgcs/tests/org/openpilot/uavtalk/TelemetryMonitorTest.java b/androidgcs/tests/org/openpilot/uavtalk/TelemetryMonitorTest.java
index 0b0cc1d73..6ddcfe03e 100644
--- a/androidgcs/tests/org/openpilot/uavtalk/TelemetryMonitorTest.java
+++ b/androidgcs/tests/org/openpilot/uavtalk/TelemetryMonitorTest.java
@@ -1,6 +1,6 @@
 package org.openpilot.uavtalk;
 
-import static org.junit.Assert.*;
+import static org.junit.Assert.fail;
 
 import java.io.IOException;
 import java.net.InetAddress;
@@ -8,11 +8,12 @@ import java.net.Socket;
 
 import org.junit.Test;
 import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
-import org.openpilot.uavtalk.UAVTalk;
+
+import android.os.Looper;
 
 
 public class TelemetryMonitorTest {
-	
+
 	static UAVObjectManager objMngr;
 	static UAVTalk talk;
 	static final String IP_ADDRDESS = new String("127.0.0.1");
@@ -32,7 +33,7 @@ public class TelemetryMonitorTest {
 			e.printStackTrace();
 			fail("Couldn't connect to test platform");
 		}
-		
+
 		try {
 			talk = new UAVTalk(connection.getInputStream(), connection.getOutputStream(), objMngr);
 		} catch (IOException e) {
@@ -40,16 +41,17 @@ public class TelemetryMonitorTest {
 			e.printStackTrace();
 			fail("Couldn't construct UAVTalk object");
 		}
-		
+
 		Thread inputStream = talk.getInputProcessThread();
 		inputStream.start();
-		
-		Telemetry tel = new Telemetry(talk, objMngr);
+
+		Looper.prepare();
+		Telemetry tel = new Telemetry(talk, objMngr, Looper.myLooper());
 		@SuppressWarnings("unused")
 		TelemetryMonitor mon = new TelemetryMonitor(objMngr,tel);
-		
+
 		Thread.sleep(10000);
-		
+
 		System.out.println("Done");
 	}
 

From a78fd852b166362b57d4011c9f79d7ea70a9a475 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 13 Aug 2012 23:47:37 -0500
Subject: [PATCH 390/543] AndroidGCS Telemetry: Finish moving telemetry into a
 runnable.

---
 .../src/org/openpilot/uavtalk/Telemetry.java  | 1357 +++++++++--------
 1 file changed, 679 insertions(+), 678 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index ac814e76b..3e4007777 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -42,147 +42,158 @@ import android.util.Log;
 
 public class Telemetry {
 	/**
-	 * Telemetry provides a messaging handler to handle all the object updates and transfer
-	 * requests.  This handler can either be attached to a new loop attached to the thread
-	 * started by the telemetry service.
+	 * Telemetry provides a messaging handler to handle all the object updates
+	 * and transfer requests. This handler can either be attached to a new loop
+	 * attached to the thread started by the telemetry service.
 	 */
 
 	private final String TAG = "Telemetry";
-	public static int LOGLEVEL = 1;
+	public static int LOGLEVEL = 0;
 	public static boolean WARN = LOGLEVEL > 2;
 	public static boolean DEBUG = LOGLEVEL > 1;
 	public static boolean ERROR = LOGLEVEL > 0;
-    public class TelemetryStats {
-        public int txBytes;
-        public int rxBytes;
-        public int txObjectBytes;
-        public int rxObjectBytes;
-        public int rxObjects;
-        public int txObjects;
-        public int txErrors;
-        public int rxErrors;
-        public int txRetries;
-    } ;
 
-    class ObjectTimeInfo {
-        UAVObject obj;
-        int updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
-        int timeToNextUpdateMs; /** Time delay to the next update */
-    };
+	public class TelemetryStats {
+		public int txBytes;
+		public int rxBytes;
+		public int txObjectBytes;
+		public int rxObjectBytes;
+		public int rxObjects;
+		public int txObjects;
+		public int txErrors;
+		public int rxErrors;
+		public int txRetries;
+	};
 
-    class ObjectQueueInfo {
-        UAVObject obj;
-        int event;
-        boolean allInstances;
+	class ObjectTimeInfo {
+		UAVObject obj;
+		int updatePeriodMs;
+		/** Update period in ms or 0 if no periodic updates are needed */
+		int timeToNextUpdateMs;
+		/** Time delay to the next update */
+	};
 
-        @Override
+	class ObjectQueueInfo {
+		UAVObject obj;
+		int event;
+		boolean allInstances;
+
+		@Override
 		public boolean equals(Object e) {
-        	try {
-        		ObjectQueueInfo o = (ObjectQueueInfo) e;
-        		return o.obj.getObjID() == obj.getObjID() &&  o.event == event && o.allInstances == allInstances;
-        	} catch (Exception err) {
+			try {
+				ObjectQueueInfo o = (ObjectQueueInfo) e;
+				return o.obj.getObjID() == obj.getObjID() && o.event == event
+						&& o.allInstances == allInstances;
+			} catch (Exception err) {
 
-        	};
-        	return false;
-        }
-    };
-
-    class ObjectTransactionInfo {
-        UAVObject obj;
-        boolean allInstances;
-        boolean objRequest;
-        int retriesRemaining;
-        boolean acked;
-    } ;
-
-    /**
-     * Events generated by objects.  Not enum because used in mask.
-     */
-    private static final int EV_UNPACKED = 0x01;       /** Object data updated by unpacking */
-    private static final int EV_UPDATED = 0x02;        /** Object data updated by changing the data structure */
-    private static final int EV_UPDATED_MANUAL = 0x04; /** Object update event manually generated */
-    private static final int EV_UPDATE_REQ = 0x08;     /** Request to update object data */
-
-    /**
-     * Constructor
-     */
-    public Telemetry(UAVTalk utalkIn, UAVObjectManager objMngr, Looper l)
-    {
-        this.utalk = utalkIn;
-        this.objMngr = objMngr;
-
-        // Create a handler for object messages
-        handler = new ObjectUpdateHandler(l);
-
-        // Process all objects in the list
-        List< List<UAVObject> > objs = objMngr.getObjects();
-        ListIterator<List<UAVObject>> li = objs.listIterator();
-        while(li.hasNext())
-        	registerObject(li.next().get(0)); // we only need to register one instance per object type
-
-        // Listen to new object creations
-        objMngr.addNewInstanceObserver(new Observer() {
-			@Override
-			public void update(Observable observable, Object data) {
-        		newInstance((UAVObject) data);
 			}
-        });
-        objMngr.addNewObjectObserver(new Observer() {
+			;
+			return false;
+		}
+	};
+
+	class ObjectTransactionInfo {
+		UAVObject obj;
+		boolean allInstances;
+		boolean objRequest;
+		int retriesRemaining;
+		boolean acked;
+	};
+
+	/**
+	 * Events generated by objects. Not enum because used in mask.
+	 */
+	private static final int EV_UNPACKED = 0x01;
+	/** Object data updated by unpacking */
+	private static final int EV_UPDATED = 0x02;
+	/** Object data updated by changing the data structure */
+	private static final int EV_UPDATED_MANUAL = 0x04;
+	/** Object update event manually generated */
+	private static final int EV_UPDATE_REQ = 0x08;
+
+	/** Request to update object data */
+
+	/**
+	 * Constructor
+	 */
+	public Telemetry(UAVTalk utalkIn, UAVObjectManager objMngr, Looper l) {
+		this.utalk = utalkIn;
+		this.objMngr = objMngr;
+
+		// Create a handler for object messages
+		handler = new ObjectUpdateHandler(l);
+
+		// Process all objects in the list
+		List<List<UAVObject>> objs = objMngr.getObjects();
+		ListIterator<List<UAVObject>> li = objs.listIterator();
+		while (li.hasNext())
+			registerObject(li.next().get(0)); // we only need to register one
+												// instance per object type
+
+		// Listen to new object creations
+		objMngr.addNewInstanceObserver(new Observer() {
 			@Override
 			public void update(Observable observable, Object data) {
-        		newObject((UAVObject) data);
-        	}
-        });
+				newInstance((UAVObject) data);
+			}
+		});
+		objMngr.addNewObjectObserver(new Observer() {
+			@Override
+			public void update(Observable observable, Object data) {
+				newObject((UAVObject) data);
+			}
+		});
 
-        // Listen to transaction completions from uavtalk
-        utalk.setOnTransactionCompletedListener(
-        		utalk.new OnTransactionCompletedListener() {
+		// Listen to transaction completions from uavtalk
+		utalk.setOnTransactionCompletedListener(utalk.new OnTransactionCompletedListener() {
 			@Override
 			void TransactionSucceeded(UAVObject data) {
-	        	try {
+				try {
 					transactionCompleted(data, true);
 				} catch (IOException e) {
 					// Disconnect when stream fails
 					utalk.setOnTransactionCompletedListener(null);
 				}
-	        }
+			}
+
 			@Override
 			void TransactionFailed(UAVObject data) {
-	        	try {
-	        		if (DEBUG) Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
+				try {
+					if (DEBUG)
+						Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
 
 					transactionCompleted(data, false);
 				} catch (IOException e) {
 					// Disconnect when stream fails
 					utalk.setOnTransactionCompletedListener(null);
 				}
-	        }
+			}
 
-        });
+		});
 
-        // Get GCS stats object
-        gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
+		// Get GCS stats object
+		gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
 
-        // Setup transaction timer
-        transPending = false;
-        // Setup and start the periodic timer
-        timeToNextUpdateMs = 0;
-        updateTimerSetPeriod(1000);
-        // Setup and start the stats timer
-        txErrors = 0;
-        txRetries = 0;
-    }
+		// Setup transaction timer
+		transPending = false;
+		// Setup and start the periodic timer
+		timeToNextUpdateMs = 0;
+		updateTimerSetPeriod(1000);
+		// Setup and start the stats timer
+		txErrors = 0;
+		txRetries = 0;
+	}
 
-    synchronized void transTimerSetPeriod(int periodMs) {
-    	if(transTimerTask != null)
-    		transTimerTask.cancel();
+	synchronized void transTimerSetPeriod(int periodMs) {
+		if (transTimerTask != null)
+			transTimerTask.cancel();
 
-    	if(transTimer != null)
-    		transTimer.purge();
+		if (transTimer != null)
+			transTimer.purge();
 
-   		transTimer = new Timer();
+		transTimer = new Timer();
 
-        transTimerTask = new TimerTask() {
+		transTimerTask = new TimerTask() {
 			@Override
 			public void run() {
 				try {
@@ -191,21 +202,21 @@ public class Telemetry {
 					cancel();
 				}
 			}
-        };
-        transTimer.schedule(transTimerTask, periodMs, periodMs);
-    }
+		};
+		transTimer.schedule(transTimerTask, periodMs, periodMs);
+	}
 
-    synchronized void updateTimerSetPeriod(int periodMs) {
-    	if (updateTimer != null) {
-    		updateTimer.cancel();
-    		updateTimer = null;
-    	}
-    	if (updateTimerTask != null) {
-    		updateTimerTask.cancel();
-    		updateTimerTask = null;
-    	}
-        updateTimer = new Timer();
-        updateTimerTask = new TimerTask() {
+	synchronized void updateTimerSetPeriod(int periodMs) {
+		if (updateTimer != null) {
+			updateTimer.cancel();
+			updateTimer = null;
+		}
+		if (updateTimerTask != null) {
+			updateTimerTask.cancel();
+			updateTimerTask = null;
+		}
+		updateTimer = new Timer();
+		updateTimerTask = new TimerTask() {
 			@Override
 			public void run() {
 				try {
@@ -215,651 +226,641 @@ public class Telemetry {
 					updateTimer.cancel();
 				}
 			}
-        };
-        updateTimer.schedule(updateTimerTask, periodMs, periodMs);
+		};
+		updateTimer.schedule(updateTimerTask, periodMs, periodMs);
 
-    }
+	}
 
-    /**
-     * Register a new object for periodic updates (if enabled)
-     */
-    private synchronized void registerObject(UAVObject obj)
-    {
-        // Setup object for periodic updates
-        addObject(obj);
+	/**
+	 * Register a new object for periodic updates (if enabled)
+	 */
+	private synchronized void registerObject(UAVObject obj) {
+		// Setup object for periodic updates
+		addObject(obj);
 
-        // Setup object for telemetry updates
-        updateObject(obj);
-    }
+		// Setup object for telemetry updates
+		updateObject(obj);
+	}
 
-    /**
-     * Add an object in the list used for periodic updates
-     */
-    private synchronized void addObject(UAVObject obj)
-    {
-        // Check if object type is already in the list
-    	ListIterator<ObjectTimeInfo> li = objList.listIterator();
-    	while(li.hasNext()) {
-    		ObjectTimeInfo n = li.next();
-    		if( n.obj.getObjID() == obj.getObjID() )
-            {
-                // Object type (not instance!) is already in the list, do nothing
-                return;
-            }
-        }
+	/**
+	 * Add an object in the list used for periodic updates
+	 */
+	private synchronized void addObject(UAVObject obj) {
+		// Check if object type is already in the list
+		ListIterator<ObjectTimeInfo> li = objList.listIterator();
+		while (li.hasNext()) {
+			ObjectTimeInfo n = li.next();
+			if (n.obj.getObjID() == obj.getObjID()) {
+				// Object type (not instance!) is already in the list, do
+				// nothing
+				return;
+			}
+		}
 
-        // If this point is reached, then the object type is new, let's add it
-        ObjectTimeInfo timeInfo = new ObjectTimeInfo();
-        timeInfo.obj = obj;
-        timeInfo.timeToNextUpdateMs = 0;
-        timeInfo.updatePeriodMs = 0;
-        objList.add(timeInfo);
-    }
+		// If this point is reached, then the object type is new, let's add it
+		ObjectTimeInfo timeInfo = new ObjectTimeInfo();
+		timeInfo.obj = obj;
+		timeInfo.timeToNextUpdateMs = 0;
+		timeInfo.updatePeriodMs = 0;
+		objList.add(timeInfo);
+	}
 
-    /**
-     * Update the object's timers
-     */
-    private synchronized void setUpdatePeriod(UAVObject obj, int periodMs)
-    {
-        // Find object type (not instance!) and update its period
-    	ListIterator<ObjectTimeInfo> li = objList.listIterator();
-    	while(li.hasNext()) {
-    		ObjectTimeInfo n = li.next();
-            if ( n.obj.getObjID() == obj.getObjID() )
-            {
-                n.updatePeriodMs = periodMs;
-                n.timeToNextUpdateMs = (int) (periodMs * (new java.util.Random()).nextDouble()); // avoid bunching of updates
-            }
-        }
-    }
+	/**
+	 * Update the object's timers
+	 */
+	private synchronized void setUpdatePeriod(UAVObject obj, int periodMs) {
+		// Find object type (not instance!) and update its period
+		ListIterator<ObjectTimeInfo> li = objList.listIterator();
+		while (li.hasNext()) {
+			ObjectTimeInfo n = li.next();
+			if (n.obj.getObjID() == obj.getObjID()) {
+				n.updatePeriodMs = periodMs;
+				n.timeToNextUpdateMs = (int) (periodMs * (new java.util.Random())
+						.nextDouble()); // avoid bunching of updates
+			}
+		}
+	}
 
-    final Observer unpackedObserver = new Observer() {
+	final Observer unpackedObserver = new Observer() {
 		@Override
 		public void update(Observable observable, Object data) {
 			handler.unpacked((UAVObject) data);
-    	}
+		}
 	};
 
 	final Observer updatedAutoObserver = new Observer() {
 		@Override
 		public void update(Observable observable, Object data) {
 			handler.updatedAuto((UAVObject) data);
-    	}
+		}
 	};
 
 	final Observer updatedManualObserver = new Observer() {
 		@Override
 		public void update(Observable observable, Object data) {
 			handler.updatedManual((UAVObject) data);
-    	}
+		}
 	};
 
 	final Observer updatedRequestedObserver = new Observer() {
 		@Override
 		public void update(Observable observable, Object data) {
 			handler.updateRequested((UAVObject) data);
-    	}
+		}
 	};
 
-    /**
-     * Connect to all instances of an object depending on the event mask specified
-     */
-    private synchronized void connectToObjectInstances(UAVObject obj, int eventMask)
-    {
-        List<UAVObject> objs = objMngr.getObjectInstances(obj.getObjID());
-        ListIterator<UAVObject> li = objs.listIterator();
-        while(li.hasNext())
-        {
-        	obj = li.next();
+	/**
+	 * Connect to all instances of an object depending on the event mask
+	 * specified
+	 */
+	private synchronized void connectToObjectInstances(UAVObject obj,
+			int eventMask) {
+		List<UAVObject> objs = objMngr.getObjectInstances(obj.getObjID());
+		ListIterator<UAVObject> li = objs.listIterator();
+		while (li.hasNext()) {
+			obj = li.next();
 
-            // Disconnect all previous observers from telemetry.  This is imortant as this can
-        	// be called multiple times
-        	obj.removeUnpackedObserver(unpackedObserver);
-        	obj.removeUpdatedAutoObserver(updatedAutoObserver);
-        	obj.removeUpdatedManualObserver(updatedManualObserver);
-        	obj.removeUpdateRequestedObserver(updatedRequestedObserver);
+			// Disconnect all previous observers from telemetry. This is
+			// imortant as this can
+			// be called multiple times
+			obj.removeUnpackedObserver(unpackedObserver);
+			obj.removeUpdatedAutoObserver(updatedAutoObserver);
+			obj.removeUpdatedManualObserver(updatedManualObserver);
+			obj.removeUpdateRequestedObserver(updatedRequestedObserver);
 
-            // Connect only the selected events
-            if ( (eventMask&EV_UNPACKED) != 0)
-            	obj.addUnpackedObserver(unpackedObserver);
-            if ( (eventMask&EV_UPDATED) != 0)
-            	obj.addUpdatedAutoObserver(updatedAutoObserver);
-            if ( (eventMask&EV_UPDATED_MANUAL) != 0)
-            	obj.addUpdatedManualObserver(updatedManualObserver);
-            if ( (eventMask&EV_UPDATE_REQ) != 0)
-            	obj.addUpdateRequestedObserver(updatedRequestedObserver);
-        }
-    }
+			// Connect only the selected events
+			if ((eventMask & EV_UNPACKED) != 0)
+				obj.addUnpackedObserver(unpackedObserver);
+			if ((eventMask & EV_UPDATED) != 0)
+				obj.addUpdatedAutoObserver(updatedAutoObserver);
+			if ((eventMask & EV_UPDATED_MANUAL) != 0)
+				obj.addUpdatedManualObserver(updatedManualObserver);
+			if ((eventMask & EV_UPDATE_REQ) != 0)
+				obj.addUpdateRequestedObserver(updatedRequestedObserver);
+		}
+	}
 
-    /**
-     * Update an object based on its metadata properties
-     */
-    private void updateObject(UAVObject obj)
-    {
-        // Get metadata
-        UAVObject.Metadata metadata = obj.getMetadata();
+	/**
+	 * Update an object based on its metadata properties
+	 */
+	private void updateObject(UAVObject obj) {
+		// Get metadata
+		UAVObject.Metadata metadata = obj.getMetadata();
 
-        // Setup object depending on update mode
-        int eventMask;
-        if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_PERIODIC )
-        {
-            // Set update period
-            setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
-            // Connect signals for all instances
-            eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
-            if(obj.isMetadata())
-                eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
+		// Setup object depending on update mode
+		int eventMask;
+		if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_PERIODIC) {
+			// Set update period
+			setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
+			// Connect signals for all instances
+			eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
+			if (obj.isMetadata())
+				eventMask |= EV_UNPACKED; // we also need to act on remote
+											// updates (unpack events)
 
-            connectToObjectInstances(obj, eventMask);
-        }
-        else if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE )
-        {
-            // Set update period
-            setUpdatePeriod(obj, 0);
-            // Connect signals for all instances
-            eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
-            if(obj.isMetadata())
-                eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
+			connectToObjectInstances(obj, eventMask);
+		} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) {
+			// Set update period
+			setUpdatePeriod(obj, 0);
+			// Connect signals for all instances
+			eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
+			if (obj.isMetadata())
+				eventMask |= EV_UNPACKED; // we also need to act on remote
+											// updates (unpack events)
 
-            connectToObjectInstances(obj, eventMask);
-        }
-        else if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_THROTTLED )
-        {
-        	// TODO
-        }
-        else if ( metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_MANUAL )
-        {
-            // Set update period
-            setUpdatePeriod(obj, 0);
-            // Connect signals for all instances
-            eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
-            if(obj.isMetadata())
-                eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
+			connectToObjectInstances(obj, eventMask);
+		} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_THROTTLED) {
+			// TODO
+		} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_MANUAL) {
+			// Set update period
+			setUpdatePeriod(obj, 0);
+			// Connect signals for all instances
+			eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
+			if (obj.isMetadata())
+				eventMask |= EV_UNPACKED; // we also need to act on remote
+											// updates (unpack events)
 
-            connectToObjectInstances(obj, eventMask);
-        }
-    }
+			connectToObjectInstances(obj, eventMask);
+		}
+	}
 
-    /**
-     * Called when a transaction is successfully completed (uavtalk event)
-     * @throws IOException
-     */
-    private void transactionCompleted(UAVObject obj, boolean result) throws IOException
-    {
-    	if (DEBUG) Log.d(TAG,"UAVTalk transactionCompleted");
-        // Check if there is a pending transaction and the objects match
-        if ( transPending && transInfo.obj.getObjID() == obj.getObjID() )
-        {
-        	if (DEBUG) Log.d(TAG,"Telemetry: transaction completed for " + obj.getName());
-            // Complete transaction
+	/**
+	 * Called when a transaction is successfully completed (uavtalk event)
+	 *
+	 * @throws IOException
+	 */
+	private void transactionCompleted(UAVObject obj, boolean result)
+			throws IOException {
+		if (DEBUG)
+			Log.d(TAG, "UAVTalk transactionCompleted");
+		// Check if there is a pending transaction and the objects match
+		if (transPending && transInfo.obj.getObjID() == obj.getObjID()) {
+			if (DEBUG) Log.d(TAG, "Telemetry: transaction completed for " + obj.getName());
 
-        	synchronized(transTimer) {
-        		transTimer.cancel();
-        		transPending = false;
-        	}
+			// Complete transaction
+			synchronized(transTimer) {
+				transTimer.cancel();
+				transPending = false;
+			}
 
-            //Send signal
-            obj.transactionCompleted(result);
-            // Process new object updates from queue
-            processObjectQueue();
-        } else
-        {
-        	if (ERROR) Log.e(TAG,"Error: received a transaction completed when did not expect it.");
-        	transPending = false;
-        }
-    }
+			//Send signal
+			obj.transactionCompleted(result);
+		} else {
+			if (ERROR)
+				Log.e(TAG,
+						"Error: received a transaction completed when did not expect it.");
+			transPending = false;
+		}
+	}
 
-    /**
-     * Called when a transaction is not completed within the timeout period (timer event)
-     * @throws IOException
-     */
-    private void transactionTimeout() throws IOException
-    {
-    	if (DEBUG) Log.d(TAG,"Telemetry: transaction timeout.");
-    	synchronized(transTimer) {
-    		transTimer.cancel();
-    		// Proceed only if there is a pending transaction
-    		if ( transPending )
-    		{
-    			// Check if more retries are pending
-    			if (transInfo.retriesRemaining > 0)
-    			{
-    				--transInfo.retriesRemaining;
-    				processObjectTransaction();
-    				++txRetries;
-    			}
-    			else
-    			{
-    				if (ERROR) Log.e(TAG, "Transaction failed for: " + transInfo.obj.getName());
+	/**
+	 * Called when a transaction is not completed within the timeout period
+	 * (timer event)
+	 *
+	 * @throws IOException
+	 */
+	private void transactionTimeout() throws IOException {
+		if (DEBUG)
+			Log.d(TAG, "Telemetry: transaction timeout.");
+		synchronized (transTimer) {
+			transTimer.cancel();
+			// Proceed only if there is a pending transaction
+			if (transPending) {
+				// Check if more retries are pending
+				if (transInfo.retriesRemaining > 0) {
+					--transInfo.retriesRemaining;
+					processObjectTransaction();
+					++txRetries;
+				} else {
+					if (ERROR)
+						Log.e(TAG,
+								"Transaction failed for: "
+										+ transInfo.obj.getName());
 
-    				// Terminate transaction.  This triggers UAVTalk to send a transaction
-    				// failed signal which will make the next queue entry be processed
-    				// Note this is UAVTalk listener TransactionFailed function and not the
-    				// object specific transaction failed.
-    				utalk.cancelPendingTransaction(transInfo.obj);
-    				++txErrors;
-    			}
-    		}
-    	}
-    }
+					// Terminate transaction. This triggers UAVTalk to send a
+					// transaction
+					// failed signal which will make the next queue entry be
+					// processed
+					// Note this is UAVTalk listener TransactionFailed function
+					// and not the
+					// object specific transaction failed.
+					utalk.cancelPendingTransaction(transInfo.obj);
+					++txErrors;
+				}
+			}
+		}
+	}
 
-    /**
-     * Start an object transaction with UAVTalk, all information is stored in transInfo
-     * @throws IOException
-     */
-    private void processObjectTransaction() throws IOException
-    {
-        if (transPending)
-        {
-        	if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
-            // Initiate transaction
-            if (transInfo.objRequest)
-            {
-                utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
-            }
-            else
-            {
-                utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
-            }
-            // Start timer if a response is expected
-            if ( transInfo.objRequest || transInfo.acked )
-            {
-            	transTimerSetPeriod(REQ_TIMEOUT_MS);
-            }
-            else
-            {
-            	synchronized(transTimer) {
-            		transTimer.cancel();
-            		transPending = false;
-            	}
-            }
-        } else
-        {
-        	if (ERROR) Log.e(TAG,"Error: inside of processObjectTransaction with no transPending");
-        }
-    }
+	/**
+	 * Start an object transaction with UAVTalk, all information is stored in
+	 * transInfo
+	 *
+	 * @throws IOException
+	 */
+	private void processObjectTransaction() throws IOException {
+		if (transPending) {
+			if (DEBUG)
+				Log.d(TAG,
+						"Process Object transaction for "
+								+ transInfo.obj.getName());
+			// Initiate transaction
+			if (transInfo.objRequest) {
+				utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
+			} else {
+				utalk.sendObject(transInfo.obj, transInfo.acked,
+						transInfo.allInstances);
+			}
+			// Start timer if a response is expected
+			if (transInfo.objRequest || transInfo.acked) {
+				transTimerSetPeriod(REQ_TIMEOUT_MS);
+			} else {
+				synchronized (transTimer) {
+					transTimer.cancel();
+					transPending = false;
+				}
+			}
+		} else {
+			if (ERROR)
+				Log.e(TAG,
+						"Error: inside of processObjectTransaction with no transPending");
+		}
+	}
 
-    /**
-     * Process events from the object queue
-     * @throws IOException
-     */
-    private void processObjectQueue() throws IOException
-    {
-      	if (DEBUG) Log.d(TAG, "Process object queue - Depth " + objQueue.size() + " priority " + objPriorityQueue.size());
+	/**
+	 * Process events from the object queue
+	 *
+	 * @throws IOException
+	 */
+	private void processObjectQueue() throws IOException {
+		if (DEBUG)
+			Log.d(TAG, "Process object queue - Depth " + objQueue.size()
+					+ " priority " + objPriorityQueue.size());
 
-        // Don nothing if a transaction is already in progress (should not happen)
-        if (transPending)
-        {
-        	if (WARN) Log.e(TAG,"Dequeue while a transaction pending");
-            return;
-        }
+		// Don nothing if a transaction is already in progress (should not
+		// happen)
+		if (transPending) {
+			if (WARN)
+				Log.e(TAG, "Dequeue while a transaction pending");
+			return;
+		}
 
-        // Get object information from queue (first the priority and then the regular queue)
-        ObjectQueueInfo objInfo;
-        synchronized (objPriorityQueue) {
-        	if ( !objPriorityQueue.isEmpty() )
-        	{
-        		objInfo = objPriorityQueue.remove();
-        	} else {
-        		synchronized (objQueue) {
-        			if ( !objQueue.isEmpty() )
-        	        {
-        	            objInfo = objQueue.remove();
-        	        }
-        	        else
-        	        {
-        	            return;
-        	        }
-        		}
-        	}
-        }
+		// Get object information from queue (first the priority and then the
+		// regular queue)
+		ObjectQueueInfo objInfo;
+		synchronized (objPriorityQueue) {
+			if (!objPriorityQueue.isEmpty()) {
+				objInfo = objPriorityQueue.remove();
+			} else {
+				synchronized (objQueue) {
+					if (!objQueue.isEmpty()) {
+						objInfo = objQueue.remove();
+					} else {
+						return;
+					}
+				}
+			}
+		}
 
-        // Check if a connection has been established, only process GCSTelemetryStats updates
-        // (used to establish the connection)
-        gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
-        if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 )
-        {
-            objQueue.clear();
-            if ( objInfo.obj.getObjID() != objMngr.getObject("GCSTelemetryStats").getObjID() )
-            {
-            	if (DEBUG) Log.d(TAG,"transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
-                objInfo.obj.transactionCompleted(false);
-                return;
-            }
-        }
+		// Check if a connection has been established, only process
+		// GCSTelemetryStats updates
+		// (used to establish the connection)
+		gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
+		if (((String) gcsStatsObj.getField("Status").getValue())
+				.compareTo("Connected") != 0) {
+			objQueue.clear();
+			if (objInfo.obj.getObjID() != objMngr
+					.getObject("GCSTelemetryStats").getObjID()) {
+				if (DEBUG)
+					Log.d(TAG,
+							"transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
+				objInfo.obj.transactionCompleted(false);
+				return;
+			}
+		}
 
-        // Setup transaction (skip if unpack event)
-        if ( objInfo.event != EV_UNPACKED )
-        {
-            UAVObject.Metadata metadata = objInfo.obj.getMetadata();
-            transInfo.obj = objInfo.obj;
-            transInfo.allInstances = objInfo.allInstances;
-            transInfo.retriesRemaining = MAX_RETRIES;
-            transInfo.acked = metadata.GetGcsTelemetryAcked();
-            if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL )
-            {
-                transInfo.objRequest = false;
-            }
-            else if ( objInfo.event == EV_UPDATE_REQ )
-            {
-                transInfo.objRequest = true;
-            }
-            // Start transaction
-            transPending = true;
-            processObjectTransaction();
-        } else
-        {
-//            qDebug() << QString("Process object queue: this is an unpack event for %1").arg(objInfo.obj->getName());
-        }
+		// Setup transaction (skip if unpack event)
+		if (objInfo.event != EV_UNPACKED) {
+			UAVObject.Metadata metadata = objInfo.obj.getMetadata();
+			transInfo.obj = objInfo.obj;
+			transInfo.allInstances = objInfo.allInstances;
+			transInfo.retriesRemaining = MAX_RETRIES;
+			transInfo.acked = metadata.GetGcsTelemetryAcked();
+			if (objInfo.event == EV_UPDATED
+					|| objInfo.event == EV_UPDATED_MANUAL) {
+				transInfo.objRequest = false;
+			} else if (objInfo.event == EV_UPDATE_REQ) {
+				transInfo.objRequest = true;
+			}
+			// Start transaction
+			transPending = true;
+			processObjectTransaction();
+		} else {
+			// qDebug() <<
+			// QString("Process object queue: this is an unpack event for %1").arg(objInfo.obj->getName());
+		}
 
-        // If this is a metaobject then make necessary telemetry updates
-        if (objInfo.obj.isMetadata())
-        {
-        	UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
-            updateObject( metaobj.getParentObject() );
-        }
+		// If this is a metaobject then make necessary telemetry updates
+		if (objInfo.obj.isMetadata()) {
+			UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
+			updateObject(metaobj.getParentObject());
+		}
 
-        // The fact we received an unpacked event does not mean that
-        // we do not have additional objects still in the queue,
-        // so we have to reschedule queue processing to make sure they are not
-        // stuck:
-        if ( objInfo.event == EV_UNPACKED && !transPending)
-            processObjectQueue();
+		// The fact we received an unpacked event does not mean that
+		// we do not have additional objects still in the queue,
+		// so we have to reschedule queue processing to make sure they are not
+		// stuck:
+		if (objInfo.event == EV_UNPACKED && !transPending)
+			processObjectQueue();
 
-    }
+	}
 
-    /**
-     * Check is any objects are pending for periodic updates
-     * TODO: Clean-up
-     * @throws IOException
-     */
-    private void processPeriodicUpdates() throws IOException
-    {
+	/**
+	 * Check is any objects are pending for periodic updates TODO: Clean-up
+	 *
+	 * @throws IOException
+	 */
+	private void processPeriodicUpdates() throws IOException {
 
-    	if (DEBUG) Log.d(TAG, "processPeriodicUpdates()");
-        // Stop timer
+		if (DEBUG)
+			Log.d(TAG, "processPeriodicUpdates()");
+		// Stop timer
 
-    	updateTimer.cancel();
+		updateTimer.cancel();
 
-        // Iterate through each object and update its timer, if zero then transmit object.
-        // Also calculate smallest delay to next update (will be used for setting timeToNextUpdateMs)
-        int minDelay = MAX_UPDATE_PERIOD_MS;
-        ObjectTimeInfo objinfo;
-        int elapsedMs = 0;
-        long startTime;
-        int offset;
-        ListIterator<ObjectTimeInfo> li = objList.listIterator();
-        while(li.hasNext())
-        {
-            objinfo = li.next();
-            // If object is configured for periodic updates
-            if (objinfo.updatePeriodMs > 0)
-            {
-                objinfo.timeToNextUpdateMs -= timeToNextUpdateMs;
-                // Check if time for the next update
-                if (objinfo.timeToNextUpdateMs <= 0)
-                {
-                    // Reset timer
-                    offset = (-objinfo.timeToNextUpdateMs) % objinfo.updatePeriodMs;
-                    objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs - offset;
-                    // Send object
-                    startTime = System.currentTimeMillis();
-                    handler.updatedManual(objinfo.obj);
-                    //enqueueObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false);
-                    elapsedMs = (int) (System.currentTimeMillis() - startTime);
-                    // Update timeToNextUpdateMs with the elapsed delay of sending the object;
-                    timeToNextUpdateMs += elapsedMs;
-                }
-                // Update minimum delay
-                if (objinfo.timeToNextUpdateMs < minDelay)
-                {
-                    minDelay = objinfo.timeToNextUpdateMs;
-                }
-            }
-        }
+		// Iterate through each object and update its timer, if zero then
+		// transmit object.
+		// Also calculate smallest delay to next update (will be used for
+		// setting timeToNextUpdateMs)
+		int minDelay = MAX_UPDATE_PERIOD_MS;
+		ObjectTimeInfo objinfo;
+		int elapsedMs = 0;
+		long startTime;
+		int offset;
+		ListIterator<ObjectTimeInfo> li = objList.listIterator();
+		while (li.hasNext()) {
+			objinfo = li.next();
+			// If object is configured for periodic updates
+			if (objinfo.updatePeriodMs > 0) {
+				objinfo.timeToNextUpdateMs -= timeToNextUpdateMs;
+				// Check if time for the next update
+				if (objinfo.timeToNextUpdateMs <= 0) {
+					// Reset timer
+					offset = (-objinfo.timeToNextUpdateMs)
+							% objinfo.updatePeriodMs;
+					objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs
+							- offset;
+					// Send object
+					startTime = System.currentTimeMillis();
+					handler.updatedManual(objinfo.obj);
+					// enqueueObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL,
+					// true, false);
+					elapsedMs = (int) (System.currentTimeMillis() - startTime);
+					// Update timeToNextUpdateMs with the elapsed delay of
+					// sending the object;
+					timeToNextUpdateMs += elapsedMs;
+				}
+				// Update minimum delay
+				if (objinfo.timeToNextUpdateMs < minDelay) {
+					minDelay = objinfo.timeToNextUpdateMs;
+				}
+			}
+		}
 
-        // Check if delay for the next update is too short
-        if (minDelay < MIN_UPDATE_PERIOD_MS)
-        {
-            minDelay = MIN_UPDATE_PERIOD_MS;
-        }
+		// Check if delay for the next update is too short
+		if (minDelay < MIN_UPDATE_PERIOD_MS) {
+			minDelay = MIN_UPDATE_PERIOD_MS;
+		}
 
-        // Done
-        timeToNextUpdateMs = minDelay;
+		// Done
+		timeToNextUpdateMs = minDelay;
 
-        // Restart timer
-        updateTimerSetPeriod(timeToNextUpdateMs);
-    }
+		// Restart timer
+		updateTimerSetPeriod(timeToNextUpdateMs);
+	}
 
-    public TelemetryStats getStats()
-    {
-        // Get UAVTalk stats
-        UAVTalk.ComStats utalkStats = utalk.getStats();
+	public TelemetryStats getStats() {
+		// Get UAVTalk stats
+		UAVTalk.ComStats utalkStats = utalk.getStats();
 
-        // Update stats
-        TelemetryStats stats = new TelemetryStats();
-        stats.txBytes = utalkStats.txBytes;
-        stats.rxBytes = utalkStats.rxBytes;
-        stats.txObjectBytes = utalkStats.txObjectBytes;
-        stats.rxObjectBytes = utalkStats.rxObjectBytes;
-        stats.rxObjects = utalkStats.rxObjects;
-        stats.txObjects = utalkStats.txObjects;
-        stats.txErrors = utalkStats.txErrors + txErrors;
-        stats.rxErrors = utalkStats.rxErrors;
-        stats.txRetries = txRetries;
+		// Update stats
+		TelemetryStats stats = new TelemetryStats();
+		stats.txBytes = utalkStats.txBytes;
+		stats.rxBytes = utalkStats.rxBytes;
+		stats.txObjectBytes = utalkStats.txObjectBytes;
+		stats.rxObjectBytes = utalkStats.rxObjectBytes;
+		stats.rxObjects = utalkStats.rxObjects;
+		stats.txObjects = utalkStats.txObjects;
+		stats.txErrors = utalkStats.txErrors + txErrors;
+		stats.rxErrors = utalkStats.rxErrors;
+		stats.txRetries = txRetries;
 
-        // Done
-        return stats;
-    }
+		// Done
+		return stats;
+	}
 
-    public void resetStats()
-    {
-        utalk.resetStats();
-        txErrors = 0;
-        txRetries = 0;
-    }
+	public void resetStats() {
+		utalk.resetStats();
+		txErrors = 0;
+		txRetries = 0;
+	}
 
+	private void newObject(UAVObject obj) {
+		registerObject(obj);
+	}
 
-    private void newObject(UAVObject obj)
-    {
-        registerObject(obj);
-    }
+	private synchronized void newInstance(UAVObject obj) {
+		registerObject(obj);
+	}
 
-    private synchronized void newInstance(UAVObject obj)
-    {
-        registerObject(obj);
-    }
-
-    /**
-     * Stop all the telemetry timers
-     */
-    public void stopTelemetry()
-    {
-    	if (updateTimerTask != null)
-    		updateTimerTask.cancel();
-    	updateTimerTask = null;
-    	if (updateTimer != null)
-    		updateTimer.cancel();
-    	updateTimer = null;
-    	if (transTimerTask != null)
-    		transTimerTask.cancel();
-    	transTimerTask = null;
-    	if (transTimer != null)
-    		transTimer.cancel();
-    	transTimer = null;
-    }
+	/**
+	 * Stop all the telemetry timers
+	 */
+	public void stopTelemetry() {
+		if (updateTimerTask != null)
+			updateTimerTask.cancel();
+		updateTimerTask = null;
+		if (updateTimer != null)
+			updateTimer.cancel();
+		updateTimer = null;
+		if (transTimerTask != null)
+			transTimerTask.cancel();
+		transTimerTask = null;
+		if (transTimer != null)
+			transTimer.cancel();
+		transTimer = null;
+	}
 
 	/**
 	 * Private variables
 	 */
-    private final UAVObjectManager objMngr;
-    private final UAVTalk utalk;
-    private UAVObject gcsStatsObj;
-    private final List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
-    private final Queue<ObjectQueueInfo> objQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
-    private final Queue<ObjectQueueInfo> objPriorityQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
-    private final ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
-    private boolean transPending;
+	private final UAVObjectManager objMngr;
+	private final UAVTalk utalk;
+	private UAVObject gcsStatsObj;
+	private final List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
+	private final Queue<ObjectQueueInfo> objQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
+	private final Queue<ObjectQueueInfo> objPriorityQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
+	private final ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
+	private boolean transPending;
 
-    private Timer updateTimer;
-    private TimerTask updateTimerTask;
-    private Timer transTimer;
-    private TimerTask transTimerTask;
+	private Timer updateTimer;
+	private TimerTask updateTimerTask;
+	private Timer transTimer;
+	private TimerTask transTimerTask;
 
-    private int timeToNextUpdateMs;
-    private int txErrors;
-    private int txRetries;
+	private int timeToNextUpdateMs;
+	private int txErrors;
+	private int txRetries;
 
-    /**
-     * Private constants
-     */
-    private static final int REQ_TIMEOUT_MS = 250;
-    private static final int MAX_RETRIES = 2;
-    private static final int MAX_UPDATE_PERIOD_MS = 1000;
-    private static final int MIN_UPDATE_PERIOD_MS = 1;
-    private static final int MAX_QUEUE_SIZE = 20;
+	/**
+	 * Private constants
+	 */
+	private static final int REQ_TIMEOUT_MS = 250;
+	private static final int MAX_RETRIES = 2;
+	private static final int MAX_UPDATE_PERIOD_MS = 1000;
+	private static final int MIN_UPDATE_PERIOD_MS = 1;
+	private static final int MAX_QUEUE_SIZE = 20;
 
-    private final ObjectUpdateHandler handler;
+	private final ObjectUpdateHandler handler;
 
-    public class ObjectUpdateHandler extends Handler {
+	public class ObjectUpdateHandler extends Handler {
 
-    	//! This can only be created while attaching to a particular looper
-    	ObjectUpdateHandler(Looper l) {
-    		super(l);
-    	}
-
-        //! Generic enqueue
-        void enqueueObjectUpdates(UAVObject obj, int event, boolean allInstances, boolean priority) {
-
-        	if (DEBUG) Log.d(TAG, "Enqueing update " + obj.getName() + " event " + event);
-
-        	ObjectQueueInfo objInfo = new ObjectQueueInfo();
-            objInfo.obj = obj;
-            objInfo.event = event;
-            objInfo.allInstances = allInstances;
-
-            post(new ObjectRunnable(objInfo));
-        }
-
-    	//! Enqueue an unpacked event
-    	void unpacked(UAVObject obj) {
-    		enqueueObjectUpdates(obj, EV_UNPACKED, false, true);
+		// ! This can only be created while attaching to a particular looper
+		ObjectUpdateHandler(Looper l) {
+			super(l);
 		}
 
-    	//! Enqueue an updated auto event
-    	void updatedAuto(UAVObject obj) {
-    		enqueueObjectUpdates(obj,EV_UPDATED, false, true);
-    	}
+		// ! Generic enqueue
+		void enqueueObjectUpdates(UAVObject obj, int event,
+				boolean allInstances, boolean priority) {
 
-    	//! Enqueue an updated manual event
-    	void updatedManual(UAVObject obj) {
-    		enqueueObjectUpdates(obj, EV_UPDATE_REQ, false, true);
-    	}
+			if (DEBUG)
+				Log.d(TAG, "Enqueing update " + obj.getName() + " event "
+						+ event);
 
-    	//! Enqueue an update requested event
-    	void updateRequested(UAVObject obj) {
-    		enqueueObjectUpdates(obj, EV_UPDATE_REQ, false, true);
-    	}
+			ObjectQueueInfo objInfo = new ObjectQueueInfo();
+			objInfo.obj = obj;
+			objInfo.event = event;
+			objInfo.allInstances = allInstances;
 
-    }
+			post(new ObjectRunnable(objInfo));
+		}
 
-    class ObjectRunnable implements Runnable {
+		// ! Enqueue an unpacked event
+		void unpacked(UAVObject obj) {
+			enqueueObjectUpdates(obj, EV_UNPACKED, false, true);
+		}
 
-    	//! Transaction information to perform
-    	private final ObjectQueueInfo objInfo;
-//    	private final ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
+		// ! Enqueue an updated auto event
+		void updatedAuto(UAVObject obj) {
+			enqueueObjectUpdates(obj, EV_UPDATED, false, true);
+		}
 
-    	ObjectRunnable(ObjectQueueInfo info) {
-    		Assert.assertNotNull(info);
-    		objInfo = info;
-    	}
+		// ! Enqueue an updated manual event
+		void updatedManual(UAVObject obj) {
+			enqueueObjectUpdates(obj, EV_UPDATED_MANUAL, false, true);
+		}
 
-    	//! Perform the transaction on the looper thread
-    	@Override
-		public void run () {
-    		Log.d(TAG,"object transaction running");
-    		// 1. Check GCS is connected, throw this out if not
-    		// 2. Set up a transaction which includes multiple retries, whether to wait for ack etc
-    		// 3. Send UAVTalk message
-    		// 4. Based on transaction type either wait for update or end
+		// ! Enqueue an update requested event
+		void updateRequested(UAVObject obj) {
+			enqueueObjectUpdates(obj, EV_UPDATE_REQ, false, true);
+		}
 
-    		// 1. Check if a connection has been established, only process GCSTelemetryStats updates
-            // (used to establish the connection)
-            gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
-            if ( ((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0 )
-            {
-                if ( objInfo.obj.getObjID() != objMngr.getObject("GCSTelemetryStats").getObjID() )
-                {
-                	if (DEBUG) Log.d(TAG,"transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
-                    objInfo.obj.transactionCompleted(false);
-                    return;
-                }
-            }
+	}
 
-            Log.e(TAG, "A");
-            // 2. Setup transaction (skip if unpack event)
-            if ( objInfo.event != EV_UNPACKED )
-            {
-                Log.e(TAG, "A1");
-                UAVObject.Metadata metadata = objInfo.obj.getMetadata();
-                transInfo.obj = objInfo.obj;
-                transInfo.allInstances = objInfo.allInstances;
-                transInfo.retriesRemaining = MAX_RETRIES;
-                transInfo.acked = metadata.GetGcsTelemetryAcked();
-                if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL )
-                {
-                    transInfo.objRequest = false;
-                }
-                else if ( objInfo.event == EV_UPDATE_REQ )
-                {
-                    transInfo.objRequest = true;
-                }
-                // Start transaction
-                transPending = true;
-            }
-            Log.e(TAG, "B");
-            // If this is a metaobject then make necessary telemetry updates (this is why we catch unpack)
-            if (objInfo.obj.isMetadata())
-            {
-            	UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
-                updateObject( metaobj.getParentObject() );
-            }
-            Log.e(TAG, "C");
-            // 3. Execute transaction
-            if (transPending)
-            {
-                Log.e(TAG, "D");
-            	try {
-            		if (DEBUG || true) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
-            		// Initiate transaction
-            		if (transInfo.objRequest)
-            		{
-            			utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
-            		}
-            		else
-            		{
-            			Log.d(TAG, "Sending object");
-            			utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
-            		}
+	class ObjectRunnable implements Runnable {
 
-            		// TODO: Block if request expected (??)
-            		if ( transInfo.objRequest || transInfo.acked )
-            		{
-            			transTimerSetPeriod(REQ_TIMEOUT_MS);
-            		}
-            		else
-            		{
-            			synchronized(transTimer) {
-            				transTimer.cancel();
-            				transPending = false;
-            			}
-            		}
-            	} catch (IOException e) {
-            		// TODO Auto-generated catch block
-            		Log.e(TAG, "E");
-            		e.printStackTrace();
-            	}
-            }
-    	}
-    }
+		// ! Transaction information to perform
+		private final ObjectQueueInfo objInfo;
+
+		// private final ObjectTransactionInfo transInfo = new
+		// ObjectTransactionInfo();
+
+		ObjectRunnable(ObjectQueueInfo info) {
+			Assert.assertNotNull(info);
+			objInfo = info;
+		}
+
+		// ! Perform the transaction on the looper thread
+		@Override
+		public void run() {
+			if (DEBUG) Log.d(TAG, "Object transaction running.  Event:" + objInfo.event);
+			// 1. Check GCS is connected, throw this out if not
+			// 2. Set up a transaction which includes multiple retries, whether
+			// to wait for ack etc
+			// 3. Send UAVTalk message
+			// 4. Based on transaction type either wait for update or end
+
+			// 1. Check if a connection has been established, only process
+			// GCSTelemetryStats updates
+			// (used to establish the connection)
+			gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
+			if (((String) gcsStatsObj.getField("Status").getValue())
+					.compareTo("Connected") != 0) {
+				if (objInfo.obj.getObjID() != objMngr.getObject(
+						"GCSTelemetryStats").getObjID()) {
+					if (DEBUG)
+						Log.d(TAG,
+								"transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
+					objInfo.obj.transactionCompleted(false);
+					return;
+				}
+			}
+
+			// 2. Setup transaction (skip if unpack event)
+			if (objInfo.event != EV_UNPACKED) {
+				UAVObject.Metadata metadata = objInfo.obj.getMetadata();
+				transInfo.obj = objInfo.obj;
+				transInfo.allInstances = objInfo.allInstances;
+				transInfo.retriesRemaining = MAX_RETRIES;
+				transInfo.acked = metadata.GetGcsTelemetryAcked();
+				if (objInfo.event == EV_UPDATED
+						|| objInfo.event == EV_UPDATED_MANUAL) {
+					transInfo.objRequest = false;
+				} else if (objInfo.event == EV_UPDATE_REQ) {
+					transInfo.objRequest = true;
+				}
+				// Start transaction
+				transPending = true;
+			}
+
+			// If this is a metaobject then make necessary telemetry updates
+			// (this is why we catch unpack)
+			if (objInfo.obj.isMetadata()) {
+				UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
+				updateObject(metaobj.getParentObject());
+			}
+
+			// 3. Execute transaction
+			if (transPending) {
+				try {
+					if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
+
+					// Initiate transaction
+					if (transInfo.objRequest) {
+						if (DEBUG) Log.d(TAG, "Sending object request");
+						utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
+					} else {
+						if (DEBUG) Log.d(TAG, "Sending object " + transInfo.obj.getName() + " " + transInfo.obj.toStringData());
+						utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
+					}
+
+
+					 // TODO: Block if request expected (??)
+					 if (transInfo.objRequest || transInfo.acked ) {
+						 transTimerSetPeriod(REQ_TIMEOUT_MS);
+					 } else {
+						 synchronized(transTimer) {
+							 transTimer.cancel();
+							 transPending = false;
+						 }
+					 }
+
+				} catch (IOException e) {
+					// TODO Auto-generated catch block
+					Log.e(TAG, "E");
+					e.printStackTrace();
+				}
+			}
+		}
+	}
 }

From 9f326f28d8cac9195514ef1dd7d43af8c1958aa7 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 15 Aug 2012 00:01:14 -0500
Subject: [PATCH 391/543] AndroidGCS: Handler based telemetry.  Now reschedule
 transactions if one is pending.

---
 .../src/org/openpilot/uavtalk/Telemetry.java  | 238 ++++++------------
 1 file changed, 72 insertions(+), 166 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 3e4007777..e514e61c4 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -30,10 +30,8 @@ import java.util.List;
 import java.util.ListIterator;
 import java.util.Observable;
 import java.util.Observer;
-import java.util.Queue;
 import java.util.Timer;
 import java.util.TimerTask;
-import java.util.concurrent.ConcurrentLinkedQueue;
 
 import junit.framework.Assert;
 import android.os.Handler;
@@ -49,8 +47,8 @@ public class Telemetry {
 
 	private final String TAG = "Telemetry";
 	public static int LOGLEVEL = 0;
-	public static boolean WARN = LOGLEVEL > 2;
-	public static boolean DEBUG = LOGLEVEL > 1;
+	public static boolean DEBUG = LOGLEVEL > 2;
+	public static boolean WARN  = LOGLEVEL > 1;
 	public static boolean ERROR = LOGLEVEL > 0;
 
 	public class TelemetryStats {
@@ -391,8 +389,8 @@ public class Telemetry {
 	 */
 	private void transactionCompleted(UAVObject obj, boolean result)
 			throws IOException {
-		if (DEBUG)
-			Log.d(TAG, "UAVTalk transactionCompleted");
+		if (DEBUG) Log.d(TAG, "UAVTalk transactionCompleted");
+
 		// Check if there is a pending transaction and the objects match
 		if (transPending && transInfo.obj.getObjID() == obj.getObjID()) {
 			if (DEBUG) Log.d(TAG, "Telemetry: transaction completed for " + obj.getName());
@@ -406,9 +404,7 @@ public class Telemetry {
 			//Send signal
 			obj.transactionCompleted(result);
 		} else {
-			if (ERROR)
-				Log.e(TAG,
-						"Error: received a transaction completed when did not expect it.");
+			if (ERROR) Log.e(TAG, "Error: received a transaction completed when did not expect it.");
 			transPending = false;
 		}
 	}
@@ -433,16 +429,11 @@ public class Telemetry {
 					++txRetries;
 				} else {
 					if (ERROR)
-						Log.e(TAG,
-								"Transaction failed for: "
-										+ transInfo.obj.getName());
+						Log.e(TAG, "Transaction failed for: " + transInfo.obj.getName());
 
-					// Terminate transaction. This triggers UAVTalk to send a
-					// transaction
-					// failed signal which will make the next queue entry be
-					// processed
+					// Terminate transaction. This triggers UAVTalk to send a transaction
+					// failed signal which will make the next queue entry be processed
 					// Note this is UAVTalk listener TransactionFailed function
-					// and not the
 					// object specific transaction failed.
 					utalk.cancelPendingTransaction(transInfo.obj);
 					++txErrors;
@@ -460,9 +451,8 @@ public class Telemetry {
 	private void processObjectTransaction() throws IOException {
 		if (transPending) {
 			if (DEBUG)
-				Log.d(TAG,
-						"Process Object transaction for "
-								+ transInfo.obj.getName());
+				Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
+
 			// Initiate transaction
 			if (transInfo.objRequest) {
 				utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
@@ -470,6 +460,7 @@ public class Telemetry {
 				utalk.sendObject(transInfo.obj, transInfo.acked,
 						transInfo.allInstances);
 			}
+
 			// Start timer if a response is expected
 			if (transInfo.objRequest || transInfo.acked) {
 				transTimerSetPeriod(REQ_TIMEOUT_MS);
@@ -481,99 +472,10 @@ public class Telemetry {
 			}
 		} else {
 			if (ERROR)
-				Log.e(TAG,
-						"Error: inside of processObjectTransaction with no transPending");
+				Log.e(TAG, "Error: inside of processObjectTransaction with no transPending");
 		}
 	}
 
-	/**
-	 * Process events from the object queue
-	 *
-	 * @throws IOException
-	 */
-	private void processObjectQueue() throws IOException {
-		if (DEBUG)
-			Log.d(TAG, "Process object queue - Depth " + objQueue.size()
-					+ " priority " + objPriorityQueue.size());
-
-		// Don nothing if a transaction is already in progress (should not
-		// happen)
-		if (transPending) {
-			if (WARN)
-				Log.e(TAG, "Dequeue while a transaction pending");
-			return;
-		}
-
-		// Get object information from queue (first the priority and then the
-		// regular queue)
-		ObjectQueueInfo objInfo;
-		synchronized (objPriorityQueue) {
-			if (!objPriorityQueue.isEmpty()) {
-				objInfo = objPriorityQueue.remove();
-			} else {
-				synchronized (objQueue) {
-					if (!objQueue.isEmpty()) {
-						objInfo = objQueue.remove();
-					} else {
-						return;
-					}
-				}
-			}
-		}
-
-		// Check if a connection has been established, only process
-		// GCSTelemetryStats updates
-		// (used to establish the connection)
-		gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
-		if (((String) gcsStatsObj.getField("Status").getValue())
-				.compareTo("Connected") != 0) {
-			objQueue.clear();
-			if (objInfo.obj.getObjID() != objMngr
-					.getObject("GCSTelemetryStats").getObjID()) {
-				if (DEBUG)
-					Log.d(TAG,
-							"transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
-				objInfo.obj.transactionCompleted(false);
-				return;
-			}
-		}
-
-		// Setup transaction (skip if unpack event)
-		if (objInfo.event != EV_UNPACKED) {
-			UAVObject.Metadata metadata = objInfo.obj.getMetadata();
-			transInfo.obj = objInfo.obj;
-			transInfo.allInstances = objInfo.allInstances;
-			transInfo.retriesRemaining = MAX_RETRIES;
-			transInfo.acked = metadata.GetGcsTelemetryAcked();
-			if (objInfo.event == EV_UPDATED
-					|| objInfo.event == EV_UPDATED_MANUAL) {
-				transInfo.objRequest = false;
-			} else if (objInfo.event == EV_UPDATE_REQ) {
-				transInfo.objRequest = true;
-			}
-			// Start transaction
-			transPending = true;
-			processObjectTransaction();
-		} else {
-			// qDebug() <<
-			// QString("Process object queue: this is an unpack event for %1").arg(objInfo.obj->getName());
-		}
-
-		// If this is a metaobject then make necessary telemetry updates
-		if (objInfo.obj.isMetadata()) {
-			UAVMetaObject metaobj = (UAVMetaObject) objInfo.obj;
-			updateObject(metaobj.getParentObject());
-		}
-
-		// The fact we received an unpacked event does not mean that
-		// we do not have additional objects still in the queue,
-		// so we have to reschedule queue processing to make sure they are not
-		// stuck:
-		if (objInfo.event == EV_UNPACKED && !transPending)
-			processObjectQueue();
-
-	}
-
 	/**
 	 * Check is any objects are pending for periodic updates TODO: Clean-up
 	 *
@@ -697,9 +599,7 @@ public class Telemetry {
 	private final UAVTalk utalk;
 	private UAVObject gcsStatsObj;
 	private final List<ObjectTimeInfo> objList = new ArrayList<ObjectTimeInfo>();
-	private final Queue<ObjectQueueInfo> objQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
-	private final Queue<ObjectQueueInfo> objPriorityQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
-	private final ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
+	private ObjectTransactionInfo transInfo = new ObjectTransactionInfo();
 	private boolean transPending;
 
 	private Timer updateTimer;
@@ -718,7 +618,6 @@ public class Telemetry {
 	private static final int MAX_RETRIES = 2;
 	private static final int MAX_UPDATE_PERIOD_MS = 1000;
 	private static final int MIN_UPDATE_PERIOD_MS = 1;
-	private static final int MAX_QUEUE_SIZE = 20;
 
 	private final ObjectUpdateHandler handler;
 
@@ -733,9 +632,7 @@ public class Telemetry {
 		void enqueueObjectUpdates(UAVObject obj, int event,
 				boolean allInstances, boolean priority) {
 
-			if (DEBUG)
-				Log.d(TAG, "Enqueing update " + obj.getName() + " event "
-						+ event);
+			if (DEBUG) Log.d(TAG, "Enqueing update " + obj.getName() + " event " + event);
 
 			ObjectQueueInfo objInfo = new ObjectQueueInfo();
 			objInfo.obj = obj;
@@ -794,35 +691,15 @@ public class Telemetry {
 			// GCSTelemetryStats updates
 			// (used to establish the connection)
 			gcsStatsObj = objMngr.getObject("GCSTelemetryStats");
-			if (((String) gcsStatsObj.getField("Status").getValue())
-					.compareTo("Connected") != 0) {
-				if (objInfo.obj.getObjID() != objMngr.getObject(
-						"GCSTelemetryStats").getObjID()) {
+			if (((String) gcsStatsObj.getField("Status").getValue()).compareTo("Connected") != 0) {
+				if (objInfo.obj.getObjID() != objMngr.getObject("GCSTelemetryStats").getObjID()) {
 					if (DEBUG)
-						Log.d(TAG,
-								"transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
+						Log.d(TAG, "transactionCompleted(false) due to receiving object not GCSTelemetryStats while not connected.");
 					objInfo.obj.transactionCompleted(false);
 					return;
 				}
 			}
 
-			// 2. Setup transaction (skip if unpack event)
-			if (objInfo.event != EV_UNPACKED) {
-				UAVObject.Metadata metadata = objInfo.obj.getMetadata();
-				transInfo.obj = objInfo.obj;
-				transInfo.allInstances = objInfo.allInstances;
-				transInfo.retriesRemaining = MAX_RETRIES;
-				transInfo.acked = metadata.GetGcsTelemetryAcked();
-				if (objInfo.event == EV_UPDATED
-						|| objInfo.event == EV_UPDATED_MANUAL) {
-					transInfo.objRequest = false;
-				} else if (objInfo.event == EV_UPDATE_REQ) {
-					transInfo.objRequest = true;
-				}
-				// Start transaction
-				transPending = true;
-			}
-
 			// If this is a metaobject then make necessary telemetry updates
 			// (this is why we catch unpack)
 			if (objInfo.obj.isMetadata()) {
@@ -830,35 +707,64 @@ public class Telemetry {
 				updateObject(metaobj.getParentObject());
 			}
 
-			// 3. Execute transaction
-			if (transPending) {
-				try {
+			// 2. Setup transaction (skip if unpack event)
+			ObjectTransactionInfo newTrans = new ObjectTransactionInfo();
+			boolean newTransactionPending = false;
+			if (objInfo.event != EV_UNPACKED) {
+				UAVObject.Metadata metadata = objInfo.obj.getMetadata();
+				newTrans.obj = objInfo.obj;
+				newTrans.allInstances = objInfo.allInstances;
+				newTrans.retriesRemaining = MAX_RETRIES;
+				newTrans.acked = metadata.GetGcsTelemetryAcked();
+				if (objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL) {
+					newTrans.objRequest = false;
+				} else if (objInfo.event == EV_UPDATE_REQ) {
+					newTrans.objRequest = true;
+				}
+
+				// Determine if this will schedule a new transaction
+				newTransactionPending = !(newTrans.objRequest || newTrans.acked);
+
+				// If there is a transaction pending and this would set up a new one reschedule it
+				if (transPending && newTransactionPending) {
+					if (WARN) Log.w(TAG, "Postponing transaction for" + newTrans.obj.getName());
+					handler.postDelayed(this, 100);
+					return;
+				}
+
+				synchronized (transInfo) {
+					transPending = newTransactionPending;
+					transInfo = newTrans;
+
 					if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
 
-					// Initiate transaction
-					if (transInfo.objRequest) {
-						if (DEBUG) Log.d(TAG, "Sending object request");
-						utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
-					} else {
-						if (DEBUG) Log.d(TAG, "Sending object " + transInfo.obj.getName() + " " + transInfo.obj.toStringData());
-						utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
+					// 3. Execute transaction
+					try {
+
+						// Initiate transaction
+						if (transInfo.objRequest) {
+							if (DEBUG) Log.d(TAG, "Sending object request");
+							utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
+						} else {
+							if (DEBUG) Log.d(TAG, "Sending object " + transInfo.obj.getName() + " " + transInfo.obj.toStringData());
+							utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
+						}
+
+
+						// TODO: Block if request expected (??)
+						if (transPending) {
+							transTimerSetPeriod(REQ_TIMEOUT_MS);
+						} else if (transTimer != null) {
+							synchronized(transTimer) {
+								transTimer.cancel();
+								transPending = false;
+							}
+						}
+					} catch (IOException e) {
+						// TODO Auto-generated catch block
+						Log.e(TAG, "E");
+						e.printStackTrace();
 					}
-
-
-					 // TODO: Block if request expected (??)
-					 if (transInfo.objRequest || transInfo.acked ) {
-						 transTimerSetPeriod(REQ_TIMEOUT_MS);
-					 } else {
-						 synchronized(transTimer) {
-							 transTimer.cancel();
-							 transPending = false;
-						 }
-					 }
-
-				} catch (IOException e) {
-					// TODO Auto-generated catch block
-					Log.e(TAG, "E");
-					e.printStackTrace();
 				}
 			}
 		}

From b614368359ee2a8583463f4c5e7e5c173e74e65c Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 15 Aug 2012 01:14:57 -0500
Subject: [PATCH 392/543] AndroidGCS Telemetry: Use a runnable for the
 transaction timeout.  Now all of telemetry is using handlers nicely, but we
 still can have multiple transactions queued for the same object.

---
 .../src/org/openpilot/uavtalk/Telemetry.java  | 286 ++++++++----------
 1 file changed, 118 insertions(+), 168 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index e514e61c4..10885f746 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -126,7 +126,7 @@ public class Telemetry {
 		ListIterator<List<UAVObject>> li = objs.listIterator();
 		while (li.hasNext())
 			registerObject(li.next().get(0)); // we only need to register one
-												// instance per object type
+		// instance per object type
 
 		// Listen to new object creations
 		objMngr.addNewInstanceObserver(new Observer() {
@@ -146,25 +146,15 @@ public class Telemetry {
 		utalk.setOnTransactionCompletedListener(utalk.new OnTransactionCompletedListener() {
 			@Override
 			void TransactionSucceeded(UAVObject data) {
-				try {
-					transactionCompleted(data, true);
-				} catch (IOException e) {
-					// Disconnect when stream fails
-					utalk.setOnTransactionCompletedListener(null);
-				}
+				transactionCompleted(data, true);
 			}
 
 			@Override
 			void TransactionFailed(UAVObject data) {
-				try {
-					if (DEBUG)
-						Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
+				if (DEBUG)
+					Log.d(TAG, "TransactionFailed(" + data.getName() + ")");
 
-					transactionCompleted(data, false);
-				} catch (IOException e) {
-					// Disconnect when stream fails
-					utalk.setOnTransactionCompletedListener(null);
-				}
+				transactionCompleted(data, false);
 			}
 
 		});
@@ -182,28 +172,6 @@ public class Telemetry {
 		txRetries = 0;
 	}
 
-	synchronized void transTimerSetPeriod(int periodMs) {
-		if (transTimerTask != null)
-			transTimerTask.cancel();
-
-		if (transTimer != null)
-			transTimer.purge();
-
-		transTimer = new Timer();
-
-		transTimerTask = new TimerTask() {
-			@Override
-			public void run() {
-				try {
-					transactionTimeout();
-				} catch (IOException e) {
-					cancel();
-				}
-			}
-		};
-		transTimer.schedule(transTimerTask, periodMs, periodMs);
-	}
-
 	synchronized void updateTimerSetPeriod(int periodMs) {
 		if (updateTimer != null) {
 			updateTimer.cancel();
@@ -354,7 +322,7 @@ public class Telemetry {
 			eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
 			if (obj.isMetadata())
 				eventMask |= EV_UNPACKED; // we also need to act on remote
-											// updates (unpack events)
+			// updates (unpack events)
 
 			connectToObjectInstances(obj, eventMask);
 		} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) {
@@ -364,7 +332,7 @@ public class Telemetry {
 			eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
 			if (obj.isMetadata())
 				eventMask |= EV_UNPACKED; // we also need to act on remote
-											// updates (unpack events)
+			// updates (unpack events)
 
 			connectToObjectInstances(obj, eventMask);
 		} else if (metadata.GetGcsTelemetryUpdateMode() == UAVObject.UpdateMode.UPDATEMODE_THROTTLED) {
@@ -376,106 +344,12 @@ public class Telemetry {
 			eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
 			if (obj.isMetadata())
 				eventMask |= EV_UNPACKED; // we also need to act on remote
-											// updates (unpack events)
+			// updates (unpack events)
 
 			connectToObjectInstances(obj, eventMask);
 		}
 	}
 
-	/**
-	 * Called when a transaction is successfully completed (uavtalk event)
-	 *
-	 * @throws IOException
-	 */
-	private void transactionCompleted(UAVObject obj, boolean result)
-			throws IOException {
-		if (DEBUG) Log.d(TAG, "UAVTalk transactionCompleted");
-
-		// Check if there is a pending transaction and the objects match
-		if (transPending && transInfo.obj.getObjID() == obj.getObjID()) {
-			if (DEBUG) Log.d(TAG, "Telemetry: transaction completed for " + obj.getName());
-
-			// Complete transaction
-			synchronized(transTimer) {
-				transTimer.cancel();
-				transPending = false;
-			}
-
-			//Send signal
-			obj.transactionCompleted(result);
-		} else {
-			if (ERROR) Log.e(TAG, "Error: received a transaction completed when did not expect it.");
-			transPending = false;
-		}
-	}
-
-	/**
-	 * Called when a transaction is not completed within the timeout period
-	 * (timer event)
-	 *
-	 * @throws IOException
-	 */
-	private void transactionTimeout() throws IOException {
-		if (DEBUG)
-			Log.d(TAG, "Telemetry: transaction timeout.");
-		synchronized (transTimer) {
-			transTimer.cancel();
-			// Proceed only if there is a pending transaction
-			if (transPending) {
-				// Check if more retries are pending
-				if (transInfo.retriesRemaining > 0) {
-					--transInfo.retriesRemaining;
-					processObjectTransaction();
-					++txRetries;
-				} else {
-					if (ERROR)
-						Log.e(TAG, "Transaction failed for: " + transInfo.obj.getName());
-
-					// Terminate transaction. This triggers UAVTalk to send a transaction
-					// failed signal which will make the next queue entry be processed
-					// Note this is UAVTalk listener TransactionFailed function
-					// object specific transaction failed.
-					utalk.cancelPendingTransaction(transInfo.obj);
-					++txErrors;
-				}
-			}
-		}
-	}
-
-	/**
-	 * Start an object transaction with UAVTalk, all information is stored in
-	 * transInfo
-	 *
-	 * @throws IOException
-	 */
-	private void processObjectTransaction() throws IOException {
-		if (transPending) {
-			if (DEBUG)
-				Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
-
-			// Initiate transaction
-			if (transInfo.objRequest) {
-				utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
-			} else {
-				utalk.sendObject(transInfo.obj, transInfo.acked,
-						transInfo.allInstances);
-			}
-
-			// Start timer if a response is expected
-			if (transInfo.objRequest || transInfo.acked) {
-				transTimerSetPeriod(REQ_TIMEOUT_MS);
-			} else {
-				synchronized (transTimer) {
-					transTimer.cancel();
-					transPending = false;
-				}
-			}
-		} else {
-			if (ERROR)
-				Log.e(TAG, "Error: inside of processObjectTransaction with no transPending");
-		}
-	}
-
 	/**
 	 * Check is any objects are pending for periodic updates TODO: Clean-up
 	 *
@@ -513,6 +387,8 @@ public class Telemetry {
 							- offset;
 					// Send object
 					startTime = System.currentTimeMillis();
+
+					if (DEBUG) Log.d(TAG, "Manual update: " + objinfo.obj.getName());
 					handler.updatedManual(objinfo.obj);
 					// enqueueObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL,
 					// true, false);
@@ -584,12 +460,6 @@ public class Telemetry {
 		if (updateTimer != null)
 			updateTimer.cancel();
 		updateTimer = null;
-		if (transTimerTask != null)
-			transTimerTask.cancel();
-		transTimerTask = null;
-		if (transTimer != null)
-			transTimer.cancel();
-		transTimer = null;
 	}
 
 	/**
@@ -604,8 +474,6 @@ public class Telemetry {
 
 	private Timer updateTimer;
 	private TimerTask updateTimerTask;
-	private Timer transTimer;
-	private TimerTask transTimerTask;
 
 	private int timeToNextUpdateMs;
 	private int txErrors;
@@ -664,14 +532,15 @@ public class Telemetry {
 
 	}
 
+	/**
+	 * Perform an update on an object where on an event based on the contents provided
+	 * to the constructors.  This update will also set a timeout for transaction failure.
+	 */
 	class ObjectRunnable implements Runnable {
 
 		// ! Transaction information to perform
 		private final ObjectQueueInfo objInfo;
 
-		// private final ObjectTransactionInfo transInfo = new
-		// ObjectTransactionInfo();
-
 		ObjectRunnable(ObjectQueueInfo info) {
 			Assert.assertNotNull(info);
 			objInfo = info;
@@ -725,48 +594,129 @@ public class Telemetry {
 				// Determine if this will schedule a new transaction
 				newTransactionPending = !(newTrans.objRequest || newTrans.acked);
 
-				// If there is a transaction pending and this would set up a new one reschedule it
-				if (transPending && newTransactionPending) {
-					if (WARN) Log.w(TAG, "Postponing transaction for" + newTrans.obj.getName());
-					handler.postDelayed(this, 100);
-					return;
-				}
-
 				synchronized (transInfo) {
+
+					// If there is a transaction pending and this would set up a new one reschedule it
+					if (transPending && newTransactionPending) {
+						if (WARN) Log.w(TAG, "Postponing transaction for" + newTrans.obj.getName());
+						handler.postDelayed(this, 100);
+						return;
+					}
+
+					// Store this as the active transaction
 					transPending = newTransactionPending;
 					transInfo = newTrans;
 
 					if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
 
-					// 3. Execute transaction
 					try {
 
-						// Initiate transaction
+						// 3. Execute transaction by sending the appropriate UAVTalk command
 						if (transInfo.objRequest) {
-							if (DEBUG) Log.d(TAG, "Sending object request");
+							if (DEBUG) Log.d(TAG, "Sending object request" + transInfo.obj.getName());
 							utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
 						} else {
-							if (DEBUG) Log.d(TAG, "Sending object " + transInfo.obj.getName() + " " + transInfo.obj.toStringData());
+							if (DEBUG) Log.d(TAG, "Sending object " + transInfo.obj.getName());
 							utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
 						}
 
-
-						// TODO: Block if request expected (??)
-						if (transPending) {
-							transTimerSetPeriod(REQ_TIMEOUT_MS);
-						} else if (transTimer != null) {
-							synchronized(transTimer) {
-								transTimer.cancel();
-								transPending = false;
-							}
-						}
 					} catch (IOException e) {
-						// TODO Auto-generated catch block
-						Log.e(TAG, "E");
+						if (ERROR) Log.e(TAG, "Unable to send UAVTalk message");
 						e.printStackTrace();
 					}
+
+					// Post a timeout timer if a response is epxected
+					if (transPending)
+						handler.postDelayed(transactionTimeout, REQ_TIMEOUT_MS);
 				}
 			}
 		}
 	}
+
+
+	/**
+	 * Runnable posted to handle a timeout of a transaction.  Tracks the number of retry attempts
+	 * retries that many, and finally sends a transaction failed signal.
+	 */
+	final Runnable transactionTimeout = new Runnable() {
+		@Override
+		public void run() {
+			// Lock on the transaction
+			synchronized (transInfo) {
+
+				// Proceed only if there is a pending transaction
+				if (!transPending) {
+					if (WARN) Log.w(TAG,"Transaction completed but timeout still called.  Probable race condition");
+					return;
+				}
+
+				if (DEBUG) Log.d(TAG, "Telemetry: transaction timeout.");
+
+				// Check if more retries are pending
+				if (transInfo.retriesRemaining > 0) {
+					--transInfo.retriesRemaining;
+
+					// Repeat whatever is required for this transaction type
+					// (transInfo.objRequest) {
+					if (DEBUG) Log.d(TAG, "Sending object request");
+
+					try {
+						// Execute transaction by sending the appropriate UAVTalk command
+						if (transInfo.objRequest) {
+							if (DEBUG) Log.d(TAG, "Sending object request" + transInfo.obj.getName());
+							utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
+						} else {
+							if (DEBUG) Log.d(TAG, "Sending object " + transInfo.obj.getName());
+							utalk.sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
+						}
+					} catch (IOException e) {
+						if (ERROR) Log.e(TAG, "Unable to send UAVTalk message");
+						e.printStackTrace();
+					}
+
+					handler.postDelayed(transactionTimeout, REQ_TIMEOUT_MS);
+
+					++txRetries;
+				} else {
+					if (ERROR) Log.e(TAG, "Transaction failed for: " + transInfo.obj.getName());
+
+					// Terminate transaction. This triggers UAVTalk to send a transaction
+					// failed signal which will make the next queue entry be processed
+					// Note this is UAVTalk listener TransactionFailed function
+					// object specific transaction failed.
+					utalk.cancelPendingTransaction(transInfo.obj);
+					++txErrors;
+				}
+			}
+		}
+	};
+
+
+	/**
+	 * Called when a transaction is successfully completed (UAVTalk event) and maps that to
+	 * the appropriate object event as well as canceling the pending transaction and timeout
+	 */
+	private void transactionCompleted(UAVObject obj, boolean result) {
+
+		if (DEBUG) Log.d(TAG, "UAVTalk transactionCompleted");
+
+		// Check if there is a pending transaction and the objects match
+		synchronized(transInfo) {
+			if (transPending && transInfo.obj.getObjID() == obj.getObjID()) {
+				if (DEBUG) Log.d(TAG, "Telemetry: transaction completed for " + obj.getName());
+
+				// Cancel timeout and complete transaction
+				handler.removeCallbacks(transactionTimeout);
+				transPending = false;
+
+				//Send signal
+				obj.transactionCompleted(result);
+			} else {
+				if (ERROR) Log.e(TAG, "Error: received a transaction completed when did not expect it.");
+				transPending = false;
+			}
+		}
+	}
+
 }
+

From caff64ed7e75783f066f81d175b37df45155d36a Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 15 Aug 2012 02:02:05 -0500
Subject: [PATCH 393/543] AndroidGCS Telemetry: Fix the determination of
 whether a transaction is pending

---
 .../src/org/openpilot/uavtalk/Telemetry.java  | 42 ++++++++++++++++---
 1 file changed, 37 insertions(+), 5 deletions(-)

diff --git a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
index 10885f746..6fcbb2491 100644
--- a/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
+++ b/androidgcs/src/org/openpilot/uavtalk/Telemetry.java
@@ -30,8 +30,10 @@ import java.util.List;
 import java.util.ListIterator;
 import java.util.Observable;
 import java.util.Observer;
+import java.util.Queue;
 import java.util.Timer;
 import java.util.TimerTask;
+import java.util.concurrent.ConcurrentLinkedQueue;
 
 import junit.framework.Assert;
 import android.os.Handler;
@@ -487,8 +489,14 @@ public class Telemetry {
 	private static final int MAX_UPDATE_PERIOD_MS = 1000;
 	private static final int MIN_UPDATE_PERIOD_MS = 1;
 
-	private final ObjectUpdateHandler handler;
+	static private ObjectUpdateHandler handler;
 
+	//! Accessor for the object updated handler
+	ObjectUpdateHandler getHandler() { return handler; }
+
+	/**
+	 * Handler which posts all the messages for individual object updates
+	 */
 	public class ObjectUpdateHandler extends Handler {
 
 		// ! This can only be created while attaching to a particular looper
@@ -496,6 +504,8 @@ public class Telemetry {
 			super(l);
 		}
 
+		Queue<ObjectQueueInfo> objQueue = new ConcurrentLinkedQueue<ObjectQueueInfo>();
+
 		// ! Generic enqueue
 		void enqueueObjectUpdates(UAVObject obj, int event,
 				boolean allInstances, boolean priority) {
@@ -507,7 +517,26 @@ public class Telemetry {
 			objInfo.event = event;
 			objInfo.allInstances = allInstances;
 
-			post(new ObjectRunnable(objInfo));
+			// For now maintain a list of objects in the queue so we don't add duplicates
+			// later we should make the runnables static to each class so we can use removeCallback
+			synchronized(objQueue) {
+				if (objQueue.contains(objInfo)) {
+					if (WARN) Log.w(TAG, "Found previously scheduled queue element: " + objInfo.obj.getName());
+				} else {
+					objQueue.add(objInfo);
+					post(new ObjectRunnable(objInfo));
+				}
+			}
+		}
+
+		public boolean removeActivatedQueue(ObjectQueueInfo objInfo) {
+			synchronized(objQueue) {
+				if (objQueue.remove(objInfo)) {
+					if (WARN) Log.w(TAG, "Unable to find queue element to remove");
+					return false;
+				}
+			}
+			return true;
 		}
 
 		// ! Enqueue an unpacked event
@@ -592,13 +621,13 @@ public class Telemetry {
 				}
 
 				// Determine if this will schedule a new transaction
-				newTransactionPending = !(newTrans.objRequest || newTrans.acked);
+				newTransactionPending = (newTrans.objRequest || newTrans.acked);
 
 				synchronized (transInfo) {
 
 					// If there is a transaction pending and this would set up a new one reschedule it
 					if (transPending && newTransactionPending) {
-						if (WARN) Log.w(TAG, "Postponing transaction for" + newTrans.obj.getName());
+						if (WARN) Log.w(TAG, "Postponing transaction for" + newTrans.obj.getName() + " existing transaction for " + transInfo.obj.getName());
 						handler.postDelayed(this, 100);
 						return;
 					}
@@ -609,11 +638,14 @@ public class Telemetry {
 
 					if (DEBUG) Log.d(TAG, "Process Object transaction for " + transInfo.obj.getName());
 
+					// Remove this one from the list of pending transactions
+					handler.removeActivatedQueue(objInfo);
+
 					try {
 
 						// 3. Execute transaction by sending the appropriate UAVTalk command
 						if (transInfo.objRequest) {
-							if (DEBUG) Log.d(TAG, "Sending object request" + transInfo.obj.getName());
+							if (DEBUG) Log.d(TAG, "Sending object request " + transInfo.obj.getName());
 							utalk.sendObjectRequest(transInfo.obj, transInfo.allInstances);
 						} else {
 							if (DEBUG) Log.d(TAG, "Sending object " + transInfo.obj.getName());

From 92114bf952f1a433f266a8dfc4ae5ef55e962a15 Mon Sep 17 00:00:00 2001
From: dwobdar <dwobdar@gmail.com>
Date: Thu, 16 Aug 2012 22:19:24 +0200
Subject: [PATCH 394/543] Fixing white border in aircraft config screen.

---
 .../src/plugins/config/airframe.ui            | 25 ++++++++++++-------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 96b092db5..028072c61 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -20,9 +20,12 @@
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
-      <number>0</number>
+      <number>1</number>
      </property>
      <widget class="QWidget" name="tabWidgetPage1">
+      <property name="autoFillBackground">
+       <bool>true</bool>
+      </property>
       <attribute name="title">
        <string>Mixer Settings</string>
       </attribute>
@@ -131,8 +134,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>866</width>
-            <height>507</height>
+            <width>872</width>
+            <height>516</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -2661,6 +2664,9 @@ margin:1px;</string>
       </layout>
      </widget>
      <widget class="QWidget" name="tab">
+      <property name="autoFillBackground">
+       <bool>true</bool>
+      </property>
       <attribute name="title">
        <string>Advanced Settings</string>
       </attribute>
@@ -2748,8 +2754,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>866</width>
-            <height>483</height>
+            <width>872</width>
+            <height>496</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
@@ -3060,15 +3066,16 @@ 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;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;/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;
 &lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
 &lt;tr&gt;
 &lt;td style=&quot;border: none;&quot;&gt;
 &lt;p align=&quot;center&quot; 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:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&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:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&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:'Ubuntu'; font-size:11pt;&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:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&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;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
-&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&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;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&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:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
              </property>
             </widget>
            </item>

From 525dec17487f3a4e80f5dc458ef088accc6f1627 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Thu, 16 Aug 2012 23:30:31 +0100
Subject: [PATCH 395/543] GCS-Added gradient to edit gadgets bar

---
 .../share/openpilotgcs/stylesheets/default_linux.qss             | 1 +
 ground/openpilotgcs/src/libs/utils/styledbar.h                   | 1 +
 ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h   | 1 +
 3 files changed, 3 insertions(+)

diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
index 3b0ade073..3d57edaeb 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
@@ -1 +1,2 @@
 MyListWidget {font-size: 11px;}
+Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
diff --git a/ground/openpilotgcs/src/libs/utils/styledbar.h b/ground/openpilotgcs/src/libs/utils/styledbar.h
index a1b178bed..a0144d0a9 100644
--- a/ground/openpilotgcs/src/libs/utils/styledbar.h
+++ b/ground/openpilotgcs/src/libs/utils/styledbar.h
@@ -37,6 +37,7 @@ namespace Utils {
 
 class QTCREATOR_UTILS_EXPORT StyledBar : public QWidget
 {
+    Q_OBJECT
 public:
     StyledBar(QWidget *parent = 0);
     void setSingleRow(bool singleRow);
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 1d1c7a088..6c2533fec 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -41,6 +41,7 @@
 #include <QtGui/QComboBox>
 
 #include "core_global.h"
+#include <QTimer>
 
 QT_BEGIN_NAMESPACE
 class QTabWidget;

From ca7827e0cd6f4a86040e0a9b9f57fe094c3f5a60 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Fri, 17 Aug 2012 09:21:46 +1000
Subject: [PATCH 396/543] Monkey work!!

---
 .../share/openpilotgcs/stylesheets/default_macos.qss             | 1 +
 .../share/openpilotgcs/stylesheets/default_windows.qss           | 1 +
 .../openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss   | 1 +
 .../openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss   | 1 +
 .../openpilotgcs/share/openpilotgcs/stylesheets/wide_windows.qss | 1 +
 5 files changed, 5 insertions(+)

diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
index 3b0ade073..3d57edaeb 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
@@ -1 +1,2 @@
 MyListWidget {font-size: 11px;}
+Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_windows.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_windows.qss
index 3b0ade073..3d57edaeb 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_windows.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_windows.qss
@@ -1 +1,2 @@
 MyListWidget {font-size: 11px;}
+Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
index 3b0ade073..3d57edaeb 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
@@ -1 +1,2 @@
 MyListWidget {font-size: 11px;}
+Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss
index 3b0ade073..3d57edaeb 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss
@@ -1 +1,2 @@
 MyListWidget {font-size: 11px;}
+Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_windows.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_windows.qss
index 3b0ade073..3d57edaeb 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_windows.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_windows.qss
@@ -1 +1,2 @@
 MyListWidget {font-size: 11px;}
+Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}

From 13e631a2e456f0ea29f1d31c6ad69ea9f04cfe2e Mon Sep 17 00:00:00 2001
From: Mike LaBranche <mdlabranche@gmail.com>
Date: Thu, 16 Aug 2012 21:13:07 -0700
Subject: [PATCH 397/543] ConnectionManager: add connect/reconnect timer
 management into telemetryconnect/disconnect slots

---
 .../src/plugins/coreplugin/connectionmanager.cpp       | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index d053e70d9..c7adb550d 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -262,6 +262,9 @@ void ConnectionManager::telemetryConnected()
 {
     qDebug() << "TelemetryMonitor: connected";
 
+    if(reconnectCheck->isActive())
+        reconnectCheck->stop();
+
     //tell the monitor we're connected
     m_monitorWidget->connect();
 }
@@ -273,6 +276,13 @@ void ConnectionManager::telemetryDisconnected()
 {
     qDebug() << "TelemetryMonitor: disconnected";
 
+    if (m_ioDev){
+        if(m_connectionDevice.connection->shortName()=="Serial") {
+            if(!reconnect->isActive())
+                reconnect->start(1000);
+        }
+    }
+
     //tell the monitor we're disconnected
     m_monitorWidget->disconnect();
 }

From 5cf56ad2bceeb0db24a928a71944ad9e9380369f Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Fri, 17 Aug 2012 23:02:31 +1000
Subject: [PATCH 398/543] Default to telem on main port, no reasons against
 this unless I am being stupid (very possible).

---
 shared/uavobjectdefinition/hwsettings.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml
index 00c904dd4..308cf01ac 100644
--- a/shared/uavobjectdefinition/hwsettings.xml
+++ b/shared/uavobjectdefinition/hwsettings.xml
@@ -2,7 +2,7 @@
 	<object name="HwSettings" singleinstance="true" settings="true">
 		<description>Selection of optional hardware configurations.</description>
 		<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+Outputs,Outputs" defaultvalue="PWM"/>
-		<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM2,DSMX (10bit),DSMX (11bit),ComAux,ComBridge" defaultvalue="Disabled"/>
+		<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM2,DSMX (10bit),DSMX (11bit),ComAux,ComBridge" defaultvalue="Telemetry"/>
 		<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM2,DSMX (10bit),DSMX (11bit),ComAux,ComBridge" defaultvalue="Disabled"/>
 
 		<field name="RV_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+Outputs,Outputs" defaultvalue="PWM"/>

From 89023e8c41313ce6fb0905bf2a95362cbc360aee Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Sat, 18 Aug 2012 11:30:50 +1000
Subject: [PATCH 399/543] Welcome page: display tooltips below buttons if
 necessary

Useful on low res screen, to ensure tooltips are visible
---
 .../plugins/welcome/qml/WelcomePageButton.qml |  22 ++++++++++++++----
 .../qml/images/button-label-bottom.png        | Bin 0 -> 3159 bytes
 .../src/plugins/welcome/welcome.qrc           |   1 +
 3 files changed, 18 insertions(+), 5 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/welcome/qml/images/button-label-bottom.png

diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/WelcomePageButton.qml b/ground/openpilotgcs/src/plugins/welcome/qml/WelcomePageButton.qml
index 09834d3ed..4874022be 100644
--- a/ground/openpilotgcs/src/plugins/welcome/qml/WelcomePageButton.qml
+++ b/ground/openpilotgcs/src/plugins/welcome/qml/WelcomePageButton.qml
@@ -5,6 +5,7 @@ Item {
     id: welcomeButton
     width: Math.max(116, icon.width)
     height: 116
+    z: 0
 
     property string baseIconName
     property alias label : labelText.text
@@ -26,18 +27,21 @@ Item {
 
     Image {
         id: labelImage
-        source: "images/button-label.png"
+        property bool displayBelowButton: false
+        source: displayBelowButton ? "images/button-label-bottom.png" : "images/button-label.png"
         opacity: 0
         visible: labelText.text.length > 0 //don't show label bg without text
 
+
         anchors.horizontalCenter: parent.horizontalCenter
-        anchors.bottom: hoveredIcon.top
-        anchors.bottomMargin: -8
+        y: displayBelowButton ? parent.height-8 : -height+8
 
         Text {
             id: labelText
-            anchors.baseline: parent.verticalCenter
-            anchors.baselineOffset: -4
+            anchors.baseline: parent.bottom
+            //text baseline depends on label image orientation,
+            //0.3 and 0.55 constants have to be adjusted when button-label.png is modified
+            anchors.baselineOffset: labelImage.displayBelowButton ? -parent.height*0.3 : -parent.height*0.55
             anchors.horizontalCenter: parent.horizontalCenter
 
             font {
@@ -50,8 +54,16 @@ Item {
 
     states: State {
         name: "hovered"
+        //update the tooltip position before it's displayed,
+        //since we don't have a property to bind directly
+        StateChangeScript {
+            name: "updateLabelPosition"
+            script: labelImage.displayBelowButton = welcomeButton.mapToItem(null,0,0).y < labelImage.height
+        }
         PropertyChanges { target: hoveredIcon; opacity: 1.0 }
         PropertyChanges { target: labelImage; opacity: 1.0 }
+        //raise this button, so tooltip is not obscured by the next items in the grid
+        PropertyChanges { target: welcomeButton; z: 1 }
     }
 
     transitions: Transition {
diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/images/button-label-bottom.png b/ground/openpilotgcs/src/plugins/welcome/qml/images/button-label-bottom.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6d885658c031baedce78683236b37b341293b65
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/ground/openpilotgcs/src/plugins/welcome/welcome.qrc b/ground/openpilotgcs/src/plugins/welcome/welcome.qrc
index 8edecd01e..2fc8bf23c 100644
--- a/ground/openpilotgcs/src/plugins/welcome/welcome.qrc
+++ b/ground/openpilotgcs/src/plugins/welcome/welcome.qrc
@@ -9,6 +9,7 @@
         <file>qml/images/welcome-news-bg.png</file>
         <file>qml/images/welcome-op-logo.png</file>
         <file>qml/images/button-label.png</file>
+        <file>qml/images/button-label-bottom.png</file>
         <file>qml/images/welcome-op-bg.png</file>
         <file>qml/images/welcome-bg.png</file>
         <file>qml/images/flightdata-on.png</file>

From 89e06d7a6bc3bb7a1b43be023416d00c48d10c8b Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Sun, 19 Aug 2012 22:14:11 +0300
Subject: [PATCH 400/543] Windows Installer: add default_configurations folder

---
 package/winx86/openpilotgcs.nsi | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/package/winx86/openpilotgcs.nsi b/package/winx86/openpilotgcs.nsi
index 2a032870d..614acbbd5 100644
--- a/package/winx86/openpilotgcs.nsi
+++ b/package/winx86/openpilotgcs.nsi
@@ -171,6 +171,8 @@ SectionEnd
 
 ; Copy GCS resources
 Section "-Resources" InSecResources
+  SetOutPath "$INSTDIR\share\openpilotgcs\default_configurations"
+  File /r "${GCS_BUILD_TREE}\share\openpilotgcs\default_configurations\*"
   SetOutPath "$INSTDIR\share\openpilotgcs\diagrams"
   File /r "${GCS_BUILD_TREE}\share\openpilotgcs\diagrams\*"
   SetOutPath "$INSTDIR\share\openpilotgcs\dials"

From f9f3d6d98c4b437314a8f124617d898fa6cc8930 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Mon, 20 Aug 2012 12:19:21 +0300
Subject: [PATCH 401/543] Windows Installer: install also stylesheets

---
 package/winx86/openpilotgcs.nsi | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/package/winx86/openpilotgcs.nsi b/package/winx86/openpilotgcs.nsi
index 614acbbd5..4c321f4df 100644
--- a/package/winx86/openpilotgcs.nsi
+++ b/package/winx86/openpilotgcs.nsi
@@ -173,6 +173,8 @@ SectionEnd
 Section "-Resources" InSecResources
   SetOutPath "$INSTDIR\share\openpilotgcs\default_configurations"
   File /r "${GCS_BUILD_TREE}\share\openpilotgcs\default_configurations\*"
+  SetOutPath "$INSTDIR\share\openpilotgcs\stylesheets"
+  File /r "${GCS_BUILD_TREE}\share\openpilotgcs\stylesheets\*"
   SetOutPath "$INSTDIR\share\openpilotgcs\diagrams"
   File /r "${GCS_BUILD_TREE}\share\openpilotgcs\diagrams\*"
   SetOutPath "$INSTDIR\share\openpilotgcs\dials"

From e7a7a30e19df85e8bd938ff8dd3e62820e178a08 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Tue, 21 Aug 2012 14:41:53 +0100
Subject: [PATCH 402/543] GCS-Created new command line option to allow choosing
 the config file to use. This is a last resort option to mac problems
 displaying the initial dialog.

---
 ground/openpilotgcs/src/app/main.cpp          |  4 +-
 .../src/plugins/coreplugin/mainwindow.cpp     | 52 ++++++++++++++-----
 2 files changed, 41 insertions(+), 15 deletions(-)

diff --git a/ground/openpilotgcs/src/app/main.cpp b/ground/openpilotgcs/src/app/main.cpp
index c3de16c74..f276f60a2 100644
--- a/ground/openpilotgcs/src/app/main.cpp
+++ b/ground/openpilotgcs/src/app/main.cpp
@@ -59,8 +59,8 @@ static const char *fixedOptionsC =
 "    -client             Attempt to connect to already running instance\n"
 "    -clean-config       Delete all existing configuration settings\n"
 "    -exit-after-config  Exit GCS after manipulating configuration settings\n"
-"    -D key=value        Override configuration settings e.g: -D General/OverrideLanguage=de\n";
-
+"    -D key=value        Override configuration settings e.g: -D General/OverrideLanguage=de\n"
+"    -config=value       Default configuration file to load if settings file is empty\n";
 static const char *HELP_OPTION1 = "-h";
 static const char *HELP_OPTION2 = "-help";
 static const char *HELP_OPTION3 = "/h";
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
index 7f2cf4e44..bc7d79dab 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
@@ -269,26 +269,52 @@ void MainWindow::extensionsInitialized()
 
     QSettings* qs = m_settings;
     QSettings * settings;
+    QString commandLine;
     if ( ! qs->allKeys().count() ){
-        importSettings * dialog=new importSettings(this);
+        foreach(QString str,qApp->arguments())
+        {
+            if(str.contains("config"))
+            {
+                qDebug()<<"ass";
+                commandLine=str.split("=").at(1);
+                qDebug()<<commandLine;
+            }
+        }
         QDir directory(QCoreApplication::applicationDirPath());
 #ifdef Q_OS_MAC
-        directory.cdUp();
-        directory.cd("Resources");
+            directory.cdUp();
+            directory.cd("Resources");
 #else
-        directory.cdUp();
-        directory.cd("share");
-        directory.cd("openpilotgcs");
+            directory.cdUp();
+            directory.cd("share");
+            directory.cd("openpilotgcs");
 #endif
-        directory.cd("default_configurations");
+            directory.cd("default_configurations");
 
-        qDebug() << "Looking for default config files in: " + directory.absolutePath();
-        dialog->loadFiles(directory.absolutePath());
-        dialog->exec();
-        settings=new QSettings(dialog->choosenConfig(), XmlConfig::XmlSettingsFormat);
+            qDebug() << "Looking for default config files in: " + directory.absolutePath();
+        bool showDialog=true;
+        QString filename;
+        if(!commandLine.isEmpty())
+        {
+            if(QFile::exists(directory.absolutePath()+QDir::separator()+commandLine))
+            {
+                filename=directory.absolutePath()+QDir::separator()+commandLine;
+                qDebug()<<"Load configuration from command line";
+                settings=new QSettings(filename, XmlConfig::XmlSettingsFormat);
+                showDialog=false;
+            }
+        }
+        if(showDialog)
+        {
+            importSettings * dialog=new importSettings(this);
+            dialog->loadFiles(directory.absolutePath());
+            dialog->exec();
+            filename=dialog->choosenConfig();
+            settings=new QSettings(filename, XmlConfig::XmlSettingsFormat);
+            delete dialog;
+        }
         qs=settings;
-        qDebug() << "Load default config from resource "<<dialog->choosenConfig();
-        delete dialog;
+        qDebug() << "Load default config from resource "<<filename;
     }
     qs->beginGroup("General");
     loadStyleSheet(qs->value("StyleSheet","none").toString());

From a94142ec300c9c7477e57d2040ad94c25d39834a Mon Sep 17 00:00:00 2001
From: Laura Sebesta <kenn@eissq.com>
Date: Sat, 18 Aug 2012 14:18:10 +0200
Subject: [PATCH 403/543] Fixed several compile warning complaints.

Conflicts:

	ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/uavitem.cpp
---
 .../src/libs/opmapcontrol/src/mapwidget/homeitem.cpp      | 2 +-
 .../src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp   | 6 ++++--
 .../config/cfg_vehicletypes/configfixedwingwidget.cpp     | 6 +++---
 .../config/cfg_vehicletypes/configgroundvehiclewidget.cpp | 8 ++++----
 .../config/cfg_vehicletypes/configmultirotorwidget.cpp    | 2 +-
 .../src/plugins/config/configoutputwidget.cpp             | 2 +-
 .../openpilotgcs/src/plugins/config/configrevowidget.cpp  | 4 ++--
 .../src/plugins/config/configvehicletypewidget.cpp        | 2 +-
 .../src/plugins/gpsdisplay/telemetryparser.cpp            | 2 +-
 .../src/plugins/ipconnection/ipconnectionplugin.cpp       | 2 +-
 ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp | 1 +
 .../openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp  | 2 +-
 .../openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp   | 2 +-
 ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp | 6 +++---
 .../src/plugins/uavobjectutil/uavobjectutilmanager.cpp    | 4 ++--
 .../src/plugins/uavobjectwidgetutils/configtaskwidget.cpp | 2 +-
 ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp       | 2 +-
 ground/openpilotgcs/src/plugins/uploader/SSP/port.h       | 2 +-
 18 files changed, 30 insertions(+), 27 deletions(-)

diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp
index 6dad1e034..09ef9d497 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp
@@ -28,7 +28,7 @@
 namespace mapcontrol
 {
     HomeItem::HomeItem(MapGraphicItem* map,OPMapWidget* parent):safe(true),map(map),mapwidget(parent),
-        showsafearea(true),safearea(1000),altitude(0),isDragging(false),toggleRefresh(true)
+        showsafearea(true),toggleRefresh(true),safearea(1000),altitude(0),isDragging(false)
     {
         pic.load(QString::fromUtf8(":/markers/images/home2.svg"));
         pic=pic.scaled(30,30,Qt::IgnoreAspectRatio);
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
index 30eea862d..2091f5eaf 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
@@ -34,7 +34,7 @@ namespace mapcontrol
 {
 
     OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),GPS(0),Home(0)
-      ,followmouse(true),compass(0),showuav(false),showhome(false),showDiag(false),diagGraphItem(0),diagTimer(0),overlayOpacity(1)
+      ,followmouse(true),compass(0),showuav(false),showhome(false),diagTimer(0),diagGraphItem(0),showDiag(false),overlayOpacity(1)
     {
         setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
         core=new internals::Core;
@@ -392,7 +392,7 @@ namespace mapcontrol
     }
     void OPMapWidget::WPDeleteAll()
     {
-        int x=0;
+//        int x=0;
         foreach(QGraphicsItem* i,map->childItems())
         {
             WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
@@ -419,7 +419,9 @@ namespace mapcontrol
                 }
             }
         }
+        return false;
     }
+
     void OPMapWidget::deleteAllOverlays()
     {
         foreach(QGraphicsItem* i,map->childItems())
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
index 7ed667828..0a2064168 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
@@ -291,7 +291,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
 
     int channel;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (channel=0; (unsigned int) channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
@@ -371,7 +371,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
     int channel;
     double value;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (channel=0; (unsigned int) channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
@@ -449,7 +449,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
     int channel;
     double value;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (channel=0; (unsigned int) channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
index 2309ed872..1f7ed17d1 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
@@ -239,7 +239,7 @@ QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
 void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
 {
 	UAVDataObject*	obj;
-	UAVObjectField *field;
+//	UAVObjectField *field;
 	
     GUIConfigDataUnion config = GetConfigData();
 
@@ -307,7 +307,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
 
     int channel;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
+    for (channel=0; (unsigned int) channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
     }
@@ -364,7 +364,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT
 
     int channel;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
+    for (channel=0; (unsigned int) channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
     }
@@ -419,7 +419,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
 
     int channel;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
+    for (channel=0; (unsigned int) channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
     }
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
index bfa4fe7a2..30b45ecde 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@@ -971,7 +971,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
     Q_ASSERT(mixer);
 
     //disable all
-    for (int channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (unsigned int channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
diff --git a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
index 9b3e6e01b..4f6baaf8e 100644
--- a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
@@ -231,7 +231,7 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
 {
     Q_UNUSED(obj);
 
-    bool dirty=isDirty();
+//    bool dirty=isDirty();
 
     // Get Actuator Settings
     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
index 77cbeb5db..f5c19a8af 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
@@ -68,8 +68,8 @@ public:
 ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
     ConfigTaskWidget(parent),
     collectingData(false),
-    position(-1),
-    m_ui(new Ui_RevoSensorsWidget())
+    m_ui(new Ui_RevoSensorsWidget()),
+    position(-1)
 {
     m_ui->setupUi(this);
 
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 1a765a381..53e949c1e 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -109,7 +109,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
 
     //Generate lists of mixerTypeNames, mixerVectorNames, channelNames
     channelNames << "None";
-    for (int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
+    for (unsigned int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
 
         mixerTypes << QString("Mixer%1Type").arg(i+1);
         mixerVectors << QString("Mixer%1Vector").arg(i+1);
diff --git a/ground/openpilotgcs/src/plugins/gpsdisplay/telemetryparser.cpp b/ground/openpilotgcs/src/plugins/gpsdisplay/telemetryparser.cpp
index e08d2be52..b0db7f291 100644
--- a/ground/openpilotgcs/src/plugins/gpsdisplay/telemetryparser.cpp
+++ b/ground/openpilotgcs/src/plugins/gpsdisplay/telemetryparser.cpp
@@ -117,7 +117,7 @@ void TelemetryParser::updateSats( UAVObject* object1) {
     UAVObjectField* azimuth = object1->getField(QString("Azimuth"));
     UAVObjectField* snr = object1->getField(QString("SNR"));
 
-    for (int i=0;i< prn->getNumElements();i++) {
+    for (unsigned int i=0;i< prn->getNumElements();i++) {
         emit satellite(i,prn->getValue(i).toInt(),elevation->getValue(i).toInt(),
                        azimuth->getValue(i).toInt(), snr->getValue(i).toInt());
     }
diff --git a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
index 5d166584c..78a056378 100644
--- a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
@@ -73,7 +73,7 @@ void IPConnection::onOpenDevice(QString HostName, int Port, bool UseTCP)
 {
     QAbstractSocket *ipSocket;
     const int Timeout = 5 * 1000;
-    int state;
+//    int state;
 
     ipConMutex.lock();
     if (UseTCP) {
diff --git a/ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp b/ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp
index 04bcdd93c..4bf2f664e 100644
--- a/ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp
@@ -169,6 +169,7 @@ bool flightDataModel::setColumnByIndex(pathPlanData  *row,const int index,const
     default:
         return false;
     }
+    return false;
 }
 QVariant flightDataModel::getColumnByIndex(const pathPlanData *row,const int index) const
 {
diff --git a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
index b5fb5b273..2d8e01506 100644
--- a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
@@ -1773,7 +1773,7 @@ void OPMapGadgetWidget::onAddWayPointAct_triggered(internals::PointLatLng coord)
 
     if (m_map_mode != Normal_MapMode)
         return;
-    float alt=15;
+
     mapProxy->createWayPoint(coord);
 }
 
diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index 382c43829..b490f5ddc 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -315,7 +315,7 @@ int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
 
 QString pjrc_rawhid::getserial(int num) {
     hid_t *hid;
-    char buf[128];
+//    char buf[128];
 
     hid = get_hid(num);
 
diff --git a/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
index 51fd6cce7..3e661c598 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
@@ -45,8 +45,8 @@ static bool HID_GetStrProperty(IOHIDDeviceRef dev, CFStringRef property, QString
   */
 USBMonitor::USBMonitor(QObject *parent): QThread(parent) {
     hid_manager=NULL;
-    CFMutableDictionaryRef dict;
-    CFNumberRef num;
+//    CFMutableDictionaryRef dict;
+//    CFNumberRef num;
     IOReturn ret;
 
     m_instance = this;
@@ -131,7 +131,7 @@ void USBMonitor::attach_callback(void *context, IOReturn r, void *hid_mgr, IOHID
 {
     bool got_properties = true;
 
-    CFTypeRef prop;
+//    CFTypeRef prop;
     USBPortInfo deviceInfo;
 
     deviceInfo.dev_handle = dev;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
index be81befb7..1c69c63e9 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
@@ -268,7 +268,7 @@ QByteArray UAVObjectUtilManager::getBoardCPUSerial()
     QByteArray cpuSerial;
     FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
 
-    for (int i = 0; i < FirmwareIAPObj::CPUSERIAL_NUMELEM; i++)
+    for (unsigned int i = 0; i < FirmwareIAPObj::CPUSERIAL_NUMELEM; i++)
         cpuSerial.append(firmwareIapData.CPUSerial[i]);
 
     return cpuSerial;
@@ -288,7 +288,7 @@ QByteArray UAVObjectUtilManager::getBoardDescription()
     QByteArray ret;
     FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
 
-    for (int i = 0; i < FirmwareIAPObj::DESCRIPTION_NUMELEM; i++)
+    for (unsigned int i = 0; i < FirmwareIAPObj::DESCRIPTION_NUMELEM; i++)
         ret.append(firmwareIapData.Description[i]);
 
     return ret;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
index 594063358..1d711c0d8 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
@@ -32,7 +32,7 @@
 /**
  * Constructor
  */
-ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL),allowWidgetUpdates(true)
+ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),allowWidgetUpdates(true),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL)
 {
     pm = ExtensionSystem::PluginManager::instance();
     objManager = pm->getObject<UAVObjectManager>();
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
index e1aa5ecf6..137fd4dc3 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
@@ -457,7 +457,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
         default:
             rxState = STATE_SYNC;
             stats.rxErrors++;
-            UAVTALK_QXTLOG_DEBUG("UAVTalk: ???->Sync");
+            UAVTALK_QXTLOG_DEBUG("UAVTalk: \?\?\?->Sync"); //Use the escape character for '?' so that the tripgraph isn't triggered.
     }
 
     // Done
diff --git a/ground/openpilotgcs/src/plugins/uploader/SSP/port.h b/ground/openpilotgcs/src/plugins/uploader/SSP/port.h
index ff4725b99..1521ab412 100644
--- a/ground/openpilotgcs/src/plugins/uploader/SSP/port.h
+++ b/ground/openpilotgcs/src/plugins/uploader/SSP/port.h
@@ -43,7 +43,7 @@ public:
     uint8_t 	maxRetryCount;					// max. times to try to transmit the 'send' packet
     uint16_t 	max_retry;                             	// Maximum number of retrys for a single transmit.
     int32_t 	timeoutLen;						// how long to wait for each retry to succeed
-    int32_t		timeout;						// current timeout. when 'time' reaches this point we have timed out
+    uint32_t		timeout;						// current timeout. when 'time' reaches this point we have timed out
     uint8_t 	txSeqNo; 						// current 'send' packet sequence number
     uint16_t 	rxBufPos;						//  current buffer position in the receive packet
     uint16_t	rxBufLen;						// number of 'data' bytes in the buffer

From caecc0e3ff5b4db88fb7099dddfef2ce8ce7c544 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Tue, 21 Aug 2012 16:19:55 +0100
Subject: [PATCH 404/543] GCS- Added missing definition to h file. Something
 went wrong with the merge.

---
 ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
index ab15a5b4f..c58eade5e 100644
--- a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h
@@ -116,6 +116,7 @@ public:
     void setMaxUpdateRate(int update_rate);
     void setHomePosition(QPointF pos);
     void setOverlayOpacity(qreal value);
+    bool getGPSPosition(double &latitude, double &longitude, double &altitude);
 signals:
     void defaultLocationAndZoomChanged(double lng,double lat,double zoom);
     void overlayOpacityChanged(qreal);

From 4acb514cd74827078098fad809fe9b08b3bef0ec Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Wed, 22 Aug 2012 04:49:26 +1000
Subject: [PATCH 405/543] Change Default GPS protocol to UBX

---
 shared/uavobjectdefinition/gpssettings.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/shared/uavobjectdefinition/gpssettings.xml b/shared/uavobjectdefinition/gpssettings.xml
index 5c38f43fe..af58793d1 100644
--- a/shared/uavobjectdefinition/gpssettings.xml
+++ b/shared/uavobjectdefinition/gpssettings.xml
@@ -1,7 +1,7 @@
 <xml>
     <object name="GPSSettings" singleinstance="true" settings="true">
         <description>Settings for the GPS</description>
-        <field name="DataProtocol" units="" type="enum" elements="1" options="NMEA,UBX" defaultvalue="NMEA"/>
+        <field name="DataProtocol" units="" type="enum" elements="1" options="NMEA,UBX" defaultvalue="UBX"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>

From 13a10b309a066a5d391f1567e23fb048ceeb7b39 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Wed, 22 Aug 2012 09:00:29 +1000
Subject: [PATCH 406/543] Fixed segfault when ScrollDecorator is destroyed

looks like the qt declarative bug, as a workaround
unset the source componet on destruction.
---
 .../openpilotgcs/src/plugins/welcome/qml/ScrollDecorator.qml   | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/ScrollDecorator.qml b/ground/openpilotgcs/src/plugins/welcome/qml/ScrollDecorator.qml
index a393690ae..24c79c927 100644
--- a/ground/openpilotgcs/src/plugins/welcome/qml/ScrollDecorator.qml
+++ b/ground/openpilotgcs/src/plugins/welcome/qml/ScrollDecorator.qml
@@ -6,9 +6,12 @@ Rectangle {
     property Flickable flickableItem: null
 
     Loader {
+        id: scrollLoader
         sourceComponent: scrollDecorator.flickableItem ? scrollBar : undefined
     }
 
+    Component.onDestruction: scrollLoader.sourceComponent = undefined
+
     Component {
         id: scrollBar
         Rectangle {

From 3a0ca3c72469281eea0bdfb5764817432872b601 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Thu, 23 Aug 2012 16:07:10 +0100
Subject: [PATCH 407/543] GCS-ConfigTaskWidget

Fixes the dirty status being wrongly set
---
 .../uavobjectwidgetutils/configtaskwidget.cpp        | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
index 0e5c6ddcf..5f49e1910 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
@@ -38,10 +38,10 @@ ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnecte
     objManager = pm->getObject<UAVObjectManager>();
     TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
     utilMngr = pm->getObject<UAVObjectUtilManager>();
-    connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
-    connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
-    connect(telMngr, SIGNAL(connected()), this, SIGNAL(autoPilotConnected()));
-    connect(telMngr, SIGNAL(disconnected()), this, SIGNAL(autoPilotDisconnected()));
+    connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()),Qt::UniqueConnection);
+    connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()),Qt::UniqueConnection);
+    connect(telMngr, SIGNAL(connected()), this, SIGNAL(autoPilotConnected()),Qt::UniqueConnection);
+    connect(telMngr, SIGNAL(disconnected()), this, SIGNAL(autoPilotDisconnected()),Qt::UniqueConnection);
     UAVSettingsImportExportFactory * importexportplugin =  pm->getObject<UAVSettingsImportExportFactory>();
     connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(invalidateObjects()));
 }
@@ -285,15 +285,16 @@ void ConfigTaskWidget::forceConnectedState()//dynamic widgets don't recieve the
 
 void ConfigTaskWidget::onAutopilotConnect()
 {
+    qDebug()<<"OnAutopilotConnect:"<<this->metaObject()->className();
     if (utilMngr)
         currentBoard = utilMngr->getBoardModel();//TODO REMEMBER TO ADD THIS TO FORCE CONNECTED FUNC ON CC3D_RELEASE
     invalidateObjects();
-    dirty=false;
     isConnected=true;
     foreach(objectToWidget * ow,objOfInterest)
     {
         loadWidgetLimits(ow->widget,ow->field,ow->index,ow->isLimited,ow->scale);
     }
+    setDirty(false);
     enableControls(true);
     refreshWidgetsValues();
 }
@@ -342,6 +343,7 @@ void ConfigTaskWidget::refreshWidgetsValues(UAVObject * obj)
 
     }
     setDirty(dirtyBack);
+
 }
 /**
  * SLOT function used to update the uavobject fields from widgets with relation to

From 9ebc32da3df84652296d81280d515bb98378ddd0 Mon Sep 17 00:00:00 2001
From: Kenz Dale <kenn@eissq.com>
Date: Thu, 23 Aug 2012 18:03:17 +0200
Subject: [PATCH 408/543] Eliminated several (dozen) compiler warnings.

Conflicts:

	ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
---
 .../src/libs/opmapcontrol/src/core/opmaps.cpp |  2 +
 .../projections/platecarreeprojection.cpp     |  1 +
 .../platecarreeprojectionpergo.cpp            |  1 +
 .../opmapcontrol/src/mapwidget/trailitem.cpp  |  3 +
 .../src/mapwidget/waypointcircle.cpp          |  3 +
 .../src/mapwidget/waypointline.cpp            |  2 +
 .../src/libs/utils/mytabbedstackwidget.cpp    |  2 +
 .../cfg_vehicletypes/configccpmwidget.cpp     |  1 +
 .../config/cfg_vehicletypes/vehicleconfig.cpp |  2 +
 .../src/plugins/config/configgadgetwidget.cpp |  2 +
 .../src/plugins/config/configinputwidget.cpp  |  2 +-
 .../plugins/config/configpipxtremewidget.cpp  |  4 +-
 .../src/plugins/coreplugin/modemanager.cpp    |  4 ++
 .../plugins/gcscontrol/gcscontrolgadget.cpp   |  4 +-
 .../gcscontrolgadgetoptionspage.cpp           |  4 ++
 .../gcscontrol/gcscontrolgadgetwidget.cpp     |  2 +
 .../gpsdisplaygadgetoptionspage.cpp           |  2 +
 .../src/plugins/gpsdisplay/nmeaparser.cpp     |  2 +-
 .../ipconnectionconfiguration.cpp             |  2 +
 .../ipconnection/ipconnectionplugin.cpp       |  4 ++
 .../src/plugins/opmap/modelmapproxy.cpp       |  6 ++
 .../opmap/opmap_edit_waypoint_dialog.cpp      |  2 +
 .../src/plugins/pfd/pfdgadgetoptionspage.cpp  |  1 +
 .../qmlview/qmlviewgadgetoptionspage.cpp      |  1 +
 .../src/plugins/rawhid/pjrc_rawhid_mac.cpp    | 55 +++++++++++++------
 .../src/plugins/rawhid/usbmonitor_mac.cpp     |  8 +++
 .../serialpluginconfiguration.cpp             |  2 +
 .../src/plugins/uploader/SSP/qssp.cpp         |  2 +
 .../uploader/uploadergadgetoptionspage.cpp    |  2 +
 29 files changed, 108 insertions(+), 20 deletions(-)

diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.cpp
index 86660fd3e..3b858d82f 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.cpp
@@ -43,6 +43,8 @@ namespace core {
         LanguageStr=LanguageType().toShortString(Language);
         Cache::Instance();
 
+//        OPMaps::MemoryCache();
+
     }
 
 
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.cpp
index 18688ca06..27fd90808 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.cpp
@@ -91,6 +91,7 @@ Size PlateCarreeProjection::GetTileMatrixMaxXY(const int &zoom)
 
 Size PlateCarreeProjection::GetTileMatrixMinXY(const int &zoom)
 {
+    Q_UNUSED(zoom);
     return Size(0, 0);
 }
 }
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.cpp
index 106674ad2..89d598bd6 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.cpp
@@ -90,6 +90,7 @@ Size PlateCarreeProjectionPergo::GetTileMatrixMaxXY(const int &zoom)
 
 Size PlateCarreeProjectionPergo::GetTileMatrixMinXY(const int &zoom)
 {
+    Q_UNUSED(zoom)
     return Size(0, 0);
 }
 }
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.cpp
index fabf6ee9a..ae13de21b 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.cpp
@@ -37,6 +37,9 @@ TrailItem::TrailItem(internals::PointLatLng const& coord,int const& altitude, QB
 
     void TrailItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
     {
+        Q_UNUSED(option);
+        Q_UNUSED(widget);
+
         painter->setBrush(m_brush);
         painter->drawEllipse(-2,-2,4,4);
     }
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.cpp
index 9f045a701..aad50ef0b 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.cpp
@@ -60,6 +60,9 @@ int WayPointCircle::type() const
 
 void WayPointCircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
 {
+    Q_UNUSED(option);
+    Q_UNUSED(widget);
+
     QPointF p1;
     QPointF p2;
     p1=QPointF(line.p1().x(),line.p1().y()+line.length());
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointline.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointline.cpp
index 527ca46f9..ad245cbc1 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointline.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointline.cpp
@@ -75,6 +75,8 @@ QPainterPath WayPointLine::shape() const
 }
 void WayPointLine::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
 {
+    Q_UNUSED(option);
+    Q_UNUSED(widget);
 
     QPen myPen = pen();
     myPen.setColor(myColor);
diff --git a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
index c412a475c..7c26acf45 100644
--- a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
+++ b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
@@ -114,6 +114,8 @@ void MyTabbedStackWidget::showWidget(int index)
 
 void MyTabbedStackWidget::insertCornerWidget(int index, QWidget *widget)
 {
+    Q_UNUSED(index);
+
     widget->hide();
 }
 
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
index e7ca51fd1..47b730dbf 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
@@ -218,6 +218,7 @@ ConfigCcpmWidget::~ConfigCcpmWidget()
 
 void ConfigCcpmWidget::setupUI(QString frameType)
 {
+    Q_UNUSED(frameType);
 }
 
 void ConfigCcpmWidget::ResetActuators(GUIConfigDataUnion* configData)
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
index fe76f1660..63f4351bb 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
@@ -112,7 +112,9 @@ void VehicleConfig::SetConfigData(GUIConfigDataUnion configData) {
 
 void VehicleConfig::ResetActuators(GUIConfigDataUnion* configData)
 {
+    Q_UNUSED(configData);
 }
+
 QStringList VehicleConfig::getChannelDescriptions()
 {
     QStringList channelDesc;
diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
index c466df760..b512a2642 100644
--- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
@@ -218,6 +218,8 @@ void ConfigGadgetWidget::tabAboutToChange(int i,bool * proceed)
   */
 void ConfigGadgetWidget::updatePipXStatus(UAVObject *object)
 {
+    Q_UNUSED(object);
+
     // Restart the disconnection timer.
     pipxTimeout->start(5000);
     if (!pipxConnected)
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index e0425d963..7f6c6339f 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -1268,7 +1268,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
 
         restoreMdata();
 
-        for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
+        for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
             manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
 
         // Force flight mode neutral to middle
diff --git a/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp b/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
index 7808b6dfa..7d46840ac 100644
--- a/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
@@ -266,7 +266,9 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
   */
 void ConfigPipXtremeWidget::updateSettings(UAVObject *object)
 {
-	if (!settingsUpdated)
+    Q_UNUSED(object);
+
+    if (!settingsUpdated)
 	{
 		settingsUpdated = true;
 		enableControls(true);
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp
index a4479bae2..aa5356705 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp
@@ -84,6 +84,8 @@ void ModeManager::init()
 
 void ModeManager::addWidget(QWidget *widget)
 {
+    Q_UNUSED(widget);
+
     // We want the actionbar to stay on the bottom
     // so m_modeStack->cornerWidgetCount() -1 inserts it at the position immediately above
     // the actionbar
@@ -220,6 +222,8 @@ void ModeManager::aboutToRemoveObject(QObject *obj)
 
 void ModeManager::addAction(Command *command, int priority, QMenu *menu)
 {
+    Q_UNUSED(menu);
+
     m_actions.insert(command, priority);
 
     // Count the number of commands with a higher priority
diff --git a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
index b95082fb9..485cd7b31 100644
--- a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
+++ b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
@@ -198,6 +198,8 @@ void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double r
 
 void GCSControlGadget::gamepads(quint8 count)
 {
+    Q_UNUSED(count);
+
 //    sdlGamepad.setGamepad(0);
 //    sdlGamepad.setTickRate(JOYSTICK_UPDATE_RATE);
 }
@@ -291,7 +293,7 @@ double GCSControlGadget::constrain(double value)
 
 void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
 {
-    int state;
+//    int state;
     if ((buttonSettings[number].ActionID>0)&&(buttonSettings[number].FunctionID>0)&&(pressed))
     {//this button is configured
         ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
diff --git a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.cpp
index 1a68c6be6..d85390725 100644
--- a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.cpp
+++ b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.cpp
@@ -71,6 +71,8 @@ void GCSControlGadgetOptionsPage::buttonState(ButtonNumber number, bool pressed)
 
 void GCSControlGadgetOptionsPage::gamepads(quint8 count)
 {
+    Q_UNUSED(count);
+
     /*options_page->AvailableControllerList->clear();
     for (int i=0;i<count;i++)
     {
@@ -105,6 +107,8 @@ void GCSControlGadgetOptionsPage::axesValues(QListInt16 values)
 //creates options page widget (uses the UI file)
 QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
 {
+    Q_UNUSED(parent);
+
     int i;
     options_page = new Ui::GCSControlGadgetOptionsPage();
     QWidget *optionsPageWidget = new QWidget;
diff --git a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
index 09e25132d..82a5f7b73 100644
--- a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
@@ -154,6 +154,8 @@ void GCSControlGadgetWidget::toggleArmed(int state)
 
 void GCSControlGadgetWidget::mccChanged(UAVObject * obj)
 {
+    Q_UNUSED(obj);
+
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
     UAVDataObject* flightStatus = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
diff --git a/ground/openpilotgcs/src/plugins/gpsdisplay/gpsdisplaygadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/gpsdisplay/gpsdisplaygadgetoptionspage.cpp
index 10d89d26e..e6e9c49d1 100644
--- a/ground/openpilotgcs/src/plugins/gpsdisplay/gpsdisplaygadgetoptionspage.cpp
+++ b/ground/openpilotgcs/src/plugins/gpsdisplay/gpsdisplaygadgetoptionspage.cpp
@@ -165,6 +165,8 @@ return s1.portName<s2.portName;
 //creates options page widget (uses the UI file)
 QWidget *GpsDisplayGadgetOptionsPage::createPage(QWidget *parent)
 {
+    Q_UNUSED(parent);
+
     options_page = new Ui::GpsDisplayGadgetOptionsPage();
     QWidget *optionsPageWidget = new QWidget;
     options_page->setupUi(optionsPageWidget);
diff --git a/ground/openpilotgcs/src/plugins/gpsdisplay/nmeaparser.cpp b/ground/openpilotgcs/src/plugins/gpsdisplay/nmeaparser.cpp
index e856251ab..cca79a565 100644
--- a/ground/openpilotgcs/src/plugins/gpsdisplay/nmeaparser.cpp
+++ b/ground/openpilotgcs/src/plugins/gpsdisplay/nmeaparser.cpp
@@ -301,7 +301,7 @@ void NMEAParser::nmeaProcessGPGSV(char *packet)
 
     const int sentence_total = tokenslist.at(1).toInt(); // Number of sentences for full data
     const int sentence_index = tokenslist.at(2).toInt(); // sentence x of y
-    const int sat_count = tokenslist.at(3).toInt(); // Number of satellites in view
+//    const int sat_count = tokenslist.at(3).toInt(); // Number of satellites in view
 
     int sats = (tokenslist.size() - 4) /4;
     for(int sat = 0; sat < sats; sat++) {
diff --git a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionconfiguration.cpp b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionconfiguration.cpp
index e90f52ab2..2fabfa8bb 100644
--- a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionconfiguration.cpp
+++ b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionconfiguration.cpp
@@ -34,6 +34,8 @@ IPconnectionConfiguration::IPconnectionConfiguration(QString classId, QSettings*
     m_Port(1000),
     m_UseTCP(1)
 {
+    Q_UNUSED(qSettings);
+
     settings = Core::ICore::instance()->settings();
 }
 
diff --git a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
index 78a056378..ed0d42d86 100644
--- a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
@@ -177,6 +177,8 @@ QList <Core::IConnection::device> IPconnectionConnection::availableDevices()
 
 QIODevice *IPconnectionConnection::openDevice(const QString &deviceName)
 {
+    Q_UNUSED(deviceName);
+
     QString HostName;
     int Port;
     bool UseTCP;
@@ -211,6 +213,8 @@ QIODevice *IPconnectionConnection::openDevice(const QString &deviceName)
 
 void IPconnectionConnection::closeDevice(const QString &deviceName)
 {
+    Q_UNUSED(deviceName);
+
     if (ipSocket){
         ipConMutex.lock();
         emit CloseSocket(ipSocket);
diff --git a/ground/openpilotgcs/src/plugins/opmap/modelmapproxy.cpp b/ground/openpilotgcs/src/plugins/opmap/modelmapproxy.cpp
index 406d8e23d..a802d69f8 100644
--- a/ground/openpilotgcs/src/plugins/opmap/modelmapproxy.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/modelmapproxy.cpp
@@ -60,6 +60,8 @@ void modelMapProxy::WPValuesChanged(WayPointItem * wp)
 
 void modelMapProxy::currentRowChanged(QModelIndex current, QModelIndex previous)
 {
+    Q_UNUSED(previous);
+
     QList<WayPointItem*> list;
     WayPointItem * wp=findWayPointNumber(current.row());
     if(!wp)
@@ -202,6 +204,8 @@ WayPointItem * modelMapProxy::findWayPointNumber(int number)
 
 void modelMapProxy::rowsRemoved(const QModelIndex &parent, int first, int last)
 {
+    Q_UNUSED(parent);
+
     for(int x=last;x>first-1;x--)
     {
         myMap->WPDelete(x);
@@ -211,6 +215,8 @@ void modelMapProxy::rowsRemoved(const QModelIndex &parent, int first, int last)
 
 void modelMapProxy::dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight)
 {
+    Q_UNUSED(bottomRight);
+
     WayPointItem * item=findWayPointNumber(topLeft.row());
     if(!item)
         return;
diff --git a/ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp b/ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
index cab739b8e..11df41f88 100644
--- a/ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
@@ -287,5 +287,7 @@ void opmap_edit_waypoint_dialog::enableEditWidgets(bool value)
 
 void opmap_edit_waypoint_dialog::currentRowChanged(QModelIndex current, QModelIndex previous)
 {
+    Q_UNUSED(previous);
+
     mapper->setCurrentIndex(current.row());
 }
diff --git a/ground/openpilotgcs/src/plugins/pfd/pfdgadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/pfd/pfdgadgetoptionspage.cpp
index 89a877a0f..4268742e9 100644
--- a/ground/openpilotgcs/src/plugins/pfd/pfdgadgetoptionspage.cpp
+++ b/ground/openpilotgcs/src/plugins/pfd/pfdgadgetoptionspage.cpp
@@ -46,6 +46,7 @@ PFDGadgetOptionsPage::PFDGadgetOptionsPage(PFDGadgetConfiguration *config, QObje
 //creates options page widget (uses the UI file)
 QWidget *PFDGadgetOptionsPage::createPage(QWidget *parent)
 {
+    Q_UNUSED(parent);
 
     options_page = new Ui::PFDGadgetOptionsPage();
     //main widget
diff --git a/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetoptionspage.cpp
index 8cc110d1a..f88299cdb 100644
--- a/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetoptionspage.cpp
+++ b/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetoptionspage.cpp
@@ -46,6 +46,7 @@ QmlViewGadgetOptionsPage::QmlViewGadgetOptionsPage(QmlViewGadgetConfiguration *c
 //creates options page widget (uses the UI file)
 QWidget *QmlViewGadgetOptionsPage::createPage(QWidget *parent)
 {
+    Q_UNUSED(parent);
 
     options_page = new Ui::QmlViewGadgetOptionsPage();
     //main widget
diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index b490f5ddc..490ea2fdd 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -90,7 +90,7 @@ static void hid_close(hid_t *);
 static void attach_callback(void *, IOReturn, void *, IOHIDDeviceRef);
 static void detach_callback(void *, IOReturn, void *hid_mgr, IOHIDDeviceRef dev);
 static void input_callback(void *, IOReturn, void *, IOHIDReportType, uint32_t, uint8_t *, CFIndex);
-static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len);
+//static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len);
 static void timeout_callback(CFRunLoopTimerRef, void *);
 
 
@@ -173,7 +173,7 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
     IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, detach_callback, NULL);
     ret = IOHIDManagerOpen(hid_manager, kIOHIDOptionsTypeNone);
     if (ret != kIOReturnSuccess) {
-        printf("Could not start IOHIDManager");
+        qDebug()<< "Could not start IOHIDManager";
         IOHIDManagerUnscheduleFromRunLoop(hid_manager,
                                           CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
         CFRelease(hid_manager);
@@ -181,7 +181,7 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
     }
     // Set the run loop reference:
     the_correct_runloop = CFRunLoopGetCurrent();
-    printf("run loop\n");
+    qDebug() << "run loop";
     // let it do the callback for all devices
     while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
     // count up how many were added by the callback
@@ -240,7 +240,7 @@ int pjrc_rawhid::receive(int num, void *buf, int len, int timeout)
            break;
        }
        if (!hid->open) {
-           printf("pjrc_rawhid_recv, device not open\n");
+           qDebug() << "pjrc_rawhid_recv, device not open\n";
            ret = -1;
            break;
        }
@@ -263,6 +263,8 @@ int pjrc_rawhid::receive(int num, void *buf, int len, int timeout)
 //
 int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
 {
+    Q_UNUSED(timeout);
+
     hid_t *hid;
     int result=-100;
 
@@ -287,6 +289,7 @@ int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
 
 #endif
 #if 0
+#define TIMEOUT_FIXED
     // No matter what I tried this never actually sends an output
     // report and output_callback never gets called.  Why??
     // Did I miss something?  This is exactly the same params as
@@ -358,6 +361,9 @@ void pjrc_rawhid::close(int num)
 //
 static void input_callback(void *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len)
 {
+    Q_UNUSED(type);
+    Q_UNUSED(id);
+
     buffer_t *n;
     hid_t *hid;
 
@@ -365,7 +371,7 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
     if (ret != kIOReturnSuccess || len < 1) return;
     hid = (hid_t*)context;
     if (!hid || hid->ref != sender) return;
-    printf("Processing packet");
+    qDebug() << "Processing packet";
     n = (buffer_t *)malloc(sizeof(buffer_t));
     if (!n) return;
     if (len > BUFFER_SIZE) len = BUFFER_SIZE;
@@ -385,6 +391,8 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
 
 static void timeout_callback(CFRunLoopTimerRef timer, void *info)
 {
+    Q_UNUSED(timer);
+
    //qDebug("timeout_callback\n");
    *(int *)info = 1;
    //qDebug() << "Stop CFRunLoop from timeout_callback" << CFRunLoopGetCurrent();
@@ -440,9 +448,13 @@ static void hid_close(hid_t *hid)
 
 static void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 {
+    Q_UNUSED(context);
+    Q_UNUSED(r);
+    Q_UNUSED(hid_mgr);
+
     hid_t *p;
 
-    printf("detach callback\n");
+    qDebug()<< "detach callback";
     for (p = first_hid; p; p = p->next) {
             if (p->ref == dev) {
                     p->open = 0;
@@ -454,9 +466,13 @@ static void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDevic
 
 static void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 {
+    Q_UNUSED(context);
+    Q_UNUSED(r);
+    Q_UNUSED(hid_mgr);
+
     struct hid_struct *h;
 
-    printf("attach callback\n");
+    qDebug() << "attach callback";
     if (IOHIDDeviceOpen(dev, kIOHIDOptionsTypeNone) != kIOReturnSuccess) return;
     h = (hid_t *)malloc(sizeof(hid_t));
     if (!h) return;
@@ -468,15 +484,22 @@ static void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDevic
     add_hid(h);
 }
 
+#ifdef TIMEOUT_FIXED
 static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len)
 {
-        printf("output_callback, r=%d\n", ret);
-        if (ret == kIOReturnSuccess) {
-                *(int *)context = len;
-        } else {
-                // timeout if not success?
-                *(int *)context = 0;
-        }
-        CFRunLoopStop(CFRunLoopGetCurrent());
-}
+    Q_UNUSED(sender);
+    Q_UNUSED(type);
+    Q_UNUSED(id);
+    Q_UNUSED(data);
 
+    qDebug()<< QString("output_callback, r=%1").arg(ret);
+//    printf("output_callback, r=%d\n", ret);
+    if (ret == kIOReturnSuccess) {
+            *(int *)context = len;
+    } else {
+            // timeout if not success?
+            *(int *)context = 0;
+    }
+    CFRunLoopStop(CFRunLoopGetCurrent());
+}
+#endif
diff --git a/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
index 3e661c598..d803512e4 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
@@ -117,6 +117,10 @@ void USBMonitor::removeDevice(IOHIDDeviceRef dev) {
   */
 void USBMonitor::detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 {
+    Q_UNUSED(context);
+    Q_UNUSED(r);
+    Q_UNUSED(hid_mgr);
+
     qDebug() << "USBMonitor: Device detached event";
     instance()->removeDevice(dev);
 }
@@ -129,6 +133,10 @@ void USBMonitor::addDevice(USBPortInfo info) {
 
 void USBMonitor::attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 {
+    Q_UNUSED(context);
+    Q_UNUSED(r);
+    Q_UNUSED(hid_mgr);
+
     bool got_properties = true;
 
 //    CFTypeRef prop;
diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp
index 789085596..75510f52c 100644
--- a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp
+++ b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp
@@ -38,6 +38,8 @@ SerialPluginConfiguration::SerialPluginConfiguration(QString classId, QSettings*
     IUAVGadgetConfiguration(classId, parent),
     m_speed("57600")
 {
+    Q_UNUSED(qSettings);
+
     settings = Core::ICore::instance()->settings();
 }
 
diff --git a/ground/openpilotgcs/src/plugins/uploader/SSP/qssp.cpp b/ground/openpilotgcs/src/plugins/uploader/SSP/qssp.cpp
index 356cb3604..b5eb5b1b7 100644
--- a/ground/openpilotgcs/src/plugins/uploader/SSP/qssp.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/SSP/qssp.cpp
@@ -802,6 +802,8 @@ qssp::qssp(port * info,bool debug):debug(debug)
 }
 void qssp::pfCallBack( uint8_t * buf, uint16_t size)
 {
+    Q_UNUSED(size);
+
      if (debug)
          qDebug()<<"receive callback"<<buf[0]<<buf[1]<<buf[2]<<buf[3]<<buf[4];
 }
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetoptionspage.cpp
index 98dd118ae..d8eb426c0 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetoptionspage.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetoptionspage.cpp
@@ -47,6 +47,8 @@ UploaderGadgetOptionsPage::UploaderGadgetOptionsPage(UploaderGadgetConfiguration
 //creates options page widget
 QWidget *UploaderGadgetOptionsPage::createPage(QWidget *parent)
 {
+    Q_UNUSED(parent);
+
     //main widget
     QWidget *widget = new QWidget;
 

From 76b0d3b1da39567dc613da888d80cd10fb2c7b48 Mon Sep 17 00:00:00 2001
From: Kenz Dale <kenn@eissq.com>
Date: Sat, 18 Aug 2012 16:53:41 +0200
Subject: [PATCH 409/543] Redefined `isIntermediateValueHelper` as class
 static.

---
 ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.cpp | 2 +-
 ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.cpp b/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.cpp
index 7192aabe1..10b0db0bc 100644
--- a/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.cpp
+++ b/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.cpp
@@ -492,7 +492,7 @@ QString QScienceSpinBox::stripped(const QString &t, int *pos) const
 }
 
 // reimplemented function, copied from qspinbox.cpp
-static bool isIntermediateValueHelper(qint64 num, qint64 min, qint64 max, qint64 *match)
+bool QScienceSpinBox::isIntermediateValueHelper(qint64 num, qint64 min, qint64 max, qint64 *match)
 {
     QSBDEBUG("%lld %lld %lld", num, min, max);
 
diff --git a/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.h b/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.h
index 812447840..8b2ab98ed 100644
--- a/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.h
+++ b/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.h
@@ -11,7 +11,6 @@
 #include <QtCore/QDebug>
 #include <QtCore/QString>
 
-static bool isIntermediateValueHelper(qint64 num, qint64 minimum, qint64 maximum, qint64 *match = 0);
 
 class QScienceSpinBox : public QDoubleSpinBox
 {
@@ -24,6 +23,7 @@ public:
 
     QString textFromValue ( double value ) const;
     double valueFromText ( const QString & text ) const;
+    static bool isIntermediateValueHelper(qint64 num, qint64 minimum, qint64 maximum, qint64 *match = 0);
 
 private:
 	int dispDecimals;

From 0ff46af74cf86ae814cea04aeb6b4041d08bc8ca Mon Sep 17 00:00:00 2001
From: Kenz Dale <kenn@eissq.com>
Date: Thu, 23 Aug 2012 18:10:27 +0200
Subject: [PATCH 410/543] Changes requested in review.

All cosmetic (removing comments or fixing whitespaces), so does not affect functionality.
---
 .../src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp     | 1 -
 .../config/cfg_vehicletypes/configfixedwingwidget.cpp       | 6 +++---
 .../config/cfg_vehicletypes/configgroundvehiclewidget.cpp   | 6 +++---
 .../config/cfg_vehicletypes/configmultirotorwidget.cpp      | 2 +-
 .../src/plugins/ipconnection/ipconnectionplugin.cpp         | 1 -
 ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp   | 3 ---
 6 files changed, 7 insertions(+), 12 deletions(-)

diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
index 2091f5eaf..bdc60225d 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
@@ -392,7 +392,6 @@ namespace mapcontrol
     }
     void OPMapWidget::WPDeleteAll()
     {
-//        int x=0;
         foreach(QGraphicsItem* i,map->childItems())
         {
             WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
index 0a2064168..9d5fec352 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
@@ -291,7 +291,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
 
     int channel;
     //disable all
-    for (channel=0; (unsigned int) channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
@@ -371,7 +371,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
     int channel;
     double value;
     //disable all
-    for (channel=0; (unsigned int) channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
@@ -449,7 +449,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
     int channel;
     double value;
     //disable all
-    for (channel=0; (unsigned int) channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
index 1f7ed17d1..656a6f8f3 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
@@ -307,7 +307,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
 
     int channel;
     //disable all
-    for (channel=0; (unsigned int) channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
+    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
     }
@@ -364,7 +364,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT
 
     int channel;
     //disable all
-    for (channel=0; (unsigned int) channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
+    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
     }
@@ -419,7 +419,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
 
     int channel;
     //disable all
-    for (channel=0; (unsigned int) channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
+    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
     }
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
index 30b45ecde..4442f5224 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@@ -971,7 +971,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
     Q_ASSERT(mixer);
 
     //disable all
-    for (unsigned int channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (unsigned int channel=0; channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
diff --git a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
index ed0d42d86..04339b713 100644
--- a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
@@ -73,7 +73,6 @@ void IPConnection::onOpenDevice(QString HostName, int Port, bool UseTCP)
 {
     QAbstractSocket *ipSocket;
     const int Timeout = 5 * 1000;
-//    int state;
 
     ipConMutex.lock();
     if (UseTCP) {
diff --git a/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
index d803512e4..2f04b4b37 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
@@ -45,8 +45,6 @@ static bool HID_GetStrProperty(IOHIDDeviceRef dev, CFStringRef property, QString
   */
 USBMonitor::USBMonitor(QObject *parent): QThread(parent) {
     hid_manager=NULL;
-//    CFMutableDictionaryRef dict;
-//    CFNumberRef num;
     IOReturn ret;
 
     m_instance = this;
@@ -139,7 +137,6 @@ void USBMonitor::attach_callback(void *context, IOReturn r, void *hid_mgr, IOHID
 
     bool got_properties = true;
 
-//    CFTypeRef prop;
     USBPortInfo deviceInfo;
 
     deviceInfo.dev_handle = dev;

From 96e8d668b229e24a247870b4673d67589873dd3b Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Fri, 24 Aug 2012 17:50:28 +0100
Subject: [PATCH 411/543] GCS-UI Fixes

Fixes rotation of board on hw settings page
Fixes airframe size on airframe settings page
---
 ground/openpilotgcs/src/plugins/config/airframe.ui            | 2 +-
 .../openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp   | 4 ++--
 .../src/plugins/config/configvehicletypewidget.cpp            | 1 +
 .../src/plugins/uavobjectwidgetutils/configtaskwidget.cpp     | 1 -
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 028072c61..0f1018704 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -20,7 +20,7 @@
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
-      <number>1</number>
+      <number>0</number>
      </property>
      <widget class="QWidget" name="tabWidgetPage1">
       <property name="autoFillBackground">
diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
index 8da07a325..59654d388 100644
--- a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
@@ -61,10 +61,10 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
         m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0301.svg"));
         break;
     case 0x0401:
-        m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0401.svg"));
+        m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
         break;
     case 0x0402:
-        m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0402.svg"));
+        m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
         break;
     case 0x0201:
         m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0201.svg"));
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index fcce79a49..2d43e6673 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -222,6 +222,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
     addToDirtyMonitor();
 
     disableMouseWheelEvents();
+    m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
 }
 
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
index 5f49e1910..5d3264d16 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
@@ -285,7 +285,6 @@ void ConfigTaskWidget::forceConnectedState()//dynamic widgets don't recieve the
 
 void ConfigTaskWidget::onAutopilotConnect()
 {
-    qDebug()<<"OnAutopilotConnect:"<<this->metaObject()->className();
     if (utilMngr)
         currentBoard = utilMngr->getBoardModel();//TODO REMEMBER TO ADD THIS TO FORCE CONNECTED FUNC ON CC3D_RELEASE
     invalidateObjects();

From 8babe5d8a484e2e793e2c0e3580337e14e419052 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 24 Aug 2012 21:32:11 -0500
Subject: [PATCH 412/543] Autotuning: Increase the measurement time to 30
 seconds.

---
 flight/Modules/Autotune/autotune.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flight/Modules/Autotune/autotune.c b/flight/Modules/Autotune/autotune.c
index ec44a7b72..96051b076 100644
--- a/flight/Modules/Autotune/autotune.c
+++ b/flight/Modules/Autotune/autotune.c
@@ -137,7 +137,7 @@ static void AutotuneTask(void *parameters)
 		portTickType diffTime;
 
 		const uint32_t PREPARE_TIME = 2000;
-		const uint32_t MEAURE_TIME = 10000;
+		const uint32_t MEAURE_TIME = 30000;
 
 		FlightStatusData flightStatus;
 		FlightStatusGet(&flightStatus);

From a3f1894cd775afabc6c318f2cb2ea66f0f1563bb Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 24 Aug 2012 21:33:08 -0500
Subject: [PATCH 413/543] Autotuning: Make the estimator require the value to
 toggle above and below the hysteresis level.

---
 flight/Modules/Stabilization/relay_tuning.c    | 18 ++++++++++++++----
 .../relaytuningsettings.xml                    |  1 +
 2 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/flight/Modules/Stabilization/relay_tuning.c b/flight/Modules/Stabilization/relay_tuning.c
index 0f0bb9d55..835786a02 100644
--- a/flight/Modules/Stabilization/relay_tuning.c
+++ b/flight/Modules/Stabilization/relay_tuning.c
@@ -53,7 +53,6 @@ int stabilization_relay_rate(float error, float *output, int axis, bool reinit)
 	RelayTuningData relay;
 	RelayTuningGet(&relay);
 
-	static bool high = false;
 	static portTickType lastHighTime;
 	static portTickType lastLowTime;
 
@@ -68,6 +67,10 @@ int stabilization_relay_rate(float error, float *output, int axis, bool reinit)
 
 	static bool rateRelayRunning[MAX_AXES];
 
+	// This indicates the current estimate of the smoothed error.  So when it is high
+	// we are waiting for it to go low.
+	static bool high = false;
+
 	// On first run initialize estimates to something reasonable
 	if(reinit) {
 		rateRelayRunning[axis] = false;
@@ -109,8 +112,11 @@ int stabilization_relay_rate(float error, float *output, int axis, bool reinit)
 	accumulated ++;
 
 	// Make sure we've had enough time since last transition then check for a change in the output
-	bool hysteresis = (high ? (thisTime - lastHighTime) : (thisTime - lastLowTime)) > DEGLITCH_TIME;
-	if ( !high && hysteresis && error > 0 ){ /* RISE DETECTED */
+	bool time_hysteresis = (high ? (thisTime - lastHighTime) : (thisTime - lastLowTime)) > DEGLITCH_TIME;
+
+	if ( !high && time_hysteresis && error > relaySettings.HysteresisThresh ){
+		/* POSITIVE CROSSING DETECTED */
+
 		float this_amplitude = 2 * sqrtf(accum_sin*accum_sin + accum_cos*accum_cos) / accumulated;
 		float this_gain = this_amplitude / relaySettings.Amplitude;
 
@@ -130,9 +136,13 @@ int stabilization_relay_rate(float error, float *output, int axis, bool reinit)
 		lastHighTime = thisTime;
 		high = true;
 		RelayTuningSet(&relay);
-	} else if ( high && hysteresis && error < 0 ) { /* FALL DETECTED */
+
+	} else if ( high && time_hysteresis && error < -relaySettings.HysteresisThresh ) {
+		/* FALLING CROSSING DETECTED */
+
 		lastLowTime = thisTime;
 		high = false;
+
 	}
 
 	return 0;
diff --git a/shared/uavobjectdefinition/relaytuningsettings.xml b/shared/uavobjectdefinition/relaytuningsettings.xml
index 4ee3cb11b..58718a53d 100644
--- a/shared/uavobjectdefinition/relaytuningsettings.xml
+++ b/shared/uavobjectdefinition/relaytuningsettings.xml
@@ -4,6 +4,7 @@
 	<field name="RateGain" units="" type="float" elements="1" defaultvalue="0.3333"/>
 	<field name="AttitudeGain" units="" type="float" elements="1" defaultvalue="0.2"/>
 	<field name="Amplitude" units="" type="float" elements="1" defaultvalue="0.15"/>
+	<field name="HysteresisThresh" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
 	<field name="Mode" units="" type="enum" elements="1" options="Rate,Attitude" defaultvalue="Attitude"/>
 	<field name="Behavior" units="" type="enum" elements="1" options="Measure,Compute,Save" defaultvalue="Compute"/>
 	<access gcs="readwrite" flight="readwrite"/>

From 59d1367d37a1c5086b4fd0aaf07dc75df6c25715 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 24 Aug 2012 22:35:21 -0500
Subject: [PATCH 414/543] Autotuning: Make the output also follow the
 hysteresis output

---
 flight/Modules/Stabilization/relay_tuning.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flight/Modules/Stabilization/relay_tuning.c b/flight/Modules/Stabilization/relay_tuning.c
index 835786a02..5d53aa7d3 100644
--- a/flight/Modules/Stabilization/relay_tuning.c
+++ b/flight/Modules/Stabilization/relay_tuning.c
@@ -93,7 +93,7 @@ int stabilization_relay_rate(float error, float *output, int axis, bool reinit)
 	RelayTuningSettingsGet(&relaySettings);
 
 	// Compute output, simple threshold on error
-	*output = error > 0 ? relaySettings.Amplitude : -relaySettings.Amplitude;
+	*output = high ? relaySettings.Amplitude : -relaySettings.Amplitude;
 
 	/**** The code below here is to estimate the properties of the oscillation ****/
 

From 8d70a632fef53e3a53ab807b01aa119d5ea80020 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Fri, 24 Aug 2012 23:06:41 -0500
Subject: [PATCH 415/543] Autotune: Increase the default step size for
 autotuning.

---
 shared/uavobjectdefinition/relaytuningsettings.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/shared/uavobjectdefinition/relaytuningsettings.xml b/shared/uavobjectdefinition/relaytuningsettings.xml
index 58718a53d..df28c8575 100644
--- a/shared/uavobjectdefinition/relaytuningsettings.xml
+++ b/shared/uavobjectdefinition/relaytuningsettings.xml
@@ -3,7 +3,7 @@
         <description>Setting to run a relay tuning algorithm</description>
 	<field name="RateGain" units="" type="float" elements="1" defaultvalue="0.3333"/>
 	<field name="AttitudeGain" units="" type="float" elements="1" defaultvalue="0.2"/>
-	<field name="Amplitude" units="" type="float" elements="1" defaultvalue="0.15"/>
+	<field name="Amplitude" units="" type="float" elements="1" defaultvalue="0.25"/>
 	<field name="HysteresisThresh" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
 	<field name="Mode" units="" type="enum" elements="1" options="Rate,Attitude" defaultvalue="Attitude"/>
 	<field name="Behavior" units="" type="enum" elements="1" options="Measure,Compute,Save" defaultvalue="Compute"/>

From d4794d139fa3f92ca226db51446abba22bee6600 Mon Sep 17 00:00:00 2001
From: Stacey Sheldon <stac@solidgoldbomb.org>
Date: Sat, 25 Aug 2012 23:46:40 -0400
Subject: [PATCH 416/543] gcs: fix pipx-related typos in GCS

This also fixes the auto-selecting of FW images for
pipx in the uploader GUI by making the board name
match fw_pipxtreme.
---
 ground/openpilotgcs/src/plugins/config/pipxtreme.ui             | 2 +-
 .../src/plugins/uavobjectutil/devicedescriptorstruct.h          | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/pipxtreme.ui b/ground/openpilotgcs/src/plugins/config/pipxtreme.ui
index 9de1a7120..89616441b 100644
--- a/ground/openpilotgcs/src/plugins/config/pipxtreme.ui
+++ b/ground/openpilotgcs/src/plugins/config/pipxtreme.ui
@@ -1612,7 +1612,7 @@
          <item row="15" column="0" colspan="2">
           <widget class="QGroupBox" name="groupBox_4">
            <property name="title">
-            <string>AES Encription</string>
+            <string>AES Encryption</string>
            </property>
            <layout class="QGridLayout" name="gridLayout_5">
             <item row="0" column="0" colspan="2">
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h b/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
index a725c0bfe..b83a76a15 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
@@ -20,7 +20,7 @@ public:
                return QString("OpenPilot INS");
                break;
            case 0x0301://PipX
-               return QString("PipXtreame");
+               return QString("PipXtreme");
                break;
            case 0x0401://Coptercontrol
                return QString("CopterControl");

From a75e4e4e6ff0f2c5ac0f976db90b8395f8b32022 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 26 Aug 2012 22:05:53 -0500
Subject: [PATCH 417/543] AndroidGCS: Suppress some warnings from
 Controller.java

---
 androidgcs/src/org/openpilot/androidgcs/Controller.java | 1 -
 1 file changed, 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/Controller.java b/androidgcs/src/org/openpilot/androidgcs/Controller.java
index 3ef291d4d..62b7d0c31 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Controller.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Controller.java
@@ -70,7 +70,6 @@ public class Controller extends ObjectManagerActivity {
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
 		setContentView(R.layout.controller);
-		TextView manualView = (TextView) findViewById(R.id.manualControlValues);
 	}
 
 	Observer settingsUpdated = new Observer() {

From 8cc49d125a0d88358ae05841c1bc326a8ab05cf8 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 26 Aug 2012 22:26:34 -0500
Subject: [PATCH 418/543] AndroidGCS: Suppress some warnings related to not
 implementing the STRING uavfield type properly.

---
 .../openpilot/androidgcs/ObjectEditView.java  | 26 ++++++++++++-------
 .../org/openpilot/uavtalk/UAVObjectField.java | 25 +++++++++++-------
 2 files changed, 32 insertions(+), 19 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java b/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
index 7946a357b..401a26978 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
@@ -22,22 +22,22 @@ public class ObjectEditView extends GridLayout {
 	public List<View> fields;
 
 	public ObjectEditView(Context context) {
-		super(context);		
+		super(context);
 		initObjectEditView();
 	}
 
-	public ObjectEditView(Context context, AttributeSet ats, int defaultStyle) { 
+	public ObjectEditView(Context context, AttributeSet ats, int defaultStyle) {
 		super(context, ats);
 		initObjectEditView();
 	}
 
-	public ObjectEditView(Context context, AttributeSet ats) { 
+	public ObjectEditView(Context context, AttributeSet ats) {
 		super(context, ats);
 		initObjectEditView();
 	}
 
 	public void initObjectEditView() {
-		// Set orientation of layout to vertical 
+		// Set orientation of layout to vertical
 		setOrientation(LinearLayout.VERTICAL);
 		setColumnCount(2);
 		fields = new ArrayList<View>();
@@ -51,11 +51,11 @@ public class ObjectEditView extends GridLayout {
 		for (int i = 0; i < field.getNumElements(); i++)
 			addRow(getContext(), field, i);
 	}
-	
-	
+
+
 	public void addRow(Context context, UAVObjectField field, int idx) {
 		int row = getRowCount();
-		
+
 		TextView fieldName = new TextView(context);
 		if(field.getNumElements() == 1) {
 			fieldName.setText(field.getName());
@@ -65,7 +65,7 @@ public class ObjectEditView extends GridLayout {
 		addView(fieldName, new GridLayout.LayoutParams(spec(row), spec(0)));
 
 		View fieldValue = null;
-		switch(field.getType()) 
+		switch(field.getType())
 		{
 		case FLOAT32:
 			fieldValue = new EditText(context);
@@ -93,8 +93,16 @@ public class ObjectEditView extends GridLayout {
 			((Spinner) fieldValue).setAdapter(adapter);
 			((Spinner) fieldValue).setSelection((int) field.getDouble(idx));
 			break;
+		case BITFIELD:
+			fieldValue = new EditText(context);
+			((EditText)fieldValue).setText(field.getValue(idx).toString());
+			((EditText)fieldValue).setInputType(InputType.TYPE_CLASS_NUMBER);
+			break;
+		case STRING:
+			fieldValue = new EditText(context);
+			((EditText)fieldValue).setText(field.getValue(idx).toString());
 		}
-		
+
 		addView(fieldValue, new GridLayout.LayoutParams(spec(row), spec(1)));
 		fields.add(fieldValue);
 	}
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index d07fdf6fd..7fea950f0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -578,6 +578,12 @@ public class UAVObjectField {
             		((ArrayList<Byte>) data).add((byte) 0);
             	}
                 break;
+            case STRING:
+            	((ArrayList<Byte>) data).clear();
+            	for(int index = 0; index < numElements; ++index) {
+            		((ArrayList<Byte>) data).add((byte) 0);
+            	}
+                break;
         }
     }
 
@@ -633,7 +639,7 @@ public class UAVObjectField {
                 numBytesPerElement = 1;
                 break;
             case STRING:
-            	data = new ArrayList<String>(this.numElements);
+            	data = new ArrayList<Byte>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             default:
@@ -650,15 +656,9 @@ public class UAVObjectField {
      */
     protected Long bound (Object val) {
 
-    	switch(type) {
-    	case ENUM:
-    	case STRING:
-    		return 0L;
-    	case FLOAT32:
-    		return ((Number) val).longValue();
-    	}
-
-    	long num = ((Number) val).longValue();
+    	long num = 0;
+    	if (isNumeric())
+    		num = ((Number) val).longValue();
 
     	switch(type) {
     	case INT8:
@@ -703,6 +703,11 @@ public class UAVObjectField {
     		if(num > 255)
     			return (long) 255;
     		return num;
+    	case FLOAT32:
+    		return ((Number) val).longValue();
+    	case ENUM:
+    	case STRING:
+    		return 0L;
     	}
 
     	return num;

From 6cd9a9b0afb687be0c730977789bf66edde13074 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 28 Aug 2012 11:09:50 -0500
Subject: [PATCH 419/543] AndroidGCS Bluetooth: Make bluetooth use the new
 connection system.

---
 .../telemetry/BluetoothUAVTalk.java           | 109 ++++++++++--------
 .../telemetry/OPTelemetryService.java         |   3 +-
 2 files changed, 65 insertions(+), 47 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/BluetoothUAVTalk.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/BluetoothUAVTalk.java
index db3d44134..5c1028cb3 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/BluetoothUAVTalk.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/BluetoothUAVTalk.java
@@ -28,10 +28,6 @@ import java.io.IOException;
 import java.util.Set;
 import java.util.UUID;
 
-import org.openpilot.uavtalk.UAVObjectManager;
-import org.openpilot.uavtalk.UAVTalk;
-
-import android.annotation.TargetApi;
 import android.app.Activity;
 import android.bluetooth.BluetoothAdapter;
 import android.bluetooth.BluetoothDevice;
@@ -43,11 +39,13 @@ import android.content.SharedPreferences;
 import android.preference.PreferenceManager;
 import android.util.Log;
 
-@TargetApi(10) public class BluetoothUAVTalk {
+public class BluetoothUAVTalk extends TelemetryTask {
+
 	private final String TAG = "BluetoothUAVTalk";
-	public static int LOGLEVEL = 2;
-	public static boolean WARN = LOGLEVEL > 1;
-	public static boolean DEBUG = LOGLEVEL > 0;
+	public static final int LOGLEVEL = 4;
+	public static final boolean DEBUG = LOGLEVEL > 2;
+	public static final boolean WARN = LOGLEVEL > 1;
+	public static final boolean ERROR = LOGLEVEL > 0;
 
 	// Temporarily define fixed device name
 	private String device_name = "RN42-222D";
@@ -56,30 +54,35 @@ import android.util.Log;
 	private BluetoothAdapter mBluetoothAdapter;
 	private BluetoothSocket socket;
 	private BluetoothDevice device;
-	private UAVTalk uavTalk;
-	private boolean connected;
 
-	public BluetoothUAVTalk(Context caller) {
+	public BluetoothUAVTalk(OPTelemetryService caller) {
+		super(caller);
+	}
 
-		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(caller);
+	@Override
+	boolean attemptConnection() {
+
+		if( getConnected() )
+			return true;
+
+		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(telemService);
 		device_name = prefs.getString("bluetooth_mac","");
 
         if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + device_name);
 
-        connected = false;
         device = null;
 
         mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
         if (mBluetoothAdapter == null) {
             // Device does not support Bluetooth
         	Log.e(TAG, "Device does not support Bluetooth");
-        	return;
+        	return false;
         }
 
         if (!mBluetoothAdapter.isEnabled()) {
         	// Enable bluetooth if it isn't already
             Intent enableBtIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
-            caller.sendOrderedBroadcast(enableBtIntent, "android.permission.BLUETOOTH_ADMIN", new BroadcastReceiver() {
+            telemService.sendOrderedBroadcast(enableBtIntent, "android.permission.BLUETOOTH_ADMIN", new BroadcastReceiver() {
 				@Override
 				public void onReceive(Context context, Intent intent) {
 					Log.e(TAG,"Received " + context + intent);
@@ -90,60 +93,60 @@ import android.util.Log;
         } else {
         	queryDevices();
         }
-    }
 
-	public boolean connect(UAVObjectManager objMngr) {
-		if( getConnected() )
-			return true;
-		if( !getFoundDevice() )
-			return false;
-		if( !openTelemetryBluetooth(objMngr) )
-			return false;
 		return true;
 	}
 
-	public boolean getConnected() {
-		return connected;
+	@Override
+	public void disconnect() {
+		super.disconnect();
+		if(socket != null) {
+			try {
+				socket.close();
+			} catch (IOException e) {
+				if (ERROR) Log.e(TAG, "Unable to close BT socket");
+			}
+			socket = null;
+		}
 	}
 
 	public boolean getFoundDevice() {
 		return (device != null);
 	}
 
-	public UAVTalk getUavtalk() {
-		return uavTalk;
-	}
 
     private void queryDevices() {
-    	Log.d(TAG, "Searching for devices");
+    	if (DEBUG) Log.d(TAG, "Searching for devices matching the selected preference");
+
 		Set<BluetoothDevice> pairedDevices = mBluetoothAdapter.getBondedDevices();
 		// If there are paired devices
 		if (pairedDevices.size() > 0) {
 		    // Loop through paired devices
 		    for (BluetoothDevice device : pairedDevices) {
-		        // Add the name and address to an array adapter to show in a ListView
-		        //mArrayAdapter.add(device.getName() + "\n" + device.getAddress());
-		    	Log.d(TAG, "Paired device: " + device.getAddress() + " compared to " + device_name);
+
 		    	if(device.getAddress().compareTo(device_name) == 0) {
-		    		Log.d(TAG, "Found device: " + device.getName());
+		    		if (DEBUG) Log.d(TAG, "Found selected device: " + device.getName());
 		    		this.device = device;
+
+		    		openTelemetryBluetooth();
 		    		return;
 		    	}
 		    }
 		}
 
+		attemptedFailed();
     }
 
-	private boolean openTelemetryBluetooth(UAVObjectManager objMngr) {
-		Log.d(TAG, "Opening connection to " + device.getName());
+	private boolean openTelemetryBluetooth() {
+		if (DEBUG) Log.d(TAG, "Opening connection to " + device.getName());
+
 		socket = null;
-		connected = false;
+
 		try {
 			socket = device.createInsecureRfcommSocketToServiceRecord(MY_UUID);
 		} catch (IOException e) {
-			Log.e(TAG,"Unable to create Rfcomm socket");
+			if (ERROR) Log.e(TAG,"Unable to create Rfcomm socket");
 			return false;
-			//e.printStackTrace();
 		}
 
 		mBluetoothAdapter.cancelDiscovery();
@@ -152,26 +155,40 @@ import android.util.Log;
 			socket.connect();
 		}
 		catch (IOException e) {
-			Log.e(TAG,"Unable to connect to requested device", e);
+			if (ERROR) Log.e(TAG,"Unable to connect to requested device", e);
             try {
                 socket.close();
             } catch (IOException e2) {
-                Log.e(TAG, "unable to close() socket during connection failure", e2);
+                if (ERROR) Log.e(TAG, "unable to close() socket during connection failure", e2);
             }
+
+            attemptedFailed();
 			return false;
 		}
 
-		connected = true;
-
 		try {
-			uavTalk = new UAVTalk(socket.getInputStream(), socket.getOutputStream(), objMngr);
+			inStream = socket.getInputStream();
+			outStream = socket.getOutputStream();
 		} catch (IOException e) {
-			Log.e(TAG,"Error starting UAVTalk");
-			// TODO Auto-generated catch block
-			//e.printStackTrace();
+			try {
+				socket.close();
+			} catch (IOException e2) {
+
+			}
+            attemptedFailed();
 			return false;
 		}
 
+		telemService.toastMessage("Bluetooth device connected");
+
+		// Post message to call attempt succeeded on the parent class
+		handler.post(new Runnable() {
+			@Override
+			public void run() {
+				BluetoothUAVTalk.this.attemptSucceeded();
+			}
+		});
+
 		return true;
 	}
 
diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
index 4698900ef..261082f99 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
@@ -121,7 +121,8 @@ public class OPTelemetryService extends Service {
 				break;
 			case 2:
 				Toast.makeText(getApplicationContext(), "Attempting BT connection", Toast.LENGTH_SHORT).show();
-				//activeTelem = new BTTelemetryThread();
+				telemTask = new BluetoothUAVTalk(this);
+				activeTelem = new Thread(telemTask, "Bluetooth telemetry thread");
 				break;
 			case 3:
 				Toast.makeText(getApplicationContext(), "Attempting TCP connection", Toast.LENGTH_SHORT).show();

From f01edc5d72d3eb582ebe846f3a146ba6ba25a589 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 27 Aug 2012 09:53:23 -0500
Subject: [PATCH 420/543] AndroidGCS: Make sure the telemetry sevice checks
 there is a telemetry task AND it's connected before sending the OPConnected
 service.  Otherwise the objMngr is undefined.

---
 .../org/openpilot/androidgcs/telemetry/OPTelemetryService.java  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
index 261082f99..9edd8a628 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
@@ -259,7 +259,7 @@ public class OPTelemetryService extends Service {
 			mServiceHandler.sendMessage(msg);
 		}
 		public boolean isConnected() {
-			return activeTelem != null;
+			return (activeTelem != null) && (telemTask != null) && (telemTask.getConnected());
 		}
 	};
 

From 120f9298b4a7282d40915870fc4a4d783dbd554a Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 26 Aug 2012 22:26:34 -0500
Subject: [PATCH 421/543] AndroidGCS: Suppress some warnings related to not
 implementing the STRING uavfield type properly.

---
 .../openpilot/androidgcs/ObjectEditView.java  | 26 ++++++++++++-------
 .../org/openpilot/uavtalk/UAVObjectField.java | 25 +++++++++++-------
 2 files changed, 32 insertions(+), 19 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java b/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
index 7946a357b..401a26978 100644
--- a/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/ObjectEditView.java
@@ -22,22 +22,22 @@ public class ObjectEditView extends GridLayout {
 	public List<View> fields;
 
 	public ObjectEditView(Context context) {
-		super(context);		
+		super(context);
 		initObjectEditView();
 	}
 
-	public ObjectEditView(Context context, AttributeSet ats, int defaultStyle) { 
+	public ObjectEditView(Context context, AttributeSet ats, int defaultStyle) {
 		super(context, ats);
 		initObjectEditView();
 	}
 
-	public ObjectEditView(Context context, AttributeSet ats) { 
+	public ObjectEditView(Context context, AttributeSet ats) {
 		super(context, ats);
 		initObjectEditView();
 	}
 
 	public void initObjectEditView() {
-		// Set orientation of layout to vertical 
+		// Set orientation of layout to vertical
 		setOrientation(LinearLayout.VERTICAL);
 		setColumnCount(2);
 		fields = new ArrayList<View>();
@@ -51,11 +51,11 @@ public class ObjectEditView extends GridLayout {
 		for (int i = 0; i < field.getNumElements(); i++)
 			addRow(getContext(), field, i);
 	}
-	
-	
+
+
 	public void addRow(Context context, UAVObjectField field, int idx) {
 		int row = getRowCount();
-		
+
 		TextView fieldName = new TextView(context);
 		if(field.getNumElements() == 1) {
 			fieldName.setText(field.getName());
@@ -65,7 +65,7 @@ public class ObjectEditView extends GridLayout {
 		addView(fieldName, new GridLayout.LayoutParams(spec(row), spec(0)));
 
 		View fieldValue = null;
-		switch(field.getType()) 
+		switch(field.getType())
 		{
 		case FLOAT32:
 			fieldValue = new EditText(context);
@@ -93,8 +93,16 @@ public class ObjectEditView extends GridLayout {
 			((Spinner) fieldValue).setAdapter(adapter);
 			((Spinner) fieldValue).setSelection((int) field.getDouble(idx));
 			break;
+		case BITFIELD:
+			fieldValue = new EditText(context);
+			((EditText)fieldValue).setText(field.getValue(idx).toString());
+			((EditText)fieldValue).setInputType(InputType.TYPE_CLASS_NUMBER);
+			break;
+		case STRING:
+			fieldValue = new EditText(context);
+			((EditText)fieldValue).setText(field.getValue(idx).toString());
 		}
-		
+
 		addView(fieldValue, new GridLayout.LayoutParams(spec(row), spec(1)));
 		fields.add(fieldValue);
 	}
diff --git a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
index d07fdf6fd..7fea950f0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
+++ b/androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
@@ -578,6 +578,12 @@ public class UAVObjectField {
             		((ArrayList<Byte>) data).add((byte) 0);
             	}
                 break;
+            case STRING:
+            	((ArrayList<Byte>) data).clear();
+            	for(int index = 0; index < numElements; ++index) {
+            		((ArrayList<Byte>) data).add((byte) 0);
+            	}
+                break;
         }
     }
 
@@ -633,7 +639,7 @@ public class UAVObjectField {
                 numBytesPerElement = 1;
                 break;
             case STRING:
-            	data = new ArrayList<String>(this.numElements);
+            	data = new ArrayList<Byte>(this.numElements);
                 numBytesPerElement = 1;
                 break;
             default:
@@ -650,15 +656,9 @@ public class UAVObjectField {
      */
     protected Long bound (Object val) {
 
-    	switch(type) {
-    	case ENUM:
-    	case STRING:
-    		return 0L;
-    	case FLOAT32:
-    		return ((Number) val).longValue();
-    	}
-
-    	long num = ((Number) val).longValue();
+    	long num = 0;
+    	if (isNumeric())
+    		num = ((Number) val).longValue();
 
     	switch(type) {
     	case INT8:
@@ -703,6 +703,11 @@ public class UAVObjectField {
     		if(num > 255)
     			return (long) 255;
     		return num;
+    	case FLOAT32:
+    		return ((Number) val).longValue();
+    	case ENUM:
+    	case STRING:
+    		return 0L;
     	}
 
     	return num;

From 846f488eb1ff6f98995e5d7837add943f9c06764 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 26 Aug 2012 22:05:53 -0500
Subject: [PATCH 422/543] AndroidGCS: Suppress some warnings from
 Controller.java

---
 androidgcs/src/org/openpilot/androidgcs/Controller.java | 1 -
 1 file changed, 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/Controller.java b/androidgcs/src/org/openpilot/androidgcs/Controller.java
index 0d3a3c911..39a86639c 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Controller.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Controller.java
@@ -70,7 +70,6 @@ public class Controller extends ObjectManagerActivity {
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
 		setContentView(R.layout.controller);
-		TextView manualView = (TextView) findViewById(R.id.manualControlValues);
 	}
 
 	Observer settingsUpdated = new Observer() {

From ee97390ade5c99139efebe642158c8a76bf2419b Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 28 Aug 2012 11:23:24 -0500
Subject: [PATCH 423/543] AndroidGCS TelemetryTask: Make sure the telemetry
 task shuts down the reading thread on disconnect

---
 .../androidgcs/telemetry/TelemetryTask.java        | 14 +++++++++++++-
 1 file changed, 13 insertions(+), 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java
index 3d16d94f9..c9a44d6e1 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/TelemetryTask.java
@@ -68,6 +68,9 @@ public abstract class TelemetryTask implements Runnable {
 	//! The telemetry monitor which takes care of high level connects / disconnects
 	private TelemetryMonitor mon;
 
+	//! Thread to process the input stream
+	Thread inputProcessThread;
+
 	//! Flag to indicate a shut down was requested.  Derived classes should take care to respect this.
 	boolean shutdown;
 
@@ -146,6 +149,14 @@ public abstract class TelemetryTask implements Runnable {
 			}
 		});
 
+		if (inputProcessThread != null) {
+			inputProcessThread.interrupt();
+			try {
+				inputProcessThread.join();
+			} catch (InterruptedException e) {
+			}
+		}
+
 		// TODO: Make sure the input and output stream is closed
 
 		// TODO: Make sure any threads for input and output are closed
@@ -157,7 +168,8 @@ public abstract class TelemetryTask implements Runnable {
 	 * to read from the input stream.
 	 */
 	private void startInputProcessing() {
-		new Thread(new processUavTalk(), "Process UAV talk").start();
+		inputProcessThread = new Thread(new processUavTalk(), "Process UAV talk");
+		inputProcessThread.start();
 	}
 
 	//! Runnable to process input stream

From b9663ba666ba4767f53dc7023806e6898b4bbf23 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 28 Aug 2012 11:29:50 -0500
Subject: [PATCH 424/543] AndroidGCS: Fix typo in telem debug messages

---
 .../org/openpilot/androidgcs/telemetry/OPTelemetryService.java  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
index 9edd8a628..69ab6e0d8 100644
--- a/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
+++ b/androidgcs/src/org/openpilot/androidgcs/telemetry/OPTelemetryService.java
@@ -227,7 +227,7 @@ public class OPTelemetryService extends Service {
 	public void onDestroy() {
 
 		if (telemTask != null) {
-			Log.d(TAG, "onDestory() shutting down telemetry task");
+			Log.d(TAG, "onDestroy() shutting down telemetry task");
 			telemTask.disconnect();
 			telemTask = null;
 

From fed39f38932bb3df889d3ee671b81b801fbad7dd Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 28 Aug 2012 13:27:56 -0500
Subject: [PATCH 425/543] AndroidGCS: Add launcher button for tuning.

---
 androidgcs/AndroidManifest.xml                |    3 +-
 androidgcs/res/drawable-hdpi/ic_logging.png   |  Bin 823 -> 849 bytes
 androidgcs/res/drawable-hdpi/ic_tuning.png    |  Bin 0 -> 1979 bytes
 androidgcs/res/drawable-hdpi/ic_uav.png       |  Bin 800 -> 797 bytes
 androidgcs/res/layout/gcs_home.xml            |   16 +-
 androidgcs/res/layout/tuning.xml              |    7 +
 androidgcs/res/values/strings.xml             |    1 +
 .../org/openpilot/androidgcs/HomePage.java    |    9 +
 .../openpilot/androidgcs/TuningActivity.java  |   43 +
 .../hdpi/_pre_production/hdpi_icons.ai        | 4697 +++++++++--------
 artwork/Android/hdpi/ic_logging.png           |  Bin 823 -> 849 bytes
 artwork/Android/hdpi/ic_tuning.png            |  Bin 0 -> 1979 bytes
 12 files changed, 2446 insertions(+), 2330 deletions(-)
 create mode 100644 androidgcs/res/drawable-hdpi/ic_tuning.png
 create mode 100644 androidgcs/res/layout/tuning.xml
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/TuningActivity.java
 create mode 100644 artwork/Android/hdpi/ic_tuning.png

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 3dc9bc3e3..a6da85935 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -38,7 +38,8 @@
 		<activity android:name="Preferences" android:label="@string/preference_title" />
 		<activity android:name="UAVLocation" android:label="@string/location_name" />
 		<activity android:name="SystemAlarmActivity" android:label="System Alarms" />
-		<activity android:name="ObjectEditor" android:label="ObjectEditor"
+		<activity android:name="TuningActivity" android:label="Tuning" />
+				<activity android:name="ObjectEditor" android:label="ObjectEditor"
 			android:theme="@android:style/Theme.Dialog" />
 		<activity android:name="Logger" android:label="Logger"
 		    android:theme="@android:style/Theme.Dialog" />
diff --git a/androidgcs/res/drawable-hdpi/ic_logging.png b/androidgcs/res/drawable-hdpi/ic_logging.png
index 4791e4293e4106a3b9f73de4b82d313827425e7f..cdd3f045b6e75e108023afbcc6d13c4582f27620 100644
GIT binary patch
delta 767
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zYS%Snb8FW$GJnIQ_8yJCyk~~wrQkc+T-xr)I~AG8*gF>5@$9w!IgOr-tLM8SdtPbD
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znpb7*LVrc{^VTeE{UKN<3#}XJd6S#IO|yeaO15Q76{0I<^GtbgS)5oeo%jA>PUgGP
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xf6*5;@440b)L)%&@XXZh(C@f`6RbQ4FaXa&*L<B611|so002ovPDHLkV1h8Xbc_H1

delta 741
zcmcb}ww-N4T>TMG7srr_TW{v>^}8J)(ja@p?=wrtJ8p%UwkllJ;#TEK+R-;o&G32a
zrM7F@(&{x!Zc1~?F|5u{sA&2kQ?#zCS~Q?8NA<*gb=jZqe{t1X+SzTJ5HtI1+C(EM
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zt^K=S%xrmM>ZyH3{C4HLhtIC<n!cib(j;5O*vRuupC(j9T2wsz^RVem`BK&G-xdGH
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z0~Qy^k;HfsBa-fOoc=fa+HYV4wZ^UcKUYNeXTT%wI8AY&!YO(`1$m!(?{jv}ykqa3
zXDYq_4x7k1^Zjb|eb3^Tw?6uz$62#j+w}eJtM69tuQ4t){v!ANGH2L7E(3-}=j-!(
S1x1<}fWXt$&t;ucLK6U8y<t@V

diff --git a/androidgcs/res/drawable-hdpi/ic_tuning.png b/androidgcs/res/drawable-hdpi/ic_tuning.png
new file mode 100644
index 0000000000000000000000000000000000000000..85c01e2f2414746d20048b72fe9ae099798d70db
GIT binary patch
literal 1979
zcmV;s2SoUZP)<h;3K|Lk000e1NJLTq003D4003DC1^@s6RSSr(00009a7bBm000*f
z000*f0cW4mQUCw|8FWQhbW?9;ba!ELWdK2BZ(?O2No`?gWm08fWO;GPWjp`?2S`ao
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zdB5*_zu(Nt(b17YyS+CK;GqZ2Q_lX6MbHLsTv(sR9V-YK03+OO$0s*CfEEDg=os?X
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literal 0
HcmV?d00001

diff --git a/androidgcs/res/drawable-hdpi/ic_uav.png b/androidgcs/res/drawable-hdpi/ic_uav.png
index 169c54f82a97784f2e5bbc1f2255b2bdbb3d76ba..969e5433125d415becbef44f77184712f6a50625 100644
GIT binary patch
delta 55
zcmZ3$HkWNe9OJ5u@l%+zcxv9UeeGWOHt>r8vt<pZ>92PTjBE@E2DhTCb0t$4fWXt$
K&t;ucLK6T@ToaQ3

delta 58
zcmbQswt#Iy9OK%J@l%*|*T{Z&(dK5k;^CaGY5yGf*v~!=u(`x7kibwFd86snUXJGs
OK;Y@>=d#Wzp$P!!9~cY(

diff --git a/androidgcs/res/layout/gcs_home.xml b/androidgcs/res/layout/gcs_home.xml
index 82f638b98..74d1774f5 100644
--- a/androidgcs/res/layout/gcs_home.xml
+++ b/androidgcs/res/layout/gcs_home.xml
@@ -65,7 +65,7 @@
         android:drawableTop="@drawable/ic_logging"
         android:text="@string/logger_name" />
 
-        <Button
+    <Button
         android:id="@+id/launch_alarms"
         android:layout_width="132dp"
         android:layout_height="wrap_content"
@@ -76,7 +76,19 @@
         android:background="@android:color/transparent"
         android:drawableTop="@drawable/ic_alarms"
         android:text="@string/alarms" />
-    
+
+    <Button
+        android:id="@+id/launch_tuning"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="0"
+        android:layout_gravity="right"
+        android:layout_row="6"
+        android:layout_rowSpan="2"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_tuning"
+        android:text="@string/tuning" />
+
     <Space
         android:layout_width="1dp"
         android:layout_height="32dp"
diff --git a/androidgcs/res/layout/tuning.xml b/androidgcs/res/layout/tuning.xml
new file mode 100644
index 000000000..204c100a8
--- /dev/null
+++ b/androidgcs/res/layout/tuning.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<ListView xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent" >
+    
+
+</ListView>
\ No newline at end of file
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index 18de8b766..ba876b261 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -32,4 +32,5 @@
 	<string name="alarms">Alarms</string>
 	<string name="txrate">TxRate: </string>
 	<string name="rxrate">RxRate: </string>
+	<string name="tuning">Tuning</string>
 </resources>
diff --git a/androidgcs/src/org/openpilot/androidgcs/HomePage.java b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
index 12833df2f..3a3c0783a 100644
--- a/androidgcs/src/org/openpilot/androidgcs/HomePage.java
+++ b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
@@ -83,6 +83,15 @@ public class HomePage extends ObjectManagerActivity {
 				startActivity(new Intent(HomePage.this, SystemAlarmActivity.class));
 			}
 		});
+
+		Button tuning = (Button) findViewById(R.id.launch_tuning);
+		tuning.setOnClickListener(new OnClickListener() {
+			@Override
+			public void onClick(View arg0) {
+				startActivity(new Intent(HomePage.this, TuningActivity.class));
+			}
+		});
+
 	}
 
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/TuningActivity.java b/androidgcs/src/org/openpilot/androidgcs/TuningActivity.java
new file mode 100644
index 000000000..7eef6c98b
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/TuningActivity.java
@@ -0,0 +1,43 @@
+package org.openpilot.androidgcs;
+
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObject;
+
+import android.os.Bundle;
+import android.util.Log;
+
+public class TuningActivity extends ObjectManagerActivity {
+	private final String TAG = TuningActivity.class.getSimpleName();
+
+	private final boolean DEBUG = false;
+
+	/** Called when the activity is first created. */
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		setContentView(R.layout.tuning);
+	}
+
+	@Override
+	void onOPConnected() {
+		super.onOPConnected();
+
+		if (DEBUG) Log.d(TAG, "onOPConnected()");
+
+		// Subscribe to updates from ManualControlCommand and show the values for crude feedback
+		UAVDataObject stabilizationSettings = (UAVDataObject) objMngr.getObject("StabilizationSettings");
+		if (stabilizationSettings != null)
+			registerObjectUpdates(stabilizationSettings);
+	}
+
+	/**
+	 * Show the string description of manual control command
+	 */
+	@Override
+	protected void objectUpdated(UAVObject obj) {
+		if (obj.getName().compareTo("StabilizationSettings") == 0) {
+
+		}
+	}
+
+}
diff --git a/artwork/Android/hdpi/_pre_production/hdpi_icons.ai b/artwork/Android/hdpi/_pre_production/hdpi_icons.ai
index 3dfe4bc70..d2dcbe878 100644
--- a/artwork/Android/hdpi/_pre_production/hdpi_icons.ai
+++ b/artwork/Android/hdpi/_pre_production/hdpi_icons.ai
@@ -1,7 +1,7 @@
 %PDF-1.5
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@@ -4742,8 +4772,6 @@ l[$6Nn+Z_Nq0]s7hs]`XX1nZ8&94a\~>
endstream
endobj
497 0 obj
[/ICCBased 454 0 R]
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@@ -4754,6 +4782,8 @@ l[$6Nn+Z_Nq0]s7hs]`XX1nZ8&94a\~>
endstream
endobj
497 0 obj
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endstream
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From 2c21038d746c61e30de176a38b46fc25e7b399ee Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 28 Aug 2012 14:14:50 -0500
Subject: [PATCH 426/543] AndroidGCS AttitudeView: Fix the PFD display so it
 can be bigger.

The view on measure limits the size.  It was previous set to 200.  I made it bigger and made it respect the ON_MOST input.  Need to see if setting a huge number works across screen types.
---
 .../openpilot/androidgcs/AttitudeView.java    | 75 ++++++++++++++-----
 1 file changed, 55 insertions(+), 20 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java b/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
index d8aecc5e1..1167287a4 100644
--- a/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
@@ -56,29 +56,64 @@ public class AttitudeView extends View {
 
 	}
 
-	@Override protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
-		int measuredWidth = measure(widthMeasureSpec);
-		int measuredHeight = measure(heightMeasureSpec);
-		int d = Math.min(measuredWidth, measuredHeight);
-		setMeasuredDimension(d/2, d/2);
-	}
+    /**
+     * @see android.view.View#measure(int, int)
+     */
+    @Override
+    protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
+        setMeasuredDimension(measureWidth(widthMeasureSpec),
+                measureHeight(heightMeasureSpec));
+    }
 
-	private int measure(int measureSpec) {
-		int result = 0;
-		// Decode the measurement specifications.
 
-		int specMode = MeasureSpec.getMode(measureSpec);
-		int specSize = MeasureSpec.getSize(measureSpec);
+    /**
+     * Determines the height of this view
+     * @param measureSpec A measureSpec packed into an int
+     * @return The height of the view, honoring constraints from measureSpec
+     */
+    private int measureHeight(int measureSpec) {
+        int result = 0;
+        int specMode = MeasureSpec.getMode(measureSpec);
+        int specSize = MeasureSpec.getSize(measureSpec);
 
-		if (specMode == MeasureSpec.UNSPECIFIED) { // Return a default size of 200 if no bounds are specified.
-			result = 200;
-		} else {
-			// As you want to fill the available space
-			// always return the full available bounds.
-			result = specSize;
-		}
-		return result;
-	}
+        if (specMode == MeasureSpec.EXACTLY) {
+            // We were told how big to be
+            result = specSize;
+        } else {
+            // Measure the text (beware: ascent is a negative number)
+            result = 600;
+            if (specMode == MeasureSpec.AT_MOST) {
+                // Respect AT_MOST value if that was what is called for by measureSpec
+                result = Math.min(result, specSize);
+            }
+        }
+        return result;
+    }
+
+    /**
+     * Determines the width of this view
+     * @param measureSpec A measureSpec packed into an int
+     * @return The width of the view, honoring constraints from measureSpec
+     */
+    private int measureWidth(int measureSpec) {
+        int result = 0;
+        int specMode = MeasureSpec.getMode(measureSpec);
+        int specSize = MeasureSpec.getSize(measureSpec);
+
+        if (specMode == MeasureSpec.EXACTLY) {
+            // We were told how big to be
+            result = specSize;
+        } else {
+            // Measure the text
+            result = 800;
+            if (specMode == MeasureSpec.AT_MOST) {
+                // Respect AT_MOST value if that was what is called for by measureSpec
+                result = Math.min(result, specSize);
+            }
+        }
+
+        return result;
+    }
 
 	private float roll;
 	public void setRoll(double roll) {

From 7c48b46adfa82809663728d6ce176e5dcb856d70 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 28 Aug 2012 14:55:46 -0500
Subject: [PATCH 427/543] AndroidGCS Tuning: Create a view that includes a
 scroll bar and edit box coupled together.

---
 androidgcs/res/layout/tuning.xml              | 13 ++--
 .../androidgcs/views/ScrollBarView.java       | 67 +++++++++++++++++++
 2 files changed, 76 insertions(+), 4 deletions(-)
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java

diff --git a/androidgcs/res/layout/tuning.xml b/androidgcs/res/layout/tuning.xml
index 204c100a8..795571a83 100644
--- a/androidgcs/res/layout/tuning.xml
+++ b/androidgcs/res/layout/tuning.xml
@@ -1,7 +1,12 @@
 <?xml version="1.0" encoding="utf-8"?>
-<ListView xmlns:android="http://schemas.android.com/apk/res/android"
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="match_parent"
-    android:layout_height="match_parent" >
-    
+    android:layout_height="match_parent"
+    android:orientation="vertical" >
 
-</ListView>
\ No newline at end of file
+    <org.openpilot.androidgcs.views.ScrollBarView
+        android:id="@+id/rollRateKp"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content" />
+
+</LinearLayout>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java b/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java
new file mode 100644
index 000000000..d06732235
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java
@@ -0,0 +1,67 @@
+package org.openpilot.androidgcs.views;
+
+import android.content.Context;
+import android.util.AttributeSet;
+import android.util.Log;
+import android.widget.EditText;
+import android.widget.GridLayout;
+import android.widget.LinearLayout;
+import android.widget.SeekBar;
+import android.widget.TextView;
+
+public class ScrollBarView extends GridLayout {
+
+	private final static String TAG = ScrollBarView.class.getSimpleName();
+
+	private final TextView lbl;
+	private final EditText edit;
+	private final SeekBar bar;
+	private double value;
+
+	private final double SCALE = 1000000;
+
+	public ScrollBarView(Context context, AttributeSet attrs) {
+		super(context, attrs);
+
+		Log.d(TAG, "Scroll bar init called");
+
+		setOrientation(LinearLayout.VERTICAL);
+		setColumnCount(2);
+
+		lbl = new TextView(context);
+		lbl.setText("Roll Rate Kp:");
+		addView(lbl, new GridLayout.LayoutParams(spec(0), spec(0)));
+
+		edit = new EditText(context);
+		addView(edit, new GridLayout.LayoutParams(spec(0), spec(1)));
+
+		bar = new SeekBar(context);
+		addView(bar, new GridLayout.LayoutParams(spec(1), spec(0,2)));
+		bar.setMax((int) (SCALE * 0.01));
+
+		setPadding(5,5,5,5);
+
+		setValue(0.0035);
+	}
+
+	public void setValue(double val)
+	{
+		value = val;
+		edit.setText(Double.toString(val));
+		bar.setProgress((int) (SCALE * val));
+	}
+
+	@Override
+	protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
+		super.onMeasure(widthMeasureSpec, heightMeasureSpec);
+
+		// This shouldn't be needed if I could make this scroll bar
+		// automagically span both columns
+		android.view.ViewGroup.LayoutParams param = bar.getLayoutParams();
+		param.width = (int) (getMeasuredWidth() * 0.9);
+
+		// Force the label to half the page width
+		param = lbl.getLayoutParams();
+		param.width = getMeasuredWidth() / 2;
+	}
+}

From 2a4adbda38983690b62371d798a02270b423642f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 28 Aug 2012 16:06:52 -0500
Subject: [PATCH 428/543] AndroidGCS Tuning: Add custom attributes so we can
 specify the name of the tuning bars from the layout file.

Hopefully we can programmatically link them to the StabilizationSettings and create a smart Apply/Save button similarly to the GCS implementation.
---
 androidgcs/res/layout/tuning.xml              | 73 ++++++++++++++++++-
 androidgcs/res/values/attrs.xml               |  6 ++
 androidgcs/res/values/strings.xml             |  2 +
 .../androidgcs/views/ScrollBarView.java       | 17 ++++-
 4 files changed, 91 insertions(+), 7 deletions(-)
 create mode 100644 androidgcs/res/values/attrs.xml

diff --git a/androidgcs/res/layout/tuning.xml b/androidgcs/res/layout/tuning.xml
index 795571a83..b47b3d10f 100644
--- a/androidgcs/res/layout/tuning.xml
+++ b/androidgcs/res/layout/tuning.xml
@@ -1,12 +1,77 @@
 <?xml version="1.0" encoding="utf-8"?>
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:setting_attributes="http://schemas.android.com/apk/res/org.openpilot.androidgcs"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
     android:orientation="vertical" >
 
-    <org.openpilot.androidgcs.views.ScrollBarView
-        android:id="@+id/rollRateKp"
+    <ScrollView
         android:layout_width="match_parent"
-        android:layout_height="wrap_content" />
+        android:layout_height="0dp"
+        android:layout_weight="1"
+        android:orientation="vertical" >
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="vertical" >
+
+            <org.openpilot.androidgcs.views.ScrollBarView
+                android:id="@+id/rollRateKp"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                setting_attributes:setting_name="Roll Rate Kp" />
+
+            <org.openpilot.androidgcs.views.ScrollBarView
+                android:id="@+id/pitchRateKp"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                setting_attributes:setting_name="Pitch Rate Kp" />
+
+            <org.openpilot.androidgcs.views.ScrollBarView
+                android:id="@+id/rollRateKi"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                setting_attributes:setting_name="Roll Rate Ki" />
+
+            <org.openpilot.androidgcs.views.ScrollBarView
+                android:id="@+id/pitchRateKi"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                setting_attributes:setting_name="Pitch Rate Ki" />
+
+            <org.openpilot.androidgcs.views.ScrollBarView
+                android:id="@+id/rollKp"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                setting_attributes:setting_name="Roll Kp" />
+
+            <org.openpilot.androidgcs.views.ScrollBarView
+                android:id="@+id/pitchKp"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                setting_attributes:setting_name="Pitch Kp" />
+        </LinearLayout>
+    </ScrollView>
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:gravity="right" >
+
+        <Button
+            android:id="@+id/applyBtn"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="@string/apply" />
+
+        <Button
+            android:id="@+id/saveBtn"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="@string/save" />
+
+    </LinearLayout>
+
+</LinearLayout>
 
-</LinearLayout>
\ No newline at end of file
diff --git a/androidgcs/res/values/attrs.xml b/androidgcs/res/values/attrs.xml
new file mode 100644
index 000000000..61b213029
--- /dev/null
+++ b/androidgcs/res/values/attrs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <declare-styleable name="setting_attributes">
+        <attr name="setting_name" format="string"/>
+    </declare-styleable>
+</resources>
\ No newline at end of file
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index ba876b261..93f404aed 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -33,4 +33,6 @@
 	<string name="txrate">TxRate: </string>
 	<string name="rxrate">RxRate: </string>
 	<string name="tuning">Tuning</string>
+	<string name="apply">Apply</string>
+	<string name="save">Save</string>
 </resources>
diff --git a/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java b/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java
index d06732235..e0a4fdcf8 100644
--- a/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java
@@ -1,6 +1,9 @@
 package org.openpilot.androidgcs.views;
 
+import org.openpilot.androidgcs.R;
+
 import android.content.Context;
+import android.content.res.TypedArray;
 import android.util.AttributeSet;
 import android.util.Log;
 import android.widget.EditText;
@@ -17,6 +20,7 @@ public class ScrollBarView extends GridLayout {
 	private final EditText edit;
 	private final SeekBar bar;
 	private double value;
+	private String name;
 
 	private final double SCALE = 1000000;
 
@@ -29,7 +33,8 @@ public class ScrollBarView extends GridLayout {
 		setColumnCount(2);
 
 		lbl = new TextView(context);
-		lbl.setText("Roll Rate Kp:");
+		TypedArray ta = context.obtainStyledAttributes(attrs, R.styleable.setting_attributes, 0, 0);
+		lbl.setText(ta.getString(R.styleable.setting_attributes_setting_name));
 		addView(lbl, new GridLayout.LayoutParams(spec(0), spec(0)));
 
 		edit = new EditText(context);
@@ -47,8 +52,14 @@ public class ScrollBarView extends GridLayout {
 	public void setValue(double val)
 	{
 		value = val;
-		edit.setText(Double.toString(val));
-		bar.setProgress((int) (SCALE * val));
+		edit.setText(Double.toString(value));
+		bar.setProgress((int) (SCALE * value));
+	}
+
+	public void setName(String n)
+	{
+		name = n;
+		lbl.setText(name);
 	}
 
 	@Override

From 3e6f98b2e89a60f7ca9c0c423f3f56e1413bbc27 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 28 Aug 2012 18:32:49 -0500
Subject: [PATCH 429/543] Update the OSX packaged icons to those from 3rdeyepro
 / dacat.

---
 ground/openpilotgcs/src/app/openpilotgcs.icns | Bin 36754 -> 128653 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/ground/openpilotgcs/src/app/openpilotgcs.icns b/ground/openpilotgcs/src/app/openpilotgcs.icns
index 8785d587fcc6e821856076d05af0e2609c4ef48a..a7966a9609d1100202e64e5f7cdd70d2f4ffee2c 100644
GIT binary patch
literal 128653
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From 528cea9418a1908106fd194e7338e602a523f1fc Mon Sep 17 00:00:00 2001
From: chris pember <chris.pember@gmail.com>
Date: Tue, 28 Aug 2012 23:27:36 -0700
Subject: [PATCH 430/543] almost done fixing any spacing isues, changed the
 font so its bigger, added some new stylesheet properties to linux and osx

---
 .../stylesheets/default_linux.qss             |   30 +
 .../stylesheets/default_macos.qss             |   91 +
 .../openpilotgcs/stylesheets/wide_linux.qss   |   30 +
 .../openpilotgcs/stylesheets/wide_macos.qss   |   91 +
 .../src/plugins/config/airframe.ui            |  771 ++---
 .../src/plugins/config/camerastabilization.ui | 2009 ++++++------
 .../src/plugins/config/cc_hw_settings.ui      |  775 ++---
 .../src/plugins/config/ccattitude.ui          |  313 +-
 .../configcamerastabilizationwidget.cpp       |   12 +
 .../openpilotgcs/src/plugins/config/input.ui  |  281 +-
 .../src/plugins/config/mixercurve.ui          |   17 +-
 .../openpilotgcs/src/plugins/config/output.ui |  252 +-
 .../src/plugins/config/stabilization.ui       | 2832 ++++++-----------
 .../openpilotgcs/src/plugins/config/txpid.ui  |  334 +-
 14 files changed, 3824 insertions(+), 4014 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
index 3d57edaeb..1c27c3d69 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
@@ -1,2 +1,32 @@
 MyListWidget {font-size: 11px;}
 Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
+
+ 
+
+
+
+
+
+	QGroupBox 	{
+		border: 1px solid gray;
+		border-radius: 5px;
+		margin-top: 1ex; /* leave space at the top for the title */
+		font-size: 11px;
+		font-weight: bold;
+		}
+
+	QGroupBox::title {
+		subcontrol-origin: margin;
+		subcontrol-position: top left; /* position at the top center */
+		padding: 0 3px;
+		
+		}
+
+	QTabWidget::pane { /* The tab widget frame */	
+		margin: 1px,1px,1px,1px;
+		border: 2px solid rgb(196,196,196);
+		border-radius: 5px;
+		padding: 0px;
+		} 
+
+
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
index 3d57edaeb..22958dbdd 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
@@ -1,2 +1,93 @@
 MyListWidget {font-size: 11px;}
 Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
+ 
+
+
+
+
+
+	QGroupBox 	{
+		border: 1px solid gray;
+		border-radius: 5px;
+		margin-top: 1ex; /* leave space at the top for the title */
+		font-size: 11px;
+		font-weight: bold;
+		}
+
+	QGroupBox::title {
+		subcontrol-origin: margin;
+		subcontrol-position: top left; /* position at the top center */
+		padding: 0 3px;
+		
+		}
+
+	QTabWidget::pane { /* The tab widget frame */	
+		margin: 1px,1px,1px,1px;
+		border: 2px solid rgb(196,196,196);
+		border-radius: 5px;
+		padding: 0px;
+		} 
+
+	QSlider::groove:horizontal {
+		border: 1px solid rgb(196,196,196);
+		background: white;
+		height: 6px;
+		border-radius: 2px;
+		margin 2px 2px;
+		}
+	QSlider::add-page:horizontal {
+		background: #fff;
+		border: 1px solid #777;
+		height: 1px;
+		border-radius: 4px;
+		}
+
+ 	QSlider::sub-page:horizontal {
+ 		background: rgb(249,117,76);
+ 		border: 1px solid #777;
+		height: 1px;
+		border-radius: 4px;
+		}
+
+
+ 	QSlider::handle:horizontal {
+     		background: rgb(196,196,196);
+     		width: 18px;
+		height: 28px;
+     		margin: -2px 0;
+     		border-radius: 3px;
+		border: 1px solid #777;
+ 		}
+
+
+
+
+	QSlider::groove:vertical {
+		border: 1px solid rgb(196,196,196);
+		background: white;
+		width: 6px;
+		border-radius: 2px;
+		margin 0px 2px;
+		}
+	QSlider::add-page:vertical {
+		background: #fff;
+		border: 1px solid #777;
+		width: 1px;
+		border-radius: 4px;
+		}
+
+ 	QSlider::sub-page:vertical {
+ 		background: rgb(249,117,76);
+ 		border: 1px solid #777;
+		width: 1px;
+		border-radius: 4px;
+		}
+
+
+ 	QSlider::handle:vertical {
+     		background: rgb(196,196,196);
+     		width: 18px;
+     		margin: -6 0;
+     		border-radius: 3px;
+		border: 1px solid #777;
+ 		}
\ No newline at end of file
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
index 3d57edaeb..1c27c3d69 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
@@ -1,2 +1,32 @@
 MyListWidget {font-size: 11px;}
 Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
+
+ 
+
+
+
+
+
+	QGroupBox 	{
+		border: 1px solid gray;
+		border-radius: 5px;
+		margin-top: 1ex; /* leave space at the top for the title */
+		font-size: 11px;
+		font-weight: bold;
+		}
+
+	QGroupBox::title {
+		subcontrol-origin: margin;
+		subcontrol-position: top left; /* position at the top center */
+		padding: 0 3px;
+		
+		}
+
+	QTabWidget::pane { /* The tab widget frame */	
+		margin: 1px,1px,1px,1px;
+		border: 2px solid rgb(196,196,196);
+		border-radius: 5px;
+		padding: 0px;
+		} 
+
+
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss
index 3d57edaeb..22958dbdd 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss
@@ -1,2 +1,93 @@
 MyListWidget {font-size: 11px;}
 Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
+ 
+
+
+
+
+
+	QGroupBox 	{
+		border: 1px solid gray;
+		border-radius: 5px;
+		margin-top: 1ex; /* leave space at the top for the title */
+		font-size: 11px;
+		font-weight: bold;
+		}
+
+	QGroupBox::title {
+		subcontrol-origin: margin;
+		subcontrol-position: top left; /* position at the top center */
+		padding: 0 3px;
+		
+		}
+
+	QTabWidget::pane { /* The tab widget frame */	
+		margin: 1px,1px,1px,1px;
+		border: 2px solid rgb(196,196,196);
+		border-radius: 5px;
+		padding: 0px;
+		} 
+
+	QSlider::groove:horizontal {
+		border: 1px solid rgb(196,196,196);
+		background: white;
+		height: 6px;
+		border-radius: 2px;
+		margin 2px 2px;
+		}
+	QSlider::add-page:horizontal {
+		background: #fff;
+		border: 1px solid #777;
+		height: 1px;
+		border-radius: 4px;
+		}
+
+ 	QSlider::sub-page:horizontal {
+ 		background: rgb(249,117,76);
+ 		border: 1px solid #777;
+		height: 1px;
+		border-radius: 4px;
+		}
+
+
+ 	QSlider::handle:horizontal {
+     		background: rgb(196,196,196);
+     		width: 18px;
+		height: 28px;
+     		margin: -2px 0;
+     		border-radius: 3px;
+		border: 1px solid #777;
+ 		}
+
+
+
+
+	QSlider::groove:vertical {
+		border: 1px solid rgb(196,196,196);
+		background: white;
+		width: 6px;
+		border-radius: 2px;
+		margin 0px 2px;
+		}
+	QSlider::add-page:vertical {
+		background: #fff;
+		border: 1px solid #777;
+		width: 1px;
+		border-radius: 4px;
+		}
+
+ 	QSlider::sub-page:vertical {
+ 		background: rgb(249,117,76);
+ 		border: 1px solid #777;
+		width: 1px;
+		border-radius: 4px;
+		}
+
+
+ 	QSlider::handle:vertical {
+     		background: rgb(196,196,196);
+     		width: 18px;
+     		margin: -6 0;
+     		border-radius: 3px;
+		border: 1px solid #777;
+ 		}
\ No newline at end of file
diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 0f1018704..1f69a9e60 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,18 +6,15 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>920</width>
-    <height>626</height>
+    <width>800</width>
+    <height>519</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_10">
-   <property name="bottomMargin">
-    <number>12</number>
-   </property>
-   <item>
+  <layout class="QGridLayout" name="gridLayout_8">
+   <item row="0" column="0">
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
       <number>0</number>
@@ -29,20 +26,11 @@
       <attribute name="title">
        <string>Mixer Settings</string>
       </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_2" stretch="0">
-       <property name="leftMargin">
+      <layout class="QGridLayout" name="gridLayout_9">
+       <property name="margin">
         <number>12</number>
        </property>
-       <property name="topMargin">
-        <number>12</number>
-       </property>
-       <property name="rightMargin">
-        <number>12</number>
-       </property>
-       <property name="bottomMargin">
-        <number>0</number>
-       </property>
-       <item>
+       <item row="0" column="0">
         <widget class="QScrollArea" name="scrollArea">
          <property name="sizePolicy">
           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -134,15 +122,18 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>872</width>
-            <height>516</height>
+            <width>746</width>
+            <height>395</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
-           <property name="spacing">
-            <number>12</number>
+           <property name="leftMargin">
+            <number>0</number>
            </property>
-           <property name="margin">
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
             <number>0</number>
            </property>
            <item>
@@ -702,9 +693,27 @@ margin:1px;</string>
               </layout>
              </widget>
              <widget class="QWidget" name="multiRotor">
-              <layout class="QGridLayout" name="gridLayout_2">
+              <layout class="QGridLayout" name="gridLayout_7" columnstretch="1,0,1" columnminimumwidth="0,0,0">
+               <property name="verticalSpacing">
+                <number>24</number>
+               </property>
+               <property name="margin">
+                <number>0</number>
+               </property>
                <item row="0" column="0">
                 <widget class="QGroupBox" name="groupBox_10">
+                 <property name="minimumSize">
+                  <size>
+                   <width>10</width>
+                   <height>10</height>
+                  </size>
+                 </property>
+                 <property name="maximumSize">
+                  <size>
+                   <width>16777215</width>
+                   <height>16777215</height>
+                  </size>
+                 </property>
                  <property name="title">
                   <string>Frame Type</string>
                  </property>
@@ -721,7 +730,7 @@ margin:1px;</string>
                       </property>
                       <property name="sizeHint" stdset="0">
                        <size>
-                        <width>40</width>
+                        <width>10</width>
                         <height>13</height>
                        </size>
                       </property>
@@ -737,7 +746,7 @@ margin:1px;</string>
                       </property>
                       <property name="minimumSize">
                        <size>
-                        <width>45</width>
+                        <width>25</width>
                         <height>25</height>
                        </size>
                       </property>
@@ -759,7 +768,7 @@ margin:1px;</string>
                       </property>
                       <property name="sizeHint" stdset="0">
                        <size>
-                        <width>40</width>
+                        <width>10</width>
                         <height>13</height>
                        </size>
                       </property>
@@ -793,8 +802,8 @@ margin:1px;</string>
                     </property>
                     <property name="minimumSize">
                      <size>
-                      <width>120</width>
-                      <height>120</height>
+                      <width>10</width>
+                      <height>10</height>
                      </size>
                     </property>
                     <property name="styleSheet">
@@ -831,201 +840,267 @@ margin:1px;</string>
                 <widget class="QGroupBox" name="groupBox_9">
                  <property name="maximumSize">
                   <size>
-                   <width>250</width>
+                   <width>16777215</width>
                    <height>16777215</height>
                   </size>
                  </property>
                  <property name="title">
                   <string>Mix Level</string>
                  </property>
-                 <layout class="QHBoxLayout" name="horizontalLayout_5">
-                  <item>
-                   <layout class="QHBoxLayout" name="horizontalLayout_19">
-                    <item>
-                     <layout class="QVBoxLayout" name="verticalLayout_22">
-                      <item>
-                       <widget class="QLabel" name="mrRollMixValue">
-                        <property name="minimumSize">
-                         <size>
-                          <width>30</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="text">
-                         <string>100</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QSlider" name="mrRollMixLevel">
-                        <property name="minimumSize">
-                         <size>
-                          <width>35</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="toolTip">
-                         <string>Weight of Roll mixing in percent.
+                 <layout class="QGridLayout" name="gridLayout_2">
+                  <item row="0" column="0">
+                   <layout class="QGridLayout" name="gridLayout_3">
+                    <item row="0" column="0">
+                     <widget class="QLabel" name="mrRollMixValue">
+                      <property name="minimumSize">
+                       <size>
+                        <width>30</width>
+                        <height>0</height>
+                       </size>
+                      </property>
+                      <property name="text">
+                       <string>100</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="0">
+                     <widget class="QSlider" name="mrRollMixLevel">
+                      <property name="minimumSize">
+                       <size>
+                        <width>35</width>
+                        <height>0</height>
+                       </size>
+                      </property>
+                      <property name="toolTip">
+                       <string>Weight of Roll mixing in percent.
 Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
-                        </property>
-                        <property name="maximum">
-                         <number>100</number>
-                        </property>
-                        <property name="value">
-                         <number>100</number>
-                        </property>
-                        <property name="orientation">
-                         <enum>Qt::Vertical</enum>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QLabel" name="label_42">
-                        <property name="styleSheet">
-                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                      </property>
+                      <property name="maximum">
+                       <number>100</number>
+                      </property>
+                      <property name="value">
+                       <number>100</number>
+                      </property>
+                      <property name="orientation">
+                       <enum>Qt::Vertical</enum>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="0">
+                     <widget class="QLabel" name="label_42">
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>30</width>
+                        <height>0</height>
+                       </size>
+                      </property>
+                      <property name="maximumSize">
+                       <size>
+                        <width>30</width>
+                        <height>16777215</height>
+                       </size>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-                        </property>
-                        <property name="text">
-                         <string>Roll</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                     </layout>
+                      </property>
+                      <property name="text">
+                       <string>Roll</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
                     </item>
-                    <item>
-                     <layout class="QVBoxLayout" name="verticalLayout_23">
-                      <item>
-                       <widget class="QLabel" name="mrPitchMixValue">
-                        <property name="minimumSize">
-                         <size>
-                          <width>0</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="text">
-                         <string>100</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QSlider" name="mrPitchMixLevel">
-                        <property name="minimumSize">
-                         <size>
-                          <width>35</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="toolTip">
-                         <string>Weight of Pitch mixing in percent.
+                   </layout>
+                  </item>
+                  <item row="0" column="1">
+                   <layout class="QGridLayout" name="gridLayout_4">
+                    <item row="0" column="0">
+                     <widget class="QLabel" name="mrPitchMixValue">
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>0</height>
+                       </size>
+                      </property>
+                      <property name="text">
+                       <string>100</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="0">
+                     <widget class="QSlider" name="mrPitchMixLevel">
+                      <property name="minimumSize">
+                       <size>
+                        <width>35</width>
+                        <height>0</height>
+                       </size>
+                      </property>
+                      <property name="toolTip">
+                       <string>Weight of Pitch mixing in percent.
 Typical values are 100% for + configuration and 50% for X configuration on quads.</string>
-                        </property>
-                        <property name="maximum">
-                         <number>100</number>
-                        </property>
-                        <property name="value">
-                         <number>100</number>
-                        </property>
-                        <property name="orientation">
-                         <enum>Qt::Vertical</enum>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QLabel" name="label_40">
-                        <property name="styleSheet">
-                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                      </property>
+                      <property name="maximum">
+                       <number>100</number>
+                      </property>
+                      <property name="value">
+                       <number>100</number>
+                      </property>
+                      <property name="orientation">
+                       <enum>Qt::Vertical</enum>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="0">
+                     <widget class="QLabel" name="label_40">
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-                        </property>
-                        <property name="text">
-                         <string>Pitch</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                     </layout>
+                      </property>
+                      <property name="text">
+                       <string>Pitch</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
                     </item>
-                    <item>
-                     <layout class="QVBoxLayout" name="verticalLayout_21">
-                      <item>
-                       <widget class="QLabel" name="mrYawMixValue">
-                        <property name="minimumSize">
-                         <size>
-                          <width>0</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="text">
-                         <string>50</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QSlider" name="mrYawMixLevel">
-                        <property name="minimumSize">
-                         <size>
-                          <width>40</width>
-                          <height>0</height>
-                         </size>
-                        </property>
-                        <property name="toolTip">
-                         <string>Weight of Yaw mixing in percent.
+                   </layout>
+                  </item>
+                  <item row="0" column="2">
+                   <layout class="QGridLayout" name="gridLayout_5">
+                    <item row="0" column="0">
+                     <widget class="QLabel" name="mrYawMixValue">
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>0</height>
+                       </size>
+                      </property>
+                      <property name="text">
+                       <string>50</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="0">
+                     <widget class="QSlider" name="mrYawMixLevel">
+                      <property name="minimumSize">
+                       <size>
+                        <width>40</width>
+                        <height>0</height>
+                       </size>
+                      </property>
+                      <property name="toolTip">
+                       <string>Weight of Yaw mixing in percent.
 Typical value is 50% for + or X configuration on quads.</string>
-                        </property>
-                        <property name="minimum">
-                         <number>-100</number>
-                        </property>
-                        <property name="maximum">
-                         <number>100</number>
-                        </property>
-                        <property name="value">
-                         <number>50</number>
-                        </property>
-                        <property name="orientation">
-                         <enum>Qt::Vertical</enum>
-                        </property>
-                       </widget>
-                      </item>
-                      <item>
-                       <widget class="QLabel" name="label_6">
-                        <property name="autoFillBackground">
-                         <bool>false</bool>
-                        </property>
-                        <property name="styleSheet">
-                         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                      </property>
+                      <property name="minimum">
+                       <number>-100</number>
+                      </property>
+                      <property name="maximum">
+                       <number>100</number>
+                      </property>
+                      <property name="value">
+                       <number>50</number>
+                      </property>
+                      <property name="orientation">
+                       <enum>Qt::Vertical</enum>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="2" column="0">
+                     <widget class="QLabel" name="label_6">
+                      <property name="autoFillBackground">
+                       <bool>false</bool>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-                        </property>
-                        <property name="text">
-                         <string>Yaw</string>
-                        </property>
-                        <property name="alignment">
-                         <set>Qt::AlignCenter</set>
-                        </property>
-                       </widget>
-                      </item>
-                     </layout>
+                      </property>
+                      <property name="text">
+                       <string>Yaw</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                   </layout>
+                  </item>
+                  <item row="1" column="0" colspan="3">
+                   <layout class="QHBoxLayout" name="horizontalLayout_6">
+                    <item>
+                     <spacer name="horizontalSpacer_6">
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>10</width>
+                        <height>20</height>
+                       </size>
+                      </property>
+                     </spacer>
+                    </item>
+                    <item>
+                     <widget class="QLabel" name="mrStatusLabel">
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="text">
+                       <string>Mixer OK</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item>
+                     <spacer name="horizontalSpacer_9">
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>10</width>
+                        <height>20</height>
+                       </size>
+                      </property>
+                     </spacer>
                     </item>
                    </layout>
                   </item>
@@ -1042,8 +1117,14 @@ margin:1px;</string>
                  </property>
                  <property name="minimumSize">
                   <size>
-                   <width>300</width>
-                   <height>300</height>
+                   <width>10</width>
+                   <height>10</height>
+                  </size>
+                 </property>
+                 <property name="maximumSize">
+                  <size>
+                   <width>16777215</width>
+                   <height>16777215</height>
                   </size>
                  </property>
                  <property name="title">
@@ -1060,8 +1141,8 @@ margin:1px;</string>
                     </property>
                     <property name="minimumSize">
                      <size>
-                      <width>0</width>
-                      <height>0</height>
+                      <width>10</width>
+                      <height>10</height>
                      </size>
                     </property>
                     <property name="sizeIncrement">
@@ -1072,8 +1153,8 @@ margin:1px;</string>
                     </property>
                     <property name="baseSize">
                      <size>
-                      <width>300</width>
-                      <height>350</height>
+                      <width>250</width>
+                      <height>250</height>
                      </size>
                     </property>
                     <property name="styleSheet">
@@ -1084,7 +1165,7 @@ margin:1px;</string>
                  </layout>
                 </widget>
                </item>
-               <item row="1" column="0">
+               <item row="1" column="0" colspan="2">
                 <widget class="QGroupBox" name="groupBox">
                  <property name="sizePolicy">
                   <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
@@ -1095,29 +1176,14 @@ margin:1px;</string>
                  <property name="minimumSize">
                   <size>
                    <width>0</width>
-                   <height>124</height>
+                   <height>140</height>
                   </size>
                  </property>
                  <property name="title">
                   <string>Motor output channels</string>
                  </property>
-                 <layout class="QHBoxLayout" name="horizontalLayout_10">
-                  <property name="spacing">
-                   <number>4</number>
-                  </property>
-                  <property name="leftMargin">
-                   <number>1</number>
-                  </property>
-                  <property name="topMargin">
-                   <number>1</number>
-                  </property>
-                  <property name="rightMargin">
-                   <number>1</number>
-                  </property>
-                  <property name="bottomMargin">
-                   <number>6</number>
-                  </property>
-                  <item>
+                 <layout class="QGridLayout" name="gridLayout_6">
+                  <item row="1" column="0">
                    <layout class="QFormLayout" name="formLayout_2">
                     <property name="sizeConstraint">
                      <enum>QLayout::SetMaximumSize</enum>
@@ -1214,7 +1280,7 @@ margin:1px;</string>
                     </item>
                    </layout>
                   </item>
-                  <item>
+                  <item row="1" column="1">
                    <layout class="QFormLayout" name="formLayout_4">
                     <property name="sizeConstraint">
                      <enum>QLayout::SetMaximumSize</enum>
@@ -1329,10 +1395,26 @@ margin:1px;</string>
                     </item>
                    </layout>
                   </item>
+                  <item row="0" column="0">
+                   <spacer name="verticalSpacer_8">
+                    <property name="orientation">
+                     <enum>Qt::Vertical</enum>
+                    </property>
+                    <property name="sizeType">
+                     <enum>QSizePolicy::Fixed</enum>
+                    </property>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>20</width>
+                      <height>6</height>
+                     </size>
+                    </property>
+                   </spacer>
+                  </item>
                  </layout>
                 </widget>
                </item>
-               <item row="1" column="1">
+               <item row="1" column="2">
                 <widget class="QGroupBox" name="groupBox_11">
                  <property name="sizePolicy">
                   <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
@@ -1348,7 +1430,7 @@ margin:1px;</string>
                  </property>
                  <property name="maximumSize">
                   <size>
-                   <width>250</width>
+                   <width>16777215</width>
                    <height>16777215</height>
                   </size>
                  </property>
@@ -1420,45 +1502,6 @@ margin:1px;</string>
                  </layout>
                 </widget>
                </item>
-               <item row="1" column="2">
-                <layout class="QHBoxLayout" name="horizontalLayout_6">
-                 <item>
-                  <spacer name="horizontalSpacer_6">
-                   <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="QLabel" name="mrStatusLabel">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="font">
-                    <font>
-                     <weight>75</weight>
-                     <bold>true</bold>
-                    </font>
-                   </property>
-                   <property name="text">
-                    <string>Mixer OK</string>
-                   </property>
-                   <property name="alignment">
-                    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-                   </property>
-                  </widget>
-                 </item>
-                </layout>
-               </item>
               </layout>
              </widget>
              <widget class="QWidget" name="ccpmHeli">
@@ -2754,8 +2797,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>872</width>
-            <height>496</height>
+            <width>746</width>
+            <height>383</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
@@ -3066,16 +3109,16 @@ 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;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:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
+&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;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
 &lt;tr&gt;
 &lt;td style=&quot;border: none;&quot;&gt;
 &lt;p align=&quot;center&quot; 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:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&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:'Ubuntu'; font-size:11pt;&quot;&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:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&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:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&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:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&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;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
              </property>
             </widget>
            </item>
@@ -3090,112 +3133,80 @@ p, li { white-space: pre-wrap; }
      </widget>
     </widget>
    </item>
-   <item>
-    <widget class="QGroupBox" name="groupBox_8">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
+   <item row="1" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <property name="spacing">
+      <number>4</number>
      </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>45</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>16777215</width>
-       <height>45</height>
-      </size>
-     </property>
-     <property name="title">
-      <string/>
-     </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_2">
-      <property name="spacing">
-       <number>4</number>
-      </property>
-      <property name="leftMargin">
-       <number>12</number>
-      </property>
-      <property name="topMargin">
-       <number>0</number>
-      </property>
-      <property name="bottomMargin">
-       <number>0</number>
-      </property>
-      <item>
-       <spacer name="horizontalSpacer_10">
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>607</width>
-          <height>13</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
-      <item>
-       <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>25</width>
-          <height>26</height>
-         </size>
-        </property>
-        <property name="toolTip">
-         <string>Takes you to the wiki page</string>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-        <property name="icon">
-         <iconset resource="../coreplugin/core.qrc">
-          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-        </property>
-        <property name="iconSize">
-         <size>
-          <width>25</width>
-          <height>25</height>
-         </size>
-        </property>
-        <property name="flat">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="saveAircraftToRAM">
-        <property name="toolTip">
-         <string>Send to board, but don't save permanently (flash or SD).</string>
-        </property>
-        <property name="text">
-         <string>Apply</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="saveAircraftToSD">
-        <property name="toolTip">
-         <string>Applies and Saves all settings to flash or SD depending on board.</string>
-        </property>
-        <property name="text">
-         <string>Save</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
+     <item>
+      <spacer name="horizontalSpacer_10">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>5</width>
+         <height>25</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <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>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Takes you to the wiki page</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveAircraftToRAM">
+       <property name="toolTip">
+        <string>Send to board, but don't save permanently (flash or SD).</string>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveAircraftToSD">
+       <property name="toolTip">
+        <string>Applies and Saves all settings to flash or SD depending on board.</string>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
    </item>
   </layout>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
index a394820e7..7ff1e742b 100644
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -6,808 +6,894 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>720</width>
-    <height>739</height>
+    <width>983</width>
+    <height>738</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_3">
+  <layout class="QVBoxLayout" name="verticalLayout_5">
+   <property name="spacing">
+    <number>-1</number>
+   </property>
    <item>
-    <widget class="QScrollArea" name="scrollArea">
-     <property name="frameShape">
-      <enum>QFrame::NoFrame</enum>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
      </property>
-     <property name="widgetResizable">
-      <bool>true</bool>
-     </property>
-     <widget class="QWidget" name="scrollAreaWidgetContents_2">
-      <property name="geometry">
-       <rect>
-        <x>0</x>
-        <y>0</y>
-        <width>702</width>
-        <height>660</height>
-       </rect>
-      </property>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>Camera Stabilization</string>
+      </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_2">
+       <property name="leftMargin">
+        <number>0</number>
+       </property>
+       <property name="topMargin">
+        <number>12</number>
+       </property>
+       <property name="rightMargin">
+        <number>0</number>
+       </property>
+       <property name="bottomMargin">
+        <number>0</number>
+       </property>
        <item>
-        <widget class="QCheckBox" name="enableCameraStabilization">
-         <property name="focusPolicy">
-          <enum>Qt::StrongFocus</enum>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
          </property>
-         <property name="text">
-          <string>Enable CameraStabilization module</string>
+         <property name="widgetResizable">
+          <bool>true</bool>
          </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="label_7">
-         <property name="text">
-          <string>After enabling the module, you must power cycle before using and configuring.</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="Line" name="line">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="verticalSpacer_3">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeType">
-          <enum>QSizePolicy::Preferred</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>10</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QGroupBox" name="groupBox_5">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="minimumSize">
-          <size>
-           <width>0</width>
-           <height>100</height>
-          </size>
-         </property>
-         <property name="title">
-          <string>Basic Settings (Stabilization)</string>
-         </property>
-         <layout class="QGridLayout" name="gridLayout_9">
-          <item row="2" column="3">
-           <widget class="QSpinBox" name="yawOutputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Camera yaw angle for 100% output value, deg.
+         <widget class="QWidget" name="scrollAreaWidgetContents_2">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>953</width>
+            <height>626</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout">
+           <property name="spacing">
+            <number>24</number>
+           </property>
+           <item>
+            <widget class="QGroupBox" name="groupBox_2">
+             <property name="title">
+              <string>Module Control</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_4">
+              <item>
+               <widget class="QCheckBox" name="enableCameraStabilization">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="text">
+                 <string>Enable CameraStabilization module</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="label_7">
+                <property name="text">
+                 <string>After enabling the module, you must power cycle before using and configuring.</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_5">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>131</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Basic Settings (Stabilization)</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_9">
+              <item row="2" column="3">
+               <widget class="QSpinBox" name="yawOutputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Camera yaw angle for 100% output value, deg.
 
 This value should be tuned for particular gimbal and servo. You also
 have to define channel output range using Output configuration tab.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:OutputRange</string>
-              <string>element:Yaw</string>
-              <string>haslimits:no</string>
-              <string>scale:1</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="2">
-           <widget class="QSpinBox" name="pitchOutputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Camera pitch angle for 100% output value, deg.
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:OutputRange</string>
+                  <string>element:Yaw</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="2">
+               <widget class="QSpinBox" name="pitchOutputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Camera pitch angle for 100% output value, deg.
 
 This value should be tuned for particular gimbal and servo. You also
 have to define channel output range using Output configuration tab.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:OutputRange</string>
-              <string>element:Pitch</string>
-              <string>haslimits:no</string>
-              <string>scale:1</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QSpinBox" name="rollOutputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Camera roll angle for 100% output value, deg.
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:OutputRange</string>
+                  <string>element:Pitch</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QSpinBox" name="rollOutputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Camera roll angle for 100% output value, deg.
 
 This value should be tuned for particular gimbal and servo. You also
 have to define channel output range using Output configuration tab.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:OutputRange</string>
-              <string>element:Roll</string>
-              <string>haslimits:no</string>
-              <string>scale:1</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="3">
-           <widget class="QComboBox" name="yawChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Yaw output channel for camera gimbal</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:OutputRange</string>
+                  <string>element:Roll</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="3">
+               <widget class="QComboBox" name="yawChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Yaw output channel for camera gimbal</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QComboBox" name="pitchChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Pitch output channel for camera gimbal</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QComboBox" name="rollChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Roll output channel for camera gimbal</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="label_42">
+                <property name="text">
+                 <string>Output Channel</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label_43">
+                <property name="text">
+                 <string>Output Range</string>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="3">
+               <widget class="QLabel" name="label_44">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Yaw</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="2">
+               <widget class="QLabel" name="label_45">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Pitch</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_46">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Roll</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
              </property>
-            </item>
-           </widget>
-          </item>
-          <item row="1" column="2">
-           <widget class="QComboBox" name="pitchChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Pitch output channel for camera gimbal</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>266</height>
+              </size>
              </property>
-            </item>
-           </widget>
-          </item>
-          <item row="1" column="1">
-           <widget class="QComboBox" name="rollChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Roll output channel for camera gimbal</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
+             <property name="title">
+              <string>Advanced Settings (Control)</string>
              </property>
-            </item>
-           </widget>
-          </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="label_42">
-            <property name="text">
-             <string>Output Channel</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="label_43">
-            <property name="text">
-             <string>Output Range</string>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="3">
-           <widget class="QLabel" name="label_44">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+             <layout class="QGridLayout" name="gridLayout_8">
+              <item row="0" column="3">
+               <widget class="QLabel" name="label_32">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Yaw</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="2">
-           <widget class="QLabel" name="label_45">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                </property>
+                <property name="text">
+                 <string>Yaw</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="2">
+               <widget class="QLabel" name="label_33">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Pitch</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="1">
-           <widget class="QLabel" name="label_46">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+                </property>
+                <property name="text">
+                 <string>Pitch</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_34">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
 border-radius: 5;
 font: bold 12px;
 margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Roll</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item>
-        <widget class="QGroupBox" name="groupBox">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="minimumSize">
-          <size>
-           <width>0</width>
-           <height>204</height>
-          </size>
-         </property>
-         <property name="title">
-          <string>Advanced Settings (Control)</string>
-         </property>
-         <layout class="QGridLayout" name="gridLayout_8">
-          <item row="0" column="3">
-           <widget class="QLabel" name="label_32">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Yaw</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="2">
-           <widget class="QLabel" name="label_33">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Pitch</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="1">
-           <widget class="QLabel" name="label_34">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Roll</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="3">
-           <widget class="QComboBox" name="yawInputChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input channel to control camera yaw
+                </property>
+                <property name="text">
+                 <string>Roll</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="3">
+               <widget class="QComboBox" name="yawInputChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input channel to control camera yaw
 
 Don't forget to map this channel using Input configuration tab.</string>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:Input</string>
-              <string>element:Yaw</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="1" column="2">
-           <widget class="QComboBox" name="pitchInputChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input channel to control camera pitch
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:Input</string>
+                  <string>element:Yaw</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QComboBox" name="pitchInputChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input channel to control camera pitch
 
 Don't forget to map this channel using Input configuration tab.</string>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:Input</string>
-              <string>element:Pitch</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="1" column="1">
-           <widget class="QComboBox" name="rollInputChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input channel to control camera roll
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:Input</string>
+                  <string>element:Pitch</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QComboBox" name="rollInputChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input channel to control camera roll
 
 Don't forget to map this channel using Input configuration tab.</string>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:Input</string>
-              <string>element:Roll</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="label_35">
-            <property name="text">
-             <string>Input Channel</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="3">
-           <widget class="QComboBox" name="yawStabilizationMode">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Axis stabilization mode
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:Input</string>
+                  <string>element:Roll</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="label_35">
+                <property name="text">
+                 <string>Input Channel</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="3">
+               <widget class="QComboBox" name="yawStabilizationMode">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Axis stabilization mode
 
 Attitude: camera tracks level for the axis. Input controls the deflection.
 AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:StabilizationMode</string>
-              <string>element:Yaw</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-            <item>
-             <property name="text">
-              <string>Attitude</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="3" column="3">
-           <widget class="QSpinBox" name="yawInputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera yaw deflection for 100% input in Attitude mode, deg.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:InputRange</string>
-              <string>element:Yaw</string>
-              <string>haslimits:no</string>
-              <string>scale:1</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="3">
-           <widget class="QSpinBox" name="yawInputRate">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>50</number>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:InputRate</string>
-              <string>element:Yaw</string>
-              <string>haslimits:no</string>
-              <string>scale:1</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="3">
-           <widget class="QSpinBox" name="yawResponseTime">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input low-pass filter response time for yaw axis, ms.
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:StabilizationMode</string>
+                  <string>element:Yaw</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>Attitude</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="3" column="3">
+               <widget class="QSpinBox" name="yawInputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera yaw deflection for 100% input in Attitude mode, deg.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:InputRange</string>
+                  <string>element:Yaw</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="3">
+               <widget class="QSpinBox" name="yawInputRate">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:InputRate</string>
+                  <string>element:Yaw</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="3">
+               <widget class="QSpinBox" name="yawResponseTime">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input low-pass filter response time for yaw axis, ms.
 
 This option smoothes the stick input. Zero value disables LPF.</string>
-            </property>
-            <property name="maximum">
-             <number>1000</number>
-            </property>
-            <property name="value">
-             <number>150</number>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:ResponseTime</string>
-              <string>element:Yaw</string>
-              <string>haslimits:no</string>
-              <string>scale:1</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="2">
-           <widget class="QComboBox" name="pitchStabilizationMode">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Axis stabilization mode
+                </property>
+                <property name="maximum">
+                 <number>1000</number>
+                </property>
+                <property name="value">
+                 <number>150</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:ResponseTime</string>
+                  <string>element:Yaw</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="2">
+               <widget class="QComboBox" name="pitchStabilizationMode">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Axis stabilization mode
 
 Attitude: camera tracks level for the axis. Input controls the deflection.
 AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:StabilizationMode</string>
-              <string>element:Pitch</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-            <item>
-             <property name="text">
-              <string>Attitude</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="3" column="2">
-           <widget class="QSpinBox" name="pitchInputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera pitch deflection for 100% input in Attitude mode, deg.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:InputRange</string>
-              <string>element:Pitch</string>
-              <string>haslimits:no</string>
-              <string>scale:1</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="2">
-           <widget class="QSpinBox" name="pitchInputRate">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>50</number>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:InputRate</string>
-              <string>element:Pitch</string>
-              <string>haslimits:no</string>
-              <string>scale:1</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="2">
-           <widget class="QSpinBox" name="pitchResponseTime">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input low-pass filter response time for pitch axis, ms.
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:StabilizationMode</string>
+                  <string>element:Pitch</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>Attitude</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="3" column="2">
+               <widget class="QSpinBox" name="pitchInputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera pitch deflection for 100% input in Attitude mode, deg.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:InputRange</string>
+                  <string>element:Pitch</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="2">
+               <widget class="QSpinBox" name="pitchInputRate">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:InputRate</string>
+                  <string>element:Pitch</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="2">
+               <widget class="QSpinBox" name="pitchResponseTime">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input low-pass filter response time for pitch axis, ms.
 
 This option smoothes the stick input. Zero value disables LPF.</string>
-            </property>
-            <property name="maximum">
-             <number>1000</number>
-            </property>
-            <property name="value">
-             <number>150</number>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:ResponseTime</string>
-              <string>element:Pitch</string>
-              <string>haslimits:no</string>
-              <string>scale:1</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QComboBox" name="rollStabilizationMode">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Axis stabilization mode
+                </property>
+                <property name="maximum">
+                 <number>1000</number>
+                </property>
+                <property name="value">
+                 <number>150</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:ResponseTime</string>
+                  <string>element:Pitch</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QComboBox" name="rollStabilizationMode">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Axis stabilization mode
 
 Attitude: camera tracks level for the axis. Input controls the deflection.
 AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:StabilizationMode</string>
-              <string>element:Roll</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-            <item>
-             <property name="text">
-              <string>Attitude</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="3" column="1">
-           <widget class="QSpinBox" name="rollInputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera roll deflection for 100% input in Attitude mode, deg.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:InputRange</string>
-              <string>element:Roll</string>
-              <string>haslimits:no</string>
-              <string>scale:1</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="1">
-           <widget class="QSpinBox" name="rollInputRate">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera roll rate for 100% input in AxisLock mode, deg/s.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>50</number>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:InputRate</string>
-              <string>element:Roll</string>
-              <string>haslimits:no</string>
-              <string>scale:1</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="1">
-           <widget class="QSpinBox" name="rollResponseTime">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input low-pass filter response time for roll axis, ms.
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:StabilizationMode</string>
+                  <string>element:Roll</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>Attitude</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="3" column="1">
+               <widget class="QSpinBox" name="rollInputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera roll deflection for 100% input in Attitude mode, deg.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:InputRange</string>
+                  <string>element:Roll</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="1">
+               <widget class="QSpinBox" name="rollInputRate">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera roll rate for 100% input in AxisLock mode, deg/s.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:InputRate</string>
+                  <string>element:Roll</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="1">
+               <widget class="QSpinBox" name="rollResponseTime">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input low-pass filter response time for roll axis, ms.
 
 This option smoothes the stick input. Zero value disables LPF.</string>
-            </property>
-            <property name="maximum">
-             <number>1000</number>
-            </property>
-            <property name="value">
-             <number>150</number>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:ResponseTime</string>
-              <string>element:Roll</string>
-              <string>haslimits:no</string>
-              <string>scale:1</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-           </widget>
-          </item>
-          <item row="6" column="0">
-           <widget class="QLabel" name="label_36">
-            <property name="text">
-             <string>MaxAxisLockRate</string>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="0">
-           <widget class="QLabel" name="label_37">
-            <property name="text">
-             <string>Response Time</string>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="0">
-           <widget class="QLabel" name="label_38">
-            <property name="text">
-             <string>Input Rate</string>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="0">
-           <widget class="QLabel" name="label_39">
-            <property name="text">
-             <string>Input Range</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="label_40">
-            <property name="text">
-             <string>Stabilization Mode</string>
-            </property>
-           </widget>
-          </item>
-          <item row="6" column="2" colspan="2">
-           <widget class="QLabel" name="label_41">
-            <property name="text">
-             <string>(the same value for Roll, Pitch, Yaw)</string>
-            </property>
-           </widget>
-          </item>
-          <item row="6" column="1">
-           <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Stick input deadband for all axes in AxisLock mode, deg/s.
+                </property>
+                <property name="maximum">
+                 <number>1000</number>
+                </property>
+                <property name="value">
+                 <number>150</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:ResponseTime</string>
+                  <string>element:Roll</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="0">
+               <widget class="QLabel" name="label_36">
+                <property name="text">
+                 <string>MaxAxisLockRate</string>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="0">
+               <widget class="QLabel" name="label_37">
+                <property name="text">
+                 <string>Response Time</string>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="0">
+               <widget class="QLabel" name="label_38">
+                <property name="text">
+                 <string>Input Rate</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="0">
+               <widget class="QLabel" name="label_39">
+                <property name="text">
+                 <string>Input Range</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label_40">
+                <property name="text">
+                 <string>Stabilization Mode</string>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="2" colspan="2">
+               <widget class="QLabel" name="label_41">
+                <property name="text">
+                 <string>(the same value for Roll, Pitch, Yaw)</string>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="1">
+               <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Stick input deadband for all axes in AxisLock mode, deg/s.
 
 When stick input is within the MaxAxisLockRate range, camera tracks
 current attitude. Otherwise it starts moving according to input with
@@ -815,236 +901,263 @@ rate depending on input value.
 
 If you have drift in your Tx controls, you may want to increase this
 value.</string>
-            </property>
-            <property name="decimals">
-             <number>1</number>
-            </property>
-            <property name="singleStep">
-             <double>0.100000000000000</double>
-            </property>
-            <property name="value">
-             <double>1.000000000000000</double>
-            </property>
-            <property name="objrelation" stdset="0">
-             <stringlist>
-              <string>objname:CameraStabSettings</string>
-              <string>fieldname:MaxAxisLockRate</string>
-              <string>haslimits:no</string>
-              <string>scale:1</string>
-              <string>buttongroup:1</string>
-             </stringlist>
-            </property>
-           </widget>
-          </item>
-         </layout>
+                </property>
+                <property name="decimals">
+                 <number>1</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.100000000000000</double>
+                </property>
+                <property name="value">
+                 <double>1.000000000000000</double>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:MaxAxisLockRate</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_4">
+             <property name="title">
+              <string>Messages</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_3">
+              <item>
+               <widget class="QLabel" name="message">
+                <property name="autoFillBackground">
+                 <bool>false</bool>
+                </property>
+                <property name="text">
+                 <string/>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
         </widget>
        </item>
-       <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>
     </widget>
    </item>
    <item>
-    <layout class="QVBoxLayout" name="verticalLayout">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="spacing">
+      <number>4</number>
+     </property>
      <item>
-      <widget class="QLabel" name="message">
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>321</width>
+         <height>16</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="camerastabilizationHelp">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <kerning>true</kerning>
+        </font>
+       </property>
        <property name="text">
         <string/>
        </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="shortcut">
+        <string>Ctrl+S</string>
+       </property>
+       <property name="default">
+        <bool>false</bool>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:help</string>
+         <string>url:http://wiki.openpilot.org/display/Doc/Camera+Stabilization+Configuration</string>
+        </stringlist>
+       </property>
       </widget>
      </item>
      <item>
-      <layout class="QHBoxLayout" name="submitButtons">
-       <item>
-        <widget class="QFrame" name="frame">
-         <property name="frameShape">
-          <enum>QFrame::StyledPanel</enum>
-         </property>
-         <property name="frameShadow">
-          <enum>QFrame::Raised</enum>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="horizontalSpacer">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>40</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QPushButton" name="camerastabilizationHelp">
-         <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="font">
-          <font>
-           <kerning>true</kerning>
-          </font>
-         </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="shortcut">
-          <string>Ctrl+S</string>
-         </property>
-         <property name="default">
-          <bool>false</bool>
-         </property>
-         <property name="flat">
-          <bool>true</bool>
-         </property>
-         <property name="objrelation" stdset="0">
-          <stringlist>
-           <string>button:help</string>
-           <string>url:http://wiki.openpilot.org/display/Doc/Camera+Stabilization+Configuration</string>
-          </stringlist>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="camerastabilizationResetToDefaults">
-         <property name="toolTip">
-          <string>Load default CameraStabilization settings except output channels into GCS.
+      <widget class="QPushButton" name="camerastabilizationResetToDefaults">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Load default CameraStabilization settings except output channels into GCS.
 
 Loaded settings are not applied automatically. You have to click the
 Apply or Save button afterwards.</string>
-         </property>
-         <property name="text">
-          <string>Reset To Defaults</string>
-         </property>
-         <property name="objrelation" stdset="0">
-          <stringlist>
-           <string>button:default</string>
-           <string>buttongroup:1</string>
-          </stringlist>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="pushButton">
-         <property name="toolTip">
-          <string>Reloads saved CameraStabilization settings  except output channels
+       </property>
+       <property name="text">
+        <string>Reset To Defaults</string>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:default</string>
+         <string>buttongroup:1</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="pushButton">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Reloads saved CameraStabilization settings  except output channels
 from board into GCS. Useful if you have accidentally changed some
 settings.
 
 Loaded settings are not applied automatically. You have to click the
 Apply or Save button afterwards.</string>
-         </property>
-         <property name="text">
-          <string>Reload Board Data</string>
-         </property>
-         <property name="objrelation" stdset="0">
-          <stringlist>
-           <string>button:reload</string>
-           <string>buttongroup:1</string>
-          </stringlist>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="camerastabilizationSaveRAM">
-         <property name="toolTip">
-          <string>Send settings to the board but do not save to the non-volatile memory</string>
-         </property>
-         <property name="text">
-          <string>Apply</string>
-         </property>
-         <property name="objrelation" stdset="0">
-          <stringlist>
-           <string>button:apply</string>
-          </stringlist>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="camerastabilizationSaveSD">
-         <property name="toolTip">
-          <string>Send settings to the board and save to the non-volatile memory</string>
-         </property>
-         <property name="text">
-          <string>Save</string>
-         </property>
-         <property name="checked">
-          <bool>false</bool>
-         </property>
-         <property name="objrelation" stdset="0">
-          <stringlist>
-           <string>button:save</string>
-          </stringlist>
-         </property>
-        </widget>
-       </item>
-      </layout>
+       </property>
+       <property name="text">
+        <string>Reload Board Data</string>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:reload</string>
+         <string>buttongroup:1</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="camerastabilizationSaveRAM">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Send settings to the board but do not save to the non-volatile memory</string>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:apply</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="camerastabilizationSaveSD">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Send settings to the board and save to the non-volatile memory</string>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+       <property name="checked">
+        <bool>false</bool>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:save</string>
+        </stringlist>
+       </property>
+      </widget>
      </item>
     </layout>
    </item>
   </layout>
  </widget>
  <tabstops>
-  <tabstop>enableCameraStabilization</tabstop>
-  <tabstop>rollChannel</tabstop>
-  <tabstop>pitchChannel</tabstop>
-  <tabstop>yawChannel</tabstop>
-  <tabstop>rollOutputRange</tabstop>
-  <tabstop>pitchOutputRange</tabstop>
-  <tabstop>yawOutputRange</tabstop>
-  <tabstop>rollInputChannel</tabstop>
-  <tabstop>pitchInputChannel</tabstop>
-  <tabstop>yawInputChannel</tabstop>
-  <tabstop>rollStabilizationMode</tabstop>
-  <tabstop>pitchStabilizationMode</tabstop>
-  <tabstop>yawStabilizationMode</tabstop>
-  <tabstop>rollInputRange</tabstop>
-  <tabstop>pitchInputRange</tabstop>
-  <tabstop>yawInputRange</tabstop>
-  <tabstop>rollInputRate</tabstop>
-  <tabstop>pitchInputRate</tabstop>
-  <tabstop>yawInputRate</tabstop>
-  <tabstop>rollResponseTime</tabstop>
-  <tabstop>pitchResponseTime</tabstop>
-  <tabstop>yawResponseTime</tabstop>
-  <tabstop>MaxAxisLockRate</tabstop>
-  <tabstop>camerastabilizationHelp</tabstop>
-  <tabstop>camerastabilizationSaveRAM</tabstop>
-  <tabstop>camerastabilizationSaveSD</tabstop>
   <tabstop>scrollArea</tabstop>
  </tabstops>
  <resources>
diff --git a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
index eb1ce75ad..383da5b42 100644
--- a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
+++ b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>588</width>
-    <height>746</height>
+    <width>646</width>
+    <height>596</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_2">
+  <layout class="QVBoxLayout" name="verticalLayout">
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -107,111 +107,102 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>558</width>
-            <height>580</height>
+            <width>616</width>
+            <height>495</height>
            </rect>
           </property>
-          <layout class="QVBoxLayout" name="verticalLayout">
-           <item>
-            <layout class="QGridLayout" name="gridLayout">
-             <item row="1" column="1" rowspan="5" colspan="3">
-              <widget class="QLabel" name="label_2">
-               <property name="text">
-                <string/>
-               </property>
-               <property name="scaledContents">
-                <bool>true</bool>
-               </property>
-              </widget>
-             </item>
-             <item row="2" column="0">
-              <widget class="QComboBox" name="cbFlexi"/>
-             </item>
-             <item row="4" column="0">
-              <widget class="QComboBox" name="cbTele"/>
-             </item>
-             <item row="3" column="0">
-              <widget class="QLabel" name="label_3">
-               <property name="text">
-                <string>MainPort</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
-               </property>
-              </widget>
-             </item>
-             <item row="5" column="0">
-              <widget class="QLabel" name="label_4">
-               <property name="text">
-                <string/>
-               </property>
-              </widget>
-             </item>
-             <item row="1" column="0">
-              <widget class="QLabel" name="label_5">
-               <property name="text">
-                <string>FlexiPort</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
-               </property>
-              </widget>
-             </item>
-             <item row="1" column="5">
-              <spacer name="horizontalSpacer_2">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>40</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="1" column="4">
-              <widget class="QLabel" name="label_8">
-               <property name="text">
-                <string>USB HID Port</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
-               </property>
-              </widget>
-             </item>
-             <item row="2" column="4">
-              <widget class="QComboBox" name="cbUsbHid"/>
-             </item>
-             <item row="3" column="4">
-              <widget class="QLabel" name="label_9">
-               <property name="text">
-                <string>USB VCP Port</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
-               </property>
-              </widget>
-             </item>
-             <item row="4" column="4">
-              <widget class="QComboBox" name="cbUsbVcp"/>
-             </item>
-             <item row="0" column="1">
-              <widget class="QLabel" name="label_7">
-               <property name="text">
-                <string>RcvrPort</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-               </property>
-              </widget>
-             </item>
-             <item row="0" column="2">
-              <widget class="QComboBox" name="cbRcvr"/>
-             </item>
-            </layout>
+          <layout class="QGridLayout" name="gridLayout_3">
+           <item row="6" column="0" colspan="3">
+            <widget class="QGroupBox" name="groupBox_2">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>50</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Messages</string>
+             </property>
+             <layout class="QHBoxLayout" name="horizontalLayout_3">
+              <item>
+               <widget class="QLabel" name="problems">
+                <property name="font">
+                 <font>
+                  <weight>75</weight>
+                  <bold>true</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string/>
+                </property>
+                <property name="textFormat">
+                 <enum>Qt::AutoText</enum>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
            </item>
-           <item>
+           <item row="0" column="1">
+            <widget class="QLabel" name="label_6">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>500</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>500</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="text">
+              <string>Changes on this page only take effect after board reset or power cycle</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+             <property name="wordWrap">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="5" column="1">
+            <spacer name="verticalSpacer">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>25</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="3" column="1">
             <layout class="QHBoxLayout" name="horizontalLayout">
              <item>
               <layout class="QGridLayout" name="gridLayout_2">
@@ -286,7 +277,132 @@
              </item>
             </layout>
            </item>
-           <item>
+           <item row="2" column="1">
+            <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0">
+             <item row="5" column="0">
+              <widget class="QLabel" name="label_4">
+               <property name="text">
+                <string/>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="0">
+              <widget class="QComboBox" name="cbFlexi"/>
+             </item>
+             <item row="1" column="4">
+              <widget class="QLabel" name="label_8">
+               <property name="text">
+                <string>USB HID Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="4" column="0">
+              <widget class="QComboBox" name="cbTele"/>
+             </item>
+             <item row="1" column="1" rowspan="5" colspan="3">
+              <widget class="QLabel" name="label_2">
+               <property name="text">
+                <string/>
+               </property>
+               <property name="scaledContents">
+                <bool>true</bool>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="2">
+              <widget class="QComboBox" name="cbRcvr"/>
+             </item>
+             <item row="3" column="0">
+              <widget class="QLabel" name="label_3">
+               <property name="text">
+                <string>MainPort</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="4">
+              <widget class="QComboBox" name="cbUsbHid"/>
+             </item>
+             <item row="4" column="4">
+              <widget class="QComboBox" name="cbUsbVcp"/>
+             </item>
+             <item row="1" column="0">
+              <widget class="QLabel" name="label_5">
+               <property name="text">
+                <string>FlexiPort</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="3" column="4">
+              <widget class="QLabel" name="label_9">
+               <property name="text">
+                <string>USB VCP Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="1">
+              <widget class="QLabel" name="label_7">
+               <property name="text">
+                <string>RcvrPort</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="5">
+              <spacer name="horizontalSpacer_2">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>40</width>
+                 <height>20</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+            </layout>
+           </item>
+           <item row="2" column="0">
+            <spacer name="horizontalSpacer_4">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>40</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="2" column="2">
+            <spacer name="horizontalSpacer_5">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>40</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="1" column="1">
             <spacer name="verticalSpacer_2">
              <property name="orientation">
               <enum>Qt::Vertical</enum>
@@ -297,39 +413,7 @@
              <property name="sizeHint" stdset="0">
               <size>
                <width>20</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item>
-            <widget class="QLabel" name="label_6">
-             <property name="font">
-              <font>
-               <weight>75</weight>
-               <bold>true</bold>
-              </font>
-             </property>
-             <property name="text">
-              <string>Changes on this page only take effect after board reset or power cycle</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignCenter</set>
-             </property>
-             <property name="wordWrap">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <spacer name="verticalSpacer">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>25</height>
+               <height>10</height>
               </size>
              </property>
             </spacer>
@@ -343,235 +427,196 @@
     </widget>
    </item>
    <item>
-    <widget class="QGroupBox" name="groupBox_2">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <property name="spacing">
+      <number>4</number>
      </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>50</height>
-      </size>
-     </property>
-     <property name="title">
-      <string>Messages</string>
-     </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_3">
-      <item>
-       <widget class="QLabel" name="problems">
-        <property name="font">
-         <font>
-          <weight>75</weight>
-          <bold>true</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-        <property name="textFormat">
-         <enum>Qt::AutoText</enum>
-        </property>
-        <property name="wordWrap">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item>
-    <widget class="QGroupBox" name="groupBox">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>45</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>16777215</width>
-       <height>45</height>
-      </size>
-     </property>
-     <property name="title">
-      <string/>
-     </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_2">
-      <property name="spacing">
-       <number>4</number>
-      </property>
-      <property name="topMargin">
-       <number>0</number>
-      </property>
-      <property name="bottomMargin">
-       <number>0</number>
-      </property>
-      <item>
-       <spacer name="horizontalSpacer">
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>369</width>
-          <height>16</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
-      <item>
-       <widget class="QPushButton" name="cchwHelp">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimumSize">
-         <size>
-          <width>25</width>
-          <height>26</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>25</width>
-          <height>26</height>
-         </size>
-        </property>
-        <property name="toolTip">
-         <string>Takes you to the wiki page</string>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-        <property name="icon">
-         <iconset resource="../coreplugin/core.qrc">
-          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-        </property>
-        <property name="iconSize">
-         <size>
-          <width>25</width>
-          <height>25</height>
-         </size>
-        </property>
-        <property name="flat">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="saveTelemetryToRAM">
-        <property name="palette">
-         <palette>
-          <active>
-           <colorrole role="Base">
-            <brush brushstyle="SolidPattern">
-             <color alpha="0">
-              <red>255</red>
-              <green>255</green>
-              <blue>255</blue>
-             </color>
-            </brush>
-           </colorrole>
-           <colorrole role="Window">
-            <brush brushstyle="SolidPattern">
-             <color alpha="255">
-              <red>232</red>
-              <green>232</green>
-              <blue>232</blue>
-             </color>
-            </brush>
-           </colorrole>
-          </active>
-          <inactive>
-           <colorrole role="Base">
-            <brush brushstyle="SolidPattern">
-             <color alpha="0">
-              <red>255</red>
-              <green>255</green>
-              <blue>255</blue>
-             </color>
-            </brush>
-           </colorrole>
-           <colorrole role="Window">
-            <brush brushstyle="SolidPattern">
-             <color alpha="255">
-              <red>232</red>
-              <green>232</green>
-              <blue>232</blue>
-             </color>
-            </brush>
-           </colorrole>
-          </inactive>
-          <disabled>
-           <colorrole role="Base">
-            <brush brushstyle="SolidPattern">
-             <color alpha="255">
-              <red>232</red>
-              <green>232</green>
-              <blue>232</blue>
-             </color>
-            </brush>
-           </colorrole>
-           <colorrole role="Window">
-            <brush brushstyle="SolidPattern">
-             <color alpha="255">
-              <red>232</red>
-              <green>232</green>
-              <blue>232</blue>
-             </color>
-            </brush>
-           </colorrole>
-          </disabled>
-         </palette>
-        </property>
-        <property name="toolTip">
-         <string>Send to OpenPilot but don't write in SD.
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>369</width>
+         <height>16</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="cchwHelp">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>25</width>
+         <height>26</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Takes you to the wiki page</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveTelemetryToRAM">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="palette">
+        <palette>
+         <active>
+          <colorrole role="Base">
+           <brush brushstyle="SolidPattern">
+            <color alpha="0">
+             <red>255</red>
+             <green>255</green>
+             <blue>255</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Window">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+         </active>
+         <inactive>
+          <colorrole role="Base">
+           <brush brushstyle="SolidPattern">
+            <color alpha="0">
+             <red>255</red>
+             <green>255</green>
+             <blue>255</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Window">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+         </inactive>
+         <disabled>
+          <colorrole role="Base">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Window">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+         </disabled>
+        </palette>
+       </property>
+       <property name="toolTip">
+        <string>Send to OpenPilot but don't write in SD.
 Beware of not locking yourself out!</string>
-        </property>
-        <property name="autoFillBackground">
-         <bool>false</bool>
-        </property>
-        <property name="styleSheet">
-         <string notr="true"/>
-        </property>
-        <property name="text">
-         <string>Apply</string>
-        </property>
-        <property name="checkable">
-         <bool>false</bool>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="saveTelemetryToSD">
-        <property name="toolTip">
-         <string>Applies and Saves all settings to SD.
+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>16</width>
+         <height>16</height>
+        </size>
+       </property>
+       <property name="checkable">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveTelemetryToSD">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Applies and Saves all settings to SD.
 Beware of not locking yourself out!</string>
-        </property>
-        <property name="autoFillBackground">
-         <bool>false</bool>
-        </property>
-        <property name="styleSheet">
-         <string notr="true"/>
-        </property>
-        <property name="text">
-         <string>Save</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
    </item>
   </layout>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/ccattitude.ui b/ground/openpilotgcs/src/plugins/config/ccattitude.ui
index 74f70c3fa..fab00864f 100644
--- a/ground/openpilotgcs/src/plugins/config/ccattitude.ui
+++ b/ground/openpilotgcs/src/plugins/config/ccattitude.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>606</width>
-    <height>576</height>
+    <width>730</width>
+    <height>542</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -24,9 +24,18 @@
        <string>Attitude</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_3">
-       <property name="margin">
+       <property name="leftMargin">
         <number>0</number>
        </property>
+       <property name="topMargin">
+        <number>12</number>
+       </property>
+       <property name="rightMargin">
+        <number>0</number>
+       </property>
+       <property name="bottomMargin">
+        <number>12</number>
+       </property>
        <item>
         <widget class="QScrollArea" name="scrollArea">
          <property name="palette">
@@ -107,11 +116,14 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>576</width>
-            <height>439</height>
+            <width>700</width>
+            <height>418</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
+           <property name="spacing">
+            <number>24</number>
+           </property>
            <item>
             <widget class="QGroupBox" name="groupBox">
              <property name="title">
@@ -186,35 +198,21 @@
              <property name="title">
               <string>Calibration</string>
              </property>
-             <layout class="QVBoxLayout" name="verticalLayout_2">
-              <item>
-               <widget class="QLabel" name="label">
-                <property name="text">
-                 <string>Place aircraft very flat, and then click level to compute the accelerometer and gyro bias</string>
+             <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,0,0">
+              <item row="2" column="3">
+               <spacer name="horizontalSpacer_5">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
                 </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>142</width>
+                  <height>20</height>
+                 </size>
                 </property>
-               </widget>
+               </spacer>
               </item>
-              <item>
-               <widget class="QPushButton" name="zeroBias">
-                <property name="toolTip">
-                 <string>Launch horizontal calibration.</string>
-                </property>
-                <property name="text">
-                 <string>Level</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QProgressBar" name="zeroBiasProgress">
-                <property name="value">
-                 <number>0</number>
-                </property>
-               </widget>
-              </item>
-              <item>
+              <item row="3" column="2">
                <spacer name="verticalSpacer">
                 <property name="orientation">
                  <enum>Qt::Vertical</enum>
@@ -230,7 +228,85 @@
                 </property>
                </spacer>
               </item>
-              <item>
+              <item row="1" column="3">
+               <spacer name="horizontalSpacer_4">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="2" column="1" colspan="2">
+               <widget class="QProgressBar" name="zeroBiasProgress">
+                <property name="minimumSize">
+                 <size>
+                  <width>300</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="value">
+                 <number>0</number>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1" colspan="2">
+               <widget class="QPushButton" name="zeroBias">
+                <property name="maximumSize">
+                 <size>
+                  <width>500</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Launch horizontal calibration.</string>
+                </property>
+                <property name="text">
+                 <string>Level</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <spacer name="horizontalSpacer_2">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>173</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="2" column="0">
+               <spacer name="horizontalSpacer_3">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>173</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="1" colspan="2">
+               <widget class="QLabel" name="label">
+                <property name="text">
+                 <string>Place aircraft very flat, and then click level to compute the accelerometer and gyro bias</string>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="1">
                <widget class="QCheckBox" name="zeroGyroBiasOnArming">
                 <property name="toolTip">
                  <string>If enabled, a fast recalibration of gyro zero point will be done
@@ -253,7 +329,7 @@ arming it in that case!</string>
              <property name="sizeHint" stdset="0">
               <size>
                <width>20</width>
-               <height>91</height>
+               <height>10</height>
               </size>
              </property>
             </spacer>
@@ -267,97 +343,88 @@ arming it in that case!</string>
     </widget>
    </item>
    <item>
-    <widget class="QGroupBox" name="groupBox_3">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="spacing">
+      <number>4</number>
      </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>75</height>
-      </size>
-     </property>
-     <property name="title">
-      <string/>
-     </property>
-     <layout class="QVBoxLayout" name="verticalLayout_4">
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_2">
-        <property name="spacing">
-         <number>4</number>
-        </property>
-        <item>
-         <spacer name="horizontalSpacer">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QPushButton" name="ccAttitudeHelp">
-          <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="toolTip">
-           <string>Takes you to the wiki page</string>
-          </property>
-          <property name="text">
-           <string/>
-          </property>
-          <property name="icon">
-           <iconset resource="../coreplugin/core.qrc">
-            <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-          </property>
-          <property name="iconSize">
-           <size>
-            <width>32</width>
-            <height>32</height>
-           </size>
-          </property>
-          <property name="flat">
-           <bool>true</bool>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="applyButton">
-          <property name="text">
-           <string>Apply</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="saveButton">
-          <property name="toolTip">
-           <string>Click to permanently save the accel bias in the CopterControl Flash.</string>
-          </property>
-          <property name="text">
-           <string>Save</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-     </layout>
-    </widget>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>380</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="ccAttitudeHelp">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Takes you to the wiki page</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="applyButton">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveButton">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Click to permanently save the accel bias in the CopterControl Flash.</string>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
    </item>
   </layout>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
index 9c4470a1d..d3b58496e 100644
--- a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
@@ -29,11 +29,22 @@
 #include "hwsettings.h"
 #include "mixersettings.h"
 #include "actuatorcommand.h"
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
 
 ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
     m_camerastabilization = new Ui_CameraStabilizationWidget();
     m_camerastabilization->setupUi(this);
+    
+    addApplySaveButtons(m_camerastabilization->camerastabilizationSaveRAM,m_camerastabilization->camerastabilizationSaveSD);
+    
+    ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
+    if(!settings->useExpertMode())
+        m_camerastabilization->camerastabilizationSaveRAM->setVisible(false);
+    
+    
 
     // These widgets don't have direct relation to UAVObjects
     // and need special processing
@@ -41,6 +52,7 @@ ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent
         m_camerastabilization->rollChannel,
         m_camerastabilization->pitchChannel,
         m_camerastabilization->yawChannel,
+        
     };
     const int NUM_OUTPUTS = sizeof(outputs) / sizeof(outputs[0]);
 
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index 4dcc31f4f..185a63900 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>702</width>
-    <height>764</height>
+    <width>716</width>
+    <height>754</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_3">
+  <layout class="QVBoxLayout" name="verticalLayout">
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -25,11 +25,20 @@
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_11">
        <property name="spacing">
+        <number>24</number>
+       </property>
+       <property name="leftMargin">
+        <number>0</number>
+       </property>
+       <property name="topMargin">
         <number>12</number>
        </property>
-       <property name="margin">
+       <property name="rightMargin">
         <number>0</number>
        </property>
+       <property name="bottomMargin">
+        <number>12</number>
+       </property>
        <item>
         <widget class="QScrollArea" name="scrollArea">
          <property name="palette">
@@ -107,17 +116,29 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>672</width>
-            <height>657</height>
+            <width>686</width>
+            <height>630</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout">
+           <property name="topMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
+            <number>0</number>
+           </property>
+           <property name="verticalSpacing">
+            <number>24</number>
+           </property>
            <item row="1" column="0">
             <widget class="QGroupBox" name="groupBox_5">
              <property name="title">
               <string/>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_6">
+              <property name="margin">
+               <number>0</number>
+              </property>
               <item>
                <widget class="QStackedWidget" name="stackedWidget">
                 <property name="currentIndex">
@@ -658,11 +679,20 @@ font:bold;</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_8">
        <property name="spacing">
+        <number>24</number>
+       </property>
+       <property name="leftMargin">
+        <number>0</number>
+       </property>
+       <property name="topMargin">
         <number>12</number>
        </property>
-       <property name="margin">
+       <property name="rightMargin">
         <number>0</number>
        </property>
+       <property name="bottomMargin">
+        <number>12</number>
+       </property>
        <item>
         <widget class="QScrollArea" name="scrollArea_3">
          <property name="palette">
@@ -740,11 +770,17 @@ font:bold;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>672</width>
-            <height>795</height>
+            <width>540</width>
+            <height>526</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_7">
+           <property name="horizontalSpacing">
+            <number>12</number>
+           </property>
+           <property name="verticalSpacing">
+            <number>24</number>
+           </property>
            <item row="0" column="0">
             <widget class="QGroupBox" name="groupBox_2">
              <property name="title">
@@ -1183,11 +1219,20 @@ margin:1px;</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_12">
        <property name="spacing">
+        <number>24</number>
+       </property>
+       <property name="leftMargin">
+        <number>0</number>
+       </property>
+       <property name="topMargin">
         <number>12</number>
        </property>
-       <property name="margin">
+       <property name="rightMargin">
         <number>0</number>
        </property>
+       <property name="bottomMargin">
+        <number>12</number>
+       </property>
        <item>
         <widget class="QScrollArea" name="scrollArea_2">
          <property name="palette">
@@ -1265,11 +1310,14 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>672</width>
-            <height>795</height>
+            <width>529</width>
+            <height>173</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
+           <property name="spacing">
+            <number>24</number>
+           </property>
            <item>
             <widget class="QGroupBox" name="groupBox_6">
              <property name="title">
@@ -1392,116 +1440,111 @@ margin:1px;</string>
     </widget>
    </item>
    <item>
-    <widget class="QGroupBox" name="groupBox_3">
-     <property name="maximumSize">
-      <size>
-       <width>16777215</width>
-       <height>45</height>
-      </size>
+    <layout class="QHBoxLayout" name="horizontalLayout_5">
+     <property name="spacing">
+      <number>4</number>
      </property>
-     <property name="title">
-      <string/>
-     </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_5">
-      <property name="spacing">
-       <number>4</number>
-      </property>
-      <property name="topMargin">
-       <number>0</number>
-      </property>
-      <property name="bottomMargin">
-       <number>0</number>
-      </property>
-      <item>
-       <spacer name="horizontalSpacer_5">
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>483</width>
-          <height>20</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
-      <item>
-       <widget class="QPushButton" name="inputHelp">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>25</width>
-          <height>26</height>
-         </size>
-        </property>
-        <property name="toolTip">
-         <string>Takes you to the wiki page</string>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-        <property name="icon">
-         <iconset resource="../coreplugin/core.qrc">
-          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-        </property>
-        <property name="iconSize">
-         <size>
-          <width>25</width>
-          <height>25</height>
-         </size>
-        </property>
-        <property name="flat">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="saveRCInputToRAM">
-        <property name="minimumSize">
-         <size>
-          <width>60</width>
-          <height>28</height>
-         </size>
-        </property>
-        <property name="toolTip">
-         <string>Send to OpenPilot but don't write in SD.
+     <item>
+      <spacer name="horizontalSpacer_5">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>483</width>
+         <height>16</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="inputHelp">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Takes you to the wiki page</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveRCInputToRAM">
+       <property name="minimumSize">
+        <size>
+         <width>60</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>32</height>
+        </size>
+       </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="styleSheet">
-         <string notr="true"/>
-        </property>
-        <property name="text">
-         <string>Apply</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="saveRCInputToSD">
-        <property name="minimumSize">
-         <size>
-          <width>60</width>
-          <height>28</height>
-         </size>
-        </property>
-        <property name="toolTip">
-         <string>Be sure to set the Neutral position on all sliders before sending!
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveRCInputToSD">
+       <property name="minimumSize">
+        <size>
+         <width>60</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>32</height>
+        </size>
+       </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="styleSheet">
-         <string notr="true"/>
-        </property>
-        <property name="text">
-         <string>Save</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
    </item>
   </layout>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.ui b/ground/openpilotgcs/src/plugins/config/mixercurve.ui
index e59882d89..cd47bd04e 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.ui
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.ui
@@ -325,6 +325,9 @@
    </item>
    <item row="1" column="1">
     <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="spacing">
+      <number>4</number>
+     </property>
      <item>
       <spacer name="horizontalSpacer">
        <property name="orientation">
@@ -333,13 +336,19 @@
        <property name="sizeHint" stdset="0">
         <size>
          <width>40</width>
-         <height>20</height>
+         <height>16</height>
         </size>
        </property>
       </spacer>
      </item>
      <item>
       <widget class="QPushButton" name="ResetCurve">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>32</height>
+        </size>
+       </property>
        <property name="text">
         <string>Reset</string>
        </property>
@@ -347,6 +356,12 @@
      </item>
      <item>
       <widget class="QPushButton" name="PopupCurve">
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>32</height>
+        </size>
+       </property>
        <property name="text">
         <string>Advanced...</string>
        </property>
diff --git a/ground/openpilotgcs/src/plugins/config/output.ui b/ground/openpilotgcs/src/plugins/config/output.ui
index f3dd12c27..a30668aee 100644
--- a/ground/openpilotgcs/src/plugins/config/output.ui
+++ b/ground/openpilotgcs/src/plugins/config/output.ui
@@ -7,13 +7,16 @@
     <x>0</x>
     <y>0</y>
     <width>811</width>
-    <height>895</height>
+    <height>754</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_5">
+  <layout class="QVBoxLayout" name="verticalLayout_2">
+   <property name="spacing">
+    <number>-1</number>
+   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="tabShape">
@@ -33,7 +36,16 @@
        <property name="spacing">
         <number>12</number>
        </property>
-       <property name="margin">
+       <property name="leftMargin">
+        <number>0</number>
+       </property>
+       <property name="topMargin">
+        <number>12</number>
+       </property>
+       <property name="rightMargin">
+        <number>0</number>
+       </property>
+       <property name="bottomMargin">
         <number>0</number>
        </property>
        <item>
@@ -114,10 +126,13 @@
             <x>0</x>
             <y>0</y>
             <width>781</width>
-            <height>788</height>
+            <height>642</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
+           <property name="spacing">
+            <number>-1</number>
+           </property>
            <item>
             <widget class="QGroupBox" name="groupBox_2">
              <property name="sizePolicy">
@@ -133,7 +148,7 @@
               </size>
              </property>
              <property name="title">
-              <string/>
+              <string>Output Update Speed</string>
              </property>
              <layout class="QGridLayout" name="gridLayout">
               <property name="topMargin">
@@ -922,128 +937,117 @@ margin:1px;</string>
     </widget>
    </item>
    <item>
-    <widget class="QGroupBox" name="groupBox">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="spacing">
+      <number>4</number>
      </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>45</height>
-      </size>
-     </property>
-     <property name="title">
-      <string/>
-     </property>
-     <layout class="QHBoxLayout" name="horizontalLayout">
-      <property name="spacing">
-       <number>4</number>
-      </property>
-      <property name="topMargin">
-       <number>0</number>
-      </property>
-      <property name="bottomMargin">
-       <number>0</number>
-      </property>
-      <item>
-       <spacer name="horizontalSpacer">
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>592</width>
-          <height>20</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
-      <item>
-       <widget class="QPushButton" name="outputHelp">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimumSize">
-         <size>
-          <width>25</width>
-          <height>26</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>25</width>
-          <height>26</height>
-         </size>
-        </property>
-        <property name="toolTip">
-         <string>Takes you to the wiki page</string>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-        <property name="icon">
-         <iconset resource="../coreplugin/core.qrc">
-          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-        </property>
-        <property name="iconSize">
-         <size>
-          <width>25</width>
-          <height>25</height>
-         </size>
-        </property>
-        <property name="flat">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="saveRCOutputToRAM">
-        <property name="minimumSize">
-         <size>
-          <width>60</width>
-          <height>28</height>
-         </size>
-        </property>
-        <property name="toolTip">
-         <string>Send to OpenPilot but don't write in SD.
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>592</width>
+         <height>16</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="outputHelp">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Takes you to the wiki page</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveRCOutputToRAM">
+       <property name="minimumSize">
+        <size>
+         <width>60</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>32</height>
+        </size>
+       </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="styleSheet">
-         <string notr="true"/>
-        </property>
-        <property name="text">
-         <string>Apply</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="saveRCOutputToSD">
-        <property name="minimumSize">
-         <size>
-          <width>60</width>
-          <height>28</height>
-         </size>
-        </property>
-        <property name="toolTip">
-         <string>Be sure to set the Neutral position on all sliders before sending!
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveRCOutputToSD">
+       <property name="minimumSize">
+        <size>
+         <width>71</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>32</height>
+        </size>
+       </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="styleSheet">
-         <string notr="true"/>
-        </property>
-        <property name="text">
-         <string>Save</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
    </item>
   </layout>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 739a2329e..344fdaeec 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>864</width>
-    <height>635</height>
+    <width>978</width>
+    <height>837</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -454,12 +454,15 @@
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_2">
    <property name="spacing">
+    <number>16</number>
+   </property>
+   <property name="margin">
     <number>12</number>
    </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
@@ -479,6 +482,9 @@
      <property name="autoFillBackground">
       <bool>false</bool>
      </property>
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
      <property name="tabPosition">
       <enum>QTabWidget::North</enum>
      </property>
@@ -502,9 +508,18 @@
        <property name="spacing">
         <number>12</number>
        </property>
-       <property name="margin">
+       <property name="leftMargin">
         <number>0</number>
        </property>
+       <property name="topMargin">
+        <number>5</number>
+       </property>
+       <property name="rightMargin">
+        <number>0</number>
+       </property>
+       <property name="bottomMargin">
+        <number>12</number>
+       </property>
        <item>
         <widget class="QScrollArea" name="scrollArea">
          <property name="sizePolicy">
@@ -597,13 +612,25 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>834</width>
-            <height>532</height>
+            <width>948</width>
+            <height>720</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_12" stretch="0,0,0,0,0">
            <property name="spacing">
-            <number>12</number>
+            <number>24</number>
+           </property>
+           <property name="leftMargin">
+            <number>11</number>
+           </property>
+           <property name="topMargin">
+            <number>0</number>
+           </property>
+           <property name="rightMargin">
+            <number>11</number>
+           </property>
+           <property name="bottomMargin">
+            <number>0</number>
            </property>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_15">
@@ -6768,7 +6795,7 @@ border-radius: 5;</string>
              <property name="sizeHint" stdset="0">
               <size>
                <width>20</width>
-               <height>12</height>
+               <height>6</height>
               </size>
              </property>
             </spacer>
@@ -6787,6 +6814,9 @@ border-radius: 5;</string>
                <height>62</height>
               </size>
              </property>
+             <property name="styleSheet">
+              <string notr="true"/>
+             </property>
              <property name="title">
               <string>Integral</string>
              </property>
@@ -6852,9 +6882,18 @@ border-radius: 5;</string>
        <property name="spacing">
         <number>12</number>
        </property>
-       <property name="margin">
+       <property name="leftMargin">
         <number>0</number>
        </property>
+       <property name="topMargin">
+        <number>12</number>
+       </property>
+       <property name="rightMargin">
+        <number>0</number>
+       </property>
+       <property name="bottomMargin">
+        <number>12</number>
+       </property>
        <item>
         <widget class="QScrollArea" name="scrollArea_2">
          <property name="palette">
@@ -6932,14 +6971,17 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>819</width>
-            <height>579</height>
+            <width>948</width>
+            <height>713</height>
            </rect>
           </property>
           <property name="autoFillBackground">
            <bool>true</bool>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
+           <property name="spacing">
+            <number>24</number>
+           </property>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_8">
              <property name="sizePolicy">
@@ -13371,7 +13413,7 @@ border-radius: 5;</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>190</height>
+               <height>195</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -16675,6 +16717,19 @@ border-radius: 5;</string>
              </layout>
             </widget>
            </item>
+           <item>
+            <spacer name="verticalSpacer_5">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
            <item>
             <spacer name="verticalSpacer_2">
              <property name="orientation">
@@ -16702,9 +16757,18 @@ border-radius: 5;</string>
        <property name="spacing">
         <number>12</number>
        </property>
-       <property name="margin">
+       <property name="leftMargin">
         <number>0</number>
        </property>
+       <property name="topMargin">
+        <number>12</number>
+       </property>
+       <property name="rightMargin">
+        <number>0</number>
+       </property>
+       <property name="bottomMargin">
+        <number>12</number>
+       </property>
        <item>
         <widget class="QScrollArea" name="scrollArea_3">
          <property name="palette">
@@ -16785,11 +16849,14 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>830</width>
-            <height>543</height>
+            <width>948</width>
+            <height>713</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_9">
+           <property name="spacing">
+            <number>24</number>
+           </property>
            <item>
             <widget class="QGroupBox" name="groupBox_4">
              <property name="sizePolicy">
@@ -16810,10 +16877,7 @@ border-radius: 5;</string>
              <property name="title">
               <string>Weak Leveling / Axis Lock</string>
              </property>
-             <layout class="QGridLayout" name="gridLayout_10" rowstretch="0,0">
-              <property name="horizontalSpacing">
-               <number>4</number>
-              </property>
+             <layout class="QGridLayout" name="gridLayout_5">
               <item row="0" column="0">
                <spacer name="horizontalSpacer_13">
                 <property name="orientation">
@@ -16866,327 +16930,573 @@ border-radius: 5;</string>
                </widget>
               </item>
               <item row="1" column="0" colspan="2">
-               <widget class="QGroupBox" name="groupBox_7">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>60</height>
-                 </size>
-                </property>
-                <property name="palette">
-                 <palette>
-                  <active>
-                   <colorrole role="WindowText">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>0</red>
-                      <green>0</green>
-                      <blue>0</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Button">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>255</red>
-                      <green>255</green>
-                      <blue>255</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Midlight">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>255</red>
-                      <green>255</green>
-                      <blue>255</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Dark">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>125</red>
-                      <green>125</green>
-                      <blue>125</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Mid">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>166</red>
-                      <green>166</green>
-                      <blue>166</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Text">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>0</red>
-                      <green>0</green>
-                      <blue>0</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="ButtonText">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>0</red>
-                      <green>0</green>
-                      <blue>0</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Shadow">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>0</red>
-                      <green>0</green>
-                      <blue>0</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                  </active>
-                  <inactive>
-                   <colorrole role="WindowText">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>69</red>
-                      <green>69</green>
-                      <blue>69</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Button">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>255</red>
-                      <green>255</green>
-                      <blue>255</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Midlight">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>255</red>
-                      <green>255</green>
-                      <blue>255</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Dark">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>125</red>
-                      <green>125</green>
-                      <blue>125</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Mid">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>166</red>
-                      <green>166</green>
-                      <blue>166</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Text">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>69</red>
-                      <green>69</green>
-                      <blue>69</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="ButtonText">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>0</red>
-                      <green>0</green>
-                      <blue>0</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Shadow">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>0</red>
-                      <green>0</green>
-                      <blue>0</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                  </inactive>
-                  <disabled>
-                   <colorrole role="WindowText">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>125</red>
-                      <green>125</green>
-                      <blue>125</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Button">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>255</red>
-                      <green>255</green>
-                      <blue>255</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Midlight">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>255</red>
-                      <green>255</green>
-                      <blue>255</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Dark">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>125</red>
-                      <green>125</green>
-                      <blue>125</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Mid">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>166</red>
-                      <green>166</green>
-                      <blue>166</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Text">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>125</red>
-                      <green>125</green>
-                      <blue>125</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="ButtonText">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>125</red>
-                      <green>125</green>
-                      <blue>125</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                   <colorrole role="Shadow">
-                    <brush brushstyle="SolidPattern">
-                     <color alpha="255">
-                      <red>0</red>
-                      <green>0</green>
-                      <blue>0</blue>
-                     </color>
-                    </brush>
-                   </colorrole>
-                  </disabled>
-                 </palette>
-                </property>
-                <property name="title">
-                 <string/>
-                </property>
-                <property name="flat">
-                 <bool>true</bool>
-                </property>
-                <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1,0,1,0,1,0,1,0">
-                 <item row="1" column="2">
-                  <spacer name="horizontalSpacer_15">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="1" column="4">
-                  <spacer name="horizontalSpacer_17">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item row="1" column="5">
-                  <widget class="QDoubleSpinBox" name="MaAxisLock">
+               <widget class="QGroupBox" name="groupBox">
+                <layout class="QGridLayout" name="gridLayout_4">
+                 <property name="leftMargin">
+                  <number>0</number>
+                 </property>
+                 <property name="topMargin">
+                  <number>12</number>
+                 </property>
+                 <property name="rightMargin">
+                  <number>12</number>
+                 </property>
+                 <property name="bottomMargin">
+                  <number>12</number>
+                 </property>
+                 <item row="0" column="1">
+                  <widget class="QLabel" name="label_50">
                    <property name="sizePolicy">
-                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                    <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                      <horstretch>0</horstretch>
                      <verstretch>0</verstretch>
                     </sizepolicy>
                    </property>
                    <property name="minimumSize">
                     <size>
-                     <width>25</width>
-                     <height>22</height>
+                     <width>144</width>
+                     <height>16</height>
                     </size>
                    </property>
                    <property name="maximumSize">
                     <size>
                      <width>175</width>
-                     <height>22</height>
+                     <height>16777215</height>
                     </size>
                    </property>
-                   <property name="focusPolicy">
-                    <enum>Qt::StrongFocus</enum>
+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Button">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
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                    </property>
-                   <property name="toolTip">
-                    <string/>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
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                    </property>
                    <property name="styleSheet">
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+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Weak Leveling Kp </string>
                    </property>
                    <property name="alignment">
-                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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-                   <property name="decimals">
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-                     <string>scale:1</string>
-                     <string>buttongroup:10</string>
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+                    <set>Qt::AlignCenter</set>
                    </property>
                   </widget>
                  </item>
@@ -18302,187 +18612,6 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
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                   <widget class="QLabel" name="label_52">
                    <property name="sizePolicy">
@@ -19039,564 +19168,79 @@ border-radius: 5;</string>
                    </property>
                   </widget>
                  </item>
-                 <item row="0" column="1">
-                  <widget class="QLabel" name="label_50">
+                 <item row="1" column="0">
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+                    <size>
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+                     <height>11</height>
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+                 <item row="1" column="1">
+                  <widget class="QDoubleSpinBox" name="WeakLevelingKp">
                    <property name="sizePolicy">
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+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                      <horstretch>0</horstretch>
                      <verstretch>0</verstretch>
                     </sizepolicy>
                    </property>
                    <property name="minimumSize">
                     <size>
-                     <width>144</width>
-                     <height>16</height>
+                     <width>5</width>
+                     <height>22</height>
                     </size>
                    </property>
                    <property name="maximumSize">
                     <size>
                      <width>175</width>
-                     <height>16777215</height>
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-                    </palette>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
                    </property>
-                   <property name="font">
-                    <font>
-                     <weight>75</weight>
-                     <bold>true</bold>
-                    </font>
-                   </property>
-                   <property name="autoFillBackground">
-                    <bool>false</bool>
+                   <property name="toolTip">
+                    <string/>
                    </property>
                    <property name="styleSheet">
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-color: rgb(255, 255, 255);
-border-radius: 5;</string>
-                   </property>
-                   <property name="text">
-                    <string>Weak Leveling Kp </string>
+                    <string notr="true"/>
                    </property>
                    <property name="alignment">
-                    <set>Qt::AlignCenter</set>
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>2</number>
+                   </property>
+                   <property name="minimum">
+                    <double>0.010000000000000</double>
+                   </property>
+                   <property name="maximum">
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+                   <property name="singleStep">
+                    <double>0.010000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:WeakLevelingKp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:10</string>
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                    </property>
                   </widget>
                  </item>
-                 <item row="1" column="8">
-                  <spacer name="horizontalSpacer_12">
+                 <item row="1" column="2">
+                  <spacer name="horizontalSpacer_15">
                    <property name="orientation">
                     <enum>Qt::Horizontal</enum>
                    </property>
@@ -19608,6 +19252,132 @@ border-radius: 5;</string>
                    </property>
                   </spacer>
                  </item>
+                 <item row="1" column="3">
+                  <widget class="QDoubleSpinBox" name="WeakLevelingRate">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>25</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>175</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="minimum">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="maximum">
+                    <double>360.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:MaxWeakLevelingRate</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="4">
+                  <spacer name="horizontalSpacer_17">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="5">
+                  <widget class="QDoubleSpinBox" name="MaAxisLock">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>25</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>175</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="minimum">
+                    <double>0.000000000000000</double>
+                   </property>
+                   <property name="maximum">
+                    <double>360.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="value">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:MaxAxisLock</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
                  <item row="1" column="6">
                   <spacer name="horizontalSpacer_19">
                    <property name="orientation">
@@ -19621,6 +19391,74 @@ border-radius: 5;</string>
                    </property>
                   </spacer>
                  </item>
+                 <item row="1" column="7">
+                  <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>25</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>175</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="minimum">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="maximum">
+                    <double>360.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:MaxAxisLockRate</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="8">
+                  <spacer name="horizontalSpacer_12">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
                 </layout>
                </widget>
               </item>
@@ -19937,7 +19775,7 @@ border-radius: 5;</string>
                  <string/>
                 </property>
                 <property name="flat">
-                 <bool>true</bool>
+                 <bool>false</bool>
                 </property>
                 <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,0,1,0,1,0,1,0">
                  <property name="leftMargin">
@@ -23075,7 +22913,7 @@ border-radius: 5;</string>
                  <string/>
                 </property>
                 <property name="flat">
-                 <bool>true</bool>
+                 <bool>false</bool>
                 </property>
                 <layout class="QGridLayout" name="gridLayout_14" columnstretch="0,1,0,1,0,1,0">
                  <item row="1" column="2">
@@ -25014,739 +24852,190 @@ automatically every 300ms, which will help for fast tuning.</string>
     </widget>
    </item>
    <item>
-    <widget class="QGroupBox" name="RateStabilizationGroup_21">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="spacing">
+      <number>4</number>
      </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>16777215</width>
-       <height>45</height>
-      </size>
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-        <property name="toolTip">
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+       <property name="sizeHint" stdset="0">
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+         <height>16</height>
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+      <widget class="QPushButton" name="pushButton_23">
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+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
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+         <height>0</height>
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+       <property name="maximumSize">
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+         <height>25</height>
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+       <property name="text">
+        <string/>
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 Useful if you have accidentally changed some settings.</string>
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-         <string>Apply</string>
-        </property>
-        <property name="objrelation" stdset="0">
-         <stringlist>
-          <string>button:apply</string>
-         </stringlist>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="saveStabilizationToSD_6">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimumSize">
-         <size>
-          <width>71</width>
-          <height>32</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="toolTip">
-         <string>Send settings to the board and save to the non-volatile memory</string>
-        </property>
-        <property name="styleSheet">
-         <string notr="true"/>
-        </property>
-        <property name="text">
-         <string>Save</string>
-        </property>
-        <property name="objrelation" stdset="0">
-         <stringlist>
-          <string>button:save</string>
-         </stringlist>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Reload Board Data</string>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>16</width>
+         <height>16</height>
+        </size>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:reload</string>
+         <string>buttongroup:10</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveStabilizationToRAM_6">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>78</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Send settings to the board but do not save to the non-volatile memory</string>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:apply</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveStabilizationToSD_6">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>71</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Send settings to the board and save to the non-volatile memory</string>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:save</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+    </layout>
    </item>
   </layout>
  </widget>
@@ -25815,7 +25104,6 @@ Useful if you have accidentally changed some settings.</string>
   <tabstop>rateYawILimit_3</tabstop>
   <tabstop>checkBox_3</tabstop>
   <tabstop>checkBox_2</tabstop>
-  <tabstop>pushButton_6</tabstop>
   <tabstop>WeakLevelingKp</tabstop>
   <tabstop>WeakLevelingRate</tabstop>
   <tabstop>MaAxisLock</tabstop>
diff --git a/ground/openpilotgcs/src/plugins/config/txpid.ui b/ground/openpilotgcs/src/plugins/config/txpid.ui
index 914ac344e..57d82447f 100644
--- a/ground/openpilotgcs/src/plugins/config/txpid.ui
+++ b/ground/openpilotgcs/src/plugins/config/txpid.ui
@@ -7,13 +7,16 @@
     <x>0</x>
     <y>0</y>
     <width>789</width>
-    <height>715</height>
+    <height>615</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>TxPID</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
+   <property name="spacing">
+    <number>-1</number>
+   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -25,9 +28,18 @@
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_4">
        <property name="spacing">
+        <number>-1</number>
+       </property>
+       <property name="leftMargin">
+        <number>0</number>
+       </property>
+       <property name="topMargin">
         <number>12</number>
        </property>
-       <property name="margin">
+       <property name="rightMargin">
+        <number>0</number>
+       </property>
+       <property name="bottomMargin">
         <number>0</number>
        </property>
        <item>
@@ -108,14 +120,17 @@
             <x>0</x>
             <y>0</y>
             <width>759</width>
-            <height>543</height>
+            <height>503</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
+           <property name="spacing">
+            <number>24</number>
+           </property>
            <item>
             <widget class="QGroupBox" name="groupBox_2">
              <property name="title">
-              <string/>
+              <string>Module Control</string>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_5">
               <item>
@@ -148,22 +163,6 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.</str
              </layout>
             </widget>
            </item>
-           <item>
-            <spacer name="verticalSpacer_2">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::Preferred</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>10</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
            <item>
             <widget class="QGroupBox" name="groupBox_6">
              <property name="enabled">
@@ -668,6 +667,22 @@ margin:1px;</string>
              </layout>
             </widget>
            </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_3">
+             <property name="title">
+              <string>Messages</string>
+             </property>
+             <layout class="QHBoxLayout" name="horizontalLayout">
+              <item>
+               <widget class="QLabel" name="message">
+                <property name="text">
+                 <string/>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
            <item>
             <spacer name="verticalSpacer">
              <property name="orientation">
@@ -690,169 +705,124 @@ margin:1px;</string>
     </widget>
    </item>
    <item>
-    <widget class="QGroupBox" name="groupBox_3">
-     <property name="title">
-      <string>Messages</string>
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <property name="spacing">
+      <number>4</number>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout">
-      <item>
-       <widget class="QLabel" name="message">
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item>
-    <widget class="QGroupBox" name="groupBox">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>45</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>16777215</width>
-       <height>45</height>
-      </size>
-     </property>
-     <property name="title">
-      <string/>
-     </property>
-     <layout class="QHBoxLayout" name="horizontalLayout_2">
-      <property name="spacing">
-       <number>4</number>
-      </property>
-      <property name="topMargin">
-       <number>0</number>
-      </property>
-      <property name="bottomMargin">
-       <number>0</number>
-      </property>
-      <item>
-       <spacer name="horizontalSpacer">
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>570</width>
-          <height>13</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
-      <item>
-       <widget class="QPushButton" name="pushButton">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="minimumSize">
-         <size>
-          <width>25</width>
-          <height>25</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>25</width>
-          <height>25</height>
-         </size>
-        </property>
-        <property name="baseSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="autoFillBackground">
-         <bool>false</bool>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-        <property name="icon">
-         <iconset resource="../coreplugin/core.qrc">
-          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-        </property>
-        <property name="iconSize">
-         <size>
-          <width>25</width>
-          <height>25</height>
-         </size>
-        </property>
-        <property name="autoDefault">
-         <bool>false</bool>
-        </property>
-        <property name="default">
-         <bool>false</bool>
-        </property>
-        <property name="flat">
-         <bool>true</bool>
-        </property>
-        <property name="objrelation" stdset="0">
-         <stringlist>
-          <string>button:help</string>
-          <string>url:http://wiki.openpilot.org/x/DACiAQ</string>
-         </stringlist>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="Apply">
-        <property name="minimumSize">
-         <size>
-          <width>78</width>
-          <height>32</height>
-         </size>
-        </property>
-        <property name="toolTip">
-         <string>Send settings to the board but do not save to the non-volatile memory</string>
-        </property>
-        <property name="styleSheet">
-         <string notr="true"/>
-        </property>
-        <property name="text">
-         <string>Apply</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="Save">
-        <property name="minimumSize">
-         <size>
-          <width>71</width>
-          <height>32</height>
-         </size>
-        </property>
-        <property name="toolTip">
-         <string>Send settings to the board and save to the non-volatile memory</string>
-        </property>
-        <property name="styleSheet">
-         <string notr="true"/>
-        </property>
-        <property name="text">
-         <string>Save</string>
-        </property>
-        <property name="checked">
-         <bool>false</bool>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>570</width>
+         <height>16</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="pushButton">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="baseSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="autoDefault">
+        <bool>false</bool>
+       </property>
+       <property name="default">
+        <bool>false</bool>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:help</string>
+         <string>url:http://wiki.openpilot.org/x/DACiAQ</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="Apply">
+       <property name="minimumSize">
+        <size>
+         <width>78</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Send settings to the board but do not save to the non-volatile memory</string>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="Save">
+       <property name="minimumSize">
+        <size>
+         <width>71</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Send settings to the board and save to the non-volatile memory</string>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+       <property name="checked">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+    </layout>
    </item>
   </layout>
  </widget>

From 5ed5e1170eeb494ec5a5f177aedc4526b28b9494 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 29 Aug 2012 02:15:34 -0500
Subject: [PATCH 431/543] AndroidGCS SmartSave: Begin implement a smart save
 architecture

This SmartSave class only associates with one UAVO.  However, you can instantiate multiple of these for the various objects.  Use addControlMapping to create new mappings between controls and UAVO fields.
---
 .../androidgcs/util/ObjectFieldMappable.java  |   6 +
 .../openpilot/androidgcs/util/SmartSave.java  | 250 ++++++++++++++++++
 .../androidgcs/views/ScrollBarView.java       |  22 +-
 3 files changed, 270 insertions(+), 8 deletions(-)
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/util/ObjectFieldMappable.java
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/util/SmartSave.java

diff --git a/androidgcs/src/org/openpilot/androidgcs/util/ObjectFieldMappable.java b/androidgcs/src/org/openpilot/androidgcs/util/ObjectFieldMappable.java
new file mode 100644
index 000000000..c1f5715a4
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/util/ObjectFieldMappable.java
@@ -0,0 +1,6 @@
+package org.openpilot.androidgcs.util;
+
+public interface ObjectFieldMappable {
+	public double getValue();
+	public void setValue(double val);
+}
diff --git a/androidgcs/src/org/openpilot/androidgcs/util/SmartSave.java b/androidgcs/src/org/openpilot/androidgcs/util/SmartSave.java
new file mode 100644
index 000000000..c92618f64
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/util/SmartSave.java
@@ -0,0 +1,250 @@
+/**
+ ******************************************************************************
+ * @file       SmartSave.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Provides a handler to provide robust apply and save for settings
+ *             and updating of the UI when the object changes.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.androidgcs.util;
+
+import java.util.HashMap;
+import java.util.Iterator;
+import java.util.Map;
+import java.util.Observable;
+import java.util.Observer;
+import java.util.Set;
+
+import junit.framework.Assert;
+
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVObjectManager;
+
+import android.util.Log;
+import android.view.View;
+import android.view.View.OnClickListener;
+import android.widget.Button;
+
+public class SmartSave {
+
+	private final static String TAG = SmartSave.class.getSimpleName();
+
+	//! Create a smart save button attached to the object manager and an apply and ave button
+	public SmartSave(UAVObjectManager objMngr, UAVObject obj, Button saveButton, Button applyButton) {
+		Assert.assertNotNull(objMngr);
+		this.objMngr = objMngr;
+		this.applyBtn = applyButton;
+		this.obj = obj;
+
+		Assert.assertNotNull(objMngr);
+		Assert.assertNotNull(obj);
+
+		obj.addUpdatedObserver(ObjectUpdated);
+
+		controlFieldMapping = new HashMap<ObjectFieldMappable,FieldPairing>();
+
+		if (saveButton != null) {
+			saveBtn = saveButton;
+			saveBtn.setOnClickListener(new OnClickListener() {
+				@Override
+				public void onClick(View v) {
+					saveSettings();
+				}
+			});
+		} else
+			saveBtn = null;
+
+		if (applyButton != null) {
+			applyBtn = applyButton;
+			applyBtn.setOnClickListener(new OnClickListener() {
+				@Override
+				public void onClick(View v) {
+					applySettings();
+				}
+			});
+		} else
+			applyBtn = null;
+	}
+
+	//! Disconnect any listeners when this object is destroyed
+	public void disconnect() {
+		obj.removeUpdatedObserver(ObjectUpdated);
+	}
+
+	/**
+	 * Add a control to this SmartSave object which maps between a particular control
+	 * and a UAVO field.
+	 * @param control The control to associate with
+	 * @param fieldName The name of the UAVO field
+	 * @param fieldIndex The index of the UAVO field
+	 */
+	public void addControlMapping(ObjectFieldMappable control, String fieldName, int fieldIndex) {
+		FieldPairing pairing = new FieldPairing(fieldName, fieldIndex);
+		controlFieldMapping.put(control, pairing);
+	}
+
+	//! Update the settings in the UI from the mappings
+	public void refreshSettingsDisplay() {
+		Set<ObjectFieldMappable> keys = controlFieldMapping.keySet();
+		Iterator<ObjectFieldMappable> iter = keys.iterator();
+		while(iter.hasNext()) {
+			ObjectFieldMappable mappable = iter.next();
+			FieldPairing field = controlFieldMapping.get(mappable);
+			mappable.setValue(field.getValue(obj));
+		}
+	}
+
+	/**
+	 * Call applySettings() and then save them
+	 * @return True if the save succeeded or false otherwise
+	 */
+	private boolean saveSettings() {
+		/*
+		 * 1. Update object
+		 * 2. Install listener on object persistence
+		 * 3. Send save operation
+		 * 4. Wait for completed
+		 * 5. Remove listener
+		 */
+
+		// 1. Update object
+		if(!applySettings())
+			return false;
+
+		UAVObject persistence = objMngr.getObject("ObjectPersistence");
+		Assert.assertNotNull(persistence);
+
+		// 2. Install listener
+		persistence.addUpdatedObserver(ObjectPersistenceUpdated);
+
+		// 3. Send save operation
+		obj.getField("ObjectID").setValue(obj.getObjID());
+		obj.getField("Operation").setValue("Save");
+		obj.getField("Selection").setValue("SingleObject");
+		obj.updated();
+
+		return true;
+	}
+
+	/**
+	 * Robustly apply the settings to the UAV
+	 * @return True if the apply is ack'd, False if not
+	 */
+	private boolean applySettings() {
+		/*
+		 * 1. Set the values from the fields into the object
+		 * 2. Install the listener on the object
+		 * 3. Update object
+		 * 4. Wait for the acknowledgment or timeout
+		 * 5. Uninstall the listener
+		 */
+
+		// 1. Set the fields in the object from the UI
+		Set<ObjectFieldMappable> keys = controlFieldMapping.keySet();
+		Iterator<ObjectFieldMappable> iter = keys.iterator();
+		while(iter.hasNext()) {
+			ObjectFieldMappable mappable = iter.next();
+			FieldPairing field = controlFieldMapping.get(mappable);
+			field.setValue(obj,mappable.getValue());
+		}
+
+		// 2. Install the listener on the object
+		obj.addTransactionCompleted(ApplyCompleted);
+
+		// 3. Update the object
+		obj.updated();
+
+		// 4. Wait for acknowledgment
+		// TODO: Set up some semaphore with timeout
+		// sem.wait(1000);
+
+		// 5. Uninstall the listener
+		//obj.removeTransactionCompleted(ApplyCompleted);
+
+		return true;
+	}
+
+	//! Private class to store the field mapping information
+	private class FieldPairing {
+		FieldPairing(String fieldName, int fieldIndex) {
+			this.fieldName = fieldName;
+			this.fieldIndex = fieldIndex;
+		}
+
+		//! Update the field in the UAVO
+		void setValue(UAVObject obj, double value) {
+			Assert.assertNotNull(obj);
+			obj.getField(fieldName).setDouble(value,fieldIndex);
+		}
+
+		//! Get the value from the UAVO field
+		double getValue(UAVObject obj) {
+			return obj.getField(fieldName).getDouble(fieldIndex);
+		}
+
+		//! Cache the name of the field
+		private final String fieldName;
+
+		//! Cache the field index
+		private final int fieldIndex;
+	}
+
+	//! Installed on monitored object to know when an object is updated
+	private final Observer ApplyCompleted = new Observer() {
+		@Override
+		public void update(Observable observable, Object data) {
+			Log.d(TAG, "Apply called");
+		}
+	};
+
+	//! Installed on monitored object to know when an object is updated
+	private final Observer ObjectUpdated = new Observer() {
+		@Override
+		public void update(Observable observable, Object data) {
+			Log.d(TAG, "Object updated");
+			refreshSettingsDisplay();
+		}
+	};
+
+	//! Installed on object persistence to know when save completes
+	private final Observer ObjectPersistenceUpdated = new Observer() {
+		@Override
+		public void update(Observable observable, Object data) {
+			Log.d(TAG, "Object persistence updated");
+		}
+	};
+
+	//! Map of all the UAVO field <-> control mappings.  The key is the control.
+	private final Map<ObjectFieldMappable,FieldPairing> controlFieldMapping;
+
+	//! Handle to the object manager
+	private final UAVObjectManager objMngr;
+
+	//! Handle to the apply button
+	private Button applyBtn;
+
+	//! Handle to the save button
+	private Button saveBtn;
+
+	//! Handle to the UAVO this class works with
+	private final UAVObject obj;
+
+
+}
diff --git a/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java b/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java
index e0a4fdcf8..a6cd44cfc 100644
--- a/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java
@@ -1,6 +1,7 @@
 package org.openpilot.androidgcs.views;
 
 import org.openpilot.androidgcs.R;
+import org.openpilot.androidgcs.util.ObjectFieldMappable;
 
 import android.content.Context;
 import android.content.res.TypedArray;
@@ -12,7 +13,7 @@ import android.widget.LinearLayout;
 import android.widget.SeekBar;
 import android.widget.TextView;
 
-public class ScrollBarView extends GridLayout {
+public class ScrollBarView extends GridLayout implements ObjectFieldMappable {
 
 	private final static String TAG = ScrollBarView.class.getSimpleName();
 
@@ -49,13 +50,6 @@ public class ScrollBarView extends GridLayout {
 		setValue(0.0035);
 	}
 
-	public void setValue(double val)
-	{
-		value = val;
-		edit.setText(Double.toString(value));
-		bar.setProgress((int) (SCALE * value));
-	}
-
 	public void setName(String n)
 	{
 		name = n;
@@ -75,4 +69,16 @@ public class ScrollBarView extends GridLayout {
 		param = lbl.getLayoutParams();
 		param.width = getMeasuredWidth() / 2;
 	}
+
+	@Override
+	public double getValue() {
+		return value;
+	}
+
+	@Override
+	public void setValue(double val) {
+		value = val;
+		edit.setText(Double.toString(value));
+		bar.setProgress((int) (SCALE * value));
+	}
 }

From 4a433d32f787857bebdd15f705a7179851b4ccd1 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 29 Aug 2012 02:41:58 -0500
Subject: [PATCH 432/543] AndroidGCS Tuning: Connect the SmartSave button to
 the tuning page

---
 .../openpilot/androidgcs/TuningActivity.java  | 25 +++++++++++--------
 1 file changed, 14 insertions(+), 11 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/TuningActivity.java b/androidgcs/src/org/openpilot/androidgcs/TuningActivity.java
index 7eef6c98b..86bee58a1 100644
--- a/androidgcs/src/org/openpilot/androidgcs/TuningActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/TuningActivity.java
@@ -1,16 +1,20 @@
 package org.openpilot.androidgcs;
 
+import org.openpilot.androidgcs.util.SmartSave;
+import org.openpilot.androidgcs.views.ScrollBarView;
 import org.openpilot.uavtalk.UAVDataObject;
-import org.openpilot.uavtalk.UAVObject;
 
 import android.os.Bundle;
 import android.util.Log;
+import android.widget.Button;
 
 public class TuningActivity extends ObjectManagerActivity {
 	private final String TAG = TuningActivity.class.getSimpleName();
 
 	private final boolean DEBUG = false;
 
+	private SmartSave smartSave;
+
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
@@ -26,18 +30,17 @@ public class TuningActivity extends ObjectManagerActivity {
 
 		// Subscribe to updates from ManualControlCommand and show the values for crude feedback
 		UAVDataObject stabilizationSettings = (UAVDataObject) objMngr.getObject("StabilizationSettings");
-		if (stabilizationSettings != null)
-			registerObjectUpdates(stabilizationSettings);
-	}
 
-	/**
-	 * Show the string description of manual control command
-	 */
-	@Override
-	protected void objectUpdated(UAVObject obj) {
-		if (obj.getName().compareTo("StabilizationSettings") == 0) {
+		smartSave = new SmartSave(objMngr, stabilizationSettings,
+				(Button) findViewById(R.id.saveBtn),
+				(Button) findViewById(R.id.applyBtn));
 
-		}
+		smartSave.addControlMapping((ScrollBarView) findViewById(R.id.rollRateKp), "RollRatePID", 0);
+		smartSave.addControlMapping((ScrollBarView) findViewById(R.id.rollRateKi), "RollRatePID", 1);
+		smartSave.addControlMapping((ScrollBarView) findViewById(R.id.pitchRateKp), "PitchRatePID", 0);
+		smartSave.addControlMapping((ScrollBarView) findViewById(R.id.pitchRateKi), "PitchRatePID", 1);
+		smartSave.addControlMapping((ScrollBarView) findViewById(R.id.rollKp), "RollPI", 0);
+		smartSave.addControlMapping((ScrollBarView) findViewById(R.id.pitchKp), "PitchPI", 0);
 	}
 
 }

From 71d5f9d09034a9c03cfe894348a785d6a68a71a0 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 29 Aug 2012 03:19:49 -0500
Subject: [PATCH 433/543] AndroidGCS Tuning: Fix the callbacks for the scroll
 and edit boxes so both can work.

Also added an attribute for the maximum value for the scroll range.
---
 androidgcs/res/layout/tuning.xml              | 18 +++++---
 androidgcs/res/values/attrs.xml               |  1 +
 .../androidgcs/views/ScrollBarView.java       | 46 ++++++++++++++++++-
 3 files changed, 58 insertions(+), 7 deletions(-)

diff --git a/androidgcs/res/layout/tuning.xml b/androidgcs/res/layout/tuning.xml
index b47b3d10f..d7650a2db 100644
--- a/androidgcs/res/layout/tuning.xml
+++ b/androidgcs/res/layout/tuning.xml
@@ -20,37 +20,43 @@
                 android:id="@+id/rollRateKp"
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                setting_attributes:setting_name="Roll Rate Kp" />
+                setting_attributes:setting_name="Roll Rate Kp"
+                setting_attributes:max_value="0.01" />
 
             <org.openpilot.androidgcs.views.ScrollBarView
                 android:id="@+id/pitchRateKp"
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                setting_attributes:setting_name="Pitch Rate Kp" />
+                setting_attributes:setting_name="Pitch Rate Kp"
+                setting_attributes:max_value="0.01" />
 
             <org.openpilot.androidgcs.views.ScrollBarView
                 android:id="@+id/rollRateKi"
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                setting_attributes:setting_name="Roll Rate Ki" />
+                setting_attributes:setting_name="Roll Rate Ki"
+                setting_attributes:max_value="0.05" />
 
             <org.openpilot.androidgcs.views.ScrollBarView
                 android:id="@+id/pitchRateKi"
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                setting_attributes:setting_name="Pitch Rate Ki" />
+                setting_attributes:setting_name="Pitch Rate Ki"
+                setting_attributes:max_value="0.05" />
 
             <org.openpilot.androidgcs.views.ScrollBarView
                 android:id="@+id/rollKp"
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                setting_attributes:setting_name="Roll Kp" />
+                setting_attributes:setting_name="Roll Kp"
+                setting_attributes:max_value="5" />
 
             <org.openpilot.androidgcs.views.ScrollBarView
                 android:id="@+id/pitchKp"
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                setting_attributes:setting_name="Pitch Kp" />
+                setting_attributes:setting_name="Pitch Kp"
+                setting_attributes:max_value="5" />
         </LinearLayout>
     </ScrollView>
 
diff --git a/androidgcs/res/values/attrs.xml b/androidgcs/res/values/attrs.xml
index 61b213029..9a87ce0e1 100644
--- a/androidgcs/res/values/attrs.xml
+++ b/androidgcs/res/values/attrs.xml
@@ -2,5 +2,6 @@
 <resources>
     <declare-styleable name="setting_attributes">
         <attr name="setting_name" format="string"/>
+        <attr name="max_value" format="float"/>
     </declare-styleable>
 </resources>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java b/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java
index a6cd44cfc..1b4de38d0 100644
--- a/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java
@@ -5,12 +5,15 @@ import org.openpilot.androidgcs.util.ObjectFieldMappable;
 
 import android.content.Context;
 import android.content.res.TypedArray;
+import android.text.Editable;
+import android.text.TextWatcher;
 import android.util.AttributeSet;
 import android.util.Log;
 import android.widget.EditText;
 import android.widget.GridLayout;
 import android.widget.LinearLayout;
 import android.widget.SeekBar;
+import android.widget.SeekBar.OnSeekBarChangeListener;
 import android.widget.TextView;
 
 public class ScrollBarView extends GridLayout implements ObjectFieldMappable {
@@ -43,7 +46,48 @@ public class ScrollBarView extends GridLayout implements ObjectFieldMappable {
 
 		bar = new SeekBar(context);
 		addView(bar, new GridLayout.LayoutParams(spec(1), spec(0,2)));
-		bar.setMax((int) (SCALE * 0.01));
+
+		ta = context.obtainStyledAttributes(attrs, R.styleable.setting_attributes, 0, 0);
+		final double max = ta.getFloat(R.styleable.setting_attributes_max_value,0);
+		bar.setMax((int) (SCALE * max));
+
+		// Update the value when the progress bar changes
+		bar.setOnSeekBarChangeListener(new OnSeekBarChangeListener() {
+			@Override
+			public void onProgressChanged(SeekBar seekBar, int progress,
+					boolean fromUser) {
+				value = progress / SCALE;
+				edit.setText(Double.toString(value));
+			}
+
+			@Override
+			public void onStartTrackingTouch(SeekBar seekBar) {
+			}
+
+			@Override
+			public void onStopTrackingTouch(SeekBar seekBar) {
+			}
+		});
+
+		// Update the value when the edit box changes
+		edit.addTextChangedListener(new TextWatcher() {
+
+			@Override
+			public void afterTextChanged(Editable s) {
+				value = Double.parseDouble(s.toString());
+				bar.setProgress((int) (SCALE * value));
+			}
+
+			@Override
+			public void beforeTextChanged(CharSequence s, int start, int count,
+					int after) {
+			}
+
+			@Override
+			public void onTextChanged(CharSequence s, int start, int before,
+					int count) {
+			}
+		});
 
 		setPadding(5,5,5,5);
 

From e9effa593daf31aee68f87fa74f017f2de07e55d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 29 Aug 2012 03:21:42 -0500
Subject: [PATCH 434/543] AndroidGCS Tuning: Finish the SmartSave utility

---
 .../openpilot/androidgcs/TuningActivity.java  |  1 +
 .../openpilot/androidgcs/util/SmartSave.java  | 22 ++++++++++++-------
 2 files changed, 15 insertions(+), 8 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/TuningActivity.java b/androidgcs/src/org/openpilot/androidgcs/TuningActivity.java
index 86bee58a1..8847eb6fa 100644
--- a/androidgcs/src/org/openpilot/androidgcs/TuningActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/TuningActivity.java
@@ -41,6 +41,7 @@ public class TuningActivity extends ObjectManagerActivity {
 		smartSave.addControlMapping((ScrollBarView) findViewById(R.id.pitchRateKi), "PitchRatePID", 1);
 		smartSave.addControlMapping((ScrollBarView) findViewById(R.id.rollKp), "RollPI", 0);
 		smartSave.addControlMapping((ScrollBarView) findViewById(R.id.pitchKp), "PitchPI", 0);
+		smartSave.refreshSettingsDisplay();
 	}
 
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/util/SmartSave.java b/androidgcs/src/org/openpilot/androidgcs/util/SmartSave.java
index c92618f64..c37befc71 100644
--- a/androidgcs/src/org/openpilot/androidgcs/util/SmartSave.java
+++ b/androidgcs/src/org/openpilot/androidgcs/util/SmartSave.java
@@ -45,6 +45,7 @@ import android.widget.Button;
 public class SmartSave {
 
 	private final static String TAG = SmartSave.class.getSimpleName();
+	private final static boolean DEBUG = false;
 
 	//! Create a smart save button attached to the object manager and an apply and ave button
 	public SmartSave(UAVObjectManager objMngr, UAVObject obj, Button saveButton, Button applyButton) {
@@ -102,6 +103,8 @@ public class SmartSave {
 
 	//! Update the settings in the UI from the mappings
 	public void refreshSettingsDisplay() {
+		if (DEBUG) Log.d(TAG, "Refreshing display");
+
 		Set<ObjectFieldMappable> keys = controlFieldMapping.keySet();
 		Iterator<ObjectFieldMappable> iter = keys.iterator();
 		while(iter.hasNext()) {
@@ -135,10 +138,12 @@ public class SmartSave {
 		persistence.addUpdatedObserver(ObjectPersistenceUpdated);
 
 		// 3. Send save operation
-		obj.getField("ObjectID").setValue(obj.getObjID());
-		obj.getField("Operation").setValue("Save");
-		obj.getField("Selection").setValue("SingleObject");
-		obj.updated();
+		Long objId = obj.getObjID();
+		if (DEBUG) Log.d(TAG, "Saving object ID: " + objId);
+		persistence.getField("ObjectID").setValue(objId);
+		persistence.getField("Operation").setValue("Save");
+		persistence.getField("Selection").setValue("SingleObject");
+		persistence.updated();
 
 		return true;
 	}
@@ -196,6 +201,8 @@ public class SmartSave {
 
 		//! Get the value from the UAVO field
 		double getValue(UAVObject obj) {
+			double val = obj.getField(fieldName).getDouble(fieldIndex);
+			if (DEBUG) Log.d(TAG, "Getting value from: " + fieldName + " " + val);
 			return obj.getField(fieldName).getDouble(fieldIndex);
 		}
 
@@ -210,7 +217,7 @@ public class SmartSave {
 	private final Observer ApplyCompleted = new Observer() {
 		@Override
 		public void update(Observable observable, Object data) {
-			Log.d(TAG, "Apply called");
+			if (DEBUG) Log.d(TAG, "Apply called");
 		}
 	};
 
@@ -218,7 +225,7 @@ public class SmartSave {
 	private final Observer ObjectUpdated = new Observer() {
 		@Override
 		public void update(Observable observable, Object data) {
-			Log.d(TAG, "Object updated");
+			if (DEBUG) Log.d(TAG, "Object updated");
 			refreshSettingsDisplay();
 		}
 	};
@@ -227,7 +234,7 @@ public class SmartSave {
 	private final Observer ObjectPersistenceUpdated = new Observer() {
 		@Override
 		public void update(Observable observable, Object data) {
-			Log.d(TAG, "Object persistence updated");
+			if (DEBUG) Log.d(TAG, "Object persistence updated");
 		}
 	};
 
@@ -246,5 +253,4 @@ public class SmartSave {
 	//! Handle to the UAVO this class works with
 	private final UAVObject obj;
 
-
 }

From 75db9f59412ddac42036fd6644346182e91aea62 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 29 Aug 2012 04:28:26 -0500
Subject: [PATCH 435/543] OP-669: Gyros were not being sent at a rapid rate
 during calibration making the results quite noisy. Now both accels and gyros
 require a minimum number of updates before calibration completes.

Thanks to ti.dyer for the report and fix.
---
 .../plugins/config/configccattitudewidget.cpp | 61 ++++++++++++-------
 .../plugins/config/configccattitudewidget.h   | 10 +--
 2 files changed, 44 insertions(+), 27 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
index 10064b835..f0fb825fd 100644
--- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
@@ -63,29 +63,29 @@ ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
     delete ui;
 }
 
-void ConfigCCAttitudeWidget::accelsUpdated(UAVObject * obj) {
+void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject * obj) {
     QMutexLocker locker(&startStop);
 
-    ui->zeroBiasProgress->setValue((float) updates / NUM_ACCEL_UPDATES * 100);
+    ui->zeroBiasProgress->setValue((float) qMin(accelUpdates,gyroUpdates) / NUM_SENSOR_UPDATES * 100);
 
-    if(updates < NUM_ACCEL_UPDATES) {
-        updates++;
-        Accels * accels = Accels::GetInstance(getObjectManager());
+    Accels * accels = Accels::GetInstance(getObjectManager());
+    Gyros * gyros = Gyros::GetInstance(getObjectManager());
+
+    if(obj->getObjID() == Accels::OBJID && accelUpdates < NUM_SENSOR_UPDATES) {
+        accelUpdates++;
         Accels::DataFields accelsData = accels->getData();
         x_accum.append(accelsData.x);
         y_accum.append(accelsData.y);
         z_accum.append(accelsData.z);
-
-        Gyros * gyros = Gyros::GetInstance(getObjectManager());
+    } else if (obj->getObjID() == Gyros::OBJID && gyroUpdates < NUM_SENSOR_UPDATES) {
+        gyroUpdates++;
         Gyros::DataFields gyrosData = gyros->getData();
-
         x_gyro_accum.append(gyrosData.x);
         y_gyro_accum.append(gyrosData.y);
         z_gyro_accum.append(gyrosData.z);
-    } else if ( updates == NUM_ACCEL_UPDATES ) {
-	updates++;
+    } else if ( accelUpdates >= NUM_SENSOR_UPDATES && gyroUpdates >= NUM_SENSOR_UPDATES) {
         timer.stop();
-        disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(accelsUpdated(UAVObject*)));
+        disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
         disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
 
         float x_bias = listMean(x_accum) / ACCEL_SCALE;
@@ -95,7 +95,8 @@ void ConfigCCAttitudeWidget::accelsUpdated(UAVObject * obj) {
         float x_gyro_bias = listMean(x_gyro_accum) * 100.0f;
         float y_gyro_bias = listMean(y_gyro_accum) * 100.0f;
         float z_gyro_bias = listMean(z_gyro_accum) * 100.0f;
-        obj->setMetadata(initialMdata);
+        accels->setMetadata(initialAccelsMdata);
+        gyros->setMetadata(initialGyrosMdata);
 
         AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
         // We offset the gyro bias by current bias to help precision
@@ -108,17 +109,22 @@ void ConfigCCAttitudeWidget::accelsUpdated(UAVObject * obj) {
         attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
         AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
     } else {
-	// Possible to get here if weird threading stuff happens.  Just ignore updates.
-	qDebug("Unexpected accel update received.");
+        // Possible to get here if weird threading stuff happens.  Just ignore updates.
+        qDebug("Unexpected accel update received.");
     }
 }
 
 void ConfigCCAttitudeWidget::timeout() {
     QMutexLocker locker(&startStop);
     UAVDataObject * obj = Accels::GetInstance(getObjectManager());
-    disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(accelsUpdated(UAVObject*)));
+    disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
     disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
 
+    Accels * accels = Accels::GetInstance(getObjectManager());
+    Gyros * gyros = Gyros::GetInstance(getObjectManager());
+    accels->setMetadata(initialAccelsMdata);
+    gyros->setMetadata(initialGyrosMdata);
+
     QMessageBox msgBox;
     msgBox.setText(tr("Calibration timed out before receiving required updates."));
     msgBox.setStandardButtons(QMessageBox::Ok);
@@ -130,7 +136,8 @@ void ConfigCCAttitudeWidget::timeout() {
 void ConfigCCAttitudeWidget::startAccelCalibration() {
     QMutexLocker locker(&startStop);
 
-    updates = 0;
+    accelUpdates = 0;
+    gyroUpdates = 0;
     x_accum.clear();
     y_accum.clear();
     z_accum.clear();
@@ -144,19 +151,27 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
     AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
 
     // Set up to receive updates
-    UAVDataObject * obj = Accels::GetInstance(getObjectManager());
-    connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(accelsUpdated(UAVObject*)));
+    UAVDataObject * accels = Accels::GetInstance(getObjectManager());
+    UAVDataObject * gyros = Gyros::GetInstance(getObjectManager());
+    connect(accels,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
+    connect(gyros,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
 
     // Set up timeout timer
     timer.start(10000);
     connect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
 
     // Speed up updates
-    initialMdata = obj->getMetadata();
-    UAVObject::Metadata mdata = initialMdata;
-    UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
-    mdata.flightTelemetryUpdatePeriod = 100;
-    obj->setMetadata(mdata);
+    initialAccelsMdata = accels->getMetadata();
+    UAVObject::Metadata accelsMdata = initialAccelsMdata;
+    UAVObject::SetFlightTelemetryUpdateMode(accelsMdata, UAVObject::UPDATEMODE_PERIODIC);
+    accelsMdata.flightTelemetryUpdatePeriod = 100;
+    accels->setMetadata(accelsMdata);
+
+    initialGyrosMdata = gyros->getMetadata();
+    UAVObject::Metadata gyrosMdata = initialGyrosMdata;
+    UAVObject::SetFlightTelemetryUpdateMode(gyrosMdata, UAVObject::UPDATEMODE_PERIODIC);
+    gyrosMdata.flightTelemetryUpdatePeriod = 10;
+    gyros->setMetadata(gyrosMdata);
 
 }
 
diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
index 28d389df6..fc1a7f623 100644
--- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
@@ -49,7 +49,7 @@ public:
     virtual void updateObjectsFromWidgets();
 
 private slots:
-    void accelsUpdated(UAVObject * obj);
+    void sensorsUpdated(UAVObject * obj);
     void timeout();
     void startAccelCalibration();
     void openHelp();
@@ -58,14 +58,16 @@ private:
     QMutex startStop;
     Ui_ccattitude *ui;
     QTimer timer;
-    UAVObject::Metadata initialMdata;
+    UAVObject::Metadata initialAccelsMdata;
+    UAVObject::Metadata initialGyrosMdata;
 
-    int updates;
+    int accelUpdates;
+    int gyroUpdates;
 
     QList<double> x_accum, y_accum, z_accum;
     QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
 
-    static const int NUM_ACCEL_UPDATES = 60;
+    static const int NUM_SENSOR_UPDATES = 60;
     static const float ACCEL_SCALE = 0.004f * 9.81f;
 protected:
     virtual void enableControls(bool enable);

From 12f0c18049158f7ad7a010245de061df5b98d7be Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 29 Aug 2012 21:59:53 -0500
Subject: [PATCH 436/543] AndroidGCS: Check in some layouts for greater than
 600px width

---
 androidgcs/res/layout-w600dp/gcs_home.xml | 106 ++++++++++++++++++++++
 androidgcs/res/layout-w600dp/tuning.xml   |  97 ++++++++++++++++++++
 2 files changed, 203 insertions(+)
 create mode 100644 androidgcs/res/layout-w600dp/gcs_home.xml
 create mode 100644 androidgcs/res/layout-w600dp/tuning.xml

diff --git a/androidgcs/res/layout-w600dp/gcs_home.xml b/androidgcs/res/layout-w600dp/gcs_home.xml
new file mode 100644
index 000000000..41ab95d42
--- /dev/null
+++ b/androidgcs/res/layout-w600dp/gcs_home.xml
@@ -0,0 +1,106 @@
+<?xml version="1.0" encoding="utf-8"?>
+<GridLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:layout_alignParentLeft="true"
+    android:layout_gravity="center_horizontal" >
+
+    <Button
+        android:id="@+id/launch_controller"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="3"
+        android:layout_gravity="right"
+        android:layout_row="1"
+        android:layout_rowSpan="4"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_controller"
+        android:text="@string/controller_name" />
+
+    <Button
+        android:id="@+id/launch_object_browser"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="0"
+        android:layout_gravity="right|bottom"
+        android:layout_row="2"
+        android:layout_rowSpan="2"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_browser"
+        android:text="@string/object_browser_name" />
+
+    <Button
+        android:id="@+id/launch_location"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="2"
+        android:layout_gravity="right|bottom"
+        android:layout_row="2"
+        android:layout_rowSpan="2"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_map"
+        android:text="@string/location_name" />
+
+    <Button
+        android:id="@+id/launch_tuning"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="4"
+        android:layout_columnSpan="2"
+        android:layout_gravity="right|bottom"
+        android:layout_row="2"
+        android:layout_rowSpan="2"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_tuning"
+        android:text="@string/tuning" />
+
+    <Button
+        android:id="@+id/launch_alarms"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="1"
+        android:layout_columnSpan="2"
+        android:layout_gravity="left|bottom"
+        android:layout_row="3"
+        android:layout_rowSpan="3"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_alarms"
+        android:text="@string/alarms" />
+
+    <Button
+        android:id="@+id/launch_logger"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="3"
+        android:layout_gravity="left|bottom"
+        android:layout_row="3"
+        android:layout_rowSpan="3"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_logging"
+        android:text="@string/logger_name" />
+
+    <Button
+        android:id="@+id/launch_pfd"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="0"
+        android:layout_gravity="left"
+        android:layout_row="5"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_pfd"
+        android:text="@string/pfd_name" />
+
+
+    <Space
+        android:layout_width="1dp"
+        android:layout_height="32dp"
+        android:layout_column="0"
+        android:layout_row="0" />
+
+    <Space
+        android:layout_width="1dp"
+        android:layout_height="47dp"
+        android:layout_column="0"
+        android:layout_row="4" />
+
+</GridLayout>
\ No newline at end of file
diff --git a/androidgcs/res/layout-w600dp/tuning.xml b/androidgcs/res/layout-w600dp/tuning.xml
new file mode 100644
index 000000000..e69758a1b
--- /dev/null
+++ b/androidgcs/res/layout-w600dp/tuning.xml
@@ -0,0 +1,97 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:setting_attributes="http://schemas.android.com/apk/res/org.openpilot.androidgcs"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="vertical" >
+
+
+    <ScrollView
+        android:layout_width="fill_parent"
+        android:layout_height="0dip"
+        android:layout_weight="1"
+        android:orientation="vertical" >
+
+        <GridLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:stretchMode="columnWidth"
+            android:orientation="vertical" >
+		
+            <org.openpilot.androidgcs.views.ScrollBarView
+                android:id="@+id/rollRateKp"
+                android:layout_height="wrap_content"
+                android:layout_width="wrap_content"
+                android:layout_column="0"
+                android:layout_gravity="fill"
+                android:layout_row="0"
+                setting_attributes:max_value="0.01"
+                setting_attributes:setting_name="Roll Rate Kp" />
+
+            <org.openpilot.androidgcs.views.ScrollBarView
+                android:id="@+id/pitchRateKp"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_column="1"
+                android:layout_row="0"
+                setting_attributes:setting_name="Pitch Rate Kp"
+                setting_attributes:max_value="0.01" />
+
+            <org.openpilot.androidgcs.views.ScrollBarView
+                android:id="@+id/rollRateKi"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_column="0"
+                android:layout_row="1"
+                setting_attributes:setting_name="Roll Rate Ki"
+                setting_attributes:max_value="0.05" />
+
+            <org.openpilot.androidgcs.views.ScrollBarView
+                android:id="@+id/pitchRateKi"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_column="1"
+                android:layout_row="1"
+                setting_attributes:setting_name="Pitch Rate Ki"
+                setting_attributes:max_value="0.05" />
+
+            <org.openpilot.androidgcs.views.ScrollBarView
+                android:id="@+id/rollKp"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_column="0"
+                android:layout_row="2"
+                setting_attributes:setting_name="Roll Kp"
+                setting_attributes:max_value="5" />
+
+            <org.openpilot.androidgcs.views.ScrollBarView
+                android:id="@+id/pitchKp"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_column="1"
+                android:layout_row="2"
+                setting_attributes:setting_name="Pitch Kp"
+                setting_attributes:max_value="5" />
+        </GridLayout>
+    </ScrollView>
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:gravity="right" >
+
+        <Button
+            android:id="@+id/applyBtn"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="@string/apply" />
+
+        <Button
+            android:id="@+id/saveBtn"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="@string/save" />
+
+    </LinearLayout>
+</LinearLayout>
+

From fbefba69e20ce23338164ca5831987cc874ab5ea Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 29 Aug 2012 22:00:46 -0500
Subject: [PATCH 437/543] AndroidGCS: For now force the min width of the
 ScrollBarView to 300dp

Because I don't know how to make it automatically expand to fill the columns.
This makes it get close until multiple layout sizes.
---
 androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java b/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java
index 1b4de38d0..ba5bf353d 100644
--- a/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/views/ScrollBarView.java
@@ -91,6 +91,7 @@ public class ScrollBarView extends GridLayout implements ObjectFieldMappable {
 
 		setPadding(5,5,5,5);
 
+		setMinimumWidth(300);
 		setValue(0.0035);
 	}
 

From e2fdc9554053444d79ee839c7b2b6c0fb4825881 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 29 Aug 2012 22:20:32 -0500
Subject: [PATCH 438/543] AndroidGCS: Use a relative layout for the object
 browser view.

---
 androidgcs/res/layout/object_browser.xml | 49 +++++++++---------------
 androidgcs/res/values/strings.xml        |  4 ++
 2 files changed, 23 insertions(+), 30 deletions(-)

diff --git a/androidgcs/res/layout/object_browser.xml b/androidgcs/res/layout/object_browser.xml
index 8a7221fb6..faf875bfe 100644
--- a/androidgcs/res/layout/object_browser.xml
+++ b/androidgcs/res/layout/object_browser.xml
@@ -23,14 +23,14 @@
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
                 android:checked="true"
-                android:text="Settings" />
+                android:text="@string/settings" />
 
             <CheckBox
                 android:id="@+id/dataCheck"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
                 android:checked="true"
-                android:text="Data" />
+                android:text="@string/data" />
 
         </LinearLayout>
         
@@ -56,7 +56,7 @@
                 android:layout_height="fill_parent"
                 android:background="#FFFFFFFF" />
 
-            <LinearLayout
+            <RelativeLayout
                 android:layout_width="fill_parent"
                 android:layout_height="fill_parent"
                 android:layout_weight="1"
@@ -66,40 +66,29 @@
                     android:id="@+id/object_information"
                     android:layout_width="wrap_content"
                     android:layout_height="wrap_content"
+                    android:layout_alignParentTop="true"
                     android:layout_marginLeft="12dp"
                     android:layout_marginTop="12dp"
                     android:textAppearance="?android:attr/textAppearanceMedium" />
 
-                <Space
-                    android:layout_width="match_parent"
-                    android:layout_height="wrap_content" />
+                <Button
+                    android:id="@+id/editButton"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_alignParentBottom="true"
+                    android:layout_alignParentRight="true"
+                    android:text="@string/edit" />
 
-                <Space
-                    android:layout_width="match_parent"
-                    android:layout_height="wrap_content" />
+                <Button
+                    android:id="@+id/object_load_button"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_alignParentBottom="true"
+                    android:layout_toLeftOf="@+id/editButton"
+                    android:text="@string/load" />
 
-                <LinearLayout
-                    android:layout_width="match_parent"
-                    android:layout_height="wrap_content" >
+            </RelativeLayout>
 
-                    <Button
-                        android:id="@+id/object_load_button"
-                        android:layout_width="wrap_content"
-                        android:layout_height="wrap_content"
-                        android:text="Load" />
-
-                    <Button
-                        android:id="@+id/editButton"
-                        android:layout_width="wrap_content"
-                        android:layout_height="wrap_content"
-                        android:layout_gravity="right"
-                        android:layout_marginBottom="32dp"
-                        android:layout_marginRight="12dp"
-                        android:text="Edit" />
-
-                </LinearLayout>
-
-            </LinearLayout>
         </LinearLayout>
     </LinearLayout>
 
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index 93f404aed..1cc3c41f5 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -35,4 +35,8 @@
 	<string name="tuning">Tuning</string>
 	<string name="apply">Apply</string>
 	<string name="save">Save</string>
+	<string name="settings">Settings</string>
+	<string name="data">Data</string>
+	<string name="edit">Edit</string>
+	<string name="load">Load</string>
 </resources>

From cffeb6c65a7c3421cc888e0fd933eabf740dc5c7 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 29 Aug 2012 23:34:04 -0500
Subject: [PATCH 439/543] AndroidGCS Tuning: Improvements to the tablet layout.

---
 androidgcs/res/layout-w600dp/tuning.xml | 160 ++++++++++++------------
 1 file changed, 83 insertions(+), 77 deletions(-)

diff --git a/androidgcs/res/layout-w600dp/tuning.xml b/androidgcs/res/layout-w600dp/tuning.xml
index e69758a1b..fcbfcce82 100644
--- a/androidgcs/res/layout-w600dp/tuning.xml
+++ b/androidgcs/res/layout-w600dp/tuning.xml
@@ -1,97 +1,103 @@
 <?xml version="1.0" encoding="utf-8"?>
-<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:setting_attributes="http://schemas.android.com/apk/res/org.openpilot.androidgcs"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
     android:orientation="vertical" >
 
+    <Button
+        android:id="@+id/saveBtn"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignParentBottom="true"
+        android:layout_alignParentRight="true"
+        android:text="@string/save" />
 
-    <ScrollView
-        android:layout_width="fill_parent"
-        android:layout_height="0dip"
-        android:layout_weight="1"
-        android:orientation="vertical" >
-
-        <GridLayout
-            android:layout_width="match_parent"
-            android:layout_height="wrap_content"
-            android:stretchMode="columnWidth"
-            android:orientation="vertical" >
-		
-            <org.openpilot.androidgcs.views.ScrollBarView
-                android:id="@+id/rollRateKp"
-                android:layout_height="wrap_content"
-                android:layout_width="wrap_content"
-                android:layout_column="0"
-                android:layout_gravity="fill"
-                android:layout_row="0"
-                setting_attributes:max_value="0.01"
-                setting_attributes:setting_name="Roll Rate Kp" />
-
-            <org.openpilot.androidgcs.views.ScrollBarView
-                android:id="@+id/pitchRateKp"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:layout_column="1"
-                android:layout_row="0"
-                setting_attributes:setting_name="Pitch Rate Kp"
-                setting_attributes:max_value="0.01" />
-
-            <org.openpilot.androidgcs.views.ScrollBarView
-                android:id="@+id/rollRateKi"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:layout_column="0"
-                android:layout_row="1"
-                setting_attributes:setting_name="Roll Rate Ki"
-                setting_attributes:max_value="0.05" />
-
-            <org.openpilot.androidgcs.views.ScrollBarView
-                android:id="@+id/pitchRateKi"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:layout_column="1"
-                android:layout_row="1"
-                setting_attributes:setting_name="Pitch Rate Ki"
-                setting_attributes:max_value="0.05" />
-
-            <org.openpilot.androidgcs.views.ScrollBarView
-                android:id="@+id/rollKp"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:layout_column="0"
-                android:layout_row="2"
-                setting_attributes:setting_name="Roll Kp"
-                setting_attributes:max_value="5" />
-
-            <org.openpilot.androidgcs.views.ScrollBarView
-                android:id="@+id/pitchKp"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:layout_column="1"
-                android:layout_row="2"
-                setting_attributes:setting_name="Pitch Kp"
-                setting_attributes:max_value="5" />
-        </GridLayout>
-    </ScrollView>
+    <Button
+        android:id="@+id/applyBtn"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignParentBottom="true"
+        android:layout_toLeftOf="@+id/saveBtn"
+        android:text="@string/apply" />
 
     <LinearLayout
+        android:id="@+id/linearLayout3"
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
-        android:gravity="right" >
+        android:layout_alignParentLeft="true"
+        android:layout_alignParentTop="true" >
 
-        <Button
-            android:id="@+id/applyBtn"
+        <org.openpilot.androidgcs.views.ScrollBarView
+            android:id="@+id/rollRateKp"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:text="@string/apply" />
+            android:layout_weight="0.5"
+            setting_attributes:max_value="0.01"
+            setting_attributes:setting_name="Roll Rate Kp" >
+        </org.openpilot.androidgcs.views.ScrollBarView>
 
-        <Button
-            android:id="@+id/saveBtn"
+        <org.openpilot.androidgcs.views.ScrollBarView
+            android:id="@+id/pitchRateKp"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:text="@string/save" />
+            android:layout_weight="0.5"
+            setting_attributes:max_value="0.01"
+            setting_attributes:setting_name="Pitch Rate Kp" >
+        </org.openpilot.androidgcs.views.ScrollBarView>
 
     </LinearLayout>
-</LinearLayout>
 
+    <LinearLayout
+        android:id="@+id/linearLayout1"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_alignParentLeft="true"
+        android:layout_below="@+id/linearLayout3" >
+
+        <org.openpilot.androidgcs.views.ScrollBarView
+            android:id="@+id/rollRateKi"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_weight="0.5"
+            setting_attributes:max_value="0.05"
+            setting_attributes:setting_name="Roll Rate Ki" >
+        </org.openpilot.androidgcs.views.ScrollBarView>
+
+        <org.openpilot.androidgcs.views.ScrollBarView
+            android:id="@+id/pitchRateKi"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_weight="0.5"
+            setting_attributes:max_value="0.05"
+            setting_attributes:setting_name="Pitch Rate Ki" >
+        </org.openpilot.androidgcs.views.ScrollBarView>
+    </LinearLayout>
+
+    <LinearLayout
+        android:id="@+id/linearLayout2"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_alignParentLeft="true"
+        android:layout_below="@+id/linearLayout1" >
+
+        <org.openpilot.androidgcs.views.ScrollBarView
+            android:id="@+id/rollKp"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_weight="0.5"
+            setting_attributes:max_value="5"
+            setting_attributes:setting_name="Roll Kp" >
+        </org.openpilot.androidgcs.views.ScrollBarView>
+
+        <org.openpilot.androidgcs.views.ScrollBarView
+            android:id="@+id/pitchKp"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_weight="0.5"
+            setting_attributes:max_value="5"
+            setting_attributes:setting_name="Pitch Kp" >
+        </org.openpilot.androidgcs.views.ScrollBarView>
+    </LinearLayout>
+
+</RelativeLayout>
\ No newline at end of file

From 2ca353992c61e74e792aecdd427ad532be2927c4 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 27 Aug 2012 11:05:08 -0500
Subject: [PATCH 440/543] AndroidGCS PFD: Properly center image now so it works
 over multiple sizes.

However, it doesn't automatically fill the screen in normal PFD view yet.  Specifying the width in pfd.xml directly does fix that but is incorrect.
---
 .../openpilot/androidgcs/AttitudeView.java    | 26 ++++++++++++-------
 .../org/openpilot/androidgcs/PfdActivity.java |  5 ++--
 2 files changed, 19 insertions(+), 12 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java b/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
index 1167287a4..e13f09dd2 100644
--- a/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
@@ -128,25 +128,33 @@ public class AttitudeView extends View {
 	@Override
 	protected void onDraw(Canvas canvas) {
 
-		final int PX = getMeasuredWidth() / 2;
-		final int PY = getMeasuredHeight() / 2;
+		final int PX = getMeasuredWidth();
+		final int PY = getMeasuredHeight();
 
-		// TODO: Figure out why these magic numbers are needed to center it
-		final int WIDTH = 600;
-		final int HEIGHT = 600;
-		final int DEG_TO_PX = 10; // Magic number for how to scale pitch
+		// Want 60 deg to move the horizon all the way off the screen
+		final int DEG_TO_PX = (PY/2) / 60; // Magic number for how to scale pitch
 
-		canvas.save(0);
-		canvas.rotate(-roll, PX, PY);
+		canvas.save();
+		canvas.rotate(-roll, PX / 2, PY / 2);
 		canvas.translate(0, pitch * DEG_TO_PX);
 		Drawable horizon = getContext().getResources().getDrawable(
 				R.drawable.im_pfd_horizon);
+
 		// This puts the image at the center of the PFD canvas (after it was
 		// translated)
-		horizon.setBounds(-(WIDTH - PX) / 2, -(HEIGHT - PY) / 2, WIDTH, HEIGHT);
+		double margin = 0.5;
+		horizon.setBounds( (int) (-margin * PX), (int) (-margin * PY), (int) ((1 + margin) * PX), (int) ((1+margin) *PY));
 		horizon.draw(canvas);
 		canvas.restore();
 
+		canvas.drawLine(0, 0, PX, 0, markerPaint);
+		canvas.drawLine(0, 0, 0, PY, markerPaint);
+		canvas.drawLine(PX, 0, PX, PY, markerPaint);
+		canvas.drawLine(0, PY, PX, PY, markerPaint);
+
+		canvas.drawLine(0,PY/2,PX,PY/2,markerPaint);
+		canvas.drawLine(PX/2,0,PX/2,PY,markerPaint);
+
 	}
 
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/PfdActivity.java b/androidgcs/src/org/openpilot/androidgcs/PfdActivity.java
index 6374c7b82..8b74fe928 100644
--- a/androidgcs/src/org/openpilot/androidgcs/PfdActivity.java
+++ b/androidgcs/src/org/openpilot/androidgcs/PfdActivity.java
@@ -28,7 +28,6 @@ import org.openpilot.androidgcs.fragments.PFD;
 import android.app.FragmentTransaction;
 import android.os.Bundle;
 import android.view.View;
-import android.widget.AbsListView;
 import android.widget.LinearLayout;
 
 public class PfdActivity extends ObjectManagerActivity {
@@ -44,8 +43,8 @@ public class PfdActivity extends ObjectManagerActivity {
 
 		layout.setOrientation(LinearLayout.HORIZONTAL);
 		layout.setLayoutParams(new LinearLayout.LayoutParams(
-				AbsListView.LayoutParams.MATCH_PARENT,
-				AbsListView.LayoutParams.MATCH_PARENT));
+				LinearLayout.LayoutParams.WRAP_CONTENT,
+				LinearLayout.LayoutParams.WRAP_CONTENT));
 		layout.setId(0x101);
 		{
 			FragmentTransaction fragmentTransaction = getFragmentManager()

From 0f28f65be66d2f9f279e58a06c12071f3d13fb76 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 30 Aug 2012 00:08:29 -0500
Subject: [PATCH 441/543] AndroidGCS PFD: Update the graphics for the PFD

---
 androidgcs/res/drawable-hdpi/im_pfd_fixed.png |  Bin 0 -> 9665 bytes
 .../res/drawable-hdpi/im_pfd_horizon.png      |  Bin 1349 -> 9941 bytes
 .../res/drawable-hdpi/im_pfd_reticule.png     |  Bin 0 -> 18749 bytes
 .../openpilot/androidgcs/AttitudeView.java    |   32 +-
 artwork/Android/hdpi/_pre_production/pfd.ai   | 4619 +++++++++--------
 artwork/Android/hdpi/im_pfd_fixed.png         |  Bin 0 -> 9665 bytes
 artwork/Android/hdpi/im_pfd_horizon.png       |  Bin 1349 -> 9941 bytes
 artwork/Android/hdpi/im_pfd_reticule.png      |  Bin 0 -> 18749 bytes
 8 files changed, 2493 insertions(+), 2158 deletions(-)
 create mode 100644 androidgcs/res/drawable-hdpi/im_pfd_fixed.png
 create mode 100644 androidgcs/res/drawable-hdpi/im_pfd_reticule.png
 create mode 100644 artwork/Android/hdpi/im_pfd_fixed.png
 create mode 100644 artwork/Android/hdpi/im_pfd_reticule.png

diff --git a/androidgcs/res/drawable-hdpi/im_pfd_fixed.png b/androidgcs/res/drawable-hdpi/im_pfd_fixed.png
new file mode 100644
index 0000000000000000000000000000000000000000..67d9699a9964a7d7f2f3275a2069f7427d1ed655
GIT binary patch
literal 9665
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zX*3OurlHX^M1^{OG$V~>q|uBtnvtl}YZzIj$^9D}lfiu}$A8z7Z^TQ0*bK8FoiMYF
z;6dk{ByiHYaRl74-p~o|k|hX(hoBFrL3(Dskdf$7jiZ4BN<gD2XEb+!(!praF<Lx=
z(!prmF<L)@(!prsVYFohN(ZB@$I+%WC>@M;A4dCD;NB-O{YTXX24;r)Y^uk0%{2K7
ON<E&gelF{r5}E*WW5_%J

literal 0
HcmV?d00001

diff --git a/androidgcs/res/drawable-hdpi/im_pfd_horizon.png b/androidgcs/res/drawable-hdpi/im_pfd_horizon.png
index f5a5c2157cb52755d20f75159cbfd9361e598e1b..6339ee660052a993c325bd87084375f80c0737ea 100644
GIT binary patch
literal 9941
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literal 1349
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diff --git a/androidgcs/res/drawable-hdpi/im_pfd_reticule.png b/androidgcs/res/drawable-hdpi/im_pfd_reticule.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0ed9f8079c9e8aca04b8f65105f5ee0190fc6d4
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java b/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
index e13f09dd2..3ab3244cb 100644
--- a/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
+++ b/androidgcs/src/org/openpilot/androidgcs/AttitudeView.java
@@ -81,7 +81,7 @@ public class AttitudeView extends View {
             result = specSize;
         } else {
             // Measure the text (beware: ascent is a negative number)
-            result = 600;
+            result = 1600;
             if (specMode == MeasureSpec.AT_MOST) {
                 // Respect AT_MOST value if that was what is called for by measureSpec
                 result = Math.min(result, specSize);
@@ -136,25 +136,35 @@ public class AttitudeView extends View {
 
 		canvas.save();
 		canvas.rotate(-roll, PX / 2, PY / 2);
+		canvas.save();
+
 		canvas.translate(0, pitch * DEG_TO_PX);
 		Drawable horizon = getContext().getResources().getDrawable(
 				R.drawable.im_pfd_horizon);
+		Drawable reticule = getContext().getResources().getDrawable(
+				R.drawable.im_pfd_reticule);
+		Drawable fixed = getContext().getResources().getDrawable(
+				R.drawable.im_pfd_fixed);
+
+		// Starting with a square image, want to size it equally
+		double margin = 0.2;
+		int screenSize = Math.min(PX, PY);
+		int imageHalfSize = (int) ((screenSize + screenSize * margin) / 2);
 
 		// This puts the image at the center of the PFD canvas (after it was
 		// translated)
-		double margin = 0.5;
-		horizon.setBounds( (int) (-margin * PX), (int) (-margin * PY), (int) ((1 + margin) * PX), (int) ((1+margin) *PY));
+		horizon.setBounds( PX/2 - imageHalfSize, PY/2 - imageHalfSize, PX/2 + imageHalfSize, PY/2 + imageHalfSize);
 		horizon.draw(canvas);
 		canvas.restore();
 
-		canvas.drawLine(0, 0, PX, 0, markerPaint);
-		canvas.drawLine(0, 0, 0, PY, markerPaint);
-		canvas.drawLine(PX, 0, PX, PY, markerPaint);
-		canvas.drawLine(0, PY, PX, PY, markerPaint);
+		// Draw the overlay that only rolls
+		reticule.setBounds( PX/2 - imageHalfSize, PY/2 - imageHalfSize, PX/2 + imageHalfSize, PY/2 + imageHalfSize);
+		reticule.draw(canvas);
+		canvas.restore();
 
-		canvas.drawLine(0,PY/2,PX,PY/2,markerPaint);
-		canvas.drawLine(PX/2,0,PX/2,PY,markerPaint);
-
-	}
+		// Draw the overlay that never moves
+		fixed.setBounds( PX/2 - imageHalfSize, PY/2 - imageHalfSize, PX/2 + imageHalfSize, PY/2 + imageHalfSize);
+		fixed.draw(canvas);
+}
 
 }
diff --git a/artwork/Android/hdpi/_pre_production/pfd.ai b/artwork/Android/hdpi/_pre_production/pfd.ai
index ef999c3a5..c8da6ad9e 100644
--- a/artwork/Android/hdpi/_pre_production/pfd.ai
+++ b/artwork/Android/hdpi/_pre_production/pfd.ai
@@ -1,7 +1,7 @@
 %PDF-1.5
%âãÏÓ
-1 0 obj
<</Metadata 2 0 R/OCProperties<</D<</ON[5 0 R 32 0 R]/Order 33 0 R/RBGroups[]>>/OCGs[5 0 R 32 0 R]>>/Pages 3 0 R/Type/Catalog>>
endobj
2 0 obj
<</Length 43747/Subtype/XML/Type/Metadata>>stream
+1 0 obj
<</Metadata 2 0 R/OCProperties<</D<</OFF[6 0 R 7 0 R 8 0 R 77 0 R 78 0 R]/ON[9 0 R 79 0 R 80 0 R]/Order 81 0 R/RBGroups[]>>/OCGs[9 0 R 6 0 R 7 0 R 8 0 R 79 0 R 77 0 R 78 0 R 80 0 R]>>/Pages 3 0 R/Type/Catalog>>
endobj
2 0 obj
<</Length 53754/Subtype/XML/Type/Metadata>>stream
 <?xpacket begin="" id="W5M0MpCehiHzreSzNTczkc9d"?>
-<x:xmpmeta xmlns:x="adobe:ns:meta/" x:xmptk="Adobe XMP Core 5.0-c060 61.134777, 2010/02/12-17:32:00        ">
+<x:xmpmeta xmlns:x="adobe:ns:meta/" x:xmptk="Adobe XMP Core 5.3-c011 66.145661, 2012/02/06-14:56:27        ">
    <rdf:RDF xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#">
       <rdf:Description rdf:about=""
             xmlns:dc="http://purl.org/dc/elements/1.1/">
@@ -15,17 +15,17 @@
       <rdf:Description rdf:about=""
             xmlns:xmp="http://ns.adobe.com/xap/1.0/"
             xmlns:xmpGImg="http://ns.adobe.com/xap/1.0/g/img/">
-         <xmp:MetadataDate>2012-08-08T10:54:04-05:00</xmp:MetadataDate>
-         <xmp:ModifyDate>2012-08-08T10:54:04-05:00</xmp:ModifyDate>
-         <xmp:CreateDate>2012-08-08T10:28:52-05:00</xmp:CreateDate>
-         <xmp:CreatorTool>Adobe Illustrator CS5</xmp:CreatorTool>
+         <xmp:MetadataDate>2012-08-30T00:46:28-05:00</xmp:MetadataDate>
+         <xmp:ModifyDate>2012-08-30T00:46:28-05:00</xmp:ModifyDate>
+         <xmp:CreateDate>2012-08-30T00:28:26-05:00</xmp:CreateDate>
+         <xmp:CreatorTool>Adobe Illustrator CS6 (Macintosh)</xmp:CreatorTool>
          <xmp:Thumbnails>
             <rdf:Alt>
                <rdf:li rdf:parseType="Resource">
                   <xmpGImg:width>256</xmpGImg:width>
-                  <xmpGImg:height>244</xmpGImg:height>
+                  <xmpGImg:height>256</xmpGImg:height>
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@@ -34,13 +34,13 @@
             xmlns:xmpMM="http://ns.adobe.com/xap/1.0/mm/"
             xmlns:stRef="http://ns.adobe.com/xap/1.0/sType/ResourceRef#"
             xmlns:stEvt="http://ns.adobe.com/xap/1.0/sType/ResourceEvent#">
-         <xmpMM:InstanceID>uuid:80079eb5-6f6a-a346-8807-a5bfe3bd42b2</xmpMM:InstanceID>
-         <xmpMM:DocumentID>xmp.did:F77F1174072068118A6DB71C1894CB66</xmpMM:DocumentID>
+         <xmpMM:InstanceID>uuid:610a9f9c-96fe-d241-888e-e76335723798</xmpMM:InstanceID>
+         <xmpMM:DocumentID>xmp.did:0680117407206811822AC9B4A9DB4B2B</xmpMM:DocumentID>
          <xmpMM:OriginalDocumentID>uuid:5D20892493BFDB11914A8590D31508C8</xmpMM:OriginalDocumentID>
          <xmpMM:RenditionClass>proof:pdf</xmpMM:RenditionClass>
          <xmpMM:DerivedFrom rdf:parseType="Resource">
-            <stRef:instanceID>uuid:29e17876-faee-8948-9286-1741a44a591b</stRef:instanceID>
-            <stRef:documentID>xmp.did:F77F11740720681188C6A5613A2C864B</stRef:documentID>
+            <stRef:instanceID>xmp.iid:0580117407206811822AC9B4A9DB4B2B</stRef:instanceID>
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             <stRef:originalDocumentID>uuid:5D20892493BFDB11914A8590D31508C8</stRef:originalDocumentID>
             <stRef:renditionClass>proof:pdf</stRef:renditionClass>
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@@ -53,6 +53,13 @@
                   <stEvt:softwareAgent>Adobe Illustrator CS5</stEvt:softwareAgent>
                   <stEvt:changed>/</stEvt:changed>
                </rdf:li>
+               <rdf:li rdf:parseType="Resource">
+                  <stEvt:action>saved</stEvt:action>
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diff --git a/artwork/Android/hdpi/im_pfd_fixed.png b/artwork/Android/hdpi/im_pfd_fixed.png
new file mode 100644
index 0000000000000000000000000000000000000000..67d9699a9964a7d7f2f3275a2069f7427d1ed655
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literal 0
HcmV?d00001

diff --git a/artwork/Android/hdpi/im_pfd_horizon.png b/artwork/Android/hdpi/im_pfd_horizon.png
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GIT binary patch
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diff --git a/artwork/Android/hdpi/im_pfd_reticule.png b/artwork/Android/hdpi/im_pfd_reticule.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0ed9f8079c9e8aca04b8f65105f5ee0190fc6d4
GIT binary patch
literal 18749
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HcmV?d00001


From e85d959bf57b9b84c2c9eca62874dec1ab6a3095 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 30 Aug 2012 09:45:12 -0500
Subject: [PATCH 442/543] AndroidGCS Bluetooth: Fix crash when no paired
 devices

Previously tried to make it list "No devices" but this triggered other
crashes.
---
 .../org/openpilot/androidgcs/BluetoothDevicePreference.java  | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java b/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java
index 80f8970c6..50ca58bbd 100644
--- a/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java
+++ b/androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java
@@ -44,10 +44,7 @@ public class BluetoothDevicePreference extends ListPreference {
         Set<BluetoothDevice> pairedDevices = bta.getBondedDevices();
         CharSequence[] entries = new CharSequence[pairedDevices.size()];
         CharSequence[] entryValues = new CharSequence[pairedDevices.size()];
-		if (pairedDevices.size() == 0) {
-			entries[0] = "No Devices";
-			entryValues[0] = "";
-		} else {
+		if (pairedDevices.size() > 0) {
 			int i = 0;
 			for (BluetoothDevice dev : pairedDevices) {
 				entries[i] = dev.getName();

From 3488f0d2a2b38416b5069c5d4f605fcdf8d7a69d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 30 Aug 2012 10:36:46 -0500
Subject: [PATCH 443/543] AndroidGCS Controllre: Add an option for mode 1 or
 mode 2

---
 androidgcs/res/values/arrays.xml                       |  8 ++++++++
 androidgcs/res/xml/controller_preferences.xml          | 10 ++++++++++
 .../src/org/openpilot/androidgcs/Preferences.java      |  1 +
 3 files changed, 19 insertions(+)
 create mode 100644 androidgcs/res/xml/controller_preferences.xml

diff --git a/androidgcs/res/values/arrays.xml b/androidgcs/res/values/arrays.xml
index 4461c31d8..580aae163 100644
--- a/androidgcs/res/values/arrays.xml
+++ b/androidgcs/res/values/arrays.xml
@@ -14,4 +14,12 @@
         <item>3</item>
         <item>4</item>
    </string-array>
+    <string-array name="controllerTypeArray">
+        <item>Mode 1</item>
+        <item>Mode 2</item>
+   </string-array>
+    <string-array name="controllerTypeValues">
+        <item>0</item>
+        <item>1</item>
+   </string-array>
 </resources>
\ No newline at end of file
diff --git a/androidgcs/res/xml/controller_preferences.xml b/androidgcs/res/xml/controller_preferences.xml
new file mode 100644
index 000000000..48f263a1b
--- /dev/null
+++ b/androidgcs/res/xml/controller_preferences.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<PreferenceScreen xmlns:android="http://schemas.android.com/apk/res/android" >
+    <PreferenceCategory android:title="Controller Settings">
+		<ListPreference android:title="Controller Mode"
+			android:key="controller_type" android:summary="Select whether you want the virtual controller to use mode 1 or mode 2 convention"
+			android:defaultValue="Mode 1" 
+			android:entries="@array/controllerTypeArray"
+			android:entryValues="@array/controllerTypeValues"/>
+	</PreferenceCategory>
+</PreferenceScreen>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/Preferences.java b/androidgcs/src/org/openpilot/androidgcs/Preferences.java
index 4b99eadcd..89077dcf9 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Preferences.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Preferences.java
@@ -42,6 +42,7 @@ public class Preferences extends PreferenceActivity {
 			super.onCreate(savedInstanceState);
 			// Load the preferences from an XML resource
 			addPreferencesFromResource(R.xml.preferences);
+			addPreferencesFromResource(R.xml.controller_preferences);
 		}
 	}
 }

From 0f29f6e4038d3f2e913722672c99f63e542b05f5 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 30 Aug 2012 11:00:50 -0500
Subject: [PATCH 444/543] AndroidGCS Controller: Use the controller mode
 preference to select mode1 versus mode2

---
 androidgcs/res/values/arrays.xml              |   2 +-
 .../org/openpilot/androidgcs/Controller.java  | 119 ++++++++++++------
 2 files changed, 85 insertions(+), 36 deletions(-)

diff --git a/androidgcs/res/values/arrays.xml b/androidgcs/res/values/arrays.xml
index 580aae163..d27dc7b11 100644
--- a/androidgcs/res/values/arrays.xml
+++ b/androidgcs/res/values/arrays.xml
@@ -19,7 +19,7 @@
         <item>Mode 2</item>
    </string-array>
     <string-array name="controllerTypeValues">
-        <item>0</item>
         <item>1</item>
+        <item>2</item>
    </string-array>
 </resources>
\ No newline at end of file
diff --git a/androidgcs/src/org/openpilot/androidgcs/Controller.java b/androidgcs/src/org/openpilot/androidgcs/Controller.java
index 39a86639c..32b9e2655 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Controller.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Controller.java
@@ -34,7 +34,9 @@ import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectField;
 
+import android.content.SharedPreferences;
 import android.os.Bundle;
+import android.preference.PreferenceManager;
 import android.util.Log;
 import android.widget.TextView;
 import android.widget.Toast;
@@ -76,7 +78,7 @@ public class Controller extends ObjectManagerActivity {
 		@Override
 		public void update(Observable observable, Object data) {
 			// Once we have updated settings we can active the GCS receiver mode
-			Log.d(TAG,"Got update from settings");
+			if (DEBUG) Log.d(TAG,"Got update from settings");
 			UAVDataObject manualControlSettings = (UAVDataObject) objMngr.getObject("ManualControlSettings");
 			if(manualControlSettings != null) {
 				manualControlSettings.removeUpdatedObserver(this);
@@ -89,7 +91,27 @@ public class Controller extends ObjectManagerActivity {
 	void onOPConnected() {
 		super.onOPConnected();
 
-		Log.d(TAG, "onOPConnected()");
+		if (DEBUG) Log.d(TAG, "onOPConnected()");
+
+		DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
+		joystick.setMovementConstraint(JoystickView.CONSTRAIN_BOX);
+		joystick.setMovementRange((int)MOVEMENT_RANGE, (int)MOVEMENT_RANGE);
+
+		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(this);
+		int mode = Integer.decode(prefs.getString("controller_type", "1"));
+		switch(mode) {
+		case 1:
+			if (DEBUG) Log.d(TAG, "Mode1 connected");
+			joystick.setOnJostickMovedListener(mode1_left, mode1_right);
+			break;
+		case 2:
+			if (DEBUG) Log.d(TAG, "Mode2 connected");
+			joystick.setOnJostickMovedListener(mode2_left, mode2_right);
+			break;
+		default:
+			Log.e(TAG, "Unknown controller type");
+			return;
+		}
 
 		// Subscribe to updates from ManualControlCommand and show the values for crude feedback
 		UAVDataObject manualControl = (UAVDataObject) objMngr.getObject("ManualControlCommand");
@@ -100,39 +122,6 @@ public class Controller extends ObjectManagerActivity {
 		manualSettings.addUpdatedObserver(settingsUpdated);
 		manualSettings.updateRequested();
 
-		final double MOVEMENT_RANGE = 50.0;
-		DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
-		joystick.setMovementConstraint(JoystickView.CONSTRAIN_BOX);
-		joystick.setMovementRange((int)MOVEMENT_RANGE, (int)MOVEMENT_RANGE);
-
-		// Hardcode a Mode 1 listener for now
-		joystick.setOnJostickMovedListener(new JoystickMovedListener() {
-			@Override
-			public void OnMoved(int pan, int tilt) {
-				pitch = tilt / MOVEMENT_RANGE;
-				yaw = pan / MOVEMENT_RANGE;
-				leftJoystickHeld = true;
-			}
-			@Override
-			public void OnReleased() { leftJoystickHeld = false; throttle = -1; updated = true; }
-			@Override
-			public void OnReturnedToCenter() { }
-		}, new JoystickMovedListener() {
-			@Override
-			public void OnMoved(int pan, int tilt) {
-				throttle = (-tilt + (MOVEMENT_RANGE -5)) / (MOVEMENT_RANGE - 5);
-				throttle *= 0.5;
-				if (throttle < 0)
-					throttle = -1;
-				roll = pan / MOVEMENT_RANGE;
-				rightJoystickHeld = true;
-			}
-			@Override
-			public void OnReleased() { rightJoystickHeld = false; throttle = -1; updated = true; }
-			@Override
-			public void OnReturnedToCenter() { }
-		});
-
 		//! This timer task actually periodically sends updates to the UAV
 		TimerTask controllerTask = new TimerTask() {
 			@Override
@@ -248,4 +237,64 @@ public class Controller extends ObjectManagerActivity {
 		return (float) (neutral + (neutral - CHANNEL_MIN) * in);
 	}
 
+	private final JoystickMovedListener mode1_left = new JoystickMovedListener() {
+		@Override
+		public void OnMoved(int pan, int tilt) {
+			pitch = tilt / MOVEMENT_RANGE;
+			yaw = pan / MOVEMENT_RANGE;
+			leftJoystickHeld = true;
+		}
+		@Override
+		public void OnReleased() { leftJoystickHeld = false; throttle = -1; updated = true; }
+		@Override
+		public void OnReturnedToCenter() { }
+	};
+
+	private final JoystickMovedListener mode1_right = new JoystickMovedListener() {
+		@Override
+		public void OnMoved(int pan, int tilt) {
+			throttle = (-tilt + (MOVEMENT_RANGE -5)) / (MOVEMENT_RANGE - 5);
+			throttle *= 0.5;
+			if (throttle < 0)
+				throttle = -1;
+			roll = pan / MOVEMENT_RANGE;
+			rightJoystickHeld = true;
+		}
+		@Override
+		public void OnReleased() { rightJoystickHeld = false; throttle = -1; updated = true; }
+		@Override
+		public void OnReturnedToCenter() { }
+	};
+
+	private final JoystickMovedListener mode2_left = new JoystickMovedListener() {
+		@Override
+		public void OnMoved(int pan, int tilt) {
+			throttle = (-tilt + (MOVEMENT_RANGE -5)) / (MOVEMENT_RANGE - 5);
+			throttle *= 0.5;
+			if (throttle < 0)
+				throttle = -1;
+			yaw = pan / MOVEMENT_RANGE;
+			leftJoystickHeld = true;
+		}
+		@Override
+		public void OnReleased() { leftJoystickHeld = false; throttle = -1; updated = true; }
+		@Override
+		public void OnReturnedToCenter() { }
+	};
+
+	private final JoystickMovedListener mode2_right = new JoystickMovedListener() {
+		@Override
+		public void OnMoved(int pan, int tilt) {
+			pitch = tilt / MOVEMENT_RANGE;
+			roll = pan / MOVEMENT_RANGE;
+			rightJoystickHeld = true;
+		}
+		@Override
+		public void OnReleased() { rightJoystickHeld = false; throttle = -1; updated = true; }
+		@Override
+		public void OnReturnedToCenter() { }
+	};
+
+	final double MOVEMENT_RANGE = 50.0;
+
 }

From 60051e88cc8676f73d738096edf6e3b30d6fedd1 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 30 Aug 2012 11:38:15 -0500
Subject: [PATCH 445/543] Calibration: Fix both accels and gyros to 30 ms. 
 Should be reasonably sustainable through USB.

---
 .../src/plugins/config/configccattitudewidget.cpp             | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
index f0fb825fd..fe1f517bf 100644
--- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
@@ -164,13 +164,13 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
     initialAccelsMdata = accels->getMetadata();
     UAVObject::Metadata accelsMdata = initialAccelsMdata;
     UAVObject::SetFlightTelemetryUpdateMode(accelsMdata, UAVObject::UPDATEMODE_PERIODIC);
-    accelsMdata.flightTelemetryUpdatePeriod = 100;
+    accelsMdata.flightTelemetryUpdatePeriod = 30;
     accels->setMetadata(accelsMdata);
 
     initialGyrosMdata = gyros->getMetadata();
     UAVObject::Metadata gyrosMdata = initialGyrosMdata;
     UAVObject::SetFlightTelemetryUpdateMode(gyrosMdata, UAVObject::UPDATEMODE_PERIODIC);
-    gyrosMdata.flightTelemetryUpdatePeriod = 10;
+    gyrosMdata.flightTelemetryUpdatePeriod = 30;
     gyros->setMetadata(gyrosMdata);
 
 }

From 6d16f4c0a96728ae2f40d008fe269557f4bcb021 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 30 Aug 2012 12:10:17 -0500
Subject: [PATCH 446/543] AndroidGCS Map: Make sure to grab the correct
 uavLocation and homeLocation at startup

---
 androidgcs/src/org/openpilot/androidgcs/UAVLocation.java | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
index ffb3e427c..6ee1bdbcd 100644
--- a/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
+++ b/androidgcs/src/org/openpilot/androidgcs/UAVLocation.java
@@ -169,9 +169,11 @@ public class UAVLocation extends MapActivity
 	void onOPConnected() {
 		UAVObject obj = objMngr.getObject("HomeLocation");
 		registerObjectUpdates(obj);
+		objectUpdated(obj);
 
 		obj = objMngr.getObject("PositionActual");
 		registerObjectUpdates(obj);
+		objectUpdated(obj);
 	}
 
 	private GeoPoint getUavLocation() {

From 42a11788f97f9e2adb58606a81abef2b2933191c Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 30 Aug 2012 12:13:29 -0500
Subject: [PATCH 447/543] AndroidGCS Controller: Make the default value mode 2

Previously typed "Mode 2" but it wants the integer value for the
default setting.  This stops a crash when no configuration.
---
 androidgcs/res/xml/controller_preferences.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/androidgcs/res/xml/controller_preferences.xml b/androidgcs/res/xml/controller_preferences.xml
index 48f263a1b..219a5146e 100644
--- a/androidgcs/res/xml/controller_preferences.xml
+++ b/androidgcs/res/xml/controller_preferences.xml
@@ -3,7 +3,7 @@
     <PreferenceCategory android:title="Controller Settings">
 		<ListPreference android:title="Controller Mode"
 			android:key="controller_type" android:summary="Select whether you want the virtual controller to use mode 1 or mode 2 convention"
-			android:defaultValue="Mode 1" 
+			android:defaultValue="2" 
 			android:entries="@array/controllerTypeArray"
 			android:entryValues="@array/controllerTypeValues"/>
 	</PreferenceCategory>

From 777bad5708e9e0b113fb2b239ad9145977cef6fb Mon Sep 17 00:00:00 2001
From: chris pember <chris.pember@gmail.com>
Date: Thu, 30 Aug 2012 23:00:25 -0700
Subject: [PATCH 448/543] fixed the vertical sliders, fixed input/output header
 spacing over the config sliders, switched around the progress bar in stabi
 ui, more to come

---
 .../stylesheets/default_macos.qss             |   6 +-
 .../openpilotgcs/src/plugins/config/input.ui  | 778 +++++++++++-------
 .../src/plugins/config/inputchannelform.ui    | 265 +++---
 .../openpilotgcs/src/plugins/config/output.ui |  87 +-
 .../src/plugins/config/stabilization.ui       |  12 +-
 5 files changed, 701 insertions(+), 447 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
index 22958dbdd..3d41094d5 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
@@ -69,14 +69,14 @@ Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:
 		border-radius: 2px;
 		margin 0px 2px;
 		}
-	QSlider::add-page:vertical {
+	QSlider::sub-page:vertical {
 		background: #fff;
 		border: 1px solid #777;
 		width: 1px;
 		border-radius: 4px;
 		}
 
- 	QSlider::sub-page:vertical {
+ 	QSlider::add-page:vertical {
  		background: rgb(249,117,76);
  		border: 1px solid #777;
 		width: 1px;
@@ -87,7 +87,7 @@ Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:
  	QSlider::handle:vertical {
      		background: rgb(196,196,196);
      		width: 18px;
-     		margin: -6 0;
+     		margin: -6 -6;
      		border-radius: 3px;
 		border: 1px solid #777;
  		}
\ No newline at end of file
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
index 185a63900..c5ab2d9dc 100644
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>716</width>
-    <height>754</height>
+    <width>991</width>
+    <height>711</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -116,8 +116,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>686</width>
-            <height>630</height>
+            <width>961</width>
+            <height>587</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout">
@@ -145,7 +145,7 @@
                  <number>0</number>
                 </property>
                 <widget class="QWidget" name="advancedPage">
-                 <layout class="QVBoxLayout" name="verticalLayout_4">
+                 <layout class="QVBoxLayout" name="verticalLayout_3">
                   <item>
                    <widget class="QPushButton" name="configurationWizard">
                     <property name="text">
@@ -161,261 +161,20 @@
                    </widget>
                   </item>
                   <item>
-                   <layout class="QGridLayout" name="gridLayout_8">
+                   <layout class="QGridLayout" name="gridLayout_8" rowstretch="0,0" columnstretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0" rowminimumheight="0,0">
+                    <property name="leftMargin">
+                     <number>0</number>
+                    </property>
+                    <property name="rightMargin">
+                     <number>8</number>
+                    </property>
                     <property name="horizontalSpacing">
                      <number>0</number>
                     </property>
-                    <item row="1" column="6">
-                     <widget class="QLabel" name="legend4">
-                      <property name="enabled">
-                       <bool>true</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <italic>false</italic>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-                      </property>
-                      <property name="text">
-                       <string>Neutral</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="10">
-                     <widget class="QLabel" name="legend5_3">
-                      <property name="enabled">
-                       <bool>true</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>42</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <italic>false</italic>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-                      </property>
-                      <property name="text">
-                       <string>Rev.</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="3">
-                     <widget class="QLabel" name="legend2">
-                      <property name="enabled">
-                       <bool>true</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>80</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <italic>false</italic>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-                      </property>
-                      <property name="text">
-                       <string>Number</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="4">
-                     <widget class="QLabel" name="legend3">
-                      <property name="enabled">
-                       <bool>true</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>45</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <italic>false</italic>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-                      </property>
-                      <property name="text">
-                       <string>Min</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="2">
-                     <widget class="QLabel" name="legend1">
-                      <property name="enabled">
-                       <bool>true</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>100</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <italic>false</italic>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-                      </property>
-                      <property name="text">
-                       <string>Type</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="5">
-                     <spacer name="horizontalSpacer_6">
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>5</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="1" column="7">
-                     <widget class="QLabel" name="legend5">
-                      <property name="enabled">
-                       <bool>true</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>45</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <italic>false</italic>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-                      </property>
-                      <property name="text">
-                       <string>Max</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="1">
+                    <property name="verticalSpacing">
+                     <number>-1</number>
+                    </property>
+                    <item row="1" column="0">
                      <widget class="QLabel" name="legend0">
                       <property name="enabled">
                        <bool>true</bool>
@@ -454,7 +213,7 @@ font:bold;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="1" column="9">
+                    <item row="1" column="13">
                      <widget class="QLabel" name="legend5_2">
                       <property name="enabled">
                        <bool>true</bool>
@@ -493,8 +252,153 @@ font:bold;</string>
                       </property>
                      </widget>
                     </item>
-                    <item row="1" column="0">
+                    <item row="1" column="2">
+                     <widget class="QLabel" name="legend1">
+                      <property name="enabled">
+                       <bool>true</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>105</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <italic>false</italic>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+                      </property>
+                      <property name="text">
+                       <string>Type</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="14">
+                     <spacer name="horizontalSpacer_13">
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="sizeType">
+                       <enum>QSizePolicy::Minimum</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>0</width>
+                        <height>20</height>
+                       </size>
+                      </property>
+                     </spacer>
+                    </item>
+                    <item row="1" column="8">
+                     <widget class="QLabel" name="legend4">
+                      <property name="enabled">
+                       <bool>true</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>70</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <italic>false</italic>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+                      </property>
+                      <property name="text">
+                       <string>Neutral</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="6">
+                     <widget class="QLabel" name="legend3">
+                      <property name="enabled">
+                       <bool>true</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>53</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <italic>false</italic>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+                      </property>
+                      <property name="text">
+                       <string>Min</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="1">
                      <spacer name="horizontalSpacer_7">
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>26</height>
+                       </size>
+                      </property>
                       <property name="orientation">
                        <enum>Qt::Horizontal</enum>
                       </property>
@@ -503,7 +407,256 @@ font:bold;</string>
                       </property>
                       <property name="sizeHint" stdset="0">
                        <size>
-                        <width>2</width>
+                        <width>12</width>
+                        <height>20</height>
+                       </size>
+                      </property>
+                     </spacer>
+                    </item>
+                    <item row="1" column="4">
+                     <widget class="QLabel" name="legend2">
+                      <property name="enabled">
+                       <bool>true</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>95</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <italic>false</italic>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+                      </property>
+                      <property name="text">
+                       <string>Number</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="5">
+                     <spacer name="horizontalSpacer_10">
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="sizeType">
+                       <enum>QSizePolicy::Fixed</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>12</width>
+                        <height>20</height>
+                       </size>
+                      </property>
+                     </spacer>
+                    </item>
+                    <item row="1" column="15">
+                     <widget class="QLabel" name="legend5_3">
+                      <property name="enabled">
+                       <bool>true</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>42</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <italic>false</italic>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+                      </property>
+                      <property name="text">
+                       <string>Rev.</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="9">
+                     <spacer name="horizontalSpacer_11">
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="sizeType">
+                       <enum>QSizePolicy::Fixed</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>5</width>
+                        <height>20</height>
+                       </size>
+                      </property>
+                     </spacer>
+                    </item>
+                    <item row="1" column="11">
+                     <widget class="QLabel" name="legend5">
+                      <property name="enabled">
+                       <bool>true</bool>
+                      </property>
+                      <property name="sizePolicy">
+                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                       </sizepolicy>
+                      </property>
+                      <property name="minimumSize">
+                       <size>
+                        <width>55</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="font">
+                       <font>
+                        <weight>75</weight>
+                        <italic>false</italic>
+                        <bold>true</bold>
+                       </font>
+                      </property>
+                      <property name="styleSheet">
+                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:5px;
+font:bold;</string>
+                      </property>
+                      <property name="text">
+                       <string>Max</string>
+                      </property>
+                      <property name="alignment">
+                       <set>Qt::AlignCenter</set>
+                      </property>
+                     </widget>
+                    </item>
+                    <item row="1" column="7">
+                     <spacer name="horizontalSpacer_6">
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="sizeType">
+                       <enum>QSizePolicy::Fixed</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>9</width>
+                        <height>20</height>
+                       </size>
+                      </property>
+                     </spacer>
+                    </item>
+                    <item row="1" column="3">
+                     <spacer name="horizontalSpacer_9">
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="sizeType">
+                       <enum>QSizePolicy::Fixed</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>3</width>
+                        <height>20</height>
+                       </size>
+                      </property>
+                     </spacer>
+                    </item>
+                    <item row="1" column="12">
+                     <spacer name="horizontalSpacer_12">
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="sizeType">
+                       <enum>QSizePolicy::Fixed</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>3</width>
+                        <height>20</height>
+                       </size>
+                      </property>
+                     </spacer>
+                    </item>
+                    <item row="1" column="16">
+                     <spacer name="horizontalSpacer_14">
+                      <property name="minimumSize">
+                       <size>
+                        <width>0</width>
+                        <height>26</height>
+                       </size>
+                      </property>
+                      <property name="orientation">
+                       <enum>Qt::Horizontal</enum>
+                      </property>
+                      <property name="sizeType">
+                       <enum>QSizePolicy::Minimum</enum>
+                      </property>
+                      <property name="sizeHint" stdset="0">
+                       <size>
+                        <width>0</width>
                         <height>20</height>
                        </size>
                       </property>
@@ -770,8 +923,8 @@ font:bold;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>540</width>
-            <height>526</height>
+            <width>961</width>
+            <height>587</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_7">
@@ -787,8 +940,17 @@ font:bold;</string>
               <string>FlightMode Switch Positions</string>
              </property>
              <layout class="QGridLayout" name="gridLayout_6">
+              <property name="verticalSpacing">
+               <number>12</number>
+              </property>
               <item row="0" column="0">
-               <layout class="QGridLayout" name="gridLayout_4">
+               <layout class="QGridLayout" name="gridLayout_4" rowstretch="0">
+                <property name="topMargin">
+                 <number>16</number>
+                </property>
+                <property name="bottomMargin">
+                 <number>10</number>
+                </property>
                 <item row="0" column="0">
                  <layout class="QVBoxLayout" name="verticalLayout_9">
                   <item>
@@ -835,49 +997,6 @@ font:bold;</string>
                   </item>
                  </layout>
                 </item>
-                <item row="0" column="1">
-                 <widget class="QSlider" name="fmsSlider">
-                  <property name="enabled">
-                   <bool>false</bool>
-                  </property>
-                  <property name="focusPolicy">
-                   <enum>Qt::StrongFocus</enum>
-                  </property>
-                  <property name="toolTip">
-                   <string>This slider moves when you move the flight mode switch
-on your remote. It shows currently active flight mode.
-
-Setup the flight mode channel on the RC Input tab if you have not done so already.</string>
-                  </property>
-                  <property name="minimum">
-                   <number>0</number>
-                  </property>
-                  <property name="maximum">
-                   <number>5</number>
-                  </property>
-                  <property name="pageStep">
-                   <number>10</number>
-                  </property>
-                  <property name="value">
-                   <number>0</number>
-                  </property>
-                  <property name="sliderPosition">
-                   <number>0</number>
-                  </property>
-                  <property name="orientation">
-                   <enum>Qt::Vertical</enum>
-                  </property>
-                  <property name="invertedAppearance">
-                   <bool>true</bool>
-                  </property>
-                  <property name="tickPosition">
-                   <enum>QSlider::TicksBelow</enum>
-                  </property>
-                  <property name="tickInterval">
-                   <number>1</number>
-                  </property>
-                 </widget>
-                </item>
                 <item row="0" column="2">
                  <layout class="QVBoxLayout" name="verticalLayout_10">
                   <item>
@@ -939,6 +1058,49 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread
                   </item>
                  </layout>
                 </item>
+                <item row="0" column="1">
+                 <widget class="QSlider" name="fmsSlider">
+                  <property name="enabled">
+                   <bool>false</bool>
+                  </property>
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
+                  </property>
+                  <property name="toolTip">
+                   <string>This slider moves when you move the flight mode switch
+on your remote. It shows currently active flight mode.
+
+Setup the flight mode channel on the RC Input tab if you have not done so already.</string>
+                  </property>
+                  <property name="minimum">
+                   <number>0</number>
+                  </property>
+                  <property name="maximum">
+                   <number>5</number>
+                  </property>
+                  <property name="pageStep">
+                   <number>10</number>
+                  </property>
+                  <property name="value">
+                   <number>0</number>
+                  </property>
+                  <property name="sliderPosition">
+                   <number>0</number>
+                  </property>
+                  <property name="orientation">
+                   <enum>Qt::Vertical</enum>
+                  </property>
+                  <property name="invertedAppearance">
+                   <bool>true</bool>
+                  </property>
+                  <property name="tickPosition">
+                   <enum>QSlider::TicksBelow</enum>
+                  </property>
+                  <property name="tickInterval">
+                   <number>1</number>
+                  </property>
+                 </widget>
+                </item>
                </layout>
               </item>
               <item row="0" column="2">
@@ -1310,8 +1472,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>529</width>
-            <height>173</height>
+            <width>961</width>
+            <height>587</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
diff --git a/ground/openpilotgcs/src/plugins/config/inputchannelform.ui b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui
index 8a1d260f3..be7fdb27d 100644
--- a/ground/openpilotgcs/src/plugins/config/inputchannelform.ui
+++ b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui
@@ -6,27 +6,24 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>666</width>
-    <height>59</height>
+    <width>726</width>
+    <height>49</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <property name="spacing">
+    <number>-1</number>
+   </property>
    <property name="topMargin">
     <number>1</number>
    </property>
    <property name="bottomMargin">
     <number>1</number>
    </property>
-   <property name="horizontalSpacing">
-    <number>2</number>
-   </property>
-   <property name="verticalSpacing">
-    <number>0</number>
-   </property>
-   <item row="1" column="1">
+   <item>
     <widget class="QLabel" name="channelName">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@@ -45,67 +42,7 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="3">
-    <widget class="QComboBox" name="channelNumberDropdown">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
-       <horstretch>4</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>80</width>
-       <height>16777215</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-     <property name="maxVisibleItems">
-      <number>7</number>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="11">
-    <widget class="QCheckBox" name="channelRev">
-     <property name="enabled">
-      <bool>false</bool>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="text">
-      <string/>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="7">
-    <spacer name="horizontalSpacer_2">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Fixed</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>10</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="1" column="2">
+   <item>
     <widget class="QComboBox" name="channelGroup">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
@@ -130,30 +67,8 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="8">
-    <widget class="QSpinBox" name="channelMax">
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-     <property name="buttonSymbols">
-      <enum>QAbstractSpinBox::NoButtons</enum>
-     </property>
-     <property name="maximum">
-      <number>9999</number>
-     </property>
-     <property name="value">
-      <number>1000</number>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="5">
-    <spacer name="horizontalSpacer">
+   <item>
+    <spacer name="horizontalSpacer_5">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
      </property>
@@ -162,38 +77,41 @@
      </property>
      <property name="sizeHint" stdset="0">
       <size>
-       <width>10</width>
+       <width>5</width>
        <height>20</height>
       </size>
      </property>
     </spacer>
    </item>
-   <item row="1" column="9">
-    <widget class="QLabel" name="neutral">
+   <item>
+    <widget class="QComboBox" name="channelNumberDropdown">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-       <horstretch>0</horstretch>
+      <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+       <horstretch>4</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
      <property name="minimumSize">
       <size>
-       <width>35</width>
-       <height>0</height>
+       <width>90</width>
+       <height>25</height>
       </size>
      </property>
      <property name="maximumSize">
       <size>
-       <width>30</width>
+       <width>80</width>
        <height>16777215</height>
       </size>
      </property>
-     <property name="text">
-      <string/>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="maxVisibleItems">
+      <number>7</number>
      </property>
     </widget>
    </item>
-   <item row="0" column="3">
+   <item>
     <widget class="QSpinBox" name="channelNumber">
      <property name="enabled">
       <bool>true</bool>
@@ -206,7 +124,7 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="4">
+   <item>
     <widget class="QSpinBox" name="channelMin">
      <property name="minimumSize">
       <size>
@@ -228,7 +146,23 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="6">
+   <item>
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>10</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
     <widget class="QSlider" name="channelNeutral">
      <property name="sizePolicy">
       <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@@ -250,8 +184,93 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="12">
-    <spacer name="horizontalSpacer_3">
+   <item>
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>7</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
+    <widget class="QSpinBox" name="channelMax">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>25</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="buttonSymbols">
+      <enum>QAbstractSpinBox::NoButtons</enum>
+     </property>
+     <property name="maximum">
+      <number>9999</number>
+     </property>
+     <property name="value">
+      <number>1000</number>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <spacer name="horizontalSpacer_6">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>5</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
+    <widget class="QLabel" name="neutral">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>35</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>30</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <spacer name="horizontalSpacer_4">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
      </property>
@@ -266,8 +285,30 @@
      </property>
     </spacer>
    </item>
-   <item row="1" column="10">
-    <spacer name="horizontalSpacer_4">
+   <item>
+    <widget class="QCheckBox" name="channelRev">
+     <property name="enabled">
+      <bool>false</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <spacer name="horizontalSpacer_3">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
      </property>
diff --git a/ground/openpilotgcs/src/plugins/config/output.ui b/ground/openpilotgcs/src/plugins/config/output.ui
index a30668aee..32a6337f7 100644
--- a/ground/openpilotgcs/src/plugins/config/output.ui
+++ b/ground/openpilotgcs/src/plugins/config/output.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>811</width>
+    <width>698</width>
     <height>754</height>
    </rect>
   </property>
@@ -125,7 +125,7 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>781</width>
+            <width>668</width>
             <height>642</height>
            </rect>
           </property>
@@ -528,6 +528,9 @@ Leave at 50Hz for fixed wing.</string>
              <layout class="QVBoxLayout" name="verticalLayout">
               <item>
                <layout class="QHBoxLayout" name="horizontalLayout_3">
+                <property name="spacing">
+                 <number>10</number>
+                </property>
                 <item>
                  <spacer name="horizontalSpacer_6">
                   <property name="orientation">
@@ -547,14 +550,14 @@ Leave at 50Hz for fixed wing.</string>
                 <item>
                  <widget class="QLabel" name="legend6">
                   <property name="sizePolicy">
-                   <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                   <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                     <horstretch>0</horstretch>
                     <verstretch>0</verstretch>
                    </sizepolicy>
                   </property>
                   <property name="minimumSize">
                    <size>
-                    <width>22</width>
+                    <width>20</width>
                     <height>0</height>
                    </size>
                   </property>
@@ -596,7 +599,7 @@ margin:1px;</string>
                   </property>
                   <property name="sizeHint" stdset="0">
                    <size>
-                    <width>1</width>
+                    <width>5</width>
                     <height>20</height>
                    </size>
                   </property>
@@ -605,14 +608,14 @@ margin:1px;</string>
                 <item>
                  <widget class="QLabel" name="legend0">
                   <property name="sizePolicy">
-                   <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                   <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                     <horstretch>0</horstretch>
                     <verstretch>0</verstretch>
                    </sizepolicy>
                   </property>
                   <property name="minimumSize">
                    <size>
-                    <width>104</width>
+                    <width>90</width>
                     <height>0</height>
                    </size>
                   </property>
@@ -638,17 +641,33 @@ margin:1px;</string>
                   </property>
                  </widget>
                 </item>
+                <item>
+                 <spacer name="horizontalSpacer_8">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeType">
+                   <enum>QSizePolicy::Fixed</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>12</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
                 <item>
                  <widget class="QLabel" name="legend1">
                   <property name="sizePolicy">
-                   <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                   <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                     <horstretch>0</horstretch>
                     <verstretch>0</verstretch>
                    </sizepolicy>
                   </property>
                   <property name="minimumSize">
                    <size>
-                    <width>61</width>
+                    <width>60</width>
                     <height>0</height>
                    </size>
                   </property>
@@ -674,17 +693,33 @@ margin:1px;</string>
                   </property>
                  </widget>
                 </item>
+                <item>
+                 <spacer name="horizontalSpacer_9">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeType">
+                   <enum>QSizePolicy::Minimum</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>0</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
                 <item>
                  <widget class="QLabel" name="legend2">
                   <property name="sizePolicy">
-                   <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+                   <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
                     <horstretch>0</horstretch>
                     <verstretch>0</verstretch>
                    </sizepolicy>
                   </property>
                   <property name="minimumSize">
                    <size>
-                    <width>45</width>
+                    <width>20</width>
                     <height>0</height>
                    </size>
                   </property>
@@ -720,7 +755,7 @@ margin:1px;</string>
                   </property>
                   <property name="sizeHint" stdset="0">
                    <size>
-                    <width>40</width>
+                    <width>45</width>
                     <height>20</height>
                    </size>
                   </property>
@@ -729,14 +764,14 @@ margin:1px;</string>
                 <item>
                  <widget class="QLabel" name="legend3">
                   <property name="sizePolicy">
-                   <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                   <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                     <horstretch>0</horstretch>
                     <verstretch>0</verstretch>
                    </sizepolicy>
                   </property>
                   <property name="minimumSize">
                    <size>
-                    <width>50</width>
+                    <width>55</width>
                     <height>0</height>
                    </size>
                   </property>
@@ -765,14 +800,14 @@ margin:1px;</string>
                 <item>
                  <widget class="QLabel" name="legend4">
                   <property name="sizePolicy">
-                   <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                   <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                     <horstretch>0</horstretch>
                     <verstretch>0</verstretch>
                    </sizepolicy>
                   </property>
                   <property name="minimumSize">
                    <size>
-                    <width>40</width>
+                    <width>20</width>
                     <height>0</height>
                    </size>
                   </property>
@@ -801,14 +836,14 @@ margin:1px;</string>
                 <item>
                  <widget class="QLabel" name="legend5">
                   <property name="sizePolicy">
-                   <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                   <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
                     <horstretch>0</horstretch>
                     <verstretch>0</verstretch>
                    </sizepolicy>
                   </property>
                   <property name="minimumSize">
                    <size>
-                    <width>40</width>
+                    <width>20</width>
                     <height>0</height>
                    </size>
                   </property>
@@ -834,6 +869,22 @@ margin:1px;</string>
                   </property>
                  </widget>
                 </item>
+                <item>
+                 <spacer name="horizontalSpacer_10">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeType">
+                   <enum>QSizePolicy::Minimum</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>18</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
                </layout>
               </item>
               <item>
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 344fdaeec..399d85372 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -621,13 +621,13 @@
             <number>24</number>
            </property>
            <property name="leftMargin">
-            <number>11</number>
+            <number>12</number>
            </property>
            <property name="topMargin">
             <number>0</number>
            </property>
            <property name="rightMargin">
-            <number>11</number>
+            <number>12</number>
            </property>
            <property name="bottomMargin">
             <number>0</number>
@@ -6971,8 +6971,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>948</width>
-            <height>713</height>
+            <width>567</width>
+            <height>650</height>
            </rect>
           </property>
           <property name="autoFillBackground">
@@ -16849,8 +16849,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>948</width>
-            <height>713</height>
+            <width>818</width>
+            <height>599</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_9">

From 704cad9313f0203ba7611304ba8bdfab97cc8e08 Mon Sep 17 00:00:00 2001
From: chris pember <chris.pember@gmail.com>
Date: Fri, 31 Aug 2012 21:55:10 -0700
Subject: [PATCH 449/543] fixed up the feed forward tab, as well as renamed
 advanced to feed forward on the tab

---
 .../src/plugins/config/airframe.ui            | 729 ++++++++++--------
 1 file changed, 411 insertions(+), 318 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 1f69a9e60..9701b79fb 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,15 +6,15 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>800</width>
-    <height>519</height>
+    <width>781</width>
+    <height>713</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_8">
-   <item row="0" column="0">
+  <layout class="QVBoxLayout" name="verticalLayout_10">
+   <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
       <number>0</number>
@@ -122,8 +122,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>746</width>
-            <height>395</height>
+            <width>742</width>
+            <height>574</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -137,59 +137,64 @@
             <number>0</number>
            </property>
            <item>
-            <layout class="QHBoxLayout" name="horizontalLayout">
-             <property name="sizeConstraint">
-              <enum>QLayout::SetFixedSize</enum>
-             </property>
-             <item>
-              <widget class="QLabel" name="label">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-               <property name="font">
-                <font>
-                 <weight>75</weight>
-                 <bold>true</bold>
-                </font>
-               </property>
-               <property name="text">
-                <string>Vehicle type:</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QComboBox" name="aircraftType">
-               <property name="toolTip">
-                <string>Select aircraft type here</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <spacer name="horizontalSpacer_2">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Expanding</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>2</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-            </layout>
-           </item>
-           <item>
-            <widget class="Line" name="line">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
+            <widget class="QGroupBox" name="groupBox_8">
+             <property name="title">
+              <string/>
              </property>
+             <layout class="QVBoxLayout" name="verticalLayout_2">
+              <property name="spacing">
+               <number>12</number>
+              </property>
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout">
+                <property name="sizeConstraint">
+                 <enum>QLayout::SetFixedSize</enum>
+                </property>
+                <item>
+                 <widget class="QLabel" name="label">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="font">
+                   <font>
+                    <weight>75</weight>
+                    <bold>true</bold>
+                   </font>
+                  </property>
+                  <property name="text">
+                   <string>Vehicle type:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QComboBox" name="aircraftType">
+                  <property name="toolTip">
+                   <string>Select aircraft type here</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_2">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeType">
+                   <enum>QSizePolicy::Expanding</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>2</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+             </layout>
             </widget>
            </item>
            <item>
@@ -848,6 +853,15 @@ margin:1px;</string>
                   <string>Mix Level</string>
                  </property>
                  <layout class="QGridLayout" name="gridLayout_2">
+                  <property name="leftMargin">
+                   <number>12</number>
+                  </property>
+                  <property name="topMargin">
+                   <number>12</number>
+                  </property>
+                  <property name="bottomMargin">
+                   <number>12</number>
+                  </property>
                   <item row="0" column="0">
                    <layout class="QGridLayout" name="gridLayout_3">
                     <item row="0" column="0">
@@ -2711,7 +2725,7 @@ margin:1px;</string>
        <bool>true</bool>
       </property>
       <attribute name="title">
-       <string>Advanced Settings</string>
+       <string>Feed Forward</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_25">
        <property name="margin">
@@ -2797,202 +2811,276 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>746</width>
-            <height>383</height>
+            <width>727</width>
+            <height>589</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
+           <property name="margin">
+            <number>0</number>
+           </property>
            <item>
-            <layout class="QHBoxLayout" name="horizontalLayout_24">
-             <item>
-              <widget class="QLabel" name="label_19">
-               <property name="font">
-                <font>
-                 <weight>75</weight>
-                 <bold>true</bold>
-                </font>
-               </property>
-               <property name="text">
-                <string>Feed Forward</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <spacer name="horizontalSpacer_16">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>40</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-            </layout>
-           </item>
-           <item>
-            <layout class="QFormLayout" name="formLayout_7">
-             <property name="fieldGrowthPolicy">
-              <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+            <widget class="QGroupBox" name="groupBox_12">
+             <property name="title">
+              <string>Feed Forward Configuration</string>
              </property>
-             <item row="2" column="0">
-              <layout class="QHBoxLayout" name="horizontalLayout_12">
-               <item>
-                <widget class="QLabel" name="label_20">
-                 <property name="text">
-                  <string>FeedForward </string>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QLabel" name="feedForwardSliderValue">
-                 <property name="minimumSize">
-                  <size>
-                   <width>30</width>
-                   <height>0</height>
-                  </size>
-                 </property>
-                 <property name="text">
-                  <string>000</string>
-                 </property>
-                </widget>
-               </item>
-              </layout>
-             </item>
-             <item row="2" column="1">
-              <widget class="QSlider" name="feedForwardSlider">
-               <property name="enabled">
-                <bool>true</bool>
-               </property>
-               <property name="focusPolicy">
-                <enum>Qt::StrongFocus</enum>
-               </property>
-               <property name="toolTip">
-                <string>Overall level of feed forward (in percentage).</string>
-               </property>
-               <property name="maximum">
-                <number>100</number>
-               </property>
-               <property name="singleStep">
-                <number>1</number>
-               </property>
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="tickPosition">
-                <enum>QSlider::NoTicks</enum>
-               </property>
-              </widget>
-             </item>
-             <item row="3" column="0">
-              <widget class="QLabel" name="label_21">
-               <property name="text">
-                <string>Accel Time Constant</string>
-               </property>
-              </widget>
-             </item>
-             <item row="3" column="1">
-              <widget class="QDoubleSpinBox" name="accelTime">
-               <property name="enabled">
-                <bool>true</bool>
-               </property>
-               <property name="focusPolicy">
-                <enum>Qt::StrongFocus</enum>
-               </property>
-               <property name="toolTip">
-                <string>In miliseconds.
-When tuning: Slowly raise accel time from zero to just
-under the level where the motor starts to overshoot
-its target speed.</string>
-               </property>
-               <property name="decimals">
-                <number>3</number>
-               </property>
-               <property name="maximum">
-                <double>100.000000000000000</double>
-               </property>
-               <property name="singleStep">
-                <double>0.010000000000000</double>
-               </property>
-              </widget>
-             </item>
-             <item row="4" column="0">
-              <widget class="QLabel" name="label_22">
-               <property name="text">
-                <string>Decel Time Constant</string>
-               </property>
-              </widget>
-             </item>
-             <item row="4" column="1">
-              <widget class="QDoubleSpinBox" name="decelTime">
-               <property name="enabled">
-                <bool>true</bool>
-               </property>
-               <property name="focusPolicy">
-                <enum>Qt::StrongFocus</enum>
-               </property>
-               <property name="toolTip">
-                <string>When tuning: Slowly raise decel time from zero to just
+             <layout class="QGridLayout" name="gridLayout_8">
+              <property name="horizontalSpacing">
+               <number>12</number>
+              </property>
+              <property name="verticalSpacing">
+               <number>-1</number>
+              </property>
+              <item row="0" column="0">
+               <widget class="QLabel" name="label_20">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>FeedForward </string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="2">
+               <widget class="QSlider" name="feedForwardSlider">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>32</height>
+                 </size>
+                </property>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Overall level of feed forward (in percentage).</string>
+                </property>
+                <property name="maximum">
+                 <number>100</number>
+                </property>
+                <property name="singleStep">
+                 <number>1</number>
+                </property>
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="tickPosition">
+                 <enum>QSlider::NoTicks</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0" colspan="3">
+               <layout class="QHBoxLayout" name="horizontalLayout_10">
+                <item>
+                 <widget class="QLabel" name="label_22">
+                  <property name="text">
+                   <string>Decel Time Constant</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QDoubleSpinBox" name="decelTime">
+                  <property name="enabled">
+                   <bool>true</bool>
+                  </property>
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
+                  </property>
+                  <property name="toolTip">
+                   <string>When tuning: Slowly raise decel time from zero to just
 under the level where the motor starts to undershoot
 its target speed when decelerating.
 
 Do it after accel time is setup.</string>
-               </property>
-               <property name="decimals">
-                <number>3</number>
-               </property>
-               <property name="maximum">
-                <double>100.000000000000000</double>
-               </property>
-               <property name="singleStep">
-                <double>0.010000000000000</double>
-               </property>
-              </widget>
-             </item>
-             <item row="5" column="0">
-              <layout class="QHBoxLayout" name="horizontalLayout_16">
-               <item>
-                <widget class="QLabel" name="label_37">
-                 <property name="text">
-                  <string>MaxAccel</string>
-                 </property>
-                </widget>
-               </item>
-               <item>
-                <widget class="QLabel" name="maxAccelSliderValue">
-                 <property name="text">
-                  <string>1000</string>
-                 </property>
-                </widget>
-               </item>
-              </layout>
-             </item>
-             <item row="5" column="1">
-              <widget class="QSlider" name="maxAccelSlider">
-               <property name="focusPolicy">
-                <enum>Qt::StrongFocus</enum>
-               </property>
-               <property name="toolTip">
-                <string>Limits how much the engines can accelerate or decelerate.
+                  </property>
+                  <property name="decimals">
+                   <number>3</number>
+                  </property>
+                  <property name="maximum">
+                   <double>100.000000000000000</double>
+                  </property>
+                  <property name="singleStep">
+                   <double>0.010000000000000</double>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_12">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+              <item row="3" column="0">
+               <widget class="QLabel" name="label_37">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>MaxAccel</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0" colspan="3">
+               <layout class="QHBoxLayout" name="horizontalLayout_9">
+                <item>
+                 <widget class="QLabel" name="label_21">
+                  <property name="text">
+                   <string>Accel Time Constant</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QDoubleSpinBox" name="accelTime">
+                  <property name="enabled">
+                   <bool>true</bool>
+                  </property>
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
+                  </property>
+                  <property name="toolTip">
+                   <string>In miliseconds.
+When tuning: Slowly raise accel time from zero to just
+under the level where the motor starts to overshoot
+its target speed.</string>
+                  </property>
+                  <property name="decimals">
+                   <number>3</number>
+                  </property>
+                  <property name="maximum">
+                   <double>100.000000000000000</double>
+                  </property>
+                  <property name="singleStep">
+                   <double>0.010000000000000</double>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_13">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="feedForwardSliderValue">
+                <property name="minimumSize">
+                 <size>
+                  <width>30</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>000</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="1">
+               <widget class="QLabel" name="maxAccelSliderValue">
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>1000</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="2">
+               <widget class="QSlider" name="maxAccelSlider">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>32</height>
+                 </size>
+                </property>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Limits how much the engines can accelerate or decelerate.
 In 'units per second', a sound default is 1000.</string>
-               </property>
-               <property name="minimum">
-                <number>500</number>
-               </property>
-               <property name="maximum">
-                <number>2000</number>
-               </property>
-               <property name="value">
-                <number>1000</number>
-               </property>
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-              </widget>
-             </item>
-            </layout>
+                </property>
+                <property name="minimum">
+                 <number>500</number>
+                </property>
+                <property name="maximum">
+                 <number>2000</number>
+                </property>
+                <property name="value">
+                 <number>1000</number>
+                </property>
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="invertedAppearance">
+                 <bool>false</bool>
+                </property>
+                <property name="invertedControls">
+                 <bool>false</bool>
+                </property>
+               </widget>
+              </item>
+             </layout>
+             <zorder>maxAccelSliderValue</zorder>
+             <zorder>feedForwardSlider</zorder>
+             <zorder>maxAccelSlider</zorder>
+             <zorder>label_37</zorder>
+             <zorder>feedForwardSliderValue</zorder>
+             <zorder></zorder>
+             <zorder>label_20</zorder>
+            </widget>
            </item>
            <item>
             <spacer name="verticalSpacer_5">
@@ -3008,88 +3096,96 @@ In 'units per second', a sound default is 1000.</string>
             </spacer>
            </item>
            <item>
-            <layout class="QHBoxLayout" name="horizontalLayout_9">
-             <item>
-              <spacer name="horizontalSpacer_8">
-               <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="QCheckBox" name="ffTestBox1">
-               <property name="focusPolicy">
-                <enum>Qt::StrongFocus</enum>
-               </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;
+            <widget class="QGroupBox" name="groupBox_13">
+             <property name="title">
+              <string/>
+             </property>
+             <layout class="QHBoxLayout" name="horizontalLayout_5">
+              <property name="margin">
+               <number>0</number>
+              </property>
+              <item>
+               <spacer name="horizontalSpacer_8">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>267</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item>
+               <widget class="QCheckBox" name="ffTestBox1">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </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:'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;Beware! Check &lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt; font-weight:600;&quot;&gt;all three&lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt; checkboxes to test Feed Forward.&lt;/span&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;It will run only if your airframe armed.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-               </property>
-               <property name="text">
-                <string/>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QCheckBox" name="ffTestBox2">
-               <property name="focusPolicy">
-                <enum>Qt::StrongFocus</enum>
-               </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;
+                </property>
+                <property name="text">
+                 <string/>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QCheckBox" name="ffTestBox2">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </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:'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;Beware! Check &lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt; font-weight:600;&quot;&gt;all three&lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt; checkboxes to test Feed Forward.&lt;/span&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;It will run only if your airframe armed.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-               </property>
-               <property name="text">
-                <string/>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <widget class="QCheckBox" name="ffTestBox3">
-               <property name="focusPolicy">
-                <enum>Qt::StrongFocus</enum>
-               </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;
+                </property>
+                <property name="text">
+                 <string/>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QCheckBox" name="ffTestBox3">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </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:'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;Beware! Check &lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt; font-weight:600;&quot;&gt;all three&lt;/span&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt; checkboxes to test Feed Forward.&lt;/span&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;It will run only if your airframe armed.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-               </property>
-               <property name="text">
-                <string>Enable FF tuning</string>
-               </property>
-              </widget>
-             </item>
-             <item>
-              <spacer name="horizontalSpacer_7">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>40</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-            </layout>
+                </property>
+                <property name="text">
+                 <string>Enable FF tuning</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <spacer name="horizontalSpacer_7">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>267</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+             </layout>
+            </widget>
            </item>
            <item>
             <widget class="QTextBrowser" name="textBrowser">
@@ -3126,14 +3222,11 @@ p, li { white-space: pre-wrap; }
          </widget>
         </widget>
        </item>
-       <item>
-        <layout class="QVBoxLayout" name="verticalLayout_11"/>
-       </item>
       </layout>
      </widget>
     </widget>
    </item>
-   <item row="1" column="0">
+   <item>
     <layout class="QHBoxLayout" name="horizontalLayout_2">
      <property name="spacing">
       <number>4</number>
@@ -3172,7 +3265,7 @@ p, li { white-space: pre-wrap; }
         <string/>
        </property>
        <property name="icon">
-        <iconset resource="../coreplugin/core.qrc">
+        <iconset resource="../../../../../../Desktop/src/plugins/coreplugin/core.qrc">
          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
        </property>
        <property name="iconSize">
@@ -3225,7 +3318,7 @@ p, li { white-space: pre-wrap; }
   </customwidget>
  </customwidgets>
  <resources>
-  <include location="../coreplugin/core.qrc"/>
+  <include location="../../../../../../Desktop/src/plugins/coreplugin/core.qrc"/>
  </resources>
  <connections>
   <connection>

From 77ea0277d0c875a36913c44f2e21c9a67b089b3f Mon Sep 17 00:00:00 2001
From: chris pember <chris.pember@gmail.com>
Date: Sat, 1 Sep 2012 01:20:51 -0700
Subject: [PATCH 450/543] made some more adjustments to the stylesheet for osx,
 sliders in particular

---
 .../stylesheets/default_macos.qss             |  21 +-
 .../src/plugins/config/airframe.ui            | 247 ++++++++----------
 2 files changed, 131 insertions(+), 137 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
index 3d41094d5..035fa5633 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_macos.qss
@@ -33,7 +33,7 @@ Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:
 		background: white;
 		height: 6px;
 		border-radius: 2px;
-		margin 2px 2px;
+		margin 10px 10px;
 		}
 	QSlider::add-page:horizontal {
 		background: #fff;
@@ -59,15 +59,12 @@ Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:
 		border: 1px solid #777;
  		}
 
-
-
-
 	QSlider::groove:vertical {
 		border: 1px solid rgb(196,196,196);
 		background: white;
 		width: 6px;
 		border-radius: 2px;
-		margin 0px 2px;
+		margin 0px -10px;
 		}
 	QSlider::sub-page:vertical {
 		background: #fff;
@@ -90,4 +87,16 @@ Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:
      		margin: -6 -6;
      		border-radius: 3px;
 		border: 1px solid #777;
- 		}
\ No newline at end of file
+ 		}
+
+	QSlider::handle:vertical:hover {
+		background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+		border: 1px solid #444;
+		border-radius: 4px;
+		}
+
+	QSlider::handle:horizontal:hover {
+		background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+		border: 1px solid #444;
+		border-radius: 4px;
+		}
diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 9701b79fb..23a6ba351 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>781</width>
-    <height>713</height>
+    <width>810</width>
+    <height>633</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -122,18 +122,12 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>742</width>
-            <height>574</height>
+            <width>756</width>
+            <height>509</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
-           <property name="leftMargin">
-            <number>0</number>
-           </property>
-           <property name="rightMargin">
-            <number>0</number>
-           </property>
-           <property name="bottomMargin">
+           <property name="margin">
             <number>0</number>
            </property>
            <item>
@@ -698,7 +692,7 @@ margin:1px;</string>
               </layout>
              </widget>
              <widget class="QWidget" name="multiRotor">
-              <layout class="QGridLayout" name="gridLayout_7" columnstretch="1,0,1" columnminimumwidth="0,0,0">
+              <layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0,0">
                <property name="verticalSpacing">
                 <number>24</number>
                </property>
@@ -841,6 +835,65 @@ margin:1px;</string>
                  </layout>
                 </widget>
                </item>
+               <item row="0" column="2">
+                <widget class="QGroupBox" name="groupBox_6">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="minimumSize">
+                  <size>
+                   <width>10</width>
+                   <height>10</height>
+                  </size>
+                 </property>
+                 <property name="maximumSize">
+                  <size>
+                   <width>16777215</width>
+                   <height>16777215</height>
+                  </size>
+                 </property>
+                 <property name="title">
+                  <string>Throttle Curve</string>
+                 </property>
+                 <layout class="QVBoxLayout" name="verticalLayout_9">
+                  <item>
+                   <widget class="MixerCurve" name="multiThrottleCurve" native="true">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
+                    <property name="minimumSize">
+                     <size>
+                      <width>10</width>
+                      <height>10</height>
+                     </size>
+                    </property>
+                    <property name="sizeIncrement">
+                     <size>
+                      <width>10</width>
+                      <height>10</height>
+                     </size>
+                    </property>
+                    <property name="baseSize">
+                     <size>
+                      <width>50</width>
+                      <height>50</height>
+                     </size>
+                    </property>
+                    <property name="styleSheet">
+                     <string notr="true">background:transparent</string>
+                    </property>
+                    <zorder>groupBox</zorder>
+                   </widget>
+                  </item>
+                 </layout>
+                </widget>
+               </item>
                <item row="0" column="1">
                 <widget class="QGroupBox" name="groupBox_9">
                  <property name="maximumSize">
@@ -853,6 +906,9 @@ margin:1px;</string>
                   <string>Mix Level</string>
                  </property>
                  <layout class="QGridLayout" name="gridLayout_2">
+                  <property name="horizontalSpacing">
+                   <number>0</number>
+                  </property>
                   <property name="leftMargin">
                    <number>12</number>
                   </property>
@@ -863,7 +919,7 @@ margin:1px;</string>
                    <number>12</number>
                   </property>
                   <item row="0" column="0">
-                   <layout class="QGridLayout" name="gridLayout_3">
+                   <layout class="QGridLayout" name="gridLayout_3" columnstretch="0">
                     <item row="0" column="0">
                      <widget class="QLabel" name="mrRollMixValue">
                       <property name="minimumSize">
@@ -1121,65 +1177,7 @@ margin:1px;</string>
                  </layout>
                 </widget>
                </item>
-               <item row="0" column="2">
-                <widget class="QGroupBox" name="groupBox_6">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="minimumSize">
-                  <size>
-                   <width>10</width>
-                   <height>10</height>
-                  </size>
-                 </property>
-                 <property name="maximumSize">
-                  <size>
-                   <width>16777215</width>
-                   <height>16777215</height>
-                  </size>
-                 </property>
-                 <property name="title">
-                  <string>Throttle Curve</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_9">
-                  <item>
-                   <widget class="MixerCurve" name="multiThrottleCurve" native="true">
-                    <property name="sizePolicy">
-                     <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
-                      <horstretch>0</horstretch>
-                      <verstretch>0</verstretch>
-                     </sizepolicy>
-                    </property>
-                    <property name="minimumSize">
-                     <size>
-                      <width>10</width>
-                      <height>10</height>
-                     </size>
-                    </property>
-                    <property name="sizeIncrement">
-                     <size>
-                      <width>10</width>
-                      <height>10</height>
-                     </size>
-                    </property>
-                    <property name="baseSize">
-                     <size>
-                      <width>250</width>
-                      <height>250</height>
-                     </size>
-                    </property>
-                    <property name="styleSheet">
-                     <string notr="true">background:transparent</string>
-                    </property>
-                   </widget>
-                  </item>
-                 </layout>
-                </widget>
-               </item>
-               <item row="1" column="0" colspan="2">
+               <item row="1" column="0" colspan="3">
                 <widget class="QGroupBox" name="groupBox">
                  <property name="sizePolicy">
                   <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
@@ -1196,8 +1194,8 @@ margin:1px;</string>
                  <property name="title">
                   <string>Motor output channels</string>
                  </property>
-                 <layout class="QGridLayout" name="gridLayout_6">
-                  <item row="1" column="0">
+                 <layout class="QGridLayout" name="gridLayout_6" columnstretch="1,1,0,0,1">
+                  <item row="0" column="0" rowspan="5">
                    <layout class="QFormLayout" name="formLayout_2">
                     <property name="sizeConstraint">
                      <enum>QLayout::SetMaximumSize</enum>
@@ -1294,7 +1292,7 @@ margin:1px;</string>
                     </item>
                    </layout>
                   </item>
-                  <item row="1" column="1">
+                  <item row="0" column="1" rowspan="5">
                    <layout class="QFormLayout" name="formLayout_4">
                     <property name="sizeConstraint">
                      <enum>QLayout::SetMaximumSize</enum>
@@ -1409,51 +1407,15 @@ margin:1px;</string>
                     </item>
                    </layout>
                   </item>
-                  <item row="0" column="0">
-                   <spacer name="verticalSpacer_8">
+                  <item row="0" column="2" rowspan="5" colspan="2">
+                   <widget class="Line" name="line">
                     <property name="orientation">
                      <enum>Qt::Vertical</enum>
                     </property>
-                    <property name="sizeType">
-                     <enum>QSizePolicy::Fixed</enum>
-                    </property>
-                    <property name="sizeHint" stdset="0">
-                     <size>
-                      <width>20</width>
-                      <height>6</height>
-                     </size>
-                    </property>
-                   </spacer>
+                   </widget>
                   </item>
-                 </layout>
-                </widget>
-               </item>
-               <item row="1" column="2">
-                <widget class="QGroupBox" name="groupBox_11">
-                 <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-                   <horstretch>0</horstretch>
-                   <verstretch>0</verstretch>
-                  </sizepolicy>
-                 </property>
-                 <property name="minimumSize">
-                  <size>
-                   <width>0</width>
-                   <height>124</height>
-                  </size>
-                 </property>
-                 <property name="maximumSize">
-                  <size>
-                   <width>16777215</width>
-                   <height>16777215</height>
-                  </size>
-                 </property>
-                 <property name="title">
-                  <string>Tricopter Yaw</string>
-                 </property>
-                 <layout class="QVBoxLayout" name="verticalLayout_4">
-                  <item>
-                   <widget class="QLabel" name="label_2">
+                  <item row="2" column="4">
+                   <widget class="QLabel" name="label_3">
                     <property name="sizePolicy">
                      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                       <horstretch>0</horstretch>
@@ -1474,11 +1436,14 @@ font: bold 12px;
 margin:1px;</string>
                     </property>
                     <property name="text">
-                     <string>channel:</string>
+                     <string>Tricopter Yaw Motor Direction</string>
+                    </property>
+                    <property name="alignment">
+                     <set>Qt::AlignCenter</set>
                     </property>
                    </widget>
                   </item>
-                  <item>
+                  <item row="1" column="4">
                    <widget class="QComboBox" name="triYawChannelBox">
                     <property name="enabled">
                      <bool>false</bool>
@@ -1497,21 +1462,41 @@ margin:1px;</string>
                     </property>
                    </widget>
                   </item>
-                  <item>
-                   <spacer name="verticalSpacer_4">
-                    <property name="orientation">
-                     <enum>Qt::Vertical</enum>
+                  <item row="0" column="4">
+                   <widget class="QLabel" name="label_2">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
                     </property>
-                    <property name="sizeType">
-                     <enum>QSizePolicy::Fixed</enum>
-                    </property>
-                    <property name="sizeHint" stdset="0">
+                    <property name="minimumSize">
                      <size>
-                      <width>20</width>
-                      <height>20</height>
+                      <width>0</width>
+                      <height>16</height>
                      </size>
                     </property>
-                   </spacer>
+                    <property name="styleSheet">
+                     <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                    </property>
+                    <property name="text">
+                     <string>Tricopter Yaw Motor channel:</string>
+                    </property>
+                    <property name="alignment">
+                     <set>Qt::AlignCenter</set>
+                    </property>
+                   </widget>
+                  </item>
+                  <item row="3" column="4">
+                   <widget class="QCheckBox" name="TricopterRevMixercheckBox">
+                    <property name="text">
+                     <string>Reverse Yaw Mix</string>
+                    </property>
+                   </widget>
                   </item>
                  </layout>
                 </widget>
@@ -2811,8 +2796,8 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>727</width>
-            <height>589</height>
+            <width>756</width>
+            <height>509</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">

From 7a5b445f4eea23882510f2de8bbc1e1b6c5b8f10 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Sat, 1 Sep 2012 14:32:09 +0300
Subject: [PATCH 451/543] Windows Installer: regression fix (really uninstall
 GCS configuration)

Thanks Terrier for pointing this out.
---
 package/winx86/openpilotgcs.nsi | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/package/winx86/openpilotgcs.nsi b/package/winx86/openpilotgcs.nsi
index 4c321f4df..eccd11b0a 100644
--- a/package/winx86/openpilotgcs.nsi
+++ b/package/winx86/openpilotgcs.nsi
@@ -338,7 +338,7 @@ SectionEnd
 Section /o "un.Configuration" UnSecConfig
   ; Remove configuration
   Delete /rebootok "$APPDATA\OpenPilot\OpenPilotGCS.db"
-  Delete /rebootok "$APPDATA\OpenPilot\OpenPilotGCS.ini"
+  Delete /rebootok "$APPDATA\OpenPilot\OpenPilotGCS.xml"
 SectionEnd
 
 Section "-un.Profile" UnSecProfile

From 26b682122b62672362961d3a2927bd5fd5023730 Mon Sep 17 00:00:00 2001
From: chris pember <chris.pember@gmail.com>
Date: Sat, 1 Sep 2012 11:11:44 -0700
Subject: [PATCH 452/543] fixed the text on the mixer, need mike or someone to
 hook up the reverse button for the yaw mixer, as well as change the range on
 the slider

---
 .../stylesheets/default_linux.qss             |  72 ++++++++++++-
 .../stylesheets/default_windows.qss           | 100 ++++++++++++++++++
 .../openpilotgcs/stylesheets/wide_linux.qss   |  72 ++++++++++++-
 .../openpilotgcs/stylesheets/wide_macos.qss   |  27 +++--
 .../openpilotgcs/stylesheets/wide_windows.qss | 100 ++++++++++++++++++
 .../src/plugins/config/airframe.ui            |  12 +--
 .../src/plugins/config/stabilization.ui       |  28 +++--
 7 files changed, 385 insertions(+), 26 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
index 1c27c3d69..035fa5633 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
@@ -1,6 +1,5 @@
 MyListWidget {font-size: 11px;}
 Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
-
  
 
 
@@ -29,4 +28,75 @@ Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:
 		padding: 0px;
 		} 
 
+	QSlider::groove:horizontal {
+		border: 1px solid rgb(196,196,196);
+		background: white;
+		height: 6px;
+		border-radius: 2px;
+		margin 10px 10px;
+		}
+	QSlider::add-page:horizontal {
+		background: #fff;
+		border: 1px solid #777;
+		height: 1px;
+		border-radius: 4px;
+		}
 
+ 	QSlider::sub-page:horizontal {
+ 		background: rgb(249,117,76);
+ 		border: 1px solid #777;
+		height: 1px;
+		border-radius: 4px;
+		}
+
+
+ 	QSlider::handle:horizontal {
+     		background: rgb(196,196,196);
+     		width: 18px;
+		height: 28px;
+     		margin: -2px 0;
+     		border-radius: 3px;
+		border: 1px solid #777;
+ 		}
+
+	QSlider::groove:vertical {
+		border: 1px solid rgb(196,196,196);
+		background: white;
+		width: 6px;
+		border-radius: 2px;
+		margin 0px -10px;
+		}
+	QSlider::sub-page:vertical {
+		background: #fff;
+		border: 1px solid #777;
+		width: 1px;
+		border-radius: 4px;
+		}
+
+ 	QSlider::add-page:vertical {
+ 		background: rgb(249,117,76);
+ 		border: 1px solid #777;
+		width: 1px;
+		border-radius: 4px;
+		}
+
+
+ 	QSlider::handle:vertical {
+     		background: rgb(196,196,196);
+     		width: 18px;
+     		margin: -6 -6;
+     		border-radius: 3px;
+		border: 1px solid #777;
+ 		}
+
+	QSlider::handle:vertical:hover {
+		background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+		border: 1px solid #444;
+		border-radius: 4px;
+		}
+
+	QSlider::handle:horizontal:hover {
+		background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+		border: 1px solid #444;
+		border-radius: 4px;
+		}
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_windows.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_windows.qss
index 3d57edaeb..035fa5633 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_windows.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_windows.qss
@@ -1,2 +1,102 @@
 MyListWidget {font-size: 11px;}
 Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
+ 
+
+
+
+
+
+	QGroupBox 	{
+		border: 1px solid gray;
+		border-radius: 5px;
+		margin-top: 1ex; /* leave space at the top for the title */
+		font-size: 11px;
+		font-weight: bold;
+		}
+
+	QGroupBox::title {
+		subcontrol-origin: margin;
+		subcontrol-position: top left; /* position at the top center */
+		padding: 0 3px;
+		
+		}
+
+	QTabWidget::pane { /* The tab widget frame */	
+		margin: 1px,1px,1px,1px;
+		border: 2px solid rgb(196,196,196);
+		border-radius: 5px;
+		padding: 0px;
+		} 
+
+	QSlider::groove:horizontal {
+		border: 1px solid rgb(196,196,196);
+		background: white;
+		height: 6px;
+		border-radius: 2px;
+		margin 10px 10px;
+		}
+	QSlider::add-page:horizontal {
+		background: #fff;
+		border: 1px solid #777;
+		height: 1px;
+		border-radius: 4px;
+		}
+
+ 	QSlider::sub-page:horizontal {
+ 		background: rgb(249,117,76);
+ 		border: 1px solid #777;
+		height: 1px;
+		border-radius: 4px;
+		}
+
+
+ 	QSlider::handle:horizontal {
+     		background: rgb(196,196,196);
+     		width: 18px;
+		height: 28px;
+     		margin: -2px 0;
+     		border-radius: 3px;
+		border: 1px solid #777;
+ 		}
+
+	QSlider::groove:vertical {
+		border: 1px solid rgb(196,196,196);
+		background: white;
+		width: 6px;
+		border-radius: 2px;
+		margin 0px -10px;
+		}
+	QSlider::sub-page:vertical {
+		background: #fff;
+		border: 1px solid #777;
+		width: 1px;
+		border-radius: 4px;
+		}
+
+ 	QSlider::add-page:vertical {
+ 		background: rgb(249,117,76);
+ 		border: 1px solid #777;
+		width: 1px;
+		border-radius: 4px;
+		}
+
+
+ 	QSlider::handle:vertical {
+     		background: rgb(196,196,196);
+     		width: 18px;
+     		margin: -6 -6;
+     		border-radius: 3px;
+		border: 1px solid #777;
+ 		}
+
+	QSlider::handle:vertical:hover {
+		background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+		border: 1px solid #444;
+		border-radius: 4px;
+		}
+
+	QSlider::handle:horizontal:hover {
+		background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+		border: 1px solid #444;
+		border-radius: 4px;
+		}
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
index 1c27c3d69..035fa5633 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
@@ -1,6 +1,5 @@
 MyListWidget {font-size: 11px;}
 Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
-
  
 
 
@@ -29,4 +28,75 @@ Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:
 		padding: 0px;
 		} 
 
+	QSlider::groove:horizontal {
+		border: 1px solid rgb(196,196,196);
+		background: white;
+		height: 6px;
+		border-radius: 2px;
+		margin 10px 10px;
+		}
+	QSlider::add-page:horizontal {
+		background: #fff;
+		border: 1px solid #777;
+		height: 1px;
+		border-radius: 4px;
+		}
 
+ 	QSlider::sub-page:horizontal {
+ 		background: rgb(249,117,76);
+ 		border: 1px solid #777;
+		height: 1px;
+		border-radius: 4px;
+		}
+
+
+ 	QSlider::handle:horizontal {
+     		background: rgb(196,196,196);
+     		width: 18px;
+		height: 28px;
+     		margin: -2px 0;
+     		border-radius: 3px;
+		border: 1px solid #777;
+ 		}
+
+	QSlider::groove:vertical {
+		border: 1px solid rgb(196,196,196);
+		background: white;
+		width: 6px;
+		border-radius: 2px;
+		margin 0px -10px;
+		}
+	QSlider::sub-page:vertical {
+		background: #fff;
+		border: 1px solid #777;
+		width: 1px;
+		border-radius: 4px;
+		}
+
+ 	QSlider::add-page:vertical {
+ 		background: rgb(249,117,76);
+ 		border: 1px solid #777;
+		width: 1px;
+		border-radius: 4px;
+		}
+
+
+ 	QSlider::handle:vertical {
+     		background: rgb(196,196,196);
+     		width: 18px;
+     		margin: -6 -6;
+     		border-radius: 3px;
+		border: 1px solid #777;
+ 		}
+
+	QSlider::handle:vertical:hover {
+		background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+		border: 1px solid #444;
+		border-radius: 4px;
+		}
+
+	QSlider::handle:horizontal:hover {
+		background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+		border: 1px solid #444;
+		border-radius: 4px;
+		}
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss
index 22958dbdd..035fa5633 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_macos.qss
@@ -33,7 +33,7 @@ Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:
 		background: white;
 		height: 6px;
 		border-radius: 2px;
-		margin 2px 2px;
+		margin 10px 10px;
 		}
 	QSlider::add-page:horizontal {
 		background: #fff;
@@ -59,24 +59,21 @@ Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:
 		border: 1px solid #777;
  		}
 
-
-
-
 	QSlider::groove:vertical {
 		border: 1px solid rgb(196,196,196);
 		background: white;
 		width: 6px;
 		border-radius: 2px;
-		margin 0px 2px;
+		margin 0px -10px;
 		}
-	QSlider::add-page:vertical {
+	QSlider::sub-page:vertical {
 		background: #fff;
 		border: 1px solid #777;
 		width: 1px;
 		border-radius: 4px;
 		}
 
- 	QSlider::sub-page:vertical {
+ 	QSlider::add-page:vertical {
  		background: rgb(249,117,76);
  		border: 1px solid #777;
 		width: 1px;
@@ -87,7 +84,19 @@ Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:
  	QSlider::handle:vertical {
      		background: rgb(196,196,196);
      		width: 18px;
-     		margin: -6 0;
+     		margin: -6 -6;
      		border-radius: 3px;
 		border: 1px solid #777;
- 		}
\ No newline at end of file
+ 		}
+
+	QSlider::handle:vertical:hover {
+		background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+		border: 1px solid #444;
+		border-radius: 4px;
+		}
+
+	QSlider::handle:horizontal:hover {
+		background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+		border: 1px solid #444;
+		border-radius: 4px;
+		}
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_windows.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_windows.qss
index 3d57edaeb..035fa5633 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_windows.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_windows.qss
@@ -1,2 +1,102 @@
 MyListWidget {font-size: 11px;}
 Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
+ 
+
+
+
+
+
+	QGroupBox 	{
+		border: 1px solid gray;
+		border-radius: 5px;
+		margin-top: 1ex; /* leave space at the top for the title */
+		font-size: 11px;
+		font-weight: bold;
+		}
+
+	QGroupBox::title {
+		subcontrol-origin: margin;
+		subcontrol-position: top left; /* position at the top center */
+		padding: 0 3px;
+		
+		}
+
+	QTabWidget::pane { /* The tab widget frame */	
+		margin: 1px,1px,1px,1px;
+		border: 2px solid rgb(196,196,196);
+		border-radius: 5px;
+		padding: 0px;
+		} 
+
+	QSlider::groove:horizontal {
+		border: 1px solid rgb(196,196,196);
+		background: white;
+		height: 6px;
+		border-radius: 2px;
+		margin 10px 10px;
+		}
+	QSlider::add-page:horizontal {
+		background: #fff;
+		border: 1px solid #777;
+		height: 1px;
+		border-radius: 4px;
+		}
+
+ 	QSlider::sub-page:horizontal {
+ 		background: rgb(249,117,76);
+ 		border: 1px solid #777;
+		height: 1px;
+		border-radius: 4px;
+		}
+
+
+ 	QSlider::handle:horizontal {
+     		background: rgb(196,196,196);
+     		width: 18px;
+		height: 28px;
+     		margin: -2px 0;
+     		border-radius: 3px;
+		border: 1px solid #777;
+ 		}
+
+	QSlider::groove:vertical {
+		border: 1px solid rgb(196,196,196);
+		background: white;
+		width: 6px;
+		border-radius: 2px;
+		margin 0px -10px;
+		}
+	QSlider::sub-page:vertical {
+		background: #fff;
+		border: 1px solid #777;
+		width: 1px;
+		border-radius: 4px;
+		}
+
+ 	QSlider::add-page:vertical {
+ 		background: rgb(249,117,76);
+ 		border: 1px solid #777;
+		width: 1px;
+		border-radius: 4px;
+		}
+
+
+ 	QSlider::handle:vertical {
+     		background: rgb(196,196,196);
+     		width: 18px;
+     		margin: -6 -6;
+     		border-radius: 3px;
+		border: 1px solid #777;
+ 		}
+
+	QSlider::handle:vertical:hover {
+		background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+		border: 1px solid #444;
+		border-radius: 4px;
+		}
+
+	QSlider::handle:horizontal:hover {
+		background: qlineargradient(x1:0, y1:0, x2:1, y2:1, stop:0 #fff, stop:1 #ddd);
+		border: 1px solid #444;
+		border-radius: 4px;
+		}
diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 23a6ba351..93c7dc96e 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>810</width>
+    <width>856</width>
     <height>633</height>
    </rect>
   </property>
@@ -122,7 +122,7 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>756</width>
+            <width>802</width>
             <height>509</height>
            </rect>
           </property>
@@ -888,7 +888,6 @@ margin:1px;</string>
                     <property name="styleSheet">
                      <string notr="true">background:transparent</string>
                     </property>
-                    <zorder>groupBox</zorder>
                    </widget>
                   </item>
                  </layout>
@@ -1436,7 +1435,7 @@ font: bold 12px;
 margin:1px;</string>
                     </property>
                     <property name="text">
-                     <string>Tricopter Yaw Motor Direction</string>
+                     <string>Multirotor Yaw Direction</string>
                     </property>
                     <property name="alignment">
                      <set>Qt::AlignCenter</set>
@@ -1484,7 +1483,7 @@ font: bold 12px;
 margin:1px;</string>
                     </property>
                     <property name="text">
-                     <string>Tricopter Yaw Motor channel:</string>
+                     <string>Tricopter Yaw Motor channel</string>
                     </property>
                     <property name="alignment">
                      <set>Qt::AlignCenter</set>
@@ -2796,7 +2795,7 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>756</width>
+            <width>802</width>
             <height>509</height>
            </rect>
           </property>
@@ -3063,7 +3062,6 @@ In 'units per second', a sound default is 1000.</string>
              <zorder>maxAccelSlider</zorder>
              <zorder>label_37</zorder>
              <zorder>feedForwardSliderValue</zorder>
-             <zorder></zorder>
              <zorder>label_20</zorder>
             </widget>
            </item>
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 399d85372..d8c709894 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>978</width>
-    <height>837</height>
+    <width>967</width>
+    <height>639</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -612,8 +612,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>948</width>
-            <height>720</height>
+            <width>937</width>
+            <height>522</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_12" stretch="0,0,0,0,0">
@@ -6971,7 +6971,7 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>567</width>
+            <width>922</width>
             <height>650</height>
            </rect>
           </property>
@@ -6982,6 +6982,12 @@ border-radius: 5;</string>
            <property name="spacing">
             <number>24</number>
            </property>
+           <property name="leftMargin">
+            <number>12</number>
+           </property>
+           <property name="rightMargin">
+            <number>12</number>
+           </property>
            <item>
             <widget class="QGroupBox" name="RateStabilizationGroup_8">
              <property name="sizePolicy">
@@ -16849,7 +16855,7 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>818</width>
+            <width>922</width>
             <height>599</height>
            </rect>
           </property>
@@ -16857,6 +16863,12 @@ border-radius: 5;</string>
            <property name="spacing">
             <number>24</number>
            </property>
+           <property name="leftMargin">
+            <number>12</number>
+           </property>
+           <property name="rightMargin">
+            <number>12</number>
+           </property>
            <item>
             <widget class="QGroupBox" name="groupBox_4">
              <property name="sizePolicy">
@@ -19779,7 +19791,7 @@ border-radius: 5;</string>
                 </property>
                 <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,0,1,0,1,0,1,0">
                  <property name="leftMargin">
-                  <number>0</number>
+                  <number>12</number>
                  </property>
                  <item row="1" column="4">
                   <widget class="QDoubleSpinBox" name="RatePitchILimit">
@@ -22939,7 +22951,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="sizeHint" stdset="0">
                     <size>
-                     <width>91</width>
+                     <width>102</width>
                      <height>20</height>
                     </size>
                    </property>

From 99b898c5c2aad3acd65f9cc63b7103ffe223b706 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Sun, 2 Sep 2012 13:33:29 +1000
Subject: [PATCH 453/543] GCS/PFDqml: display the VSI bar

updated pfd.svg file with new compass and VSI bar
---
 .../share/openpilotgcs/pfd/default/Pfd.qml    |   19 +-
 .../openpilotgcs/pfd/default/VsiScale.qml     |   85 +
 .../share/openpilotgcs/pfd/default/pfd.svg    | 5470 +++++++++--------
 3 files changed, 3028 insertions(+), 2546 deletions(-)
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index b25596def..57afeb56a 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -32,13 +32,13 @@ Rectangle {
                 source: "image://svg/pfd.svg!rollscale"
                 sourceSize: background.sourceSize
                 smooth: true
-		anchors.centerIn: parent
-                 //rotate it around the center of scene
-		transform: Rotation {
-		angle: -AttitudeActual.Roll
-		origin.x : sceneItem.width/2 - x
-		origin.y : sceneItem.height/2 - y
-		}
+                anchors.centerIn: parent
+                //rotate it around the center of scene
+                transform: Rotation {
+                    angle: -AttitudeActual.Roll
+                    origin.x : sceneItem.width/2 - x
+                    origin.y : sceneItem.height/2 - y
+                }
             }
 
             Image {
@@ -78,6 +78,11 @@ Rectangle {
                 sourceSize: background.sourceSize
             }
 
+            VsiScale {
+                anchors.fill: parent
+                sourceSize: background.sourceSize
+            }
+
             PfdIndicators {
                 anchors.fill: parent
                 sourceSize: background.sourceSize
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml
new file mode 100644
index 000000000..455104462
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml
@@ -0,0 +1,85 @@
+import Qt 4.7
+
+Item {
+    id: sceneItem
+    property variant sourceSize
+
+    Image {
+        id: vsi_bg
+        source: "image://svg/pfd.svg!vsi-bg"
+        sourceSize: sceneItem.sourceSize
+        clip: true
+
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "vsi-bg")
+
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+
+        Image {
+            id: vsi_bar
+
+            source: "image://svg/pfd.svg!vsi-bar"
+            sourceSize: sceneItem.sourceSize
+
+            //the scale in 1000 ft/min with height == 5200 ft/min
+            height: (-VelocityActual.Down*3.28*60/1000)*(vsi_scale.height/5.2)
+
+
+            anchors.bottom: parent.verticalCenter
+            anchors.left: parent.left
+        }
+
+        Image {
+            id: vsi_scale
+
+            source: "image://svg/pfd.svg!vsi-scale"
+            sourceSize: sceneItem.sourceSize
+
+            anchors.verticalCenter: parent.verticalCenter
+            anchors.left: parent.left
+
+            //Text labels
+            Column {
+                anchors.verticalCenter: parent.verticalCenter
+                anchors.left: parent.right
+
+                Repeater {
+                    model: [2, 1, 0, 1, 2]
+                    Item {
+                        height: vsi_scale.height / 5.2 //the scale height is 5200
+                        width: vsi_bg.width - vsi_scale.width //fill area right to scale
+
+                        Text {
+                            text: modelData
+                            visible: modelData !== 0 //hide "0" label
+                            color: "white"
+                            font.pixelSize: parent.height / 4
+                            font.family: "Arial"
+
+                            anchors.centerIn: parent
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+
+    Image {
+        id: vsi_window
+        clip: true
+        smooth: true
+
+        source: "image://svg/pfd.svg!vsi-window"
+        sourceSize: sceneItem.sourceSize
+
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "vsi-window")
+
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
+        width: scaledBounds.width * sceneItem.width
+        height: scaledBounds.height * sceneItem.height
+    }
+}
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
index 95724c8b8..94fa89f92 100755
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
@@ -15,11 +15,11 @@
    id="svg2"
    version="1.1"
    inkscape:version="0.48.3.1 r9886"
-   sodipodi:docname="pfd.svg"
+   sodipodi:docname="pfd-4.svg"
    style="display:inline"
-   inkscape:export-filename="H:\Documents\Hobbies\OpenPilot\SVN\artwork\PFD-2.png"
-   inkscape:export-xdpi="269.53"
-   inkscape:export-ydpi="269.53">
+   inkscape:export-filename="C:\Users\Nuno\Desktop\OpenPilot\PFD\PFD-4.png"
+   inkscape:export-xdpi="71.993568"
+   inkscape:export-ydpi="71.993568">
   <defs
      id="defs4">
     <marker
@@ -1615,18 +1615,18 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="0.73067675"
-     inkscape:cx="431.15187"
-     inkscape:cy="372.16908"
+     inkscape:zoom="1.1193346"
+     inkscape:cx="509.61927"
+     inkscape:cy="365.39566"
      inkscape:document-units="px"
-     inkscape:current-layer="layer3"
+     inkscape:current-layer="dots1-3"
      showgrid="false"
-     inkscape:window-width="1440"
-     inkscape:window-height="838"
-     inkscape:window-x="-8"
-     inkscape:window-y="-8"
+     inkscape:window-width="1680"
+     inkscape:window-height="987"
+     inkscape:window-x="-4"
+     inkscape:window-y="-4"
      inkscape:window-maximized="1"
-     showguides="true"
+     showguides="false"
      inkscape:guide-bbox="true"
      inkscape:snap-grids="false"
      inkscape:snap-to-guides="true"
@@ -1680,6 +1680,38 @@
        orientation="0,1"
        position="-378.30213,170.71578"
        id="guide5917" />
+    <sodipodi:guide
+       orientation="0,1"
+       position="481.5,752.75"
+       id="guide7197" />
+    <sodipodi:guide
+       position="669.44526,613.50294"
+       orientation="519.61524,-300"
+       id="guide5032" />
+    <sodipodi:guide
+       position="779.25288,503.69532"
+       orientation="300,-519.61524"
+       id="guide5034" />
+    <sodipodi:guide
+       position="622.0513,635.6031"
+       orientation="563.81557,-205.21208"
+       id="guide5036" />
+    <sodipodi:guide
+       position="571.53971,649.13764"
+       orientation="590.88465,-104.1889"
+       id="guide5038" />
+    <sodipodi:guide
+       orientation="1,0"
+       position="450.8125,483.4375"
+       id="guide4007" />
+    <sodipodi:guide
+       orientation="1,0"
+       position="589,485.5"
+       id="guide4009" />
+    <sodipodi:guide
+       orientation="0,1"
+       position="-504.5,799.5"
+       id="guide5119" />
   </sodipodi:namedview>
   <metadata
      id="metadata7">
@@ -1689,14 +1721,14 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title />
+        <dc:title></dc:title>
       </cc:Work>
     </rdf:RDF>
   </metadata>
   <g
      inkscape:groupmode="layer"
      id="layer7"
-     inkscape:label="Background"
+     inkscape:label="background"
      style="display:none"
      transform="translate(230.4171,-2.5493479)"
      sodipodi:insensitive="true">
@@ -1711,11 +1743,11 @@
        inkscape:label="#rect6231" />
   </g>
   <g
-     inkscape:label="World"
+     inkscape:label="world"
      inkscape:groupmode="layer"
      id="layer1"
      transform="translate(230.4171,-254.91153)"
-     style="display:none"
+     style="display:inline"
      sodipodi:insensitive="true">
     <g
        id="world"
@@ -1748,264 +1780,680 @@
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       <text
          y="537.23804"
-         x="201.93459"
+         x="200.32983"
          style="font-size:13.30799103px;fill:#ffffff;font-family:CenturyGothic"
-         transform="scale(0.97685665,1.0236917)"
+         transform="scale(0.97685661,1.0236917)"
          font-size="13"
-         id="text6388">10</text>
+         id="text6388">
+        <tspan
+           style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Sans;-inkscape-font-specification:Sans"
+           id="tspan3995">10</tspan>
+      </text>
       <text
          y="537.23804"
-         x="376.04211"
+         x="373.58994"
          style="font-size:13.30799103px;fill:#ffffff;font-family:CenturyGothic"
-         transform="scale(0.97685665,1.0236917)"
+         transform="scale(0.97685661,1.0236917)"
          font-size="13"
-         id="text6390">10</text>
-      <line
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+          <path
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+          <path
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+          <path
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+             inkscape:connector-curvature="0" />
+          <path
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+             inkscape:connector-curvature="0" />
+        </g>
       </g>
     </g>
   </g>
   <g
      inkscape:groupmode="layer"
      id="layer2"
-     inkscape:label="Foreground"
+     inkscape:label="frame1"
      style="display:none"
      transform="translate(230.4171,-2.5493479)"
      sodipodi:insensitive="true">
-    <path
-       style="fill:#453e3e;fill-opacity:1;stroke:#000000;stroke-width:4.08031273;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
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-       id="rect2816"
-       sodipodi:nodetypes="cccccccccccccsccccc"
-       inkscape:connector-curvature="0" />
+    <g
+       inkscape:groupmode="layer"
+       id="layer24"
+       inkscape:label="rect2816">
+      <path
+         style="fill:#453e3e;fill-opacity:1;stroke:#000000;stroke-width:4.08031273;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
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+         id="rect2816"
+         sodipodi:nodetypes="cccccccccccccsccccc"
+         inkscape:connector-curvature="0" />
+    </g>
   </g>
 </svg>

From 11025875708410bfa07a018fe2fc0a4b77f959f6 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Mon, 3 Sep 2012 15:23:51 +1000
Subject: [PATCH 454/543] GCS/PFDqml: fixed compass rendering

Converted AttitudeActual.Yaw to -180..180 range,
so the whole compass band is always filled
---
 ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index 57afeb56a..0827b7d30 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -63,8 +63,8 @@ Rectangle {
                     sourceSize: background.sourceSize
 
                     anchors.centerIn: parent
-                    //the band is 540 degrees wide
-                    anchors.horizontalCenterOffset: -1*AttitudeActual.Yaw/540*width
+                    //the band is 540 degrees wide, AttitudeActual.Yaw is converted to -180..180 range
+                    anchors.horizontalCenterOffset: -1*((AttitudeActual.Yaw+180+720) % 360 - 180)/540*width
                 }
             }
 

From 803e3c4d1e6e059b6a887887f658d42fde112405 Mon Sep 17 00:00:00 2001
From: Stacey Sheldon <stac@solidgoldbomb.org>
Date: Wed, 5 Sep 2012 21:41:18 -0400
Subject: [PATCH 455/543] ef: Add fwinfo to entireflash (EF) images

EF images were missing the firmware info blob that describes
which firmware is installed on the board.  The EF image is now
padded out to fill the firmware bank and the info blob is
properly placed at the tail end of the firmware bank.
---
 flight/EntireFlash/Makefile | 17 ++++++++++++-----
 1 file changed, 12 insertions(+), 5 deletions(-)

diff --git a/flight/EntireFlash/Makefile b/flight/EntireFlash/Makefile
index 548461a24..13aae597d 100644
--- a/flight/EntireFlash/Makefile
+++ b/flight/EntireFlash/Makefile
@@ -33,16 +33,23 @@ OUTDIR := $(TOP)/build/$(TARGET)
 .PHONY: bin
 bin: $(OUTDIR)/$(TARGET).bin
 
-FW_PAD = $(shell echo $$[$(FW_BANK_BASE)-$(BL_BANK_BASE)-$(BL_BANK_SIZE)])
-$(OUTDIR)/$(TARGET).pad:
+FW_PRE_PAD = $(shell echo $$[$(FW_BANK_BASE)-$(BL_BANK_BASE)-$(BL_BANK_SIZE)])
+$(OUTDIR)/$(TARGET).fw_pre.pad:
 	$(V0) @echo $(MSG_PADDING) $@
-	$(V1) dd status=noxfer if=/dev/zero count=$(FW_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
+	$(V1) dd status=noxfer if=/dev/zero count=$(FW_PRE_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
+
+FW_POST_PAD = $(shell echo $$[$(FW_BANK_SIZE)-$(FW_DESC_SIZE)-$$(stat -c%s $(FW_BIN))])
+$(OUTDIR)/$(TARGET).fw_post.pad:
+	$(V0) @echo $(MSG_PADDING) $@
+	$(V1) dd status=noxfer if=/dev/zero count=$(FW_POST_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
+
 
 BL_BIN = $(TOP)/build/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin
 FW_BIN = $(TOP)/build/fw_$(BOARD_NAME)/fw_$(BOARD_NAME).bin
-$(OUTDIR)/$(TARGET).bin: $(BL_BIN) $(FW_BIN) $(OUTDIR)/$(TARGET).pad
+FWINFO_BIN = $(FW_BIN).firmwareinfo.bin
+$(OUTDIR)/$(TARGET).bin: $(BL_BIN) $(FW_BIN) $(OUTDIR)/$(TARGET).fw_pre.pad $(OUTDIR)/$(TARGET).fw_post.pad
 	$(V0) @echo $(MSG_FLASH_IMG) $@
-	$(V1) cat $(BL_BIN) $(OUTDIR)/$(TARGET).pad $(FW_BIN) > $@
+	$(V1) cat $(BL_BIN) $(OUTDIR)/$(TARGET).fw_pre.pad $(FW_BIN) $(OUTDIR)/$(TARGET).fw_post.pad $(FWINFO_BIN) > $@
 
 .PHONY: dfu
 dfu: $(OUTDIR)/$(TARGET).bin

From 97882dbef918db2016c08a0ecc38451509486f28 Mon Sep 17 00:00:00 2001
From: Stacey Sheldon <stac@solidgoldbomb.org>
Date: Wed, 5 Sep 2012 22:17:04 -0400
Subject: [PATCH 456/543] pipx: ensure pipx BL image is padded to fill its bank

This padding is required in order to properly align all
of the sections in the EF images.
---
 flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld | 1 +
 1 file changed, 1 insertion(+)

diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
index 777e09aa6..19f70959d 100644
--- a/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
+++ b/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
@@ -75,6 +75,7 @@ SECTIONS
     {
 	. = ALIGN(4);
 	KEEP(*(.boardinfo))
+	. = ALIGN(ORIGIN(BD_INFO)+LENGTH(BD_INFO));
     } > BD_INFO
 
     /* Stabs debugging sections.  */

From 4803dfe99c704edef1162d66d9ad33bd964b0b83 Mon Sep 17 00:00:00 2001
From: Werner Backes <op-dev@bit-1.de>
Date: Thu, 6 Sep 2012 13:13:58 +0200
Subject: [PATCH 457/543] Fix: yaw bias correction wasn't applied on CC3D.

---
 flight/Modules/Attitude/attitude.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c
index baa0c5453..6b0c16cec 100644
--- a/flight/Modules/Attitude/attitude.c
+++ b/flight/Modules/Attitude/attitude.c
@@ -420,6 +420,10 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
 		gyrosData->z += gyro_correct_int[2];
 	}
 
+	// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
+	// and make it average zero (weakly)
+	gyro_correct_int[2] += - gyrosData->z * yawBiasRate;
+
 	GyrosSet(gyrosData);
 	AccelsSet(accelsData);
 

From c5745b08173df318778fde6ae72ac24529076993 Mon Sep 17 00:00:00 2001
From: "Richard Flay (Hyper)" <hyperreality.au+openpilot@gmail.com>
Date: Sat, 8 Sep 2012 15:58:39 +0930
Subject: [PATCH 458/543] Fixes/tweaks to GCS levelling code. Fixed a deadlock
 and take more samples

---
 .../plugins/config/configccattitudewidget.cpp | 27 ++++++++++---------
 .../plugins/config/configccattitudewidget.h   |  4 +--
 2 files changed, 16 insertions(+), 15 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
index fe1f517bf..11beeaff3 100644
--- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
@@ -64,8 +64,13 @@ ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
 }
 
 void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject * obj) {
-    QMutexLocker locker(&startStop);
 
+    if (!timer.isActive()) { 
+	// ignore updates that come in after the timer has expired	
+	return; 
+    }
+
+    // update the progress indicator
     ui->zeroBiasProgress->setValue((float) qMin(accelUpdates,gyroUpdates) / NUM_SENSOR_UPDATES * 100);
 
     Accels * accels = Accels::GetInstance(getObjectManager());
@@ -83,7 +88,7 @@ void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject * obj) {
         x_gyro_accum.append(gyrosData.x);
         y_gyro_accum.append(gyrosData.y);
         z_gyro_accum.append(gyrosData.z);
-    } else if ( accelUpdates >= NUM_SENSOR_UPDATES && gyroUpdates >= NUM_SENSOR_UPDATES) {
+    } else if ( accelUpdates >= NUM_SENSOR_UPDATES || gyroUpdates >= NUM_SENSOR_UPDATES) {
         timer.stop();
         disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
         disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
@@ -115,7 +120,6 @@ void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject * obj) {
 }
 
 void ConfigCCAttitudeWidget::timeout() {
-    QMutexLocker locker(&startStop);
     UAVDataObject * obj = Accels::GetInstance(getObjectManager());
     disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
     disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
@@ -130,12 +134,11 @@ void ConfigCCAttitudeWidget::timeout() {
     msgBox.setStandardButtons(QMessageBox::Ok);
     msgBox.setDefaultButton(QMessageBox::Ok);
     msgBox.exec();
-
+    // reset progress indicator
+    ui->zeroBiasProgress->setValue(0);
 }
 
 void ConfigCCAttitudeWidget::startAccelCalibration() {
-    QMutexLocker locker(&startStop);
-
     accelUpdates = 0;
     gyroUpdates = 0;
     x_accum.clear();
@@ -156,10 +159,6 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
     connect(accels,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
     connect(gyros,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
 
-    // Set up timeout timer
-    timer.start(10000);
-    connect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
-
     // Speed up updates
     initialAccelsMdata = accels->getMetadata();
     UAVObject::Metadata accelsMdata = initialAccelsMdata;
@@ -173,11 +172,16 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
     gyrosMdata.flightTelemetryUpdatePeriod = 30;
     gyros->setMetadata(gyrosMdata);
 
+    // Set up timeout timer
+    timer.setSingleShot(true);
+    timer.start(5000 + (NUM_SENSOR_UPDATES * qMin(accelsMdata.flightTelemetryUpdatePeriod,
+                                                  gyrosMdata.flightTelemetryUpdatePeriod)));
+    connect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
+
 }
 
 void ConfigCCAttitudeWidget::openHelp()
 {
-
     QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/CopterControl+Attitude+Configuration", QUrl::StrictMode) );
 }
 
@@ -186,7 +190,6 @@ void ConfigCCAttitudeWidget::enableControls(bool enable)
     if(ui->zeroBias)
         ui->zeroBias->setEnabled(enable);
     ConfigTaskWidget::enableControls(enable);
-
 }
 
 void ConfigCCAttitudeWidget::updateObjectsFromWidgets()
diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
index fc1a7f623..0637d268a 100644
--- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
@@ -34,7 +34,6 @@
 #include "uavobject.h"
 #include <QtGui/QWidget>
 #include <QTimer>
-#include <QMutex>
 
 class Ui_Widget;
 
@@ -55,7 +54,6 @@ private slots:
     void openHelp();
 
 private:
-    QMutex startStop;
     Ui_ccattitude *ui;
     QTimer timer;
     UAVObject::Metadata initialAccelsMdata;
@@ -67,7 +65,7 @@ private:
     QList<double> x_accum, y_accum, z_accum;
     QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
 
-    static const int NUM_SENSOR_UPDATES = 60;
+    static const int NUM_SENSOR_UPDATES = 300;
     static const float ACCEL_SCALE = 0.004f * 9.81f;
 protected:
     virtual void enableControls(bool enable);

From e6bcf96e2af99862c68049b9e76ea2ab76790837 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 12:47:15 -0500
Subject: [PATCH 459/543] GCS USB: Remove unused include file

---
 ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.h b/ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.h
index ee9aa49aa..324471a14 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.h
+++ b/ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.h
@@ -31,7 +31,6 @@
 #include "rawhid_global.h"
 #include "rawhid.h"
 #include "usbmonitor.h"
-#include "usbsignalfilter.h"
 #include "coreplugin/iconnection.h"
 #include <extensionsystem/iplugin.h>
 

From e5ab9f0fdade3b8604b28e501d1ef3d85777b5f4 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 12:53:00 -0500
Subject: [PATCH 460/543] GCS ConnectionManager: Consolidate the unregistering
 and registering devices into one method

---
 .../plugins/coreplugin/connectionmanager.cpp  | 30 ++++++++++---------
 .../plugins/coreplugin/connectionmanager.h    |  3 +-
 2 files changed, 17 insertions(+), 16 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index f49d98c0e..41672af1f 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -289,10 +289,11 @@ void ConnectionManager::resumePolling()
 }
 
 /**
-*   Unregister all devices from one connection plugin
-*   \param[in] connection Connection type that you want to forget about :)
-*/
-void ConnectionManager::unregisterAll(IConnection *connection)
+ * Synchronize the list of connections displayed with those physically
+ * present
+ * @param[in] connection Connection type that you want to forget about :)
+ */
+void ConnectionManager::updateConnectionList(IConnection *connection)
 {
 	for (QLinkedList<devListItem>::iterator iter = m_devList.begin(); iter != m_devList.end(); )
 	{
@@ -309,6 +310,16 @@ void ConnectionManager::unregisterAll(IConnection *connection)
 		else
 			++iter;
 	}
+
+    //and add them back in the list
+    QList <IConnection::device> availableDev = connection->availableDevices();
+    foreach (IConnection::device dev, availableDev)
+    {
+        QString cbName = connection->shortName() + ": " + dev.name;
+        QString disp = connection->shortName() + " : " + dev.displayName;
+        registerDevice(connection,cbName,dev.name,disp);
+    }
+
 }
 
 /**
@@ -344,16 +355,7 @@ void ConnectionManager::devChanged(IConnection *connection)
     m_availableDevList->clear();
 
     //remove registered devices of this IConnection from the list
-    unregisterAll(connection);
-
-    //and add them back in the list
-    QList <IConnection::device> availableDev = connection->availableDevices();
-    foreach (IConnection::device dev, availableDev)
-    {
-        QString cbName = connection->shortName() + ": " + dev.name;
-        QString disp = connection->shortName() + " : " + dev.displayName;
-        registerDevice(connection,cbName,dev.name,disp);
-    }
+    updateConnectionList(connection);
 
     //add all the list again to the combobox
     foreach (devListItem d, m_devList)
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 289e65590..06b7afe39 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -81,7 +81,7 @@ public:
     void resumePolling();
 
 protected:
-    void unregisterAll(IConnection *connection);
+    void updateConnectionList(IConnection *connection);
     void registerDevice(IConnection *conn, const QString &devN, const QString &name, const QString &disp);
     devListItem findDevice(const QString &devName);
 
@@ -96,7 +96,6 @@ private slots:
     void onConnectPressed();
     void devChanged(IConnection *connection);
 
-//	void onConnectionClosed(QObject *obj);
 	void onConnectionDestroyed(QObject *obj);
         void connectionsCallBack(); //used to call devChange after all the plugins are loaded
 protected:

From 44e7c4542f91b4a987d3348a47cf7aeeb3ec8ff2 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 13:23:37 -0500
Subject: [PATCH 461/543] GCS USB: Implement structure for only adding new
 devices but need a way of identifying them

---
 .../plugins/coreplugin/connectionmanager.cpp  | 45 ++++++++++++++-----
 1 file changed, 34 insertions(+), 11 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index 41672af1f..66cc5fa38 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -295,29 +295,52 @@ void ConnectionManager::resumePolling()
  */
 void ConnectionManager::updateConnectionList(IConnection *connection)
 {
-	for (QLinkedList<devListItem>::iterator iter = m_devList.begin(); iter != m_devList.end(); )
+    QList <IConnection::device> availableDev = connection->availableDevices();
+
+    // Go through the list of connections of that type.  If they are not in the
+    // available device list then remove them.  If they are connected, then
+    // disconnect them.
+
+    for (QLinkedList<devListItem>::iterator iter = m_devList.begin(); iter != m_devList.end(); )
 	{
 		if (iter->connection == connection)
 		{
-			if (m_connectionDevice.connection && m_connectionDevice.connection == connection)
-			{	// we are currently using the one we are about to erase
-                                //onConnectionClosed(m_connectionDevice.connection);
-                            disconnectDevice();
-			}
+            // See if device exists in the updated availability list
+            bool found = false;
+            foreach (IConnection::device dev, availableDev)
+                if (false) // TODO: Need some way of indicating a IOConnection::device matches a devListItem
+                    found = true;
 
-			iter = m_devList.erase(iter);
+            if (!found) {
+                if (m_connectionDevice.connection && m_connectionDevice.connection == connection)
+                {	// we are currently using the one we are about to erase
+                    //onConnectionClosed(m_connectionDevice.connection);
+                    disconnectDevice();
+                }
+
+                iter = m_devList.erase(iter);
+            }
 		}
 		else
 			++iter;
 	}
 
+    // Go through the list of available devices.  If they are not present in the device list
+    // add them.
+
     //and add them back in the list
-    QList <IConnection::device> availableDev = connection->availableDevices();
     foreach (IConnection::device dev, availableDev)
     {
-        QString cbName = connection->shortName() + ": " + dev.name;
-        QString disp = connection->shortName() + " : " + dev.displayName;
-        registerDevice(connection,cbName,dev.name,disp);
+        bool found = false;
+        foreach (devListItem devList, m_devList)
+            if (false)
+                found = true;
+
+        if (!found) {
+            QString cbName = connection->shortName() + ": " + dev.name;
+            QString disp = connection->shortName() + " : " + dev.displayName;
+            registerDevice(connection,cbName,dev.name,disp);
+        }
     }
 
 }

From 9912432e84debb308245f82a86c8438a867785e3 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 13:33:50 -0500
Subject: [PATCH 462/543] GCS ConnectionManager: Remove some commented code

---
 .../plugins/coreplugin/connectionmanager.cpp   | 18 +++---------------
 1 file changed, 3 insertions(+), 15 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index 66cc5fa38..be39e56a2 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -44,25 +44,18 @@ namespace Core {
 
 
 ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidget *modeStack) :
-	QWidget(mainWindow),	// Pip
+    QWidget(mainWindow),
 	m_availableDevList(0),
     m_connectBtn(0),
     m_ioDev(NULL),	
 	m_mainWindow(mainWindow)
 {
- //   Q_UNUSED(mainWindow);
-
-/*    QVBoxLayout *top = new QVBoxLayout;
-    top->setSpacing(0);
-    top->setMargin(0);*/
-
     QHBoxLayout *layout = new QHBoxLayout;
     layout->setSpacing(5);
     layout->setContentsMargins(5,5,5,5);
     layout->addWidget(new QLabel(tr("Connections:")));
 
     m_availableDevList = new QComboBox;
-    //m_availableDevList->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
     m_availableDevList->setMinimumWidth(100);
     m_availableDevList->setMaximumWidth(150);
     m_availableDevList->setContextMenuPolicy(Qt::CustomContextMenu);
@@ -72,13 +65,8 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidge
     m_connectBtn->setEnabled(false);
     layout->addWidget(m_connectBtn);
 
-/*    Utils::StyledBar *bar = new Utils::StyledBar;
-    bar->setLayout(layout);
-
-    top->addWidget(bar);*/
     setLayout(layout);
 
-    //    modeStack->insertCornerWidget(modeStack->cornerWidgetCount()-1, this);
     modeStack->setCornerWidget(this, Qt::TopRightCorner);
 
 	QObject::connect(m_connectBtn, SIGNAL(pressed()), this, SLOT(onConnectPressed()));
@@ -86,8 +74,8 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidge
 
 ConnectionManager::~ConnectionManager()
 {
-	disconnectDevice();	// Pip
-	suspendPolling();	// Pip
+    disconnectDevice();
+    suspendPolling();
 }
 
 void ConnectionManager::init()

From 3563c7376f5c01a15175ecc3de9ffda3f53f66cf Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 14:04:59 -0500
Subject: [PATCH 463/543] GCS ConnectionManager: When plugging in a new device
 don't glitch the connectionwq

---
 .../plugins/coreplugin/connectionmanager.cpp  | 20 +++++++++----------
 .../plugins/coreplugin/connectionmanager.h    |  4 +++-
 2 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index be39e56a2..0bacf9921 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -296,7 +296,7 @@ void ConnectionManager::updateConnectionList(IConnection *connection)
             // See if device exists in the updated availability list
             bool found = false;
             foreach (IConnection::device dev, availableDev)
-                if (false) // TODO: Need some way of indicating a IOConnection::device matches a devListItem
+                if (iter->device == dev) // TODO: Need some way of indicating a IOConnection::device matches a devListItem
                     found = true;
 
             if (!found) {
@@ -307,7 +307,8 @@ void ConnectionManager::updateConnectionList(IConnection *connection)
                 }
 
                 iter = m_devList.erase(iter);
-            }
+            } else
+                ++iter;
 		}
 		else
 			++iter;
@@ -321,13 +322,11 @@ void ConnectionManager::updateConnectionList(IConnection *connection)
     {
         bool found = false;
         foreach (devListItem devList, m_devList)
-            if (false)
+            if (devList.device == dev)
                 found = true;
 
         if (!found) {
-            QString cbName = connection->shortName() + ": " + dev.name;
-            QString disp = connection->shortName() + " : " + dev.displayName;
-            registerDevice(connection,cbName,dev.name,disp);
+            registerDevice(connection,dev);
         }
     }
 
@@ -339,13 +338,14 @@ void ConnectionManager::updateConnectionList(IConnection *connection)
 *  @param disp is the name that is displayed in the dropdown menu
 *  @param name is the actual device name
 */
-void ConnectionManager::registerDevice(IConnection *conn, const QString &devN, const QString &name, const QString &disp)
+void ConnectionManager::registerDevice(IConnection *conn, IConnection::device device)
 {
     devListItem d;
     d.connection = conn;
-    d.devName = devN;
-    d.Name = name;
-    d.displayName=disp;
+    d.device = device;
+    d.devName = conn->shortName() + ": " + device.name;
+    d.Name = device.name;
+    d.displayName = conn->shortName() + " : " + device.displayName;
     m_devList.append(d);
 }
 
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 06b7afe39..6a6328f9e 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -32,6 +32,7 @@
 #include <QWidget>
 #include "mainwindow.h"
 #include "generalsettings.h"
+#include <coreplugin/iconnection.h>
 #include <QtCore/QVector>
 #include <QtCore/QIODevice>
 #include <QtCore/QLinkedList>
@@ -58,6 +59,7 @@ namespace Internal {
 struct devListItem
 {
     IConnection *connection;
+    IConnection::device device;
     QString devName;
     QString Name;
     QString displayName;
@@ -82,7 +84,7 @@ public:
 
 protected:
     void updateConnectionList(IConnection *connection);
-    void registerDevice(IConnection *conn, const QString &devN, const QString &name, const QString &disp);
+    void registerDevice(IConnection *conn, IConnection::device device);
     devListItem findDevice(const QString &devName);
 
 signals:

From 1ca8abb3c8c5b517eb88e2a2ec4a59d23e4992e6 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 14:31:16 -0500
Subject: [PATCH 464/543] GCS ConnectionManager: Properly check it is the
 active connection before closing it when a USB device is disconnected.

---
 .../src/plugins/coreplugin/connectionmanager.cpp           | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index 0bacf9921..2a158fae4 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -193,8 +193,9 @@ void ConnectionManager::aboutToRemoveObject(QObject *obj)
     IConnection *connection = Aggregation::query<IConnection>(obj);
 	if (!connection) return;
 
-	if (m_connectionDevice.connection && m_connectionDevice.connection == connection)	// Pip
+    if (m_connectionDevice.connection && m_connectionDevice.connection == connection)
 	{	// we are currently using the one that is about to be removed
+        disconnectDevice();
 		m_connectionDevice.connection = NULL;
 		m_ioDev = NULL;
 	}
@@ -204,7 +205,7 @@ void ConnectionManager::aboutToRemoveObject(QObject *obj)
 }
 
 
-void ConnectionManager::onConnectionDestroyed(QObject *obj)	// Pip
+void ConnectionManager::onConnectionDestroyed(QObject *obj)
 {
     Q_UNUSED(obj)
     //onConnectionClosed(obj);
@@ -300,7 +301,7 @@ void ConnectionManager::updateConnectionList(IConnection *connection)
                     found = true;
 
             if (!found) {
-                if (m_connectionDevice.connection && m_connectionDevice.connection == connection)
+                if (m_connectionDevice.connection && m_connectionDevice.connection == connection && m_connectionDevice.device == iter->device)
                 {	// we are currently using the one we are about to erase
                     //onConnectionClosed(m_connectionDevice.connection);
                     disconnectDevice();

From 65ef8a59b4f1a8e64440ba59a3a3d35f6d2a8a17 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 15:14:06 -0500
Subject: [PATCH 465/543] GCS ConnectionManager: Get rid of all the copies of
 various forms of the names and store a handle to the IConnection::device and
 generate the appropriate names from consistent functions.

---
 .../plugins/coreplugin/connectionmanager.cpp  | 115 ++++++++----------
 .../plugins/coreplugin/connectionmanager.h    |  13 +-
 .../plugins/uploader/uploadergadgetwidget.cpp |   4 +-
 3 files changed, 65 insertions(+), 67 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index 2a158fae4..709dee816 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -45,10 +45,10 @@ namespace Core {
 
 ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidget *modeStack) :
     QWidget(mainWindow),
-	m_availableDevList(0),
+    m_availableDevList(0),
     m_connectBtn(0),
-    m_ioDev(NULL),	
-	m_mainWindow(mainWindow)
+    m_ioDev(NULL),
+    m_mainWindow(mainWindow)
 {
     QHBoxLayout *layout = new QHBoxLayout;
     layout->setSpacing(5);
@@ -69,7 +69,7 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidge
 
     modeStack->setCornerWidget(this, Qt::TopRightCorner);
 
-	QObject::connect(m_connectBtn, SIGNAL(pressed()), this, SLOT(onConnectPressed()));
+    QObject::connect(m_connectBtn, SIGNAL(pressed()), this, SLOT(onConnectPressed()));
 }
 
 ConnectionManager::~ConnectionManager()
@@ -82,8 +82,8 @@ void ConnectionManager::init()
 {
     //register to the plugin manager so we can receive
     //new connection object from plugins
-	QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(objectAdded(QObject*)), this, SLOT(objectAdded(QObject*)));
-	QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(aboutToRemoveObject(QObject*)), this, SLOT(aboutToRemoveObject(QObject*)));
+    QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(objectAdded(QObject*)), this, SLOT(objectAdded(QObject*)));
+    QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(aboutToRemoveObject(QObject*)), this, SLOT(aboutToRemoveObject(QObject*)));
 }
 
 /**
@@ -95,7 +95,7 @@ bool ConnectionManager::connectDevice()
     if (!connection_device.connection)
         return false;
 
-    QIODevice *io_dev = connection_device.connection->openDevice(connection_device.Name);
+    QIODevice *io_dev = connection_device.connection->openDevice(connection_device.device.name);
     if (!io_dev)
         return false;
 
@@ -105,15 +105,6 @@ bool ConnectionManager::connectDevice()
     if (!io_dev->isOpen()) {
         qDebug() << "Error: io_dev->isOpen() returned FALSE .. could not open connection to " << connection_device.devName
                  << ": " << io_dev->errorString();
-
-        // close the device
-        // EDOUARD: why do we close if we could not open ???
-        try {
-            connection_device.connection->closeDevice(connection_device.devName);
-        }
-        catch (...) {	// handle exception
-            qDebug() << "Exception: connection_device.connection->closeDevice(" << connection_device.devName << ")";
-        }
         return false;
     }
 
@@ -150,8 +141,9 @@ bool ConnectionManager::disconnectDevice()
     emit deviceAboutToDisconnect();
 
     try {
-        if (m_connectionDevice.connection)
-            m_connectionDevice.connection->closeDevice(m_connectionDevice.devName);
+        if (m_connectionDevice.connection) {
+            m_connectionDevice.connection->closeDevice(m_connectionDevice.getConName());
+        }
     } catch (...) {	// handle exception
         qDebug() << "Exception: m_connectionDevice.connection->closeDevice(" << m_connectionDevice.devName << ")";
     }
@@ -172,7 +164,7 @@ void ConnectionManager::objectAdded(QObject *obj)
 {
     //Check if a plugin added a connection object to the pool
     IConnection *connection = Aggregation::query<IConnection>(obj);
-	if (!connection) return;
+    if (!connection) return;
 
     //qDebug() << "Connection object registered:" << connection->connectionName();
     //qDebug() << connection->availableDevices();
@@ -184,24 +176,24 @@ void ConnectionManager::objectAdded(QObject *obj)
     // to do things
     m_connectionsList.append(connection);
 
-	QObject::connect(connection, SIGNAL(availableDevChanged(IConnection *)), this, SLOT(devChanged(IConnection *)));
+    QObject::connect(connection, SIGNAL(availableDevChanged(IConnection *)), this, SLOT(devChanged(IConnection *)));
 }
 
 void ConnectionManager::aboutToRemoveObject(QObject *obj)
 {
     //Check if a plugin added a connection object to the pool
     IConnection *connection = Aggregation::query<IConnection>(obj);
-	if (!connection) return;
+    if (!connection) return;
 
     if (m_connectionDevice.connection && m_connectionDevice.connection == connection)
-	{	// we are currently using the one that is about to be removed
+    {	// we are currently using the one that is about to be removed
         disconnectDevice();
-		m_connectionDevice.connection = NULL;
-		m_ioDev = NULL;
-	}
+        m_connectionDevice.connection = NULL;
+        m_ioDev = NULL;
+    }
 
-	if (m_connectionsList.contains(connection))
-		m_connectionsList.removeAt(m_connectionsList.indexOf(connection));
+    if (m_connectionsList.contains(connection))
+        m_connectionsList.removeAt(m_connectionsList.indexOf(connection));
 }
 
 
@@ -233,9 +225,9 @@ void ConnectionManager::onConnectPressed()
 */
 devListItem ConnectionManager::findDevice(const QString &devName)
 {
-	foreach (devListItem d, m_devList)
+    foreach (devListItem d, m_devList)
     {
-                if (d.devName == devName)
+        if (d.getConName() == devName)
             return d;
     }
 
@@ -253,13 +245,13 @@ devListItem ConnectionManager::findDevice(const QString &devName)
 */
 void ConnectionManager::suspendPolling()
 {
-	foreach (IConnection *cnx, m_connectionsList)
-	{
+    foreach (IConnection *cnx, m_connectionsList)
+    {
         cnx->suspendPolling();
     }
 
-	m_connectBtn->setEnabled(false);
-	m_availableDevList->setEnabled(false);
+    m_connectBtn->setEnabled(false);
+    m_availableDevList->setEnabled(false);
 }
 
 /**
@@ -268,13 +260,13 @@ void ConnectionManager::suspendPolling()
 */
 void ConnectionManager::resumePolling()
 {
-	foreach (IConnection *cnx, m_connectionsList)
-	{
+    foreach (IConnection *cnx, m_connectionsList)
+    {
         cnx->resumePolling();
     }
 
-	m_connectBtn->setEnabled(true);
-	m_availableDevList->setEnabled(true);
+    m_connectBtn->setEnabled(true);
+    m_availableDevList->setEnabled(true);
 }
 
 /**
@@ -291,9 +283,9 @@ void ConnectionManager::updateConnectionList(IConnection *connection)
     // disconnect them.
 
     for (QLinkedList<devListItem>::iterator iter = m_devList.begin(); iter != m_devList.end(); )
-	{
-		if (iter->connection == connection)
-		{
+    {
+        if (iter->connection == connection)
+        {
             // See if device exists in the updated availability list
             bool found = false;
             foreach (IConnection::device dev, availableDev)
@@ -303,17 +295,16 @@ void ConnectionManager::updateConnectionList(IConnection *connection)
             if (!found) {
                 if (m_connectionDevice.connection && m_connectionDevice.connection == connection && m_connectionDevice.device == iter->device)
                 {	// we are currently using the one we are about to erase
-                    //onConnectionClosed(m_connectionDevice.connection);
                     disconnectDevice();
                 }
 
                 iter = m_devList.erase(iter);
             } else
                 ++iter;
-		}
-		else
-			++iter;
-	}
+        }
+        else
+            ++iter;
+    }
 
     // Go through the list of available devices.  If they are not present in the device list
     // add them.
@@ -344,9 +335,6 @@ void ConnectionManager::registerDevice(IConnection *conn, IConnection::device de
     devListItem d;
     d.connection = conn;
     d.device = device;
-    d.devName = conn->shortName() + ": " + device.name;
-    d.Name = device.name;
-    d.displayName = conn->shortName() + " : " + device.displayName;
     m_devList.append(d);
 }
 
@@ -369,12 +357,24 @@ void ConnectionManager::devChanged(IConnection *connection)
     //remove registered devices of this IConnection from the list
     updateConnectionList(connection);
 
+    updateConnectionDropdown();
+
+
+    //disable connection button if the liNameif (m_availableDevList->count() > 0)
+    if (m_availableDevList->count() > 0)
+        m_connectBtn->setEnabled(true);
+    else
+        m_connectBtn->setEnabled(false);
+}
+
+void ConnectionManager::updateConnectionDropdown()
+{
     //add all the list again to the combobox
     foreach (devListItem d, m_devList)
     {
-        m_availableDevList->addItem(d.displayName);
-        m_availableDevList->setItemData(m_availableDevList->count()-1,(const QString)d.devName,Qt::ToolTipRole);
-        if(!m_ioDev && d.displayName.startsWith("USB"))
+        m_availableDevList->addItem(d.getConName());
+        m_availableDevList->setItemData(m_availableDevList->count()-1, d.getConName(), Qt::ToolTipRole);
+        if(!m_ioDev && d.getConName().startsWith("USB"))
         {
             if(m_mainWindow->generalSettings()->autoConnect() || m_mainWindow->generalSettings()->autoSelect())
                 m_availableDevList->setCurrentIndex(m_availableDevList->count()-1);
@@ -389,19 +389,10 @@ void ConnectionManager::devChanged(IConnection *connection)
     {
         for(int x=0;x<m_availableDevList->count();++x)
         {
-            if(m_connectionDevice.devName==m_availableDevList->itemData(x,Qt::ToolTipRole).toString())
+            if(m_connectionDevice.getConName()==m_availableDevList->itemData(x,Qt::ToolTipRole).toString())
                 m_availableDevList->setCurrentIndex(x);
         }
     }
-
-
-    //disable connection button if the liNameif (m_availableDevList->count() > 0)
-    if (m_availableDevList->count() > 0)
-        m_connectBtn->setEnabled(true);
-    else
-        m_connectBtn->setEnabled(false);
-}
-
 }
 
 void Core::ConnectionManager::connectionsCallBack()
@@ -412,4 +403,6 @@ void Core::ConnectionManager::connectionsCallBack()
     }
     connectionBackup.clear();
     disconnect(ExtensionSystem::PluginManager::instance(),SIGNAL(pluginsLoadEnded()),this,SLOT(connectionsCallBack()));
+}
+
 } //namespace Core
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 6a6328f9e..40990b6ca 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -56,13 +56,17 @@ namespace Internal {
 } // namespace Internal
 
 
-struct devListItem
+class devListItem
 {
+public:
     IConnection *connection;
     IConnection::device device;
-    QString devName;
-    QString Name;
-    QString displayName;
+
+    QString getConName() {
+        if (connection == NULL)
+            return "";
+        return connection->shortName() + ": " + device.displayName;
+    }
 };
 
 
@@ -85,6 +89,7 @@ public:
 protected:
     void updateConnectionList(IConnection *connection);
     void registerDevice(IConnection *conn, IConnection::device device);
+    void updateConnectionDropdown();
     devListItem findDevice(const QString &devName);
 
 signals:
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index a692433b1..bd8f960a7 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -249,8 +249,8 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
 
         // The board is now reset: we have to disconnect telemetry
         Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
-        QString dli = cm->getCurrentDevice().Name;
-        QString dlj = cm->getCurrentDevice().devName;
+        QString dli = cm->getCurrentDevice().getConName();
+        QString dlj = cm->getCurrentDevice().getConName();
         cm->disconnectDevice();
         QTimer::singleShot(200, &m_eventloop, SLOT(quit()));
         m_eventloop.exec();

From 19eaa77a151cfc3df98e2b04c64da115da221ffc Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 15:29:38 -0500
Subject: [PATCH 466/543] Remove some comments and unused variables

---
 .../src/plugins/coreplugin/connectionmanager.cpp          | 8 +-------
 .../src/plugins/ipconnection/ipconnectionplugin.cpp       | 5 ++---
 2 files changed, 3 insertions(+), 10 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index 709dee816..0e29c20d5 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -103,8 +103,6 @@ bool ConnectionManager::connectDevice()
 
     // check if opening the device worked
     if (!io_dev->isOpen()) {
-        qDebug() << "Error: io_dev->isOpen() returned FALSE .. could not open connection to " << connection_device.devName
-                 << ": " << io_dev->errorString();
         return false;
     }
 
@@ -145,7 +143,7 @@ bool ConnectionManager::disconnectDevice()
             m_connectionDevice.connection->closeDevice(m_connectionDevice.getConName());
         }
     } catch (...) {	// handle exception
-        qDebug() << "Exception: m_connectionDevice.connection->closeDevice(" << m_connectionDevice.devName << ")";
+        qDebug() << "Exception: m_connectionDevice.connection->closeDevice(" << m_connectionDevice.getConName() << ")";
     }
 
     m_connectionDevice.connection = NULL;
@@ -166,9 +164,6 @@ void ConnectionManager::objectAdded(QObject *obj)
     IConnection *connection = Aggregation::query<IConnection>(obj);
     if (!connection) return;
 
-    //qDebug() << "Connection object registered:" << connection->connectionName();
-    //qDebug() << connection->availableDevices();
-
     //register devices and populate CB
     devChanged(connection);
 
@@ -200,7 +195,6 @@ void ConnectionManager::aboutToRemoveObject(QObject *obj)
 void ConnectionManager::onConnectionDestroyed(QObject *obj)
 {
     Q_UNUSED(obj)
-    //onConnectionClosed(obj);
     disconnectDevice();
 }
 
diff --git a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
index 5d166584c..c4d95ec4b 100644
--- a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
@@ -73,7 +73,6 @@ void IPConnection::onOpenDevice(QString HostName, int Port, bool UseTCP)
 {
     QAbstractSocket *ipSocket;
     const int Timeout = 5 * 1000;
-    int state;
 
     ipConMutex.lock();
     if (UseTCP) {
@@ -175,7 +174,7 @@ QList <Core::IConnection::device> IPconnectionConnection::availableDevices()
     return list;
 }
 
-QIODevice *IPconnectionConnection::openDevice(const QString &deviceName)
+QIODevice *IPconnectionConnection::openDevice(const QString &)
 {
     QString HostName;
     int Port;
@@ -209,7 +208,7 @@ QIODevice *IPconnectionConnection::openDevice(const QString &deviceName)
     return ipSocket;
 }
 
-void IPconnectionConnection::closeDevice(const QString &deviceName)
+void IPconnectionConnection::closeDevice(const QString &)
 {
     if (ipSocket){
         ipConMutex.lock();

From 8e8cbd0b7591cf8fdd86aa9f1f8f56cc505a92fc Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 15:45:08 -0500
Subject: [PATCH 467/543] GCS ConnectionManager: Use some cleaner code
 coventions

---
 .../plugins/coreplugin/connectionmanager.cpp  | 25 ++++++++-----------
 .../plugins/coreplugin/connectionmanager.h    | 14 +++++++----
 2 files changed, 19 insertions(+), 20 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index 0e29c20d5..9c75fafa8 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -91,7 +91,7 @@ void ConnectionManager::init()
 */
 bool ConnectionManager::connectDevice()
 {
-    devListItem connection_device = findDevice(m_availableDevList->itemData(m_availableDevList->currentIndex(),Qt::ToolTipRole).toString());
+    DevListItem connection_device = findDevice(m_availableDevList->itemData(m_availableDevList->currentIndex(),Qt::ToolTipRole).toString());
     if (!connection_device.connection)
         return false;
 
@@ -217,9 +217,9 @@ void ConnectionManager::onConnectPressed()
 /**
 *   Find a device by its displayed (visible on screen) name
 */
-devListItem ConnectionManager::findDevice(const QString &devName)
+DevListItem ConnectionManager::findDevice(const QString &devName)
 {
-    foreach (devListItem d, m_devList)
+    foreach (DevListItem d, m_devList)
     {
         if (d.getConName() == devName)
             return d;
@@ -227,7 +227,7 @@ devListItem ConnectionManager::findDevice(const QString &devName)
 
     qDebug() << "findDevice: cannot find " << devName << " in device list";
 
-    devListItem d;
+    DevListItem d;
     d.connection = NULL;
     return d;
 }
@@ -276,21 +276,16 @@ void ConnectionManager::updateConnectionList(IConnection *connection)
     // available device list then remove them.  If they are connected, then
     // disconnect them.
 
-    for (QLinkedList<devListItem>::iterator iter = m_devList.begin(); iter != m_devList.end(); )
+    for (QLinkedList<DevListItem>::iterator iter = m_devList.begin(); iter != m_devList.end(); )
     {
         if (iter->connection == connection)
         {
             // See if device exists in the updated availability list
-            bool found = false;
-            foreach (IConnection::device dev, availableDev)
-                if (iter->device == dev) // TODO: Need some way of indicating a IOConnection::device matches a devListItem
-                    found = true;
-
+            bool found = availableDev.contains(iter->device);
             if (!found) {
+                // we are currently using the one we are about to erase
                 if (m_connectionDevice.connection && m_connectionDevice.connection == connection && m_connectionDevice.device == iter->device)
-                {	// we are currently using the one we are about to erase
                     disconnectDevice();
-                }
 
                 iter = m_devList.erase(iter);
             } else
@@ -307,7 +302,7 @@ void ConnectionManager::updateConnectionList(IConnection *connection)
     foreach (IConnection::device dev, availableDev)
     {
         bool found = false;
-        foreach (devListItem devList, m_devList)
+        foreach (DevListItem devList, m_devList)
             if (devList.device == dev)
                 found = true;
 
@@ -326,7 +321,7 @@ void ConnectionManager::updateConnectionList(IConnection *connection)
 */
 void ConnectionManager::registerDevice(IConnection *conn, IConnection::device device)
 {
-    devListItem d;
+    DevListItem d;
     d.connection = conn;
     d.device = device;
     m_devList.append(d);
@@ -364,7 +359,7 @@ void ConnectionManager::devChanged(IConnection *connection)
 void ConnectionManager::updateConnectionDropdown()
 {
     //add all the list again to the combobox
-    foreach (devListItem d, m_devList)
+    foreach (DevListItem d, m_devList)
     {
         m_availableDevList->addItem(d.getConName());
         m_availableDevList->setItemData(m_availableDevList->count()-1, d.getConName(), Qt::ToolTipRole);
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 40990b6ca..61344ee1e 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -56,7 +56,7 @@ namespace Internal {
 } // namespace Internal
 
 
-class devListItem
+class DevListItem
 {
 public:
     IConnection *connection;
@@ -67,6 +67,10 @@ public:
             return "";
         return connection->shortName() + ": " + device.displayName;
     }
+
+    bool operator==(const DevListItem &rhs) {
+        return connection == rhs.connection && device == rhs.device;
+    }
 };
 
 
@@ -81,7 +85,7 @@ public:
     void init();
 
     QIODevice* getCurrentConnection() { return m_ioDev; }
-    devListItem getCurrentDevice() { return m_connectionDevice;}
+    DevListItem getCurrentDevice() { return m_connectionDevice;}
     bool disconnectDevice();
     void suspendPolling();
     void resumePolling();
@@ -90,7 +94,7 @@ protected:
     void updateConnectionList(IConnection *connection);
     void registerDevice(IConnection *conn, IConnection::device device);
     void updateConnectionDropdown();
-    devListItem findDevice(const QString &devName);
+    DevListItem findDevice(const QString &devName);
 
 signals:
     void deviceConnected(QIODevice *dev);
@@ -108,11 +112,11 @@ private slots:
 protected:
     QComboBox *m_availableDevList;
     QPushButton *m_connectBtn;
-    QLinkedList<devListItem> m_devList;
+    QLinkedList<DevListItem> m_devList;
     QList<IConnection*> m_connectionsList;
 
     //currently connected connection plugin
-    devListItem m_connectionDevice;
+    DevListItem m_connectionDevice;
 
     //currently connected QIODevice
     QIODevice *m_ioDev;

From 6840b8934b4bc5d02d4006e8fc2b711b87296353 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 15:59:54 -0500
Subject: [PATCH 468/543] GCS ConnectionManager: More cleaner code structure.

---
 .../plugins/coreplugin/connectionmanager.cpp  | 44 +++++++------------
 .../plugins/coreplugin/connectionmanager.h    |  9 +++-
 2 files changed, 24 insertions(+), 29 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index 9c75fafa8..ad1ba9dc4 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -270,47 +270,39 @@ void ConnectionManager::resumePolling()
  */
 void ConnectionManager::updateConnectionList(IConnection *connection)
 {
+    // Get the updated list of devices
     QList <IConnection::device> availableDev = connection->availableDevices();
 
     // Go through the list of connections of that type.  If they are not in the
     // available device list then remove them.  If they are connected, then
     // disconnect them.
-
     for (QLinkedList<DevListItem>::iterator iter = m_devList.begin(); iter != m_devList.end(); )
     {
-        if (iter->connection == connection)
-        {
-            // See if device exists in the updated availability list
-            bool found = availableDev.contains(iter->device);
-            if (!found) {
-                // we are currently using the one we are about to erase
-                if (m_connectionDevice.connection && m_connectionDevice.connection == connection && m_connectionDevice.device == iter->device)
-                    disconnectDevice();
-
-                iter = m_devList.erase(iter);
-            } else
-                ++iter;
+        if (iter->connection != connection) {
+            ++iter;
+            continue;
         }
-        else
+
+        // See if device exists in the updated availability list
+        bool found = availableDev.contains(iter->device);
+        if (!found) {
+            // we are currently using the one we are about to erase
+            if (m_connectionDevice.connection && m_connectionDevice.connection == connection && m_connectionDevice.device == iter->device)
+                disconnectDevice();
+
+            iter = m_devList.erase(iter);
+        } else
             ++iter;
     }
 
-    // Go through the list of available devices.  If they are not present in the device list
-    // add them.
-
-    //and add them back in the list
+    // Add any back to list that don't exist
     foreach (IConnection::device dev, availableDev)
     {
-        bool found = false;
-        foreach (DevListItem devList, m_devList)
-            if (devList.device == dev)
-                found = true;
-
+        bool found = m_devList.contains(DevListItem(connection, dev));
         if (!found) {
             registerDevice(connection,dev);
         }
     }
-
 }
 
 /**
@@ -321,9 +313,7 @@ void ConnectionManager::updateConnectionList(IConnection *connection)
 */
 void ConnectionManager::registerDevice(IConnection *conn, IConnection::device device)
 {
-    DevListItem d;
-    d.connection = conn;
-    d.device = device;
+    DevListItem d(conn,device);
     m_devList.append(d);
 }
 
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 61344ee1e..5bda7a324 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -59,8 +59,10 @@ namespace Internal {
 class DevListItem
 {
 public:
-    IConnection *connection;
-    IConnection::device device;
+    DevListItem(IConnection *c, IConnection::device d) :
+        connection(c), device(d) { }
+
+    DevListItem() : connection(NULL) { }
 
     QString getConName() {
         if (connection == NULL)
@@ -71,6 +73,9 @@ public:
     bool operator==(const DevListItem &rhs) {
         return connection == rhs.connection && device == rhs.device;
     }
+
+    IConnection *connection;
+    IConnection::device device;
 };
 
 

From 2ec8434941dcea82ba4dc1e4dfa184e225356c5c Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 16:06:01 -0500
Subject: [PATCH 469/543] OSX USB: Make sure to store the run loop handle
 before connecting the signals that can use it.

---
 .../openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp  | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index 382c43829..72d50ede2 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -166,6 +166,10 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
     } else {
         IOHIDManagerSetDeviceMatching(hid_manager, NULL);
     }
+
+    // Set the run loop reference before configuring the attach callback
+    the_correct_runloop = CFRunLoopGetCurrent();
+
     // set up a callbacks for device attach & detach
     IOHIDManagerScheduleWithRunLoop(hid_manager, CFRunLoopGetCurrent(),
                                     kCFRunLoopDefaultMode);
@@ -179,8 +183,6 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
         CFRelease(hid_manager);
         return 0;
     }
-    // Set the run loop reference:
-    the_correct_runloop = CFRunLoopGetCurrent();
     printf("run loop\n");
     // let it do the callback for all devices
     while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
@@ -379,7 +381,8 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
             hid->last_buffer->next = n;
             hid->last_buffer = n;
     }
-    //qDebug() << "Stop CFRunLoop from input_callback" << CFRunLoopGetCurrent();
+
+    Q_ASSERT(the_correct_runloop != NULL);
     CFRunLoopStop(the_correct_runloop);
 }
 

From 82f752685a885ac49850366f5de25fa0742f849c Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 19:06:03 -0500
Subject: [PATCH 470/543] GCS ConnectionManager: When polling is disabled don't
 automatically connect to boards either.

---
 .../src/plugins/coreplugin/connectionmanager.cpp           | 5 ++++-
 .../src/plugins/coreplugin/connectionmanager.h             | 7 ++++---
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index ad1ba9dc4..8a33727de 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -246,6 +246,7 @@ void ConnectionManager::suspendPolling()
 
     m_connectBtn->setEnabled(false);
     m_availableDevList->setEnabled(false);
+    polling = false;
 }
 
 /**
@@ -261,6 +262,7 @@ void ConnectionManager::resumePolling()
 
     m_connectBtn->setEnabled(true);
     m_availableDevList->setEnabled(true);
+    polling = true;
 }
 
 /**
@@ -357,8 +359,9 @@ void ConnectionManager::updateConnectionDropdown()
         {
             if(m_mainWindow->generalSettings()->autoConnect() || m_mainWindow->generalSettings()->autoSelect())
                 m_availableDevList->setCurrentIndex(m_availableDevList->count()-1);
-            if(m_mainWindow->generalSettings()->autoConnect())
+            if(m_mainWindow->generalSettings()->autoConnect() && polling)
             {
+                qDebug() << "Automatically opening device";
                 connectDevice();
                 qDebug()<<"ConnectionManager::devChanged autoconnected USB device";
             }
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 5bda7a324..53c2b4f23 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -113,7 +113,7 @@ private slots:
     void devChanged(IConnection *connection);
 
 	void onConnectionDestroyed(QObject *obj);
-        void connectionsCallBack(); //used to call devChange after all the plugins are loaded
+    void connectionsCallBack(); //used to call devChange after all the plugins are loaded
 protected:
     QComboBox *m_availableDevList;
     QPushButton *m_connectBtn;
@@ -128,8 +128,9 @@ protected:
 
 private:
 	bool connectDevice();
-        Internal::MainWindow *m_mainWindow;
-        QList <IConnection *> connectionBackup;
+    bool polling;
+    Internal::MainWindow *m_mainWindow;
+    QList <IConnection *> connectionBackup;
 
 };
 

From 9b7060a49137270e50943884e4469f941be8410a Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 19:07:14 -0500
Subject: [PATCH 471/543] GCS USB: Increase the max timeout before giving up on
 stopping the USB threads.

---
 ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp             | 4 ++--
 .../src/plugins/uploader/uploadergadgetwidget.cpp             | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp b/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
index 4649d6162..eadf55a0c 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
@@ -144,7 +144,7 @@ RawHIDReadThread::~RawHIDReadThread()
 {
     m_running = false;
     //wait for the thread to terminate
-    if(wait(1000) == false)
+    if(wait(10000) == false)
         qDebug() << "Cannot terminate RawHIDReadThread";
 }
 
@@ -216,7 +216,7 @@ RawHIDWriteThread::~RawHIDWriteThread()
 {
     m_running = false;
     //wait for the thread to terminate
-    if(wait(1000) == false)
+    if(wait(10000) == false)
         qDebug() << "Cannot terminate RawHIDReadThread";
 }
 
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index bd8f960a7..841cb2304 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -456,7 +456,7 @@ void UploaderGadgetWidget::systemRescue()
         delete dfu;
         dfu = NULL;
     }
-    // Avoid dumb users pressing Rescue twice. It can happen.
+    // Avoid users pressing Rescue twice.
     m_config->rescueButton->setEnabled(false);
 
     // Now we're good to go:

From 1aadcf4e70277e51e2dbe09f76e3b55220d4a6ac Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 19:31:32 -0500
Subject: [PATCH 472/543] GCS USB: Make sure to fully unregister all the
 callbacks when disconnect.

---
 .../src/plugins/rawhid/pjrc_rawhid_mac.cpp    | 20 +++++------
 .../src/plugins/rawhid/rawhid.cpp             | 34 +++++++++----------
 2 files changed, 27 insertions(+), 27 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index 72d50ede2..549ec3f24 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -69,18 +69,18 @@ static hid_t *last_hid = NULL;
 // Make sure we use the correct runloop
 CFRunLoopRef the_correct_runloop = NULL;
 struct hid_struct {
-        IOHIDDeviceRef ref;
-        int open;
-        uint8_t buffer[BUFFER_SIZE];
-        buffer_t *first_buffer;
-        buffer_t *last_buffer;
-        struct hid_struct *prev;
-        struct hid_struct *next;
+    IOHIDDeviceRef ref;
+    int open;
+    uint8_t buffer[BUFFER_SIZE];
+    buffer_t *first_buffer;
+    buffer_t *last_buffer;
+    struct hid_struct *prev;
+    struct hid_struct *next;
 };
 struct buffer_struct {
-        struct buffer_struct *next;
-        uint32_t len;
-        uint8_t buf[BUFFER_SIZE];
+    struct buffer_struct *next;
+    uint32_t len;
+    uint8_t buf[BUFFER_SIZE];
 };
 
 static void add_hid(hid_t *);
diff --git a/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp b/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
index eadf55a0c..37400dfb1 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
@@ -383,29 +383,29 @@ bool RawHID::open(OpenMode mode)
 
 void RawHID::close()
 {
-	emit aboutToClose();
+    emit aboutToClose();
 
-	m_mutex->lock();
+    m_mutex->lock();
 
-		if (m_readThread)
-		{
-			m_readThread->terminate();
-			delete m_readThread; // calls wait
-			m_readThread = NULL;
-		}
+    if (m_readThread)
+    {
+        m_readThread->terminate();
+        delete m_readThread; // calls wait
+        m_readThread = NULL;
+    }
 
-		if (m_writeThread)
-		{
-			m_writeThread->terminate();
-			delete m_writeThread;
-			m_writeThread = NULL;
-		}
+    if (m_writeThread)
+    {
+        m_writeThread->terminate();
+        delete m_writeThread;
+        m_writeThread = NULL;
+    }
 
-		dev.close(m_deviceNo);
+    dev.close(m_deviceNo);
 
-	m_mutex->unlock();
+    m_mutex->unlock();
 
-	emit closed();
+    emit closed();
 
     QIODevice::close();
 }

From 3f11c398db8c708dcca826b662330bce5416a45a Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 19:45:02 -0500
Subject: [PATCH 473/543] GCS USB: Start with polling enabled so it acts like
 before and grabs first available USB device

---
 ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index 8a33727de..962af8acb 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -48,6 +48,7 @@ ConnectionManager::ConnectionManager(Internal::MainWindow *mainWindow, QTabWidge
     m_availableDevList(0),
     m_connectBtn(0),
     m_ioDev(NULL),
+    polling(true),
     m_mainWindow(mainWindow)
 {
     QHBoxLayout *layout = new QHBoxLayout;

From cf1c986550b785adef93f8b7ae98a22c47388c83 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 19:48:33 -0500
Subject: [PATCH 474/543] OSX USB: Close more handles properly

---
 ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index 549ec3f24..28a02a970 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -436,8 +436,12 @@ static void free_all_hid(void)
 static void hid_close(hid_t *hid)
 {
     if (!hid || !hid->open || !hid->ref) return;
+    IOHIDManagerRef hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
+    IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, NULL, NULL);
+    IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, NULL, NULL);
     IOHIDDeviceUnscheduleFromRunLoop(hid->ref, CFRunLoopGetCurrent( ), kCFRunLoopDefaultMode);
     IOHIDDeviceClose(hid->ref, kIOHIDOptionsTypeNone);
+    IOHIDManagerClose(hid_manager, 0);
     hid->ref = NULL;
 }
 

From 44d271ac791f11465fa77fc260c891f5e2973565 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 20:04:44 -0500
Subject: [PATCH 475/543] GCS USB: Get rid of some unnecessary code

---
 .../src/plugins/rawhid/rawhid.cpp             | 43 ++++++-------------
 1 file changed, 14 insertions(+), 29 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp b/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
index 37400dfb1..ddead4e5a 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
@@ -300,29 +300,18 @@ RawHID::RawHID(const QString &deviceName)
 	m_mutex(NULL)
 {
 
-	m_mutex = new QMutex(QMutex::Recursive);
+    m_mutex = new QMutex(QMutex::Recursive);
 
-	// detect if the USB device is unplugged
-	QObject::connect(&dev, SIGNAL(deviceUnplugged(int)), this, SLOT(onDeviceUnplugged(int)));
+    // detect if the USB device is unplugged
+    QObject::connect(&dev, SIGNAL(deviceUnplugged(int)), this, SLOT(onDeviceUnplugged(int)));
 
-       int opened = dev.open(USB_MAX_DEVICES, USBMonitor::idVendor_OpenPilot, -1, USB_USAGE_PAGE, USB_USAGE);
-       for (int i =0; i< opened; i++) {
-           if (deviceName == dev.getserial(i))
-               m_deviceNo = i;
-           else
-               dev.close(i);
-       }
-
-      /*
-        // TODO: NOT WORKING FOR MULTIPLE DEVICES with the same PID!
-       QList<USBPortInfo> devices = USBMonitor::instance()->availableDevices(USBMonitor::idVendor_OpenPilot,-1,-1,USBMonitor::Running);
-        foreach( USBPortInfo device, devices) {
-            if (deviceName == device.serialNumber) {
-                opened = dev.open(1,device.vendorID, device.productID,USB_USAGE_PAGE,USB_USAGE);
-                break;
-            }
-        }
-        */
+    int opened = dev.open(USB_MAX_DEVICES, USBMonitor::idVendor_OpenPilot, -1, USB_USAGE_PAGE, USB_USAGE);
+    for (int i =0; i< opened; i++) {
+        if (deviceName == dev.getserial(i))
+            m_deviceNo = i;
+        else
+            dev.close(i);
+    }
 
     //didn't find the device we are trying to open (shouldnt happen)
     if (opened < 0)
@@ -369,14 +358,10 @@ bool RawHID::open(OpenMode mode)
 
     QIODevice::open(mode);
 
-	if (!m_readThread)
-		m_readThread = new RawHIDReadThread(this);
-
-	if (!m_writeThread)
-		m_writeThread = new RawHIDWriteThread(this);
-
-	if (m_readThread) m_readThread->start();	// Pip
-	if (m_writeThread) m_writeThread->start();	// Pip
+    Q_ASSERT(m_readThread);
+    Q_ASSERT(m_writeThread);
+    if (m_readThread) m_readThread->start();
+    if (m_writeThread) m_writeThread->start();
 
     return true;
 }

From b84f833287c7a1be82862bc3d218820236ea3065 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 8 Sep 2012 20:05:07 -0500
Subject: [PATCH 476/543] GCS Uploader: Remove dialog about another board since
 it's not used for any boards now.

---
 .../plugins/uploader/uploadergadgetwidget.cpp | 19 -------------------
 1 file changed, 19 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index 841cb2304..0cbd033a0 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -523,25 +523,6 @@ void UploaderGadgetWidget::systemRescue()
         m_config->rescueButton->setEnabled(true);
         return;
     }
-    if ((eBoardCC != dfu->GetBoardType(0)) && (QMessageBox::question(this,tr("OpenPilot Uploader"),tr("If you want to search for other boards connect power now and press Yes"),QMessageBox::Yes,QMessageBox::No)==QMessageBox::Yes))
-    {
-        log("\nWaiting...");
-        QTimer::singleShot(3000, &m_eventloop, SLOT(quit()));
-        m_eventloop.exec();
-        log("Detecting second board...");
-        repaint();
-        if(!dfu->findDevices())
-        {
-            // We will only end up here in case somehow all the boards
-            // disappeared, including the one we detected earlier.
-            log("Could not detect any board, aborting!");
-            delete dfu;
-            dfu = NULL;
-            cm->resumePolling();
-            m_config->rescueButton->setEnabled(true);
-            return;
-        }
-    }
     log(QString("Found ") + QString::number(dfu->numberOfDevices) + QString(" device(s)."));
     if (dfu->numberOfDevices > 5) {
         log("Inconsistent number of devices, aborting!");

From 6a94cd49b53a648de00b4ff6e144235fd2461ad5 Mon Sep 17 00:00:00 2001
From: chris pember <chris.pember@gmail.com>
Date: Sat, 8 Sep 2012 18:35:14 -0700
Subject: [PATCH 477/543] reworked ALL the ui pages in windows so they work
 there, so pushing this for now, it just needs love in osx

---
 .../src/plugins/config/airframe.ui            |   270 +-
 .../src/plugins/config/camerastabilization.ui |  2331 +-
 .../src/plugins/config/cc_hw_settings.ui      |  1262 +-
 .../src/plugins/config/ccattitude.ui          |   881 +-
 .../src/plugins/config/configinputwidget.cpp  |  2698 +-
 .../openpilotgcs/src/plugins/config/input.ui  |  1090 +-
 .../src/plugins/config/inputchannelform.cpp   |    16 +
 .../src/plugins/config/inputchannelform.ui    |   446 +-
 .../openpilotgcs/src/plugins/config/output.ui |   420 +-
 .../src/plugins/config/outputchannelform.cpp  |    17 +
 .../src/plugins/config/outputchannelform.ui   |   395 +-
 .../src/plugins/config/stabilization.ui       | 50315 ++++++++--------
 .../openpilotgcs/src/plugins/config/txpid.ui  |  1703 +-
 13 files changed, 30881 insertions(+), 30963 deletions(-)
 mode change 100644 => 100755 ground/openpilotgcs/src/plugins/config/airframe.ui
 mode change 100644 => 100755 ground/openpilotgcs/src/plugins/config/camerastabilization.ui
 mode change 100644 => 100755 ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
 mode change 100644 => 100755 ground/openpilotgcs/src/plugins/config/ccattitude.ui
 mode change 100644 => 100755 ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
 mode change 100644 => 100755 ground/openpilotgcs/src/plugins/config/input.ui
 mode change 100644 => 100755 ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
 mode change 100644 => 100755 ground/openpilotgcs/src/plugins/config/inputchannelform.ui
 mode change 100644 => 100755 ground/openpilotgcs/src/plugins/config/output.ui
 mode change 100644 => 100755 ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
 mode change 100644 => 100755 ground/openpilotgcs/src/plugins/config/outputchannelform.ui
 mode change 100644 => 100755 ground/openpilotgcs/src/plugins/config/txpid.ui

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
old mode 100644
new mode 100755
index 93c7dc96e..c5ee92452
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,14 +6,20 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>856</width>
-    <height>633</height>
+    <width>965</width>
+    <height>637</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_10">
+   <property name="spacing">
+    <number>6</number>
+   </property>
+   <property name="margin">
+    <number>12</number>
+   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -27,8 +33,11 @@
        <string>Mixer Settings</string>
       </attribute>
       <layout class="QGridLayout" name="gridLayout_9">
+       <property name="horizontalSpacing">
+        <number>0</number>
+       </property>
        <property name="margin">
-        <number>12</number>
+        <number>0</number>
        </property>
        <item row="0" column="0">
         <widget class="QScrollArea" name="scrollArea">
@@ -122,13 +131,13 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>802</width>
-            <height>509</height>
+            <width>935</width>
+            <height>554</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
            <property name="margin">
-            <number>0</number>
+            <number>12</number>
            </property>
            <item>
             <widget class="QGroupBox" name="groupBox_8">
@@ -137,6 +146,9 @@
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_2">
               <property name="spacing">
+               <number>6</number>
+              </property>
+              <property name="margin">
                <number>12</number>
               </property>
               <item>
@@ -717,6 +729,9 @@ margin:1px;</string>
                   <string>Frame Type</string>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,1,0">
+                  <property name="margin">
+                   <number>12</number>
+                  </property>
                   <item>
                    <layout class="QHBoxLayout" name="horizontalLayout_7">
                     <property name="sizeConstraint">
@@ -859,6 +874,9 @@ margin:1px;</string>
                   <string>Throttle Curve</string>
                  </property>
                  <layout class="QVBoxLayout" name="verticalLayout_9">
+                  <property name="margin">
+                   <number>12</number>
+                  </property>
                   <item>
                    <widget class="MixerCurve" name="multiThrottleCurve" native="true">
                     <property name="sizePolicy">
@@ -908,13 +926,7 @@ margin:1px;</string>
                   <property name="horizontalSpacing">
                    <number>0</number>
                   </property>
-                  <property name="leftMargin">
-                   <number>12</number>
-                  </property>
-                  <property name="topMargin">
-                   <number>12</number>
-                  </property>
-                  <property name="bottomMargin">
+                  <property name="margin">
                    <number>12</number>
                   </property>
                   <item row="0" column="0">
@@ -1194,6 +1206,9 @@ margin:1px;</string>
                   <string>Motor output channels</string>
                  </property>
                  <layout class="QGridLayout" name="gridLayout_6" columnstretch="1,1,0,0,1">
+                  <property name="margin">
+                   <number>12</number>
+                  </property>
                   <item row="0" column="0" rowspan="5">
                    <layout class="QFormLayout" name="formLayout_2">
                     <property name="sizeConstraint">
@@ -1203,7 +1218,7 @@ margin:1px;</string>
                      <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
                     </property>
                     <property name="verticalSpacing">
-                     <number>3</number>
+                     <number>6</number>
                     </property>
                     <item row="0" column="0">
                      <widget class="QLabel" name="MotorOutputLabel1">
@@ -1300,7 +1315,7 @@ margin:1px;</string>
                      <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
                     </property>
                     <property name="verticalSpacing">
-                     <number>3</number>
+                     <number>6</number>
                     </property>
                     <item row="0" column="0">
                      <widget class="QLabel" name="label_11">
@@ -1408,6 +1423,12 @@ margin:1px;</string>
                   </item>
                   <item row="0" column="2" rowspan="5" colspan="2">
                    <widget class="Line" name="line">
+                    <property name="sizePolicy">
+                     <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                      <horstretch>0</horstretch>
+                      <verstretch>0</verstretch>
+                     </sizepolicy>
+                    </property>
                     <property name="orientation">
                      <enum>Qt::Vertical</enum>
                     </property>
@@ -2712,8 +2733,11 @@ margin:1px;</string>
        <string>Feed Forward</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_25">
+       <property name="spacing">
+        <number>0</number>
+       </property>
        <property name="margin">
-        <number>12</number>
+        <number>0</number>
        </property>
        <item>
         <widget class="QScrollArea" name="scrollArea_2">
@@ -2795,13 +2819,13 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>802</width>
-            <height>509</height>
+            <width>935</width>
+            <height>554</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
            <property name="margin">
-            <number>0</number>
+            <number>12</number>
            </property>
            <item>
             <widget class="QGroupBox" name="groupBox_12">
@@ -2809,59 +2833,12 @@ margin:1px;</string>
               <string>Feed Forward Configuration</string>
              </property>
              <layout class="QGridLayout" name="gridLayout_8">
-              <property name="horizontalSpacing">
+              <property name="margin">
                <number>12</number>
               </property>
-              <property name="verticalSpacing">
-               <number>-1</number>
+              <property name="spacing">
+               <number>6</number>
               </property>
-              <item row="0" column="0">
-               <widget class="QLabel" name="label_20">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>FeedForward </string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="2">
-               <widget class="QSlider" name="feedForwardSlider">
-                <property name="enabled">
-                 <bool>true</bool>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>32</height>
-                 </size>
-                </property>
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Overall level of feed forward (in percentage).</string>
-                </property>
-                <property name="maximum">
-                 <number>100</number>
-                </property>
-                <property name="singleStep">
-                 <number>1</number>
-                </property>
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="tickPosition">
-                 <enum>QSlider::NoTicks</enum>
-                </property>
-               </widget>
-              </item>
               <item row="2" column="0" colspan="3">
                <layout class="QHBoxLayout" name="horizontalLayout_10">
                 <item>
@@ -2912,34 +2889,6 @@ Do it after accel time is setup.</string>
                 </item>
                </layout>
               </item>
-              <item row="3" column="0">
-               <widget class="QLabel" name="label_37">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>MaxAccel</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
               <item row="1" column="0" colspan="3">
                <layout class="QHBoxLayout" name="horizontalLayout_9">
                 <item>
@@ -2989,22 +2938,6 @@ its target speed.</string>
                 </item>
                </layout>
               </item>
-              <item row="0" column="1">
-               <widget class="QLabel" name="feedForwardSliderValue">
-                <property name="minimumSize">
-                 <size>
-                  <width>30</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="text">
-                 <string>000</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
               <item row="3" column="1">
                <widget class="QLabel" name="maxAccelSliderValue">
                 <property name="maximumSize">
@@ -3021,6 +2954,37 @@ its target speed.</string>
                 </property>
                </widget>
               </item>
+              <item row="0" column="2">
+               <widget class="QSlider" name="feedForwardSlider">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>32</height>
+                 </size>
+                </property>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Overall level of feed forward (in percentage).</string>
+                </property>
+                <property name="maximum">
+                 <number>100</number>
+                </property>
+                <property name="singleStep">
+                 <number>1</number>
+                </property>
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="tickPosition">
+                 <enum>QSlider::NoTicks</enum>
+                </property>
+               </widget>
+              </item>
               <item row="3" column="2">
                <widget class="QSlider" name="maxAccelSlider">
                 <property name="minimumSize">
@@ -3056,13 +3020,67 @@ In 'units per second', a sound default is 1000.</string>
                 </property>
                </widget>
               </item>
+              <item row="3" column="0">
+               <widget class="QLabel" name="label_37">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>MaxAccel</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="feedForwardSliderValue">
+                <property name="minimumSize">
+                 <size>
+                  <width>30</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>000</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="0">
+               <widget class="QLabel" name="label_20">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="text">
+                 <string>FeedForward </string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
              </layout>
-             <zorder>maxAccelSliderValue</zorder>
-             <zorder>feedForwardSlider</zorder>
-             <zorder>maxAccelSlider</zorder>
-             <zorder>label_37</zorder>
-             <zorder>feedForwardSliderValue</zorder>
-             <zorder>label_20</zorder>
             </widget>
            </item>
            <item>
@@ -3188,16 +3206,14 @@ 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;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;/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;
 &lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
 &lt;tr&gt;
 &lt;td style=&quot;border: none;&quot;&gt;
 &lt;p align=&quot;center&quot; 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:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&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:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&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:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&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;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
-&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
+&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:'Ubuntu'; font-size:11pt;&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:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
              </property>
             </widget>
            </item>
@@ -3248,7 +3264,7 @@ p, li { white-space: pre-wrap; }
         <string/>
        </property>
        <property name="icon">
-        <iconset resource="../../../../../../Desktop/src/plugins/coreplugin/core.qrc">
+        <iconset resource="E:/Users/Chris/Desktop/src/plugins/coreplugin/core.qrc">
          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
        </property>
        <property name="iconSize">
@@ -3301,7 +3317,7 @@ p, li { white-space: pre-wrap; }
   </customwidget>
  </customwidgets>
  <resources>
-  <include location="../../../../../../Desktop/src/plugins/coreplugin/core.qrc"/>
+  <include location="E:/Users/Chris/Desktop/src/plugins/coreplugin/core.qrc"/>
  </resources>
  <connections>
   <connection>
diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
old mode 100644
new mode 100755
index 7ff1e742b..e71d0c5b4
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -1,1167 +1,1164 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>CameraStabilizationWidget</class>
- <widget class="QWidget" name="CameraStabilizationWidget">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>983</width>
-    <height>738</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout_5">
-   <property name="spacing">
-    <number>-1</number>
-   </property>
-   <item>
-    <widget class="QTabWidget" name="tabWidget">
-     <property name="currentIndex">
-      <number>0</number>
-     </property>
-     <widget class="QWidget" name="tab">
-      <attribute name="title">
-       <string>Camera Stabilization</string>
-      </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_2">
-       <property name="leftMargin">
-        <number>0</number>
-       </property>
-       <property name="topMargin">
-        <number>12</number>
-       </property>
-       <property name="rightMargin">
-        <number>0</number>
-       </property>
-       <property name="bottomMargin">
-        <number>0</number>
-       </property>
-       <item>
-        <widget class="QScrollArea" name="scrollArea">
-         <property name="frameShape">
-          <enum>QFrame::NoFrame</enum>
-         </property>
-         <property name="widgetResizable">
-          <bool>true</bool>
-         </property>
-         <widget class="QWidget" name="scrollAreaWidgetContents_2">
-          <property name="geometry">
-           <rect>
-            <x>0</x>
-            <y>0</y>
-            <width>953</width>
-            <height>626</height>
-           </rect>
-          </property>
-          <layout class="QVBoxLayout" name="verticalLayout">
-           <property name="spacing">
-            <number>24</number>
-           </property>
-           <item>
-            <widget class="QGroupBox" name="groupBox_2">
-             <property name="title">
-              <string>Module Control</string>
-             </property>
-             <layout class="QVBoxLayout" name="verticalLayout_4">
-              <item>
-               <widget class="QCheckBox" name="enableCameraStabilization">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="text">
-                 <string>Enable CameraStabilization module</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QLabel" name="label_7">
-                <property name="text">
-                 <string>After enabling the module, you must power cycle before using and configuring.</string>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <widget class="QGroupBox" name="groupBox_5">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>0</width>
-               <height>131</height>
-              </size>
-             </property>
-             <property name="title">
-              <string>Basic Settings (Stabilization)</string>
-             </property>
-             <layout class="QGridLayout" name="gridLayout_9">
-              <item row="2" column="3">
-               <widget class="QSpinBox" name="yawOutputRange">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Camera yaw angle for 100% output value, deg.
-
-This value should be tuned for particular gimbal and servo. You also
-have to define channel output range using Output configuration tab.</string>
-                </property>
-                <property name="maximum">
-                 <number>180</number>
-                </property>
-                <property name="value">
-                 <number>20</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:OutputRange</string>
-                  <string>element:Yaw</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="2">
-               <widget class="QSpinBox" name="pitchOutputRange">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Camera pitch angle for 100% output value, deg.
-
-This value should be tuned for particular gimbal and servo. You also
-have to define channel output range using Output configuration tab.</string>
-                </property>
-                <property name="maximum">
-                 <number>180</number>
-                </property>
-                <property name="value">
-                 <number>20</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:OutputRange</string>
-                  <string>element:Pitch</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QSpinBox" name="rollOutputRange">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Camera roll angle for 100% output value, deg.
-
-This value should be tuned for particular gimbal and servo. You also
-have to define channel output range using Output configuration tab.</string>
-                </property>
-                <property name="maximum">
-                 <number>180</number>
-                </property>
-                <property name="value">
-                 <number>20</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:OutputRange</string>
-                  <string>element:Roll</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="3">
-               <widget class="QComboBox" name="yawChannel">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Yaw output channel for camera gimbal</string>
-                </property>
-                <item>
-                 <property name="text">
-                  <string>None</string>
-                 </property>
-                </item>
-               </widget>
-              </item>
-              <item row="1" column="2">
-               <widget class="QComboBox" name="pitchChannel">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Pitch output channel for camera gimbal</string>
-                </property>
-                <item>
-                 <property name="text">
-                  <string>None</string>
-                 </property>
-                </item>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QComboBox" name="rollChannel">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Roll output channel for camera gimbal</string>
-                </property>
-                <item>
-                 <property name="text">
-                  <string>None</string>
-                 </property>
-                </item>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="label_42">
-                <property name="text">
-                 <string>Output Channel</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="label_43">
-                <property name="text">
-                 <string>Output Range</string>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="3">
-               <widget class="QLabel" name="label_44">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>Yaw</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="2">
-               <widget class="QLabel" name="label_45">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>Pitch</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QLabel" name="label_46">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>Roll</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <widget class="QGroupBox" name="groupBox">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>0</width>
-               <height>266</height>
-              </size>
-             </property>
-             <property name="title">
-              <string>Advanced Settings (Control)</string>
-             </property>
-             <layout class="QGridLayout" name="gridLayout_8">
-              <item row="0" column="3">
-               <widget class="QLabel" name="label_32">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>Yaw</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="2">
-               <widget class="QLabel" name="label_33">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>Pitch</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QLabel" name="label_34">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>16777215</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>Roll</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="3">
-               <widget class="QComboBox" name="yawInputChannel">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Input channel to control camera yaw
-
-Don't forget to map this channel using Input configuration tab.</string>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:Input</string>
-                  <string>element:Yaw</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-                <item>
-                 <property name="text">
-                  <string>None</string>
-                 </property>
-                </item>
-               </widget>
-              </item>
-              <item row="1" column="2">
-               <widget class="QComboBox" name="pitchInputChannel">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Input channel to control camera pitch
-
-Don't forget to map this channel using Input configuration tab.</string>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:Input</string>
-                  <string>element:Pitch</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-                <item>
-                 <property name="text">
-                  <string>None</string>
-                 </property>
-                </item>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QComboBox" name="rollInputChannel">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Input channel to control camera roll
-
-Don't forget to map this channel using Input configuration tab.</string>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:Input</string>
-                  <string>element:Roll</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-                <item>
-                 <property name="text">
-                  <string>None</string>
-                 </property>
-                </item>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="label_35">
-                <property name="text">
-                 <string>Input Channel</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="3">
-               <widget class="QComboBox" name="yawStabilizationMode">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Axis stabilization mode
-
-Attitude: camera tracks level for the axis. Input controls the deflection.
-AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:StabilizationMode</string>
-                  <string>element:Yaw</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-                <item>
-                 <property name="text">
-                  <string>Attitude</string>
-                 </property>
-                </item>
-               </widget>
-              </item>
-              <item row="3" column="3">
-               <widget class="QSpinBox" name="yawInputRange">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Maximum camera yaw deflection for 100% input in Attitude mode, deg.</string>
-                </property>
-                <property name="maximum">
-                 <number>180</number>
-                </property>
-                <property name="value">
-                 <number>20</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:InputRange</string>
-                  <string>element:Yaw</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item row="4" column="3">
-               <widget class="QSpinBox" name="yawInputRate">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.</string>
-                </property>
-                <property name="maximum">
-                 <number>180</number>
-                </property>
-                <property name="value">
-                 <number>50</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:InputRate</string>
-                  <string>element:Yaw</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item row="5" column="3">
-               <widget class="QSpinBox" name="yawResponseTime">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Input low-pass filter response time for yaw axis, ms.
-
-This option smoothes the stick input. Zero value disables LPF.</string>
-                </property>
-                <property name="maximum">
-                 <number>1000</number>
-                </property>
-                <property name="value">
-                 <number>150</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:ResponseTime</string>
-                  <string>element:Yaw</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="2">
-               <widget class="QComboBox" name="pitchStabilizationMode">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Axis stabilization mode
-
-Attitude: camera tracks level for the axis. Input controls the deflection.
-AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:StabilizationMode</string>
-                  <string>element:Pitch</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-                <item>
-                 <property name="text">
-                  <string>Attitude</string>
-                 </property>
-                </item>
-               </widget>
-              </item>
-              <item row="3" column="2">
-               <widget class="QSpinBox" name="pitchInputRange">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Maximum camera pitch deflection for 100% input in Attitude mode, deg.</string>
-                </property>
-                <property name="maximum">
-                 <number>180</number>
-                </property>
-                <property name="value">
-                 <number>20</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:InputRange</string>
-                  <string>element:Pitch</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item row="4" column="2">
-               <widget class="QSpinBox" name="pitchInputRate">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.</string>
-                </property>
-                <property name="maximum">
-                 <number>180</number>
-                </property>
-                <property name="value">
-                 <number>50</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:InputRate</string>
-                  <string>element:Pitch</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item row="5" column="2">
-               <widget class="QSpinBox" name="pitchResponseTime">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Input low-pass filter response time for pitch axis, ms.
-
-This option smoothes the stick input. Zero value disables LPF.</string>
-                </property>
-                <property name="maximum">
-                 <number>1000</number>
-                </property>
-                <property name="value">
-                 <number>150</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:ResponseTime</string>
-                  <string>element:Pitch</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QComboBox" name="rollStabilizationMode">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Axis stabilization mode
-
-Attitude: camera tracks level for the axis. Input controls the deflection.
-AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:StabilizationMode</string>
-                  <string>element:Roll</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-                <item>
-                 <property name="text">
-                  <string>Attitude</string>
-                 </property>
-                </item>
-               </widget>
-              </item>
-              <item row="3" column="1">
-               <widget class="QSpinBox" name="rollInputRange">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Maximum camera roll deflection for 100% input in Attitude mode, deg.</string>
-                </property>
-                <property name="maximum">
-                 <number>180</number>
-                </property>
-                <property name="value">
-                 <number>20</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:InputRange</string>
-                  <string>element:Roll</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item row="4" column="1">
-               <widget class="QSpinBox" name="rollInputRate">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Maximum camera roll rate for 100% input in AxisLock mode, deg/s.</string>
-                </property>
-                <property name="maximum">
-                 <number>180</number>
-                </property>
-                <property name="value">
-                 <number>50</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:InputRate</string>
-                  <string>element:Roll</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item row="5" column="1">
-               <widget class="QSpinBox" name="rollResponseTime">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Input low-pass filter response time for roll axis, ms.
-
-This option smoothes the stick input. Zero value disables LPF.</string>
-                </property>
-                <property name="maximum">
-                 <number>1000</number>
-                </property>
-                <property name="value">
-                 <number>150</number>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:ResponseTime</string>
-                  <string>element:Roll</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-              <item row="6" column="0">
-               <widget class="QLabel" name="label_36">
-                <property name="text">
-                 <string>MaxAxisLockRate</string>
-                </property>
-               </widget>
-              </item>
-              <item row="5" column="0">
-               <widget class="QLabel" name="label_37">
-                <property name="text">
-                 <string>Response Time</string>
-                </property>
-               </widget>
-              </item>
-              <item row="4" column="0">
-               <widget class="QLabel" name="label_38">
-                <property name="text">
-                 <string>Input Rate</string>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="0">
-               <widget class="QLabel" name="label_39">
-                <property name="text">
-                 <string>Input Range</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="label_40">
-                <property name="text">
-                 <string>Stabilization Mode</string>
-                </property>
-               </widget>
-              </item>
-              <item row="6" column="2" colspan="2">
-               <widget class="QLabel" name="label_41">
-                <property name="text">
-                 <string>(the same value for Roll, Pitch, Yaw)</string>
-                </property>
-               </widget>
-              </item>
-              <item row="6" column="1">
-               <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Stick input deadband for all axes in AxisLock mode, deg/s.
-
-When stick input is within the MaxAxisLockRate range, camera tracks
-current attitude. Otherwise it starts moving according to input with
-rate depending on input value.
-
-If you have drift in your Tx controls, you may want to increase this
-value.</string>
-                </property>
-                <property name="decimals">
-                 <number>1</number>
-                </property>
-                <property name="singleStep">
-                 <double>0.100000000000000</double>
-                </property>
-                <property name="value">
-                 <double>1.000000000000000</double>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:CameraStabSettings</string>
-                  <string>fieldname:MaxAxisLockRate</string>
-                  <string>haslimits:no</string>
-                  <string>scale:1</string>
-                  <string>buttongroup:1</string>
-                 </stringlist>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <widget class="QGroupBox" name="groupBox_4">
-             <property name="title">
-              <string>Messages</string>
-             </property>
-             <layout class="QVBoxLayout" name="verticalLayout_3">
-              <item>
-               <widget class="QLabel" name="message">
-                <property name="autoFillBackground">
-                 <bool>false</bool>
-                </property>
-                <property name="text">
-                 <string/>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <spacer name="verticalSpacer_2">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>40</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </widget>
-        </widget>
-       </item>
-      </layout>
-     </widget>
-    </widget>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <property name="spacing">
-      <number>4</number>
-     </property>
-     <item>
-      <spacer name="horizontalSpacer">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>321</width>
-         <height>16</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="camerastabilizationHelp">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>25</width>
-         <height>25</height>
-        </size>
-       </property>
-       <property name="font">
-        <font>
-         <kerning>true</kerning>
-        </font>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="../coreplugin/core.qrc">
-         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-       </property>
-       <property name="iconSize">
-        <size>
-         <width>25</width>
-         <height>25</height>
-        </size>
-       </property>
-       <property name="shortcut">
-        <string>Ctrl+S</string>
-       </property>
-       <property name="default">
-        <bool>false</bool>
-       </property>
-       <property name="flat">
-        <bool>true</bool>
-       </property>
-       <property name="objrelation" stdset="0">
-        <stringlist>
-         <string>button:help</string>
-         <string>url:http://wiki.openpilot.org/display/Doc/Camera+Stabilization+Configuration</string>
-        </stringlist>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="camerastabilizationResetToDefaults">
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>16777215</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Load default CameraStabilization settings except output channels into GCS.
-
-Loaded settings are not applied automatically. You have to click the
-Apply or Save button afterwards.</string>
-       </property>
-       <property name="text">
-        <string>Reset To Defaults</string>
-       </property>
-       <property name="objrelation" stdset="0">
-        <stringlist>
-         <string>button:default</string>
-         <string>buttongroup:1</string>
-        </stringlist>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="pushButton">
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>16777215</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Reloads saved CameraStabilization settings  except output channels
-from board into GCS. Useful if you have accidentally changed some
-settings.
-
-Loaded settings are not applied automatically. You have to click the
-Apply or Save button afterwards.</string>
-       </property>
-       <property name="text">
-        <string>Reload Board Data</string>
-       </property>
-       <property name="objrelation" stdset="0">
-        <stringlist>
-         <string>button:reload</string>
-         <string>buttongroup:1</string>
-        </stringlist>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="camerastabilizationSaveRAM">
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>16777215</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Send settings to the board but do not save to the non-volatile memory</string>
-       </property>
-       <property name="text">
-        <string>Apply</string>
-       </property>
-       <property name="objrelation" stdset="0">
-        <stringlist>
-         <string>button:apply</string>
-        </stringlist>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="camerastabilizationSaveSD">
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>16777215</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Send settings to the board and save to the non-volatile memory</string>
-       </property>
-       <property name="text">
-        <string>Save</string>
-       </property>
-       <property name="checked">
-        <bool>false</bool>
-       </property>
-       <property name="objrelation" stdset="0">
-        <stringlist>
-         <string>button:save</string>
-        </stringlist>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-  </layout>
- </widget>
- <tabstops>
-  <tabstop>scrollArea</tabstop>
- </tabstops>
- <resources>
-  <include location="../coreplugin/core.qrc"/>
- </resources>
- <connections/>
-</ui>
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>CameraStabilizationWidget</class>
+ <widget class="QWidget" name="CameraStabilizationWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>789</width>
+    <height>615</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_5">
+   <property name="spacing">
+    <number>6</number>
+   </property>
+   <property name="margin">
+    <number>12</number>
+   </property>
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>Camera Stabilization</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <property name="margin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents_2">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>742</width>
+            <height>560</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout">
+           <property name="spacing">
+            <number>6</number>
+           </property>
+           <property name="margin">
+            <number>12</number>
+           </property>
+           <item>
+            <widget class="QGroupBox" name="groupBox_2">
+             <property name="title">
+              <string>Module Control</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_4">
+              <item>
+               <widget class="QCheckBox" name="enableCameraStabilization">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="text">
+                 <string>Enable CameraStabilization module</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="label_7">
+                <property name="text">
+                 <string>After enabling the module, you must power cycle before using and configuring.</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_5">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>131</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Basic Settings (Stabilization)</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_9">
+              <item row="2" column="3">
+               <widget class="QSpinBox" name="yawOutputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Camera yaw angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:OutputRange</string>
+                  <string>element:Yaw</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="2">
+               <widget class="QSpinBox" name="pitchOutputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Camera pitch angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:OutputRange</string>
+                  <string>element:Pitch</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QSpinBox" name="rollOutputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Camera roll angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:OutputRange</string>
+                  <string>element:Roll</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="3">
+               <widget class="QComboBox" name="yawChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Yaw output channel for camera gimbal</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QComboBox" name="pitchChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Pitch output channel for camera gimbal</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QComboBox" name="rollChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Roll output channel for camera gimbal</string>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="label_42">
+                <property name="text">
+                 <string>Output Channel</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label_43">
+                <property name="text">
+                 <string>Output Range</string>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="3">
+               <widget class="QLabel" name="label_44">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Yaw</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="2">
+               <widget class="QLabel" name="label_45">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Pitch</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_46">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Roll</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>266</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Advanced Settings (Control)</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_8">
+              <item row="0" column="3">
+               <widget class="QLabel" name="label_32">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Yaw</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="2">
+               <widget class="QLabel" name="label_33">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Pitch</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_34">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Roll</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="3">
+               <widget class="QComboBox" name="yawInputChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input channel to control camera yaw
+
+Don't forget to map this channel using Input configuration tab.</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:Input</string>
+                  <string>element:Yaw</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QComboBox" name="pitchInputChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input channel to control camera pitch
+
+Don't forget to map this channel using Input configuration tab.</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:Input</string>
+                  <string>element:Pitch</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QComboBox" name="rollInputChannel">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input channel to control camera roll
+
+Don't forget to map this channel using Input configuration tab.</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:Input</string>
+                  <string>element:Roll</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>None</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="label_35">
+                <property name="text">
+                 <string>Input Channel</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="3">
+               <widget class="QComboBox" name="yawStabilizationMode">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Axis stabilization mode
+
+Attitude: camera tracks level for the axis. Input controls the deflection.
+AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:StabilizationMode</string>
+                  <string>element:Yaw</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>Attitude</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="3" column="3">
+               <widget class="QSpinBox" name="yawInputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera yaw deflection for 100% input in Attitude mode, deg.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:InputRange</string>
+                  <string>element:Yaw</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="3">
+               <widget class="QSpinBox" name="yawInputRate">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:InputRate</string>
+                  <string>element:Yaw</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="3">
+               <widget class="QSpinBox" name="yawResponseTime">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input low-pass filter response time for yaw axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.</string>
+                </property>
+                <property name="maximum">
+                 <number>1000</number>
+                </property>
+                <property name="value">
+                 <number>150</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:ResponseTime</string>
+                  <string>element:Yaw</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="2">
+               <widget class="QComboBox" name="pitchStabilizationMode">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Axis stabilization mode
+
+Attitude: camera tracks level for the axis. Input controls the deflection.
+AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:StabilizationMode</string>
+                  <string>element:Pitch</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>Attitude</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="3" column="2">
+               <widget class="QSpinBox" name="pitchInputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera pitch deflection for 100% input in Attitude mode, deg.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:InputRange</string>
+                  <string>element:Pitch</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="2">
+               <widget class="QSpinBox" name="pitchInputRate">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:InputRate</string>
+                  <string>element:Pitch</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="2">
+               <widget class="QSpinBox" name="pitchResponseTime">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input low-pass filter response time for pitch axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.</string>
+                </property>
+                <property name="maximum">
+                 <number>1000</number>
+                </property>
+                <property name="value">
+                 <number>150</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:ResponseTime</string>
+                  <string>element:Pitch</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QComboBox" name="rollStabilizationMode">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Axis stabilization mode
+
+Attitude: camera tracks level for the axis. Input controls the deflection.
+AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:StabilizationMode</string>
+                  <string>element:Roll</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+                <item>
+                 <property name="text">
+                  <string>Attitude</string>
+                 </property>
+                </item>
+               </widget>
+              </item>
+              <item row="3" column="1">
+               <widget class="QSpinBox" name="rollInputRange">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera roll deflection for 100% input in Attitude mode, deg.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>20</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:InputRange</string>
+                  <string>element:Roll</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="1">
+               <widget class="QSpinBox" name="rollInputRate">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum camera roll rate for 100% input in AxisLock mode, deg/s.</string>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+                <property name="value">
+                 <number>50</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:InputRate</string>
+                  <string>element:Roll</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="1">
+               <widget class="QSpinBox" name="rollResponseTime">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Input low-pass filter response time for roll axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.</string>
+                </property>
+                <property name="maximum">
+                 <number>1000</number>
+                </property>
+                <property name="value">
+                 <number>150</number>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:ResponseTime</string>
+                  <string>element:Roll</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="0">
+               <widget class="QLabel" name="label_36">
+                <property name="text">
+                 <string>MaxAxisLockRate</string>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="0">
+               <widget class="QLabel" name="label_37">
+                <property name="text">
+                 <string>Response Time</string>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="0">
+               <widget class="QLabel" name="label_38">
+                <property name="text">
+                 <string>Input Rate</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="0">
+               <widget class="QLabel" name="label_39">
+                <property name="text">
+                 <string>Input Range</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label_40">
+                <property name="text">
+                 <string>Stabilization Mode</string>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="2" colspan="2">
+               <widget class="QLabel" name="label_41">
+                <property name="text">
+                 <string>(the same value for Roll, Pitch, Yaw)</string>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="1">
+               <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Stick input deadband for all axes in AxisLock mode, deg/s.
+
+When stick input is within the MaxAxisLockRate range, camera tracks
+current attitude. Otherwise it starts moving according to input with
+rate depending on input value.
+
+If you have drift in your Tx controls, you may want to increase this
+value.</string>
+                </property>
+                <property name="decimals">
+                 <number>1</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.100000000000000</double>
+                </property>
+                <property name="value">
+                 <double>1.000000000000000</double>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:CameraStabSettings</string>
+                  <string>fieldname:MaxAxisLockRate</string>
+                  <string>haslimits:no</string>
+                  <string>scale:1</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_4">
+             <property name="title">
+              <string>Messages</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_3">
+              <item>
+               <widget class="QLabel" name="message">
+                <property name="autoFillBackground">
+                 <bool>false</bool>
+                </property>
+                <property name="text">
+                 <string/>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="spacing">
+      <number>4</number>
+     </property>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>321</width>
+         <height>16</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="camerastabilizationHelp">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <kerning>true</kerning>
+        </font>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="shortcut">
+        <string>Ctrl+S</string>
+       </property>
+       <property name="default">
+        <bool>false</bool>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:help</string>
+         <string>url:http://wiki.openpilot.org/display/Doc/Camera+Stabilization+Configuration</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="camerastabilizationResetToDefaults">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Load default CameraStabilization settings except output channels into GCS.
+
+Loaded settings are not applied automatically. You have to click the
+Apply or Save button afterwards.</string>
+       </property>
+       <property name="text">
+        <string>Reset To Defaults</string>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:default</string>
+         <string>buttongroup:1</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="pushButton">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Reloads saved CameraStabilization settings  except output channels
+from board into GCS. Useful if you have accidentally changed some
+settings.
+
+Loaded settings are not applied automatically. You have to click the
+Apply or Save button afterwards.</string>
+       </property>
+       <property name="text">
+        <string>Reload Board Data</string>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:reload</string>
+         <string>buttongroup:1</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="camerastabilizationSaveRAM">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Send settings to the board but do not save to the non-volatile memory</string>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:apply</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="camerastabilizationSaveSD">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Send settings to the board and save to the non-volatile memory</string>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+       <property name="checked">
+        <bool>false</bool>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:save</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <tabstops>
+  <tabstop>scrollArea</tabstop>
+ </tabstops>
+ <resources>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
old mode 100644
new mode 100755
index 383da5b42..dd3101a79
--- a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
+++ b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
@@ -1,628 +1,634 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>CC_HW_Widget</class>
- <widget class="QWidget" name="CC_HW_Widget">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>646</width>
-    <height>596</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
-   <item>
-    <widget class="QTabWidget" name="tabWidget">
-     <property name="currentIndex">
-      <number>0</number>
-     </property>
-     <widget class="QWidget" name="tab">
-      <attribute name="title">
-       <string>HW settings</string>
-      </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_3">
-       <property name="margin">
-        <number>0</number>
-       </property>
-       <item>
-        <widget class="QScrollArea" name="scrollArea">
-         <property name="palette">
-          <palette>
-           <active>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>232</red>
-               <green>232</green>
-               <blue>232</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </active>
-           <inactive>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>232</red>
-               <green>232</green>
-               <blue>232</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </inactive>
-           <disabled>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>232</red>
-               <green>232</green>
-               <blue>232</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>232</red>
-               <green>232</green>
-               <blue>232</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </disabled>
-          </palette>
-         </property>
-         <property name="frameShape">
-          <enum>QFrame::NoFrame</enum>
-         </property>
-         <property name="frameShadow">
-          <enum>QFrame::Plain</enum>
-         </property>
-         <property name="widgetResizable">
-          <bool>true</bool>
-         </property>
-         <widget class="QWidget" name="scrollAreaWidgetContents">
-          <property name="geometry">
-           <rect>
-            <x>0</x>
-            <y>0</y>
-            <width>616</width>
-            <height>495</height>
-           </rect>
-          </property>
-          <layout class="QGridLayout" name="gridLayout_3">
-           <item row="6" column="0" colspan="3">
-            <widget class="QGroupBox" name="groupBox_2">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>0</width>
-               <height>50</height>
-              </size>
-             </property>
-             <property name="title">
-              <string>Messages</string>
-             </property>
-             <layout class="QHBoxLayout" name="horizontalLayout_3">
-              <item>
-               <widget class="QLabel" name="problems">
-                <property name="font">
-                 <font>
-                  <weight>75</weight>
-                  <bold>true</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string/>
-                </property>
-                <property name="textFormat">
-                 <enum>Qt::AutoText</enum>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item row="0" column="1">
-            <widget class="QLabel" name="label_6">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>500</width>
-               <height>0</height>
-              </size>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>500</width>
-               <height>16777215</height>
-              </size>
-             </property>
-             <property name="font">
-              <font>
-               <weight>75</weight>
-               <bold>true</bold>
-              </font>
-             </property>
-             <property name="text">
-              <string>Changes on this page only take effect after board reset or power cycle</string>
-             </property>
-             <property name="alignment">
-              <set>Qt::AlignCenter</set>
-             </property>
-             <property name="wordWrap">
-              <bool>true</bool>
-             </property>
-            </widget>
-           </item>
-           <item row="5" column="1">
-            <spacer name="verticalSpacer">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>25</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item row="3" column="1">
-            <layout class="QHBoxLayout" name="horizontalLayout">
-             <item>
-              <layout class="QGridLayout" name="gridLayout_2">
-               <item row="0" column="0">
-                <widget class="QLabel" name="telemetrySpeedLabel">
-                 <property name="text">
-                  <string>Telemetry speed:</string>
-                 </property>
-                </widget>
-               </item>
-               <item row="1" column="0">
-                <widget class="QLabel" name="GpsSpeedLabel">
-                 <property name="minimumSize">
-                  <size>
-                   <width>55</width>
-                   <height>0</height>
-                  </size>
-                 </property>
-                 <property name="text">
-                  <string>GPS speed:</string>
-                 </property>
-                </widget>
-               </item>
-               <item row="2" column="0">
-                <widget class="QLabel" name="ComUsbBridgeSpeedLabel">
-                 <property name="minimumSize">
-                  <size>
-                   <width>55</width>
-                   <height>0</height>
-                  </size>
-                 </property>
-                 <property name="text">
-                  <string>ComUsbBridge speed:</string>
-                 </property>
-                </widget>
-               </item>
-               <item row="0" column="1">
-                <widget class="QComboBox" name="telemetrySpeed">
-                 <property name="toolTip">
-                  <string>Select the speed here.</string>
-                 </property>
-                </widget>
-               </item>
-               <item row="1" column="1">
-                <widget class="QComboBox" name="gpsSpeed">
-                 <property name="toolTip">
-                  <string>Select the speed here.</string>
-                 </property>
-                </widget>
-               </item>
-               <item row="2" column="1">
-                <widget class="QComboBox" name="comUsbBridgeSpeed">
-                 <property name="toolTip">
-                  <string>Select the speed here.</string>
-                 </property>
-                </widget>
-               </item>
-              </layout>
-             </item>
-             <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>
-            </layout>
-           </item>
-           <item row="2" column="1">
-            <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0">
-             <item row="5" column="0">
-              <widget class="QLabel" name="label_4">
-               <property name="text">
-                <string/>
-               </property>
-              </widget>
-             </item>
-             <item row="2" column="0">
-              <widget class="QComboBox" name="cbFlexi"/>
-             </item>
-             <item row="1" column="4">
-              <widget class="QLabel" name="label_8">
-               <property name="text">
-                <string>USB HID Port</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
-               </property>
-              </widget>
-             </item>
-             <item row="4" column="0">
-              <widget class="QComboBox" name="cbTele"/>
-             </item>
-             <item row="1" column="1" rowspan="5" colspan="3">
-              <widget class="QLabel" name="label_2">
-               <property name="text">
-                <string/>
-               </property>
-               <property name="scaledContents">
-                <bool>true</bool>
-               </property>
-              </widget>
-             </item>
-             <item row="0" column="2">
-              <widget class="QComboBox" name="cbRcvr"/>
-             </item>
-             <item row="3" column="0">
-              <widget class="QLabel" name="label_3">
-               <property name="text">
-                <string>MainPort</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
-               </property>
-              </widget>
-             </item>
-             <item row="2" column="4">
-              <widget class="QComboBox" name="cbUsbHid"/>
-             </item>
-             <item row="4" column="4">
-              <widget class="QComboBox" name="cbUsbVcp"/>
-             </item>
-             <item row="1" column="0">
-              <widget class="QLabel" name="label_5">
-               <property name="text">
-                <string>FlexiPort</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
-               </property>
-              </widget>
-             </item>
-             <item row="3" column="4">
-              <widget class="QLabel" name="label_9">
-               <property name="text">
-                <string>USB VCP Port</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
-               </property>
-              </widget>
-             </item>
-             <item row="0" column="1">
-              <widget class="QLabel" name="label_7">
-               <property name="text">
-                <string>RcvrPort</string>
-               </property>
-               <property name="alignment">
-                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-               </property>
-              </widget>
-             </item>
-             <item row="2" column="5">
-              <spacer name="horizontalSpacer_2">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>40</width>
-                 <height>20</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-            </layout>
-           </item>
-           <item row="2" column="0">
-            <spacer name="horizontalSpacer_4">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item row="2" column="2">
-            <spacer name="horizontalSpacer_5">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>40</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item row="1" column="1">
-            <spacer name="verticalSpacer_2">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::Fixed</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>10</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </widget>
-        </widget>
-       </item>
-      </layout>
-     </widget>
-    </widget>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <property name="spacing">
-      <number>4</number>
-     </property>
-     <item>
-      <spacer name="horizontalSpacer">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>369</width>
-         <height>16</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="cchwHelp">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>25</width>
-         <height>26</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>25</width>
-         <height>25</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Takes you to the wiki page</string>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="../coreplugin/core.qrc">
-         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-       </property>
-       <property name="iconSize">
-        <size>
-         <width>25</width>
-         <height>25</height>
-        </size>
-       </property>
-       <property name="flat">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="saveTelemetryToRAM">
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>16777215</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="palette">
-        <palette>
-         <active>
-          <colorrole role="Base">
-           <brush brushstyle="SolidPattern">
-            <color alpha="0">
-             <red>255</red>
-             <green>255</green>
-             <blue>255</blue>
-            </color>
-           </brush>
-          </colorrole>
-          <colorrole role="Window">
-           <brush brushstyle="SolidPattern">
-            <color alpha="255">
-             <red>232</red>
-             <green>232</green>
-             <blue>232</blue>
-            </color>
-           </brush>
-          </colorrole>
-         </active>
-         <inactive>
-          <colorrole role="Base">
-           <brush brushstyle="SolidPattern">
-            <color alpha="0">
-             <red>255</red>
-             <green>255</green>
-             <blue>255</blue>
-            </color>
-           </brush>
-          </colorrole>
-          <colorrole role="Window">
-           <brush brushstyle="SolidPattern">
-            <color alpha="255">
-             <red>232</red>
-             <green>232</green>
-             <blue>232</blue>
-            </color>
-           </brush>
-          </colorrole>
-         </inactive>
-         <disabled>
-          <colorrole role="Base">
-           <brush brushstyle="SolidPattern">
-            <color alpha="255">
-             <red>232</red>
-             <green>232</green>
-             <blue>232</blue>
-            </color>
-           </brush>
-          </colorrole>
-          <colorrole role="Window">
-           <brush brushstyle="SolidPattern">
-            <color alpha="255">
-             <red>232</red>
-             <green>232</green>
-             <blue>232</blue>
-            </color>
-           </brush>
-          </colorrole>
-         </disabled>
-        </palette>
-       </property>
-       <property name="toolTip">
-        <string>Send to OpenPilot but don't write in SD.
-Beware of not locking yourself out!</string>
-       </property>
-       <property name="autoFillBackground">
-        <bool>false</bool>
-       </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
-       <property name="text">
-        <string>Apply</string>
-       </property>
-       <property name="iconSize">
-        <size>
-         <width>16</width>
-         <height>16</height>
-        </size>
-       </property>
-       <property name="checkable">
-        <bool>false</bool>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="saveTelemetryToSD">
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>16777215</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Applies and Saves all settings to SD.
-Beware of not locking yourself out!</string>
-       </property>
-       <property name="autoFillBackground">
-        <bool>false</bool>
-       </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
-       <property name="text">
-        <string>Save</string>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-  </layout>
- </widget>
- <resources>
-  <include location="configgadget.qrc"/>
-  <include location="../coreplugin/core.qrc"/>
- </resources>
- <connections/>
-</ui>
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>CC_HW_Widget</class>
+ <widget class="QWidget" name="CC_HW_Widget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>646</width>
+    <height>596</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <property name="margin">
+    <number>12</number>
+   </property>
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>HW settings</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <property name="margin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>616</width>
+            <height>513</height>
+           </rect>
+          </property>
+          <layout class="QGridLayout" name="gridLayout_3">
+           <property name="margin">
+            <number>12</number>
+           </property>
+           <item row="6" column="0" colspan="3">
+            <widget class="QGroupBox" name="groupBox_2">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>50</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Messages</string>
+             </property>
+             <layout class="QHBoxLayout" name="horizontalLayout_3">
+              <item>
+               <widget class="QLabel" name="problems">
+                <property name="font">
+                 <font>
+                  <weight>75</weight>
+                  <bold>true</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string/>
+                </property>
+                <property name="textFormat">
+                 <enum>Qt::AutoText</enum>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item row="0" column="1">
+            <widget class="QLabel" name="label_6">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>500</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>500</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="text">
+              <string>Changes on this page only take effect after board reset or power cycle</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+             <property name="wordWrap">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="5" column="1">
+            <spacer name="verticalSpacer">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>25</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="3" column="1">
+            <layout class="QHBoxLayout" name="horizontalLayout">
+             <item>
+              <layout class="QGridLayout" name="gridLayout_2">
+               <item row="0" column="0">
+                <widget class="QLabel" name="telemetrySpeedLabel">
+                 <property name="text">
+                  <string>Telemetry speed:</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="0">
+                <widget class="QLabel" name="GpsSpeedLabel">
+                 <property name="minimumSize">
+                  <size>
+                   <width>55</width>
+                   <height>0</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>GPS speed:</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="0">
+                <widget class="QLabel" name="ComUsbBridgeSpeedLabel">
+                 <property name="minimumSize">
+                  <size>
+                   <width>55</width>
+                   <height>0</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>ComUsbBridge speed:</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="0" column="1">
+                <widget class="QComboBox" name="telemetrySpeed">
+                 <property name="toolTip">
+                  <string>Select the speed here.</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="1">
+                <widget class="QComboBox" name="gpsSpeed">
+                 <property name="toolTip">
+                  <string>Select the speed here.</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="1">
+                <widget class="QComboBox" name="comUsbBridgeSpeed">
+                 <property name="toolTip">
+                  <string>Select the speed here.</string>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+             <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>
+            </layout>
+           </item>
+           <item row="2" column="1">
+            <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0">
+             <item row="5" column="0">
+              <widget class="QLabel" name="label_4">
+               <property name="text">
+                <string/>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="0">
+              <widget class="QComboBox" name="cbFlexi"/>
+             </item>
+             <item row="1" column="4">
+              <widget class="QLabel" name="label_8">
+               <property name="text">
+                <string>USB HID Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="4" column="0">
+              <widget class="QComboBox" name="cbTele"/>
+             </item>
+             <item row="1" column="1" rowspan="5" colspan="3">
+              <widget class="QLabel" name="label_2">
+               <property name="text">
+                <string/>
+               </property>
+               <property name="scaledContents">
+                <bool>true</bool>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="2">
+              <widget class="QComboBox" name="cbRcvr"/>
+             </item>
+             <item row="3" column="0">
+              <widget class="QLabel" name="label_3">
+               <property name="text">
+                <string>MainPort</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="4">
+              <widget class="QComboBox" name="cbUsbHid"/>
+             </item>
+             <item row="4" column="4">
+              <widget class="QComboBox" name="cbUsbVcp"/>
+             </item>
+             <item row="1" column="0">
+              <widget class="QLabel" name="label_5">
+               <property name="text">
+                <string>FlexiPort</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="3" column="4">
+              <widget class="QLabel" name="label_9">
+               <property name="text">
+                <string>USB VCP Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="1">
+              <widget class="QLabel" name="label_7">
+               <property name="text">
+                <string>RcvrPort</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="5">
+              <spacer name="horizontalSpacer_2">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>40</width>
+                 <height>20</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+            </layout>
+           </item>
+           <item row="2" column="0">
+            <spacer name="horizontalSpacer_4">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>40</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="2" column="2">
+            <spacer name="horizontalSpacer_5">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>40</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="1" column="1">
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Fixed</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>10</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <property name="spacing">
+      <number>4</number>
+     </property>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>369</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="cchwHelp">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Takes you to the wiki page</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveTelemetryToRAM">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="palette">
+        <palette>
+         <active>
+          <colorrole role="Base">
+           <brush brushstyle="SolidPattern">
+            <color alpha="0">
+             <red>255</red>
+             <green>255</green>
+             <blue>255</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Window">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+         </active>
+         <inactive>
+          <colorrole role="Base">
+           <brush brushstyle="SolidPattern">
+            <color alpha="0">
+             <red>255</red>
+             <green>255</green>
+             <blue>255</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Window">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+         </inactive>
+         <disabled>
+          <colorrole role="Base">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Window">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+         </disabled>
+        </palette>
+       </property>
+       <property name="toolTip">
+        <string>Send to OpenPilot but don't write in SD.
+Beware of not locking yourself out!</string>
+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>16</width>
+         <height>16</height>
+        </size>
+       </property>
+       <property name="checkable">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveTelemetryToSD">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Applies and Saves all settings to SD.
+Beware of not locking yourself out!</string>
+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources>
+  <include location="configgadget.qrc"/>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/config/ccattitude.ui b/ground/openpilotgcs/src/plugins/config/ccattitude.ui
old mode 100644
new mode 100755
index fab00864f..cdef25670
--- a/ground/openpilotgcs/src/plugins/config/ccattitude.ui
+++ b/ground/openpilotgcs/src/plugins/config/ccattitude.ui
@@ -1,435 +1,446 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>ccattitude</class>
- <widget class="QWidget" name="ccattitude">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>730</width>
-    <height>542</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout_5">
-   <item>
-    <widget class="QTabWidget" name="tabWidget">
-     <property name="currentIndex">
-      <number>0</number>
-     </property>
-     <widget class="QWidget" name="Attitude">
-      <attribute name="title">
-       <string>Attitude</string>
-      </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_3">
-       <property name="leftMargin">
-        <number>0</number>
-       </property>
-       <property name="topMargin">
-        <number>12</number>
-       </property>
-       <property name="rightMargin">
-        <number>0</number>
-       </property>
-       <property name="bottomMargin">
-        <number>12</number>
-       </property>
-       <item>
-        <widget class="QScrollArea" name="scrollArea">
-         <property name="palette">
-          <palette>
-           <active>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>232</red>
-               <green>232</green>
-               <blue>232</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </active>
-           <inactive>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>232</red>
-               <green>232</green>
-               <blue>232</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </inactive>
-           <disabled>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>232</red>
-               <green>232</green>
-               <blue>232</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>232</red>
-               <green>232</green>
-               <blue>232</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </disabled>
-          </palette>
-         </property>
-         <property name="frameShape">
-          <enum>QFrame::NoFrame</enum>
-         </property>
-         <property name="frameShadow">
-          <enum>QFrame::Plain</enum>
-         </property>
-         <property name="widgetResizable">
-          <bool>true</bool>
-         </property>
-         <widget class="QWidget" name="scrollAreaWidgetContents">
-          <property name="geometry">
-           <rect>
-            <x>0</x>
-            <y>0</y>
-            <width>700</width>
-            <height>418</height>
-           </rect>
-          </property>
-          <layout class="QVBoxLayout" name="verticalLayout">
-           <property name="spacing">
-            <number>24</number>
-           </property>
-           <item>
-            <widget class="QGroupBox" name="groupBox">
-             <property name="title">
-              <string>Rotate virtual attitude relative to board</string>
-             </property>
-             <layout class="QGridLayout" name="gridLayout">
-              <item row="0" column="0">
-               <widget class="QLabel" name="label_2">
-                <property name="text">
-                 <string>Roll</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QSpinBox" name="rollBias">
-                <property name="minimum">
-                 <number>-180</number>
-                </property>
-                <property name="maximum">
-                 <number>180</number>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QLabel" name="label_3">
-                <property name="text">
-                 <string>Pitch</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QSpinBox" name="pitchBias">
-                <property name="minimum">
-                 <number>-90</number>
-                </property>
-                <property name="maximum">
-                 <number>90</number>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="2">
-               <widget class="QLabel" name="label_4">
-                <property name="text">
-                 <string>Yaw</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="2">
-               <widget class="QSpinBox" name="yawBias">
-                <property name="minimum">
-                 <number>-180</number>
-                </property>
-                <property name="maximum">
-                 <number>180</number>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <widget class="QGroupBox" name="groupBox_2">
-             <property name="title">
-              <string>Calibration</string>
-             </property>
-             <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,0,0">
-              <item row="2" column="3">
-               <spacer name="horizontalSpacer_5">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>142</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item row="3" column="2">
-               <spacer name="verticalSpacer">
-                <property name="orientation">
-                 <enum>Qt::Vertical</enum>
-                </property>
-                <property name="sizeType">
-                 <enum>QSizePolicy::Fixed</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>0</width>
-                  <height>10</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item row="1" column="3">
-               <spacer name="horizontalSpacer_4">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>40</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item row="2" column="1" colspan="2">
-               <widget class="QProgressBar" name="zeroBiasProgress">
-                <property name="minimumSize">
-                 <size>
-                  <width>300</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="value">
-                 <number>0</number>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1" colspan="2">
-               <widget class="QPushButton" name="zeroBias">
-                <property name="maximumSize">
-                 <size>
-                  <width>500</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="toolTip">
-                 <string>Launch horizontal calibration.</string>
-                </property>
-                <property name="text">
-                 <string>Level</string>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <spacer name="horizontalSpacer_2">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>173</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item row="2" column="0">
-               <spacer name="horizontalSpacer_3">
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>173</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-              <item row="0" column="1" colspan="2">
-               <widget class="QLabel" name="label">
-                <property name="text">
-                 <string>Place aircraft very flat, and then click level to compute the accelerometer and gyro bias</string>
-                </property>
-                <property name="wordWrap">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="1">
-               <widget class="QCheckBox" name="zeroGyroBiasOnArming">
-                <property name="toolTip">
-                 <string>If enabled, a fast recalibration of gyro zero point will be done
-whenever the frame is armed. Do not move the airframe while
-arming it in that case!</string>
-                </property>
-                <property name="text">
-                 <string>Zero gyros while arming aircraft</string>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <spacer name="verticalSpacer_2">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>10</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </widget>
-        </widget>
-       </item>
-      </layout>
-     </widget>
-    </widget>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <property name="spacing">
-      <number>4</number>
-     </property>
-     <item>
-      <spacer name="horizontalSpacer">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>380</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="ccAttitudeHelp">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>25</width>
-         <height>25</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Takes you to the wiki page</string>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="../coreplugin/core.qrc">
-         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-       </property>
-       <property name="iconSize">
-        <size>
-         <width>25</width>
-         <height>25</height>
-        </size>
-       </property>
-       <property name="flat">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="applyButton">
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="text">
-        <string>Apply</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="saveButton">
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Click to permanently save the accel bias in the CopterControl Flash.</string>
-       </property>
-       <property name="text">
-        <string>Save</string>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-  </layout>
- </widget>
- <resources>
-  <include location="../coreplugin/core.qrc"/>
- </resources>
- <connections/>
-</ui>
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ccattitude</class>
+ <widget class="QWidget" name="ccattitude">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>666</width>
+    <height>566</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_5">
+   <property name="margin">
+    <number>12</number>
+   </property>
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <widget class="QWidget" name="Attitude">
+      <attribute name="title">
+       <string>Attitude</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <property name="margin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>636</width>
+            <height>483</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout">
+           <property name="spacing">
+            <number>6</number>
+           </property>
+           <property name="margin">
+            <number>12</number>
+           </property>
+           <item>
+            <widget class="QGroupBox" name="groupBox">
+             <property name="title">
+              <string>Rotate virtual attitude relative to board</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout">
+              <item row="0" column="0">
+               <widget class="QLabel" name="label_2">
+                <property name="text">
+                 <string>Roll</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QSpinBox" name="rollBias">
+                <property name="minimum">
+                 <number>-180</number>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_3">
+                <property name="text">
+                 <string>Pitch</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QSpinBox" name="pitchBias">
+                <property name="minimum">
+                 <number>-90</number>
+                </property>
+                <property name="maximum">
+                 <number>90</number>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="2">
+               <widget class="QLabel" name="label_4">
+                <property name="text">
+                 <string>Yaw</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QSpinBox" name="yawBias">
+                <property name="minimum">
+                 <number>-180</number>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_2">
+             <property name="title">
+              <string>Calibration</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_2">
+              <item row="0" column="0" colspan="3">
+               <layout class="QHBoxLayout" name="horizontalLayout_2">
+                <item>
+                 <spacer name="horizontalSpacer_2">
+                  <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="QLabel" name="label">
+                  <property name="text">
+                   <string>Place aircraft very flat, and then click level to compute the accelerometer and gyro bias</string>
+                  </property>
+                  <property name="wordWrap">
+                   <bool>true</bool>
+                  </property>
+                 </widget>
+                </item>
+                <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>
+               </layout>
+              </item>
+              <item row="1" column="0">
+               <widget class="QPushButton" name="zeroBias">
+                <property name="maximumSize">
+                 <size>
+                  <width>500</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Launch horizontal calibration.</string>
+                </property>
+                <property name="text">
+                 <string>Level</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <spacer name="horizontalSpacer_4">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Fixed</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>10</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="1" column="2">
+               <widget class="QProgressBar" name="zeroBiasProgress">
+                <property name="minimumSize">
+                 <size>
+                  <width>300</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="value">
+                 <number>0</number>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0" colspan="3">
+               <layout class="QHBoxLayout" name="horizontalLayout_3">
+                <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="QCheckBox" name="zeroGyroBiasOnArming">
+                  <property name="toolTip">
+                   <string>If enabled, a fast recalibration of gyro zero point will be done
+whenever the frame is armed. Do not move the airframe while
+arming it in that case!</string>
+                  </property>
+                  <property name="text">
+                   <string>Zero gyros while arming aircraft</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_6">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>10</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="spacing">
+      <number>4</number>
+     </property>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>380</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="ccAttitudeHelp">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Takes you to the wiki page</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="applyButton">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveButton">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Click to permanently save the accel bias in the CopterControl Flash.</string>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
old mode 100644
new mode 100755
index 1157cfd1c..6cd30a2b6
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -1,1349 +1,1349 @@
-/**
- ******************************************************************************
- *
- * @file       configinputwidget.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup ConfigPlugin Config Plugin
- * @{
- * @brief Servo input/output configuration panel for the config gadget
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "configinputwidget.h"
-
-#include "uavtalk/telemetrymanager.h"
-
-#include <QDebug>
-#include <QStringList>
-#include <QtGui/QWidget>
-#include <QtGui/QTextEdit>
-#include <QtGui/QVBoxLayout>
-#include <QtGui/QPushButton>
-#include <QDesktopServices>
-#include <QUrl>
-#include <QMessageBox>
-#include <utils/stylehelper.h>
-#include <QMessageBox>
-
-#include <extensionsystem/pluginmanager.h>
-#include <coreplugin/generalsettings.h>
-
-#define ACCESS_MIN_MOVE -3
-#define ACCESS_MAX_MOVE 3
-#define STICK_MIN_MOVE -8
-#define STICK_MAX_MOVE 8
-
-ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),transmitterType(heli),loop(NULL),skipflag(false)
-{
-    manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
-    manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
-    flightStatusObj = FlightStatus::GetInstance(getObjectManager());
-    receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager());
-    m_config = new Ui_InputWidget();
-    m_config->setupUi(this);
-    
-    addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
-
-    ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
-    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
-    if(!settings->useExpertMode())
-        m_config->saveRCInputToRAM->setVisible(false);
-    
-    addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
-
-	//Generate the rows of buttons in the input channel form GUI
-    unsigned int index=0;
-    foreach (QString name, manualSettingsObj->getField("ChannelNumber")->getElementNames())
-    {
-        Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
-        inputChannelForm * inpForm=new inputChannelForm(this,index==0);
-        m_config->channelSettings->layout()->addWidget(inpForm); //Add the row to the UI
-        inpForm->setName(name);
-        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelGroups",inpForm->ui->channelGroup,index);
-        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNumber",inpForm->ui->channelNumber,index);
-        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inpForm->ui->channelMin,index);
-        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inpForm->ui->channelNeutral,index);
-        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inpForm->ui->channelMax,index);
-        ++index;
-    }
-
-    addUAVObjectToWidgetRelation("ManualControlSettings", "Deadband", m_config->deadband, 0, 0.01f);
-
-    connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
-    connect(m_config->stackedWidget,SIGNAL(currentChanged(int)),this,SLOT(disableWizardButton(int)));
-    connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool)));
-
-    connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext()));
-    connect(m_config->wzCancel,SIGNAL(clicked()),this,SLOT(wzCancel()));
-    connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
-
-    m_config->stackedWidget->setCurrentIndex(0);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
-
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw");
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw");
-
-    addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
-    addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);
-    connect( ManualControlCommand::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(moveFMSlider()));
-    connect( ManualControlSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(updatePositionSlider()));
-    enableControls(false);
-
-    populateWidgets();
-    refreshWidgetsValues();
-    // Connect the help button
-    connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
-
-    m_config->graphicsView->setScene(new QGraphicsScene(this));
-    m_config->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
-    m_renderer = new QSvgRenderer();
-    QGraphicsScene *l_scene = m_config->graphicsView->scene();
-    m_config->graphicsView->setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor()));
-    if (QFile::exists(":/configgadget/images/TX2.svg") && m_renderer->load(QString(":/configgadget/images/TX2.svg")) && m_renderer->isValid())
-    {
-        l_scene->clear(); // Deletes all items contained in the scene as well.
-
-        m_txBackground = new QGraphicsSvgItem();
-        // All other items will be clipped to the shape of the background
-        m_txBackground->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
-                                 QGraphicsItem::ItemClipsToShape);
-        m_txBackground->setSharedRenderer(m_renderer);
-        m_txBackground->setElementId("background");
-        l_scene->addItem(m_txBackground);
-
-        m_txMainBody = new QGraphicsSvgItem();
-        m_txMainBody->setParentItem(m_txBackground);
-        m_txMainBody->setSharedRenderer(m_renderer);
-        m_txMainBody->setElementId("body");
-        l_scene->addItem(m_txMainBody);
-
-        m_txLeftStick = new QGraphicsSvgItem();
-        m_txLeftStick->setParentItem(m_txBackground);
-        m_txLeftStick->setSharedRenderer(m_renderer);
-        m_txLeftStick->setElementId("ljoy");
-
-        m_txRightStick = new QGraphicsSvgItem();
-        m_txRightStick->setParentItem(m_txBackground);
-        m_txRightStick->setSharedRenderer(m_renderer);
-        m_txRightStick->setElementId("rjoy");
-
-        m_txAccess0 = new QGraphicsSvgItem();
-        m_txAccess0->setParentItem(m_txBackground);
-        m_txAccess0->setSharedRenderer(m_renderer);
-        m_txAccess0->setElementId("access0");
-
-        m_txAccess1 = new QGraphicsSvgItem();
-        m_txAccess1->setParentItem(m_txBackground);
-        m_txAccess1->setSharedRenderer(m_renderer);
-        m_txAccess1->setElementId("access1");
-
-        m_txAccess2 = new QGraphicsSvgItem();
-        m_txAccess2->setParentItem(m_txBackground);
-        m_txAccess2->setSharedRenderer(m_renderer);
-        m_txAccess2->setElementId("access2");
-
-        m_txFlightMode = new QGraphicsSvgItem();
-        m_txFlightMode->setParentItem(m_txBackground);
-        m_txFlightMode->setSharedRenderer(m_renderer);
-        m_txFlightMode->setElementId("flightModeCenter");
-        m_txFlightMode->setZValue(-10);
-
-        m_txArrows = new QGraphicsSvgItem();
-        m_txArrows->setParentItem(m_txBackground);
-        m_txArrows->setSharedRenderer(m_renderer);
-        m_txArrows->setElementId("arrows");
-        m_txArrows->setVisible(false);
-
-        QRectF orig=m_renderer->boundsOnElement("ljoy");
-        QMatrix Matrix = m_renderer->matrixForElement("ljoy");
-        orig=Matrix.mapRect(orig);
-        m_txLeftStickOrig.translate(orig.x(),orig.y());
-        m_txLeftStick->setTransform(m_txLeftStickOrig,false);
-
-        orig=m_renderer->boundsOnElement("arrows");
-        Matrix = m_renderer->matrixForElement("arrows");
-        orig=Matrix.mapRect(orig);
-        m_txArrowsOrig.translate(orig.x(),orig.y());
-        m_txArrows->setTransform(m_txArrowsOrig,false);
-
-        orig=m_renderer->boundsOnElement("body");
-        Matrix = m_renderer->matrixForElement("body");
-        orig=Matrix.mapRect(orig);
-        m_txMainBodyOrig.translate(orig.x(),orig.y());
-        m_txMainBody->setTransform(m_txMainBodyOrig,false);
-
-        orig=m_renderer->boundsOnElement("flightModeCenter");
-        Matrix = m_renderer->matrixForElement("flightModeCenter");
-        orig=Matrix.mapRect(orig);
-        m_txFlightModeCOrig.translate(orig.x(),orig.y());
-        m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
-
-        orig=m_renderer->boundsOnElement("flightModeLeft");
-        Matrix = m_renderer->matrixForElement("flightModeLeft");
-        orig=Matrix.mapRect(orig);
-        m_txFlightModeLOrig.translate(orig.x(),orig.y());
-        orig=m_renderer->boundsOnElement("flightModeRight");
-        Matrix = m_renderer->matrixForElement("flightModeRight");
-        orig=Matrix.mapRect(orig);
-        m_txFlightModeROrig.translate(orig.x(),orig.y());
-
-        orig=m_renderer->boundsOnElement("rjoy");
-        Matrix = m_renderer->matrixForElement("rjoy");
-        orig=Matrix.mapRect(orig);
-        m_txRightStickOrig.translate(orig.x(),orig.y());
-        m_txRightStick->setTransform(m_txRightStickOrig,false);
-
-        orig=m_renderer->boundsOnElement("access0");
-        Matrix = m_renderer->matrixForElement("access0");
-        orig=Matrix.mapRect(orig);
-        m_txAccess0Orig.translate(orig.x(),orig.y());
-        m_txAccess0->setTransform(m_txAccess0Orig,false);
-
-        orig=m_renderer->boundsOnElement("access1");
-        Matrix = m_renderer->matrixForElement("access1");
-        orig=Matrix.mapRect(orig);
-        m_txAccess1Orig.translate(orig.x(),orig.y());
-        m_txAccess1->setTransform(m_txAccess1Orig,false);
-
-        orig=m_renderer->boundsOnElement("access2");
-        Matrix = m_renderer->matrixForElement("access2");
-        orig=Matrix.mapRect(orig);
-        m_txAccess2Orig.translate(orig.x(),orig.y());
-        m_txAccess2->setTransform(m_txAccess2Orig,true);
-    }
-    m_config->graphicsView->fitInView(m_txMainBody, Qt::KeepAspectRatio );
-    animate=new QTimer(this);
-    connect(animate,SIGNAL(timeout()),this,SLOT(moveTxControls()));
-
-    heliChannelOrder << ManualControlSettings::CHANNELGROUPS_COLLECTIVE <<
-                        ManualControlSettings::CHANNELGROUPS_THROTTLE <<
-                        ManualControlSettings::CHANNELGROUPS_ROLL <<
-                        ManualControlSettings::CHANNELGROUPS_PITCH <<
-                        ManualControlSettings::CHANNELGROUPS_YAW <<
-                        ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
-                        ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
-                        ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
-                        ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
-
-    acroChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
-                        ManualControlSettings::CHANNELGROUPS_ROLL <<
-                        ManualControlSettings::CHANNELGROUPS_PITCH <<
-                        ManualControlSettings::CHANNELGROUPS_YAW <<
-                        ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
-                        ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
-                        ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
-                        ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
-}
-void ConfigInputWidget::resetTxControls()
-{
-
-    m_txLeftStick->setTransform(m_txLeftStickOrig,false);
-    m_txRightStick->setTransform(m_txRightStickOrig,false);
-    m_txAccess0->setTransform(m_txAccess0Orig,false);
-    m_txAccess1->setTransform(m_txAccess1Orig,false);
-    m_txAccess2->setTransform(m_txAccess2Orig,false);
-    m_txFlightMode->setElementId("flightModeCenter");
-    m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
-    m_txArrows->setVisible(false);
-}
-
-ConfigInputWidget::~ConfigInputWidget()
-{
-
-}
-
-void ConfigInputWidget::resizeEvent(QResizeEvent *event)
-{
-    QWidget::resizeEvent(event);
-    m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
-}
-
-void ConfigInputWidget::openHelp()
-{
-
-    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/04Cf", QUrl::StrictMode) );
-}
-void ConfigInputWidget::goToWizard()
-{
-    QMessageBox msgBox;
-    msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
-    msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards."));
-    msgBox.setStandardButtons(QMessageBox::Ok);
-    msgBox.setDefaultButton(QMessageBox::Ok);
-    msgBox.exec();
-    wizardSetUpStep(wizardWelcome);
-    m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
-}
-
-void ConfigInputWidget::disableWizardButton(int value)
-{
-    if(value!=0)
-        m_config->configurationWizard->setVisible(false);
-    else
-        m_config->configurationWizard->setVisible(true);
-}
-
-void ConfigInputWidget::wzCancel()
-{
-    dimOtherControls(false);
-    manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
-    m_config->stackedWidget->setCurrentIndex(0);
-
-    if(wizardStep != wizardNone)
-        wizardTearDownStep(wizardStep);
-    wizardStep=wizardNone;
-    m_config->stackedWidget->setCurrentIndex(0);
-
-    // Load settings back from beginning of wizard
-    manualSettingsObj->setData(previousManualSettingsData);
-}
-
-void ConfigInputWidget::wzNext()
-{
-    // In identify sticks mode the next button can indicate
-    // channel advance
-    if(wizardStep != wizardNone &&
-            wizardStep != wizardIdentifySticks)
-        wizardTearDownStep(wizardStep);
-
-    // State transitions for next button
-    switch(wizardStep) {
-    case wizardWelcome:
-        wizardSetUpStep(wizardChooseMode);
-        break;
-    case wizardChooseMode:
-        wizardSetUpStep(wizardChooseType);
-        break;
-    case wizardChooseType:
-        wizardSetUpStep(wizardIdentifySticks);
-        break;
-    case wizardIdentifySticks:
-        nextChannel();
-        if(currentChannelNum==-1) { // Gone through all channels
-            wizardTearDownStep(wizardIdentifySticks);
-            wizardSetUpStep(wizardIdentifyCenter);
-        }
-        break;
-    case wizardIdentifyCenter:
-        wizardSetUpStep(wizardIdentifyLimits);
-        break;
-    case wizardIdentifyLimits:
-        wizardSetUpStep(wizardIdentifyInverted);
-        break;
-    case wizardIdentifyInverted:
-        wizardSetUpStep(wizardFinish);
-        break;
-    case wizardFinish:
-        wizardStep=wizardNone;
-        m_config->stackedWidget->setCurrentIndex(0);
-        break;
-    default:
-        Q_ASSERT(0);
-    }
-}
-
-void ConfigInputWidget::wzBack()
-{
-    if(wizardStep != wizardNone &&
-            wizardStep != wizardIdentifySticks)
-        wizardTearDownStep(wizardStep);
-
-    // State transitions for next button
-    switch(wizardStep) {
-    case wizardChooseMode:
-        wizardSetUpStep(wizardWelcome);
-        break;
-    case wizardChooseType:
-        wizardSetUpStep(wizardChooseMode);
-        break;
-    case wizardIdentifySticks:
-        prevChannel();
-        if(currentChannelNum == -1) {
-            wizardTearDownStep(wizardIdentifySticks);
-            wizardSetUpStep(wizardChooseType);
-        }
-        break;
-    case wizardIdentifyCenter:
-        wizardSetUpStep(wizardIdentifySticks);
-        break;
-    case wizardIdentifyLimits:
-        wizardSetUpStep(wizardIdentifyCenter);
-        break;
-    case wizardIdentifyInverted:
-        wizardSetUpStep(wizardIdentifyLimits);
-        break;
-    case wizardFinish:
-        wizardSetUpStep(wizardIdentifyInverted);
-        break;
-    default:
-        Q_ASSERT(0);
-    }
-}
-
-void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
-{
-    switch(step) {
-    case wizardWelcome:
-        foreach(QPointer<QWidget> wd,extraWidgets)
-        {
-            if(!wd.isNull())
-                delete wd;
-        }
-        extraWidgets.clear();
-        m_config->graphicsView->setVisible(false);
-        setTxMovement(nothing);
-        manualSettingsData=manualSettingsObj->getData();
-        manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
-        previousManualSettingsData = manualSettingsData;
-        manualSettingsObj->setData(manualSettingsData);
-        m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
-                                     "Please follow the instructions on the screen and only move your controls when asked to.\n"
-                                     "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
-                                     "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n"));
-        m_config->stackedWidget->setCurrentIndex(1);
-        m_config->wzBack->setEnabled(false);
-        break;
-    case wizardChooseMode:
-    {
-        m_config->graphicsView->setVisible(true);
-        m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
-        setTxMovement(nothing);
-        m_config->wzText->setText(tr("Please choose your transmiter type.\n"
-                                     "Mode 1 means your throttle stick is on the right\n"
-                                     "Mode 2 means your throttle stick is on the left\n"));
-        m_config->wzBack->setEnabled(true);
-        QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
-        QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
-        mode2->setChecked(true);
-        extraWidgets.clear();
-        extraWidgets.append(mode1);
-        extraWidgets.append(mode2);
-        m_config->checkBoxesLayout->layout()->addWidget(mode1);
-        m_config->checkBoxesLayout->layout()->addWidget(mode2);
-    }
-        break;
-    case wizardChooseType:
-    {
-        m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
-                                     "Acro means normal transmitter\n"
-                                     "Heli means there is a collective pitch and throttle input\n"
-                                     "If you are using a heli transmitter please engage throttle hold now please.\n"));
-        m_config->wzBack->setEnabled(true);
-        QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
-        QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
-        typeAcro->setChecked(true);
-        typeHeli->setChecked(false);
-        extraWidgets.clear();
-        extraWidgets.append(typeAcro);
-        extraWidgets.append(typeHeli);
-        m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
-        m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
-        wizardStep=wizardChooseType;
-    }
-        break;
-    case wizardIdentifySticks:
-        usedChannels.clear();
-        currentChannelNum=-1;
-        nextChannel();
-        manualSettingsData=manualSettingsObj->getData();
-        connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
-        m_config->wzNext->setEnabled(false);
-        break;
-    case wizardIdentifyCenter:
-        setTxMovement(centerAll);
-        m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)")));
-        break;
-    case wizardIdentifyLimits:
-    {
-        accessoryDesiredObj0 = AccessoryDesired::GetInstance(getObjectManager(),0);
-        accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(),1);
-        accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(),2);
-        setTxMovement(nothing);
-        m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
-        fastMdata();
-        manualSettingsData=manualSettingsObj->getData();
-        for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
-        {
-            // Preserve the inverted status
-            if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
-                manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
-                manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
-            } else {
-                // Make this detect as still inverted
-                manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i] + 1;
-                manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
-            }
-        }
-        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
-        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-    }
-        break;
-    case wizardIdentifyInverted:
-        dimOtherControls(true);
-        setTxMovement(nothing);
-        extraWidgets.clear();
-
-        for (int index = 0; index < manualSettingsObj->getField("ChannelMax")->getElementNames().length(); index++)
-        {
-            QString name = manualSettingsObj->getField("ChannelMax")->getElementNames().at(index);
-            if(!name.contains("Access") &&  !name.contains("Flight"))
-            {
-                QCheckBox * cb=new QCheckBox(name,this);
-                // Make sure checked status matches current one
-                cb->setChecked(manualSettingsData.ChannelMax[index] < manualSettingsData.ChannelMin[index]);
-
-                extraWidgets.append(cb);
-                m_config->checkBoxesLayout->layout()->addWidget(cb);
-
-                connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
-            }
-        }
-        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready")));
-        fastMdata();
-        break;
-    case wizardFinish:
-        dimOtherControls(false);
-        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
-                                             "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
-        fastMdata();
-
-        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
-                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
-                ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
-                  manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
-        if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
-                (abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
-        {
-            manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
-                    (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
-        }
-        manualSettingsObj->setData(manualSettingsData);
-        break;
-    default:
-        Q_ASSERT(0);
-    }
-    wizardStep = step;
-}
-
-void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
-{
-    QRadioButton * mode, * type;
-    Q_ASSERT(step == wizardStep);
-    switch(step) {
-    case wizardWelcome:
-        break;
-    case wizardChooseMode:
-        mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
-        if(mode->isChecked())
-            transmitterMode=mode1;
-        else
-            transmitterMode=mode2;
-        delete extraWidgets.at(0);
-        delete extraWidgets.at(1);
-        extraWidgets.clear();
-        break;
-    case wizardChooseType:
-        type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
-        if(type->isChecked())
-            transmitterType=acro;
-        else
-            transmitterType=heli;
-        delete extraWidgets.at(0);
-        delete extraWidgets.at(1);
-        extraWidgets.clear();
-        break;
-    case wizardIdentifySticks:
-        disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
-        m_config->wzNext->setEnabled(true);
-        setTxMovement(nothing);
-        break;
-    case wizardIdentifyCenter:
-        manualCommandData=manualCommandObj->getData();
-        manualSettingsData=manualSettingsObj->getData();
-        for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
-        {
-            manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
-        }
-        manualSettingsObj->setData(manualSettingsData);
-        setTxMovement(nothing);
-        break;
-    case wizardIdentifyLimits:
-        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
-        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        manualSettingsObj->setData(manualSettingsData);
-        restoreMdata();
-        setTxMovement(nothing);
-        break;
-    case wizardIdentifyInverted:
-        dimOtherControls(false);
-        foreach(QWidget * wd,extraWidgets)
-        {
-            QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
-            if(cb)
-            {
-                disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
-                delete cb;
-            }
-        }
-        extraWidgets.clear();
-        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        restoreMdata();
-        break;
-    case wizardFinish:
-        dimOtherControls(false);
-        setTxMovement(nothing);
-        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        restoreMdata();
-        break;
-    default:
-        Q_ASSERT(0);
-    }
-}
-
-/**
-  * Set manual control command to fast updates
-  */
-void ConfigInputWidget::fastMdata()
-{
-    manualControlMdata = manualCommandObj->getMetadata();
-    UAVObject::Metadata mdata = manualControlMdata;
-    UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
-    mdata.flightTelemetryUpdatePeriod = 150;
-    manualCommandObj->setMetadata(mdata);
-}
-
-/**
-  * Restore previous update settings for manual control data
-  */
-void ConfigInputWidget::restoreMdata()
-{
-    manualCommandObj->setMetadata(manualControlMdata);
-}
-
-/**
-  * Set the display to indicate which channel the person should move
-  */
-void ConfigInputWidget::setChannel(int newChan)
-{
-    if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
-        m_config->wzText->setText(QString(tr("Please enable throttle hold mode and move the collective pitch stick")));
-    else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE)
-        m_config->wzText->setText(QString(tr("Please flick the flight mode switch.  For switches you may have to repeat this rapidly.")));
-    else if((transmitterType == heli) && (newChan == ManualControlSettings::CHANNELGROUPS_THROTTLE))
-        m_config->wzText->setText(QString(tr("Please disable throttle hold mode and move the throttle stick")));
-    else
-        m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
-                                 "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
-
-    if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory") ||
-       manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("FlightMode")) {
-        m_config->wzNext->setEnabled(true);
-        m_config->wzText->setText(m_config->wzText->text() + tr(" or click next to skip this channel."));
-    } else
-        m_config->wzNext->setEnabled(false);
-
-    setMoveFromCommand(newChan);
-
-    currentChannelNum = newChan;
-    channelDetected = false;
-}
-
-/**
-  * Unfortunately order of channel should be different in different conditions.  Selects
-  * next channel based on heli or acro mode
-  */
-void ConfigInputWidget::nextChannel()
-{
-    QList <int> order = (transmitterType == heli) ? heliChannelOrder : acroChannelOrder;
-
-    if(currentChannelNum == -1) {
-        setChannel(order[0]);
-        return;
-    }
-    for (int i = 0; i < order.length() - 1; i++) {
-        if(order[i] == currentChannelNum) {
-            setChannel(order[i+1]);
-            return;
-        }
-    }
-    currentChannelNum = -1; // hit end of list
-}
-
-/**
-  * Unfortunately order of channel should be different in different conditions.  Selects
-  * previous channel based on heli or acro mode
-  */
-void ConfigInputWidget::prevChannel()
-{
-    QList <int> order = transmitterType == heli ? heliChannelOrder : acroChannelOrder;
-
-    // No previous from unset channel or next state
-    if(currentChannelNum == -1)
-        return;
-
-    for (int i = 1; i < order.length(); i++) {
-        if(order[i] == currentChannelNum) {
-            setChannel(order[i-1]);
-            usedChannels.removeLast();
-            return;
-        }
-    }
-    currentChannelNum = -1; // hit end of list
-}
-
-void ConfigInputWidget::identifyControls()
-{
-    static int debounce=0;
-
-    receiverActivityData=receiverActivityObj->getData();
-    if(receiverActivityData.ActiveChannel==255)
-        return;
-    if(channelDetected)
-        return;
-    else
-    {
-        receiverActivityData=receiverActivityObj->getData();
-        currentChannel.group=receiverActivityData.ActiveGroup;
-        currentChannel.number=receiverActivityData.ActiveChannel;
-        if(currentChannel==lastChannel)
-            ++debounce;
-        lastChannel.group= currentChannel.group;
-        lastChannel.number=currentChannel.number;
-        if(!usedChannels.contains(lastChannel) && debounce>1)
-        {
-            channelDetected = true;
-            debounce=0;
-            usedChannels.append(lastChannel);
-            manualSettingsData=manualSettingsObj->getData();
-            manualSettingsData.ChannelGroups[currentChannelNum]=currentChannel.group;
-            manualSettingsData.ChannelNumber[currentChannelNum]=currentChannel.number;
-            manualSettingsObj->setData(manualSettingsData);
-        }
-        else
-            return;
-    }
-
-    m_config->wzText->clear();
-    setTxMovement(nothing);
-
-    QTimer::singleShot(2500, this, SLOT(wzNext()));
-}
-
-void ConfigInputWidget::identifyLimits()
-{
-    manualCommandData=manualCommandObj->getData();
-    for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
-    {
-        if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
-            // Non inverted channel
-            if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
-                manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
-            if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
-                manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
-        } else {
-            // Inverted channel
-            if(manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i])
-                manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
-            if(manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i])
-                manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
-        }
-    }
-    manualSettingsObj->setData(manualSettingsData);
-}
-void ConfigInputWidget::setMoveFromCommand(int command)
-{
-    //CHANNELNUMBER_ROLL=0, CHANNELNUMBER_PITCH=1, CHANNELNUMBER_YAW=2, CHANNELNUMBER_THROTTLE=3, CHANNELNUMBER_FLIGHTMODE=4, CHANNELNUMBER_ACCESSORY0=5, CHANNELNUMBER_ACCESSORY1=6, CHANNELNUMBER_ACCESSORY2=7 } ChannelNumberElem;
-    if(command==ManualControlSettings::CHANNELNUMBER_ROLL)
-    {
-            setTxMovement(moveRightHorizontalStick);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_PITCH)
-    {
-        if(transmitterMode==mode2)
-            setTxMovement(moveRightVerticalStick);
-        else
-            setTxMovement(moveLeftVerticalStick);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_YAW)
-    {
-            setTxMovement(moveLeftHorizontalStick);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_THROTTLE)
-    {
-        if(transmitterMode==mode2)
-            setTxMovement(moveLeftVerticalStick);
-        else
-            setTxMovement(moveRightVerticalStick);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_COLLECTIVE)
-    {
-        if(transmitterMode==mode2)
-            setTxMovement(moveLeftVerticalStick);
-        else
-            setTxMovement(moveRightVerticalStick);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_FLIGHTMODE)
-    {
-        setTxMovement(moveFlightMode);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY0)
-    {
-        setTxMovement(moveAccess0);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY1)
-    {
-        setTxMovement(moveAccess1);
-    }
-    else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY2)
-    {
-        setTxMovement(moveAccess2);
-    }
-
-}
-
-void ConfigInputWidget::setTxMovement(txMovements movement)
-{
-    resetTxControls();
-    switch(movement)
-    {
-    case moveLeftVerticalStick:
-        movePos=0;
-        growing=true;
-        currentMovement=moveLeftVerticalStick;
-        animate->start(100);
-        break;
-    case moveRightVerticalStick:
-        movePos=0;
-        growing=true;
-        currentMovement=moveRightVerticalStick;
-        animate->start(100);
-        break;
-    case moveLeftHorizontalStick:
-        movePos=0;
-        growing=true;
-        currentMovement=moveLeftHorizontalStick;
-        animate->start(100);
-        break;
-    case moveRightHorizontalStick:
-        movePos=0;
-        growing=true;
-        currentMovement=moveRightHorizontalStick;
-        animate->start(100);
-        break;
-    case moveAccess0:
-        movePos=0;
-        growing=true;
-        currentMovement=moveAccess0;
-        animate->start(100);
-        break;
-    case moveAccess1:
-        movePos=0;
-        growing=true;
-        currentMovement=moveAccess1;
-        animate->start(100);
-        break;
-    case moveAccess2:
-        movePos=0;
-        growing=true;
-        currentMovement=moveAccess2;
-        animate->start(100);
-        break;
-    case moveFlightMode:
-        movePos=0;
-        growing=true;
-        currentMovement=moveFlightMode;
-        animate->start(1000);
-        break;
-    case centerAll:
-        movePos=0;
-        currentMovement=centerAll;
-        animate->start(1000);
-        break;
-    case moveAll:
-        movePos=0;
-        growing=true;
-        currentMovement=moveAll;
-        animate->start(50);
-        break;
-    case nothing:
-        movePos=0;
-        animate->stop();
-        break;
-    default:
-        break;
-    }
-}
-
-void ConfigInputWidget::moveTxControls()
-{
-    QTransform trans;
-    QGraphicsItem * item;
-    txMovementType move;
-    int limitMax;
-    int limitMin;
-    static bool auxFlag=false;
-    switch(currentMovement)
-    {
-    case moveLeftVerticalStick:
-        item=m_txLeftStick;
-        trans=m_txLeftStickOrig;
-        limitMax=STICK_MAX_MOVE;
-        limitMin=STICK_MIN_MOVE;
-        move=vertical;
-        break;
-    case moveRightVerticalStick:
-        item=m_txRightStick;
-        trans=m_txRightStickOrig;
-        limitMax=STICK_MAX_MOVE;
-        limitMin=STICK_MIN_MOVE;
-        move=vertical;
-        break;
-    case moveLeftHorizontalStick:
-        item=m_txLeftStick;
-        trans=m_txLeftStickOrig;
-        limitMax=STICK_MAX_MOVE;
-        limitMin=STICK_MIN_MOVE;
-        move=horizontal;
-        break;
-    case moveRightHorizontalStick:
-        item=m_txRightStick;
-        trans=m_txRightStickOrig;
-        limitMax=STICK_MAX_MOVE;
-        limitMin=STICK_MIN_MOVE;
-        move=horizontal;
-        break;
-    case moveAccess0:
-        item=m_txAccess0;
-        trans=m_txAccess0Orig;
-        limitMax=ACCESS_MAX_MOVE;
-        limitMin=ACCESS_MIN_MOVE;
-        move=horizontal;
-        break;
-    case moveAccess1:
-        item=m_txAccess1;
-        trans=m_txAccess1Orig;
-        limitMax=ACCESS_MAX_MOVE;
-        limitMin=ACCESS_MIN_MOVE;
-        move=horizontal;
-        break;
-    case moveAccess2:
-        item=m_txAccess2;
-        trans=m_txAccess2Orig;
-        limitMax=ACCESS_MAX_MOVE;
-        limitMin=ACCESS_MIN_MOVE;
-        move=horizontal;
-        break;
-    case moveFlightMode:
-        item=m_txFlightMode;
-        move=jump;
-        break;
-    case centerAll:
-        item=m_txArrows;
-        move=jump;
-        break;
-    case moveAll:
-        limitMax=STICK_MAX_MOVE;
-        limitMin=STICK_MIN_MOVE;
-        move=mix;
-        break;
-    default:
-        break;
-    }
-    if(move==vertical)
-        item->setTransform(trans.translate(0,movePos*10),false);
-    else if(move==horizontal)
-        item->setTransform(trans.translate(movePos*10,0),false);
-    else if(move==jump)
-    {
-        if(item==m_txArrows)
-        {
-            m_txArrows->setVisible(!m_txArrows->isVisible());
-        }
-        else if(item==m_txFlightMode)
-        {
-            QGraphicsSvgItem * svg;
-            svg=(QGraphicsSvgItem *)item;
-            if (svg)
-            {
-                if(svg->elementId()=="flightModeCenter")
-                {
-                    if(growing)
-                    {
-                        svg->setElementId("flightModeRight");
-                        m_txFlightMode->setTransform(m_txFlightModeROrig,false);
-                    }
-                    else
-                    {
-                        svg->setElementId("flightModeLeft");
-                        m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
-                    }
-                }
-                else if(svg->elementId()=="flightModeRight")
-                {
-                    growing=false;
-                    svg->setElementId("flightModeCenter");
-                    m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
-                }
-                else if(svg->elementId()=="flightModeLeft")
-                {
-                    growing=true;
-                    svg->setElementId("flightModeCenter");
-                    m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
-                }
-            }
-        }
-    }
-    else if(move==mix)
-    {
-        trans=m_txAccess0Orig;
-        m_txAccess0->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
-        trans=m_txAccess1Orig;
-        m_txAccess1->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
-        trans=m_txAccess2Orig;
-        m_txAccess2->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
-
-        if(auxFlag)
-        {
-            trans=m_txLeftStickOrig;
-            m_txLeftStick->setTransform(trans.translate(0,movePos*10),false);
-            trans=m_txRightStickOrig;
-            m_txRightStick->setTransform(trans.translate(0,movePos*10),false);
-        }
-        else
-        {
-            trans=m_txLeftStickOrig;
-            m_txLeftStick->setTransform(trans.translate(movePos*10,0),false);
-            trans=m_txRightStickOrig;
-            m_txRightStick->setTransform(trans.translate(movePos*10,0),false);
-        }
-
-        if(movePos==0)
-        {
-            m_txFlightMode->setElementId("flightModeCenter");
-            m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
-        }
-        else if(movePos==ACCESS_MAX_MOVE/2)
-        {
-            m_txFlightMode->setElementId("flightModeRight");
-            m_txFlightMode->setTransform(m_txFlightModeROrig,false);
-        }
-        else if(movePos==ACCESS_MIN_MOVE/2)
-        {
-            m_txFlightMode->setElementId("flightModeLeft");
-            m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
-        }
-    }
-    if(move==horizontal || move==vertical ||move==mix)
-    {
-        if(movePos==0 && growing)
-            auxFlag=!auxFlag;
-        if(growing)
-            ++movePos;
-        else
-            --movePos;
-        if(movePos>limitMax)
-        {
-            movePos=movePos-2;
-            growing=false;
-        }
-        if(movePos<limitMin)
-        {
-            movePos=movePos+2;
-            growing=true;
-        }
-    }
-}
-
-void ConfigInputWidget::moveSticks()
-{
-    QTransform trans;
-    manualCommandData=manualCommandObj->getData();
-    flightStatusData=flightStatusObj->getData();
-    accessoryDesiredData0=accessoryDesiredObj0->getData();
-    accessoryDesiredData1=accessoryDesiredObj1->getData();
-    accessoryDesiredData2=accessoryDesiredObj2->getData();
-
-    if(transmitterMode==mode2)
-    {
-        trans=m_txLeftStickOrig;
-        m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
-        trans=m_txRightStickOrig;
-        m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
-    }
-    else
-    {
-        trans=m_txRightStickOrig;
-        m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
-        trans=m_txLeftStickOrig;
-        m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
-    }
-    if(flightStatusData.FlightMode==manualSettingsData.FlightModePosition[0])
-    {
-        m_txFlightMode->setElementId("flightModeLeft");
-        m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
-    }
-    else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[1])
-    {
-        m_txFlightMode->setElementId("flightModeCenter");
-        m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
-    }
-    else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[2])
-    {
-        m_txFlightMode->setElementId("flightModeRight");
-        m_txFlightMode->setTransform(m_txFlightModeROrig,false);
-    }
-    m_txAccess0->setTransform(QTransform(m_txAccess0Orig).translate(accessoryDesiredData0.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
-    m_txAccess1->setTransform(QTransform(m_txAccess1Orig).translate(accessoryDesiredData1.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
-    m_txAccess2->setTransform(QTransform(m_txAccess2Orig).translate(accessoryDesiredData2.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
-}
-
-void ConfigInputWidget::dimOtherControls(bool value)
-{
-    qreal opac;
-    if(value)
-        opac=0.1;
-    else
-        opac=1;
-    m_txAccess0->setOpacity(opac);
-    m_txAccess1->setOpacity(opac);
-    m_txAccess2->setOpacity(opac);
-    m_txFlightMode->setOpacity(opac);
-}
-
-void ConfigInputWidget::enableControls(bool enable)
-{
-    m_config->configurationWizard->setEnabled(enable);
-    m_config->runCalibration->setEnabled(enable);
-
-    ConfigTaskWidget::enableControls(enable);
-
-}
-
-void ConfigInputWidget::invertControls()
-{
-    manualSettingsData=manualSettingsObj->getData();
-    foreach(QWidget * wd,extraWidgets)
-    {
-        QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
-        if(cb)
-        {
-            int index = manualSettingsObj->getField("ChannelNumber")->getElementNames().indexOf(cb->text());
-            if((cb->isChecked() && (manualSettingsData.ChannelMax[index]>manualSettingsData.ChannelMin[index])) ||
-                    (!cb->isChecked() && (manualSettingsData.ChannelMax[index]<manualSettingsData.ChannelMin[index])))
-            {
-                qint16 aux;
-                aux=manualSettingsData.ChannelMax[index];
-                manualSettingsData.ChannelMax[index]=manualSettingsData.ChannelMin[index];
-                manualSettingsData.ChannelMin[index]=aux;
-            }
-        }
-    }
-    manualSettingsObj->setData(manualSettingsData);
-}
-
-void ConfigInputWidget::moveFMSlider()
-{
-    ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
-    ManualControlCommand::DataFields manualCommandDataPriv = manualCommandObj->getData();
-
-    float valueScaled;
-    int chMin = manualSettingsDataPriv.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
-    int chMax = manualSettingsDataPriv.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE];
-    int chNeutral = manualSettingsDataPriv.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE];
-
-    int value = manualCommandDataPriv.Channel[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
-    if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral))
-    {
-        if (chMax != chNeutral)
-            valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral);
-        else
-            valueScaled = 0;
-    }
-    else
-    {
-        if (chMin != chNeutral)
-            valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin);
-        else
-            valueScaled = 0;
-    }
-
-    // Bound and scale FlightMode from [-1..+1] to [0..1] range
-    if (valueScaled < -1.0)
-        valueScaled = -1.0;
-    else
-    if (valueScaled >  1.0)
-        valueScaled =  1.0;
-
-    // Convert flightMode value into the switch position in the range [0..N-1]
-    // This uses the same optimized computation as flight code to be consistent
-    uint8_t pos = ((int16_t)(valueScaled * 256) + 256) * manualSettingsDataPriv.FlightModeNumber >> 9;
-    if (pos >= manualSettingsDataPriv.FlightModeNumber)
-        pos = manualSettingsDataPriv.FlightModeNumber - 1;
-    m_config->fmsSlider->setValue(pos);
-}
-
-void ConfigInputWidget::updatePositionSlider()
-{
-    ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
-
-    switch(manualSettingsDataPriv.FlightModeNumber) {
-    default:
-    case 6:
-        m_config->fmsModePos6->setEnabled(true);
-	// pass through
-    case 5:
-        m_config->fmsModePos5->setEnabled(true);
-	// pass through
-    case 4:
-        m_config->fmsModePos4->setEnabled(true);
-	// pass through
-    case 3:
-        m_config->fmsModePos3->setEnabled(true);
-	// pass through
-    case 2:
-        m_config->fmsModePos2->setEnabled(true);
-	// pass through
-    case 1:
-        m_config->fmsModePos1->setEnabled(true);
-	// pass through
-    case 0:
-	break;
-    }
-
-    switch(manualSettingsDataPriv.FlightModeNumber) {
-    case 0:
-        m_config->fmsModePos1->setEnabled(false);
-	// pass through
-    case 1:
-        m_config->fmsModePos2->setEnabled(false);
-	// pass through
-    case 2:
-        m_config->fmsModePos3->setEnabled(false);
-	// pass through
-    case 3:
-        m_config->fmsModePos4->setEnabled(false);
-	// pass through
-    case 4:
-        m_config->fmsModePos5->setEnabled(false);
-	// pass through
-    case 5:
-        m_config->fmsModePos6->setEnabled(false);
-	// pass through
-    case 6:
-    default:
-	break;
-    }
-}
-
-void ConfigInputWidget::updateCalibration()
-{
-    manualCommandData=manualCommandObj->getData();
-    for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
-    {
-        if((!reverse[i] && manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i]) ||
-                (reverse[i] && manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i]))
-            manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
-        if((!reverse[i] && manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i]) ||
-                (reverse[i] && manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i]))
-            manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
-        manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
-    }
-
-    manualSettingsObj->setData(manualSettingsData);
-    manualSettingsObj->updated();
-}
-
-void ConfigInputWidget::simpleCalibration(bool enable)
-{
-    if (enable) {
-        m_config->configurationWizard->setEnabled(false);
-
-        QMessageBox msgBox;
-        msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
-        msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards."));
-        msgBox.setStandardButtons(QMessageBox::Ok);
-        msgBox.setDefaultButton(QMessageBox::Ok);
-        msgBox.exec();
-
-        manualCommandData = manualCommandObj->getData();
-
-        manualSettingsData=manualSettingsObj->getData();
-        manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
-        manualSettingsObj->setData(manualSettingsData);
-
-        for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
-            reverse[i] = manualSettingsData.ChannelMax[i] < manualSettingsData.ChannelMin[i];
-            manualSettingsData.ChannelMin[i] = manualCommandData.Channel[i];
-            manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
-            manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
-        }
-
-        fastMdata();
-
-        connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
-    } else {
-        m_config->configurationWizard->setEnabled(true);
-
-        manualCommandData = manualCommandObj->getData();
-        manualSettingsData = manualSettingsObj->getData();
-
-        restoreMdata();
-
-        for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
-            manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
-
-        // Force flight mode neutral to middle
-        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] =
-                (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] +
-                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]) / 2;
-
-        // Force throttle to be near min
-        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
-                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
-                ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
-                  manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
-
-        manualSettingsObj->setData(manualSettingsData);
-
-        disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
-    }
-}
+/**
+ ******************************************************************************
+ *
+ * @file       configinputwidget.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief Servo input/output configuration panel for the config gadget
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "configinputwidget.h"
+
+#include "uavtalk/telemetrymanager.h"
+
+#include <QDebug>
+#include <QStringList>
+#include <QtGui/QWidget>
+#include <QtGui/QTextEdit>
+#include <QtGui/QVBoxLayout>
+#include <QtGui/QPushButton>
+#include <QDesktopServices>
+#include <QUrl>
+#include <QMessageBox>
+#include <utils/stylehelper.h>
+#include <QMessageBox>
+
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
+
+#define ACCESS_MIN_MOVE -3
+#define ACCESS_MAX_MOVE 3
+#define STICK_MIN_MOVE -8
+#define STICK_MAX_MOVE 8
+
+ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),transmitterType(heli),loop(NULL),skipflag(false)
+{
+    manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
+    manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
+    flightStatusObj = FlightStatus::GetInstance(getObjectManager());
+    receiverActivityObj=ReceiverActivity::GetInstance(getObjectManager());
+    m_config = new Ui_InputWidget();
+    m_config->setupUi(this);
+    
+    addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
+
+    ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
+    if(!settings->useExpertMode())
+        m_config->saveRCInputToRAM->setVisible(false);
+    
+    addApplySaveButtons(m_config->saveRCInputToRAM,m_config->saveRCInputToSD);
+
+	//Generate the rows of buttons in the input channel form GUI
+    unsigned int index=0;
+    foreach (QString name, manualSettingsObj->getField("ChannelNumber")->getElementNames())
+    {
+        Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
+        inputChannelForm * inpForm=new inputChannelForm(this,index==0);
+        m_config->channelSettings->layout()->addWidget(inpForm); //Add the row to the UI
+        inpForm->setName(name);
+        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelGroups",inpForm->ui->channelGroup,index);
+        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNumber",inpForm->ui->channelNumber,index);
+        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inpForm->ui->channelMin,index);
+        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inpForm->ui->channelNeutral,index);
+        addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inpForm->ui->channelMax,index);
+        ++index;
+    }
+
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Deadband", m_config->deadband, 0, 0.01f);
+
+    connect(m_config->configurationWizard,SIGNAL(clicked()),this,SLOT(goToWizard()));
+    connect(m_config->stackedWidget,SIGNAL(currentChanged(int)),this,SLOT(disableWizardButton(int)));
+    connect(m_config->runCalibration,SIGNAL(toggled(bool)),this, SLOT(simpleCalibration(bool)));
+
+    connect(m_config->wzNext,SIGNAL(clicked()),this,SLOT(wzNext()));
+    connect(m_config->wzCancel,SIGNAL(clicked()),this,SLOT(wzCancel()));
+    connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
+
+    m_config->stackedWidget->setCurrentIndex(0);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
+
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw");
+    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw");
+
+    addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
+    addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);
+    connect( ManualControlCommand::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(moveFMSlider()));
+    connect( ManualControlSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(updatePositionSlider()));
+    enableControls(false);
+
+    populateWidgets();
+    refreshWidgetsValues();
+    // Connect the help button
+    connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
+
+    m_config->graphicsView->setScene(new QGraphicsScene(this));
+    m_config->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
+    m_renderer = new QSvgRenderer();
+    QGraphicsScene *l_scene = m_config->graphicsView->scene();
+    m_config->graphicsView->setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor()));
+    if (QFile::exists(":/configgadget/images/TX2.svg") && m_renderer->load(QString(":/configgadget/images/TX2.svg")) && m_renderer->isValid())
+    {
+        l_scene->clear(); // Deletes all items contained in the scene as well.
+
+        m_txBackground = new QGraphicsSvgItem();
+        // All other items will be clipped to the shape of the background
+        m_txBackground->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
+                                 QGraphicsItem::ItemClipsToShape);
+        m_txBackground->setSharedRenderer(m_renderer);
+        m_txBackground->setElementId("background");
+        l_scene->addItem(m_txBackground);
+
+        m_txMainBody = new QGraphicsSvgItem();
+        m_txMainBody->setParentItem(m_txBackground);
+        m_txMainBody->setSharedRenderer(m_renderer);
+        m_txMainBody->setElementId("body");
+        l_scene->addItem(m_txMainBody);
+
+        m_txLeftStick = new QGraphicsSvgItem();
+        m_txLeftStick->setParentItem(m_txBackground);
+        m_txLeftStick->setSharedRenderer(m_renderer);
+        m_txLeftStick->setElementId("ljoy");
+
+        m_txRightStick = new QGraphicsSvgItem();
+        m_txRightStick->setParentItem(m_txBackground);
+        m_txRightStick->setSharedRenderer(m_renderer);
+        m_txRightStick->setElementId("rjoy");
+
+        m_txAccess0 = new QGraphicsSvgItem();
+        m_txAccess0->setParentItem(m_txBackground);
+        m_txAccess0->setSharedRenderer(m_renderer);
+        m_txAccess0->setElementId("access0");
+
+        m_txAccess1 = new QGraphicsSvgItem();
+        m_txAccess1->setParentItem(m_txBackground);
+        m_txAccess1->setSharedRenderer(m_renderer);
+        m_txAccess1->setElementId("access1");
+
+        m_txAccess2 = new QGraphicsSvgItem();
+        m_txAccess2->setParentItem(m_txBackground);
+        m_txAccess2->setSharedRenderer(m_renderer);
+        m_txAccess2->setElementId("access2");
+
+        m_txFlightMode = new QGraphicsSvgItem();
+        m_txFlightMode->setParentItem(m_txBackground);
+        m_txFlightMode->setSharedRenderer(m_renderer);
+        m_txFlightMode->setElementId("flightModeCenter");
+        m_txFlightMode->setZValue(-10);
+
+        m_txArrows = new QGraphicsSvgItem();
+        m_txArrows->setParentItem(m_txBackground);
+        m_txArrows->setSharedRenderer(m_renderer);
+        m_txArrows->setElementId("arrows");
+        m_txArrows->setVisible(false);
+
+        QRectF orig=m_renderer->boundsOnElement("ljoy");
+        QMatrix Matrix = m_renderer->matrixForElement("ljoy");
+        orig=Matrix.mapRect(orig);
+        m_txLeftStickOrig.translate(orig.x(),orig.y());
+        m_txLeftStick->setTransform(m_txLeftStickOrig,false);
+
+        orig=m_renderer->boundsOnElement("arrows");
+        Matrix = m_renderer->matrixForElement("arrows");
+        orig=Matrix.mapRect(orig);
+        m_txArrowsOrig.translate(orig.x(),orig.y());
+        m_txArrows->setTransform(m_txArrowsOrig,false);
+
+        orig=m_renderer->boundsOnElement("body");
+        Matrix = m_renderer->matrixForElement("body");
+        orig=Matrix.mapRect(orig);
+        m_txMainBodyOrig.translate(orig.x(),orig.y());
+        m_txMainBody->setTransform(m_txMainBodyOrig,false);
+
+        orig=m_renderer->boundsOnElement("flightModeCenter");
+        Matrix = m_renderer->matrixForElement("flightModeCenter");
+        orig=Matrix.mapRect(orig);
+        m_txFlightModeCOrig.translate(orig.x(),orig.y());
+        m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
+
+        orig=m_renderer->boundsOnElement("flightModeLeft");
+        Matrix = m_renderer->matrixForElement("flightModeLeft");
+        orig=Matrix.mapRect(orig);
+        m_txFlightModeLOrig.translate(orig.x(),orig.y());
+        orig=m_renderer->boundsOnElement("flightModeRight");
+        Matrix = m_renderer->matrixForElement("flightModeRight");
+        orig=Matrix.mapRect(orig);
+        m_txFlightModeROrig.translate(orig.x(),orig.y());
+
+        orig=m_renderer->boundsOnElement("rjoy");
+        Matrix = m_renderer->matrixForElement("rjoy");
+        orig=Matrix.mapRect(orig);
+        m_txRightStickOrig.translate(orig.x(),orig.y());
+        m_txRightStick->setTransform(m_txRightStickOrig,false);
+
+        orig=m_renderer->boundsOnElement("access0");
+        Matrix = m_renderer->matrixForElement("access0");
+        orig=Matrix.mapRect(orig);
+        m_txAccess0Orig.translate(orig.x(),orig.y());
+        m_txAccess0->setTransform(m_txAccess0Orig,false);
+
+        orig=m_renderer->boundsOnElement("access1");
+        Matrix = m_renderer->matrixForElement("access1");
+        orig=Matrix.mapRect(orig);
+        m_txAccess1Orig.translate(orig.x(),orig.y());
+        m_txAccess1->setTransform(m_txAccess1Orig,false);
+
+        orig=m_renderer->boundsOnElement("access2");
+        Matrix = m_renderer->matrixForElement("access2");
+        orig=Matrix.mapRect(orig);
+        m_txAccess2Orig.translate(orig.x(),orig.y());
+        m_txAccess2->setTransform(m_txAccess2Orig,true);
+    }
+    m_config->graphicsView->fitInView(m_txMainBody, Qt::KeepAspectRatio );
+    animate=new QTimer(this);
+    connect(animate,SIGNAL(timeout()),this,SLOT(moveTxControls()));
+
+    heliChannelOrder << ManualControlSettings::CHANNELGROUPS_COLLECTIVE <<
+                        ManualControlSettings::CHANNELGROUPS_THROTTLE <<
+                        ManualControlSettings::CHANNELGROUPS_ROLL <<
+                        ManualControlSettings::CHANNELGROUPS_PITCH <<
+                        ManualControlSettings::CHANNELGROUPS_YAW <<
+                        ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
+
+    acroChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
+                        ManualControlSettings::CHANNELGROUPS_ROLL <<
+                        ManualControlSettings::CHANNELGROUPS_PITCH <<
+                        ManualControlSettings::CHANNELGROUPS_YAW <<
+                        ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
+                        ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
+}
+void ConfigInputWidget::resetTxControls()
+{
+
+    m_txLeftStick->setTransform(m_txLeftStickOrig,false);
+    m_txRightStick->setTransform(m_txRightStickOrig,false);
+    m_txAccess0->setTransform(m_txAccess0Orig,false);
+    m_txAccess1->setTransform(m_txAccess1Orig,false);
+    m_txAccess2->setTransform(m_txAccess2Orig,false);
+    m_txFlightMode->setElementId("flightModeCenter");
+    m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
+    m_txArrows->setVisible(false);
+}
+
+ConfigInputWidget::~ConfigInputWidget()
+{
+
+}
+
+void ConfigInputWidget::resizeEvent(QResizeEvent *event)
+{
+    QWidget::resizeEvent(event);
+    m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
+}
+
+void ConfigInputWidget::openHelp()
+{
+
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/04Cf", QUrl::StrictMode) );
+}
+void ConfigInputWidget::goToWizard()
+{
+    QMessageBox msgBox;
+    msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
+    msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards."));
+    msgBox.setStandardButtons(QMessageBox::Ok);
+    msgBox.setDefaultButton(QMessageBox::Ok);
+    msgBox.exec();
+    wizardSetUpStep(wizardWelcome);
+    m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
+}
+
+void ConfigInputWidget::disableWizardButton(int value)
+{
+    if(value!=0)
+        m_config->configurationWizard->setVisible(false);
+    else
+        m_config->configurationWizard->setVisible(true);
+}
+
+void ConfigInputWidget::wzCancel()
+{
+    dimOtherControls(false);
+    manualCommandObj->setMetadata(manualCommandObj->getDefaultMetadata());
+    m_config->stackedWidget->setCurrentIndex(0);
+
+    if(wizardStep != wizardNone)
+        wizardTearDownStep(wizardStep);
+    wizardStep=wizardNone;
+    m_config->stackedWidget->setCurrentIndex(0);
+
+    // Load settings back from beginning of wizard
+    manualSettingsObj->setData(previousManualSettingsData);
+}
+
+void ConfigInputWidget::wzNext()
+{
+    // In identify sticks mode the next button can indicate
+    // channel advance
+    if(wizardStep != wizardNone &&
+            wizardStep != wizardIdentifySticks)
+        wizardTearDownStep(wizardStep);
+
+    // State transitions for next button
+    switch(wizardStep) {
+    case wizardWelcome:
+        wizardSetUpStep(wizardChooseMode);
+        break;
+    case wizardChooseMode:
+        wizardSetUpStep(wizardChooseType);
+        break;
+    case wizardChooseType:
+        wizardSetUpStep(wizardIdentifySticks);
+        break;
+    case wizardIdentifySticks:
+        nextChannel();
+        if(currentChannelNum==-1) { // Gone through all channels
+            wizardTearDownStep(wizardIdentifySticks);
+            wizardSetUpStep(wizardIdentifyCenter);
+        }
+        break;
+    case wizardIdentifyCenter:
+        wizardSetUpStep(wizardIdentifyLimits);
+        break;
+    case wizardIdentifyLimits:
+        wizardSetUpStep(wizardIdentifyInverted);
+        break;
+    case wizardIdentifyInverted:
+        wizardSetUpStep(wizardFinish);
+        break;
+    case wizardFinish:
+        wizardStep=wizardNone;
+        m_config->stackedWidget->setCurrentIndex(0);
+        break;
+    default:
+        Q_ASSERT(0);
+    }
+}
+
+void ConfigInputWidget::wzBack()
+{
+    if(wizardStep != wizardNone &&
+            wizardStep != wizardIdentifySticks)
+        wizardTearDownStep(wizardStep);
+
+    // State transitions for next button
+    switch(wizardStep) {
+    case wizardChooseMode:
+        wizardSetUpStep(wizardWelcome);
+        break;
+    case wizardChooseType:
+        wizardSetUpStep(wizardChooseMode);
+        break;
+    case wizardIdentifySticks:
+        prevChannel();
+        if(currentChannelNum == -1) {
+            wizardTearDownStep(wizardIdentifySticks);
+            wizardSetUpStep(wizardChooseType);
+        }
+        break;
+    case wizardIdentifyCenter:
+        wizardSetUpStep(wizardIdentifySticks);
+        break;
+    case wizardIdentifyLimits:
+        wizardSetUpStep(wizardIdentifyCenter);
+        break;
+    case wizardIdentifyInverted:
+        wizardSetUpStep(wizardIdentifyLimits);
+        break;
+    case wizardFinish:
+        wizardSetUpStep(wizardIdentifyInverted);
+        break;
+    default:
+        Q_ASSERT(0);
+    }
+}
+
+void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
+{
+    switch(step) {
+    case wizardWelcome:
+        foreach(QPointer<QWidget> wd,extraWidgets)
+        {
+            if(!wd.isNull())
+                delete wd;
+        }
+        extraWidgets.clear();
+        m_config->graphicsView->setVisible(false);
+        setTxMovement(nothing);
+        manualSettingsData=manualSettingsObj->getData();
+        manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
+        previousManualSettingsData = manualSettingsData;
+        manualSettingsObj->setData(manualSettingsData);
+        m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
+                                     "Please follow the instructions on the screen and only move your controls when asked to.\n"
+                                     "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
+                                     "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n"));
+        m_config->stackedWidget->setCurrentIndex(1);
+        m_config->wzBack->setEnabled(false);
+        break;
+    case wizardChooseMode:
+    {
+        m_config->graphicsView->setVisible(true);
+        m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
+        setTxMovement(nothing);
+        m_config->wzText->setText(tr("Please choose your transmiter type.\n"
+                                     "Mode 1 means your throttle stick is on the right\n"
+                                     "Mode 2 means your throttle stick is on the left\n"));
+        m_config->wzBack->setEnabled(true);
+        QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
+        QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
+        mode2->setChecked(true);
+        extraWidgets.clear();
+        extraWidgets.append(mode1);
+        extraWidgets.append(mode2);
+        m_config->checkBoxesLayout->layout()->addWidget(mode1);
+        m_config->checkBoxesLayout->layout()->addWidget(mode2);
+    }
+        break;
+    case wizardChooseType:
+    {
+        m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
+                                     "Acro means normal transmitter\n"
+                                     "Heli means there is a collective pitch and throttle input\n"
+                                     "If you are using a heli transmitter please engage throttle hold now please.\n"));
+        m_config->wzBack->setEnabled(true);
+        QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
+        QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
+        typeAcro->setChecked(true);
+        typeHeli->setChecked(false);
+        extraWidgets.clear();
+        extraWidgets.append(typeAcro);
+        extraWidgets.append(typeHeli);
+        m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
+        m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
+        wizardStep=wizardChooseType;
+    }
+        break;
+    case wizardIdentifySticks:
+        usedChannels.clear();
+        currentChannelNum=-1;
+        nextChannel();
+        manualSettingsData=manualSettingsObj->getData();
+        connect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
+        m_config->wzNext->setEnabled(false);
+        break;
+    case wizardIdentifyCenter:
+        setTxMovement(centerAll);
+        m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)")));
+        break;
+    case wizardIdentifyLimits:
+    {
+        accessoryDesiredObj0 = AccessoryDesired::GetInstance(getObjectManager(),0);
+        accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(),1);
+        accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(),2);
+        setTxMovement(nothing);
+        m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
+        fastMdata();
+        manualSettingsData=manualSettingsObj->getData();
+        for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
+        {
+            // Preserve the inverted status
+            if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
+                manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i];
+                manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
+            } else {
+                // Make this detect as still inverted
+                manualSettingsData.ChannelMin[i]=manualSettingsData.ChannelNeutral[i] + 1;
+                manualSettingsData.ChannelMax[i]=manualSettingsData.ChannelNeutral[i];
+            }
+        }
+        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
+        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+    }
+        break;
+    case wizardIdentifyInverted:
+        dimOtherControls(true);
+        setTxMovement(nothing);
+        extraWidgets.clear();
+
+        for (int index = 0; index < manualSettingsObj->getField("ChannelMax")->getElementNames().length(); index++)
+        {
+            QString name = manualSettingsObj->getField("ChannelMax")->getElementNames().at(index);
+            if(!name.contains("Access") &&  !name.contains("Flight"))
+            {
+                QCheckBox * cb=new QCheckBox(name,this);
+                // Make sure checked status matches current one
+                cb->setChecked(manualSettingsData.ChannelMax[index] < manualSettingsData.ChannelMin[index]);
+
+                extraWidgets.append(cb);
+                m_config->checkBoxesLayout->layout()->addWidget(cb);
+
+                connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
+            }
+        }
+        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready")));
+        fastMdata();
+        break;
+    case wizardFinish:
+        dimOtherControls(false);
+        connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
+                                             "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
+        fastMdata();
+
+        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
+                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
+                ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
+                  manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
+        if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
+                (abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
+        {
+            manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
+                    (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
+        }
+        manualSettingsObj->setData(manualSettingsData);
+        break;
+    default:
+        Q_ASSERT(0);
+    }
+    wizardStep = step;
+}
+
+void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
+{
+    QRadioButton * mode, * type;
+    Q_ASSERT(step == wizardStep);
+    switch(step) {
+    case wizardWelcome:
+        break;
+    case wizardChooseMode:
+        mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
+        if(mode->isChecked())
+            transmitterMode=mode1;
+        else
+            transmitterMode=mode2;
+        delete extraWidgets.at(0);
+        delete extraWidgets.at(1);
+        extraWidgets.clear();
+        break;
+    case wizardChooseType:
+        type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
+        if(type->isChecked())
+            transmitterType=acro;
+        else
+            transmitterType=heli;
+        delete extraWidgets.at(0);
+        delete extraWidgets.at(1);
+        extraWidgets.clear();
+        break;
+    case wizardIdentifySticks:
+        disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
+        m_config->wzNext->setEnabled(true);
+        setTxMovement(nothing);
+        break;
+    case wizardIdentifyCenter:
+        manualCommandData=manualCommandObj->getData();
+        manualSettingsData=manualSettingsObj->getData();
+        for(unsigned int i=0;i<ManualControlCommand::CHANNEL_NUMELEM;++i)
+        {
+            manualSettingsData.ChannelNeutral[i]=manualCommandData.Channel[i];
+        }
+        manualSettingsObj->setData(manualSettingsData);
+        setTxMovement(nothing);
+        break;
+    case wizardIdentifyLimits:
+        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyLimits()));
+        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        manualSettingsObj->setData(manualSettingsData);
+        restoreMdata();
+        setTxMovement(nothing);
+        break;
+    case wizardIdentifyInverted:
+        dimOtherControls(false);
+        foreach(QWidget * wd,extraWidgets)
+        {
+            QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
+            if(cb)
+            {
+                disconnect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
+                delete cb;
+            }
+        }
+        extraWidgets.clear();
+        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        restoreMdata();
+        break;
+    case wizardFinish:
+        dimOtherControls(false);
+        setTxMovement(nothing);
+        disconnect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        disconnect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        disconnect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
+        restoreMdata();
+        break;
+    default:
+        Q_ASSERT(0);
+    }
+}
+
+/**
+  * Set manual control command to fast updates
+  */
+void ConfigInputWidget::fastMdata()
+{
+    manualControlMdata = manualCommandObj->getMetadata();
+    UAVObject::Metadata mdata = manualControlMdata;
+    UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
+    mdata.flightTelemetryUpdatePeriod = 150;
+    manualCommandObj->setMetadata(mdata);
+}
+
+/**
+  * Restore previous update settings for manual control data
+  */
+void ConfigInputWidget::restoreMdata()
+{
+    manualCommandObj->setMetadata(manualControlMdata);
+}
+
+/**
+  * Set the display to indicate which channel the person should move
+  */
+void ConfigInputWidget::setChannel(int newChan)
+{
+    if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
+        m_config->wzText->setText(QString(tr("Please enable throttle hold mode and move the collective pitch stick")));
+    else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE)
+        m_config->wzText->setText(QString(tr("Please flick the flight mode switch.  For switches you may have to repeat this rapidly.")));
+    else if((transmitterType == heli) && (newChan == ManualControlSettings::CHANNELGROUPS_THROTTLE))
+        m_config->wzText->setText(QString(tr("Please disable throttle hold mode and move the throttle stick")));
+    else
+        m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
+                                 "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
+
+    if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory") ||
+       manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("FlightMode")) {
+        m_config->wzNext->setEnabled(true);
+        m_config->wzText->setText(m_config->wzText->text() + tr(" or click next to skip this channel."));
+    } else
+        m_config->wzNext->setEnabled(false);
+
+    setMoveFromCommand(newChan);
+
+    currentChannelNum = newChan;
+    channelDetected = false;
+}
+
+/**
+  * Unfortunately order of channel should be different in different conditions.  Selects
+  * next channel based on heli or acro mode
+  */
+void ConfigInputWidget::nextChannel()
+{
+    QList <int> order = (transmitterType == heli) ? heliChannelOrder : acroChannelOrder;
+
+    if(currentChannelNum == -1) {
+        setChannel(order[0]);
+        return;
+    }
+    for (int i = 0; i < order.length() - 1; i++) {
+        if(order[i] == currentChannelNum) {
+            setChannel(order[i+1]);
+            return;
+        }
+    }
+    currentChannelNum = -1; // hit end of list
+}
+
+/**
+  * Unfortunately order of channel should be different in different conditions.  Selects
+  * previous channel based on heli or acro mode
+  */
+void ConfigInputWidget::prevChannel()
+{
+    QList <int> order = transmitterType == heli ? heliChannelOrder : acroChannelOrder;
+
+    // No previous from unset channel or next state
+    if(currentChannelNum == -1)
+        return;
+
+    for (int i = 1; i < order.length(); i++) {
+        if(order[i] == currentChannelNum) {
+            setChannel(order[i-1]);
+            usedChannels.removeLast();
+            return;
+        }
+    }
+    currentChannelNum = -1; // hit end of list
+}
+
+void ConfigInputWidget::identifyControls()
+{
+    static int debounce=0;
+
+    receiverActivityData=receiverActivityObj->getData();
+    if(receiverActivityData.ActiveChannel==255)
+        return;
+    if(channelDetected)
+        return;
+    else
+    {
+        receiverActivityData=receiverActivityObj->getData();
+        currentChannel.group=receiverActivityData.ActiveGroup;
+        currentChannel.number=receiverActivityData.ActiveChannel;
+        if(currentChannel==lastChannel)
+            ++debounce;
+        lastChannel.group= currentChannel.group;
+        lastChannel.number=currentChannel.number;
+        if(!usedChannels.contains(lastChannel) && debounce>1)
+        {
+            channelDetected = true;
+            debounce=0;
+            usedChannels.append(lastChannel);
+            manualSettingsData=manualSettingsObj->getData();
+            manualSettingsData.ChannelGroups[currentChannelNum]=currentChannel.group;
+            manualSettingsData.ChannelNumber[currentChannelNum]=currentChannel.number;
+            manualSettingsObj->setData(manualSettingsData);
+        }
+        else
+            return;
+    }
+
+    m_config->wzText->clear();
+    setTxMovement(nothing);
+
+    QTimer::singleShot(2500, this, SLOT(wzNext()));
+}
+
+void ConfigInputWidget::identifyLimits()
+{
+    manualCommandData=manualCommandObj->getData();
+    for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
+    {
+        if(manualSettingsData.ChannelMin[i] <= manualSettingsData.ChannelMax[i]) {
+            // Non inverted channel
+            if(manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i])
+                manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
+            if(manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i])
+                manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
+        } else {
+            // Inverted channel
+            if(manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i])
+                manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
+            if(manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i])
+                manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
+        }
+    }
+    manualSettingsObj->setData(manualSettingsData);
+}
+void ConfigInputWidget::setMoveFromCommand(int command)
+{
+    //CHANNELNUMBER_ROLL=0, CHANNELNUMBER_PITCH=1, CHANNELNUMBER_YAW=2, CHANNELNUMBER_THROTTLE=3, CHANNELNUMBER_FLIGHTMODE=4, CHANNELNUMBER_ACCESSORY0=5, CHANNELNUMBER_ACCESSORY1=6, CHANNELNUMBER_ACCESSORY2=7 } ChannelNumberElem;
+    if(command==ManualControlSettings::CHANNELNUMBER_ROLL)
+    {
+            setTxMovement(moveRightHorizontalStick);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_PITCH)
+    {
+        if(transmitterMode==mode2)
+            setTxMovement(moveRightVerticalStick);
+        else
+            setTxMovement(moveLeftVerticalStick);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_YAW)
+    {
+            setTxMovement(moveLeftHorizontalStick);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_THROTTLE)
+    {
+        if(transmitterMode==mode2)
+            setTxMovement(moveLeftVerticalStick);
+        else
+            setTxMovement(moveRightVerticalStick);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_COLLECTIVE)
+    {
+        if(transmitterMode==mode2)
+            setTxMovement(moveLeftVerticalStick);
+        else
+            setTxMovement(moveRightVerticalStick);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_FLIGHTMODE)
+    {
+        setTxMovement(moveFlightMode);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY0)
+    {
+        setTxMovement(moveAccess0);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY1)
+    {
+        setTxMovement(moveAccess1);
+    }
+    else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY2)
+    {
+        setTxMovement(moveAccess2);
+    }
+
+}
+
+void ConfigInputWidget::setTxMovement(txMovements movement)
+{
+    resetTxControls();
+    switch(movement)
+    {
+    case moveLeftVerticalStick:
+        movePos=0;
+        growing=true;
+        currentMovement=moveLeftVerticalStick;
+        animate->start(100);
+        break;
+    case moveRightVerticalStick:
+        movePos=0;
+        growing=true;
+        currentMovement=moveRightVerticalStick;
+        animate->start(100);
+        break;
+    case moveLeftHorizontalStick:
+        movePos=0;
+        growing=true;
+        currentMovement=moveLeftHorizontalStick;
+        animate->start(100);
+        break;
+    case moveRightHorizontalStick:
+        movePos=0;
+        growing=true;
+        currentMovement=moveRightHorizontalStick;
+        animate->start(100);
+        break;
+    case moveAccess0:
+        movePos=0;
+        growing=true;
+        currentMovement=moveAccess0;
+        animate->start(100);
+        break;
+    case moveAccess1:
+        movePos=0;
+        growing=true;
+        currentMovement=moveAccess1;
+        animate->start(100);
+        break;
+    case moveAccess2:
+        movePos=0;
+        growing=true;
+        currentMovement=moveAccess2;
+        animate->start(100);
+        break;
+    case moveFlightMode:
+        movePos=0;
+        growing=true;
+        currentMovement=moveFlightMode;
+        animate->start(1000);
+        break;
+    case centerAll:
+        movePos=0;
+        currentMovement=centerAll;
+        animate->start(1000);
+        break;
+    case moveAll:
+        movePos=0;
+        growing=true;
+        currentMovement=moveAll;
+        animate->start(50);
+        break;
+    case nothing:
+        movePos=0;
+        animate->stop();
+        break;
+    default:
+        break;
+    }
+}
+
+void ConfigInputWidget::moveTxControls()
+{
+    QTransform trans;
+    QGraphicsItem * item;
+    txMovementType move;
+    int limitMax;
+    int limitMin;
+    static bool auxFlag=false;
+    switch(currentMovement)
+    {
+    case moveLeftVerticalStick:
+        item=m_txLeftStick;
+        trans=m_txLeftStickOrig;
+        limitMax=STICK_MAX_MOVE;
+        limitMin=STICK_MIN_MOVE;
+        move=vertical;
+        break;
+    case moveRightVerticalStick:
+        item=m_txRightStick;
+        trans=m_txRightStickOrig;
+        limitMax=STICK_MAX_MOVE;
+        limitMin=STICK_MIN_MOVE;
+        move=vertical;
+        break;
+    case moveLeftHorizontalStick:
+        item=m_txLeftStick;
+        trans=m_txLeftStickOrig;
+        limitMax=STICK_MAX_MOVE;
+        limitMin=STICK_MIN_MOVE;
+        move=horizontal;
+        break;
+    case moveRightHorizontalStick:
+        item=m_txRightStick;
+        trans=m_txRightStickOrig;
+        limitMax=STICK_MAX_MOVE;
+        limitMin=STICK_MIN_MOVE;
+        move=horizontal;
+        break;
+    case moveAccess0:
+        item=m_txAccess0;
+        trans=m_txAccess0Orig;
+        limitMax=ACCESS_MAX_MOVE;
+        limitMin=ACCESS_MIN_MOVE;
+        move=horizontal;
+        break;
+    case moveAccess1:
+        item=m_txAccess1;
+        trans=m_txAccess1Orig;
+        limitMax=ACCESS_MAX_MOVE;
+        limitMin=ACCESS_MIN_MOVE;
+        move=horizontal;
+        break;
+    case moveAccess2:
+        item=m_txAccess2;
+        trans=m_txAccess2Orig;
+        limitMax=ACCESS_MAX_MOVE;
+        limitMin=ACCESS_MIN_MOVE;
+        move=horizontal;
+        break;
+    case moveFlightMode:
+        item=m_txFlightMode;
+        move=jump;
+        break;
+    case centerAll:
+        item=m_txArrows;
+        move=jump;
+        break;
+    case moveAll:
+        limitMax=STICK_MAX_MOVE;
+        limitMin=STICK_MIN_MOVE;
+        move=mix;
+        break;
+    default:
+        break;
+    }
+    if(move==vertical)
+        item->setTransform(trans.translate(0,movePos*10),false);
+    else if(move==horizontal)
+        item->setTransform(trans.translate(movePos*10,0),false);
+    else if(move==jump)
+    {
+        if(item==m_txArrows)
+        {
+            m_txArrows->setVisible(!m_txArrows->isVisible());
+        }
+        else if(item==m_txFlightMode)
+        {
+            QGraphicsSvgItem * svg;
+            svg=(QGraphicsSvgItem *)item;
+            if (svg)
+            {
+                if(svg->elementId()=="flightModeCenter")
+                {
+                    if(growing)
+                    {
+                        svg->setElementId("flightModeRight");
+                        m_txFlightMode->setTransform(m_txFlightModeROrig,false);
+                    }
+                    else
+                    {
+                        svg->setElementId("flightModeLeft");
+                        m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
+                    }
+                }
+                else if(svg->elementId()=="flightModeRight")
+                {
+                    growing=false;
+                    svg->setElementId("flightModeCenter");
+                    m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
+                }
+                else if(svg->elementId()=="flightModeLeft")
+                {
+                    growing=true;
+                    svg->setElementId("flightModeCenter");
+                    m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
+                }
+            }
+        }
+    }
+    else if(move==mix)
+    {
+        trans=m_txAccess0Orig;
+        m_txAccess0->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
+        trans=m_txAccess1Orig;
+        m_txAccess1->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
+        trans=m_txAccess2Orig;
+        m_txAccess2->setTransform(trans.translate(movePos*10*ACCESS_MAX_MOVE/STICK_MAX_MOVE,0),false);
+
+        if(auxFlag)
+        {
+            trans=m_txLeftStickOrig;
+            m_txLeftStick->setTransform(trans.translate(0,movePos*10),false);
+            trans=m_txRightStickOrig;
+            m_txRightStick->setTransform(trans.translate(0,movePos*10),false);
+        }
+        else
+        {
+            trans=m_txLeftStickOrig;
+            m_txLeftStick->setTransform(trans.translate(movePos*10,0),false);
+            trans=m_txRightStickOrig;
+            m_txRightStick->setTransform(trans.translate(movePos*10,0),false);
+        }
+
+        if(movePos==0)
+        {
+            m_txFlightMode->setElementId("flightModeCenter");
+            m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
+        }
+        else if(movePos==ACCESS_MAX_MOVE/2)
+        {
+            m_txFlightMode->setElementId("flightModeRight");
+            m_txFlightMode->setTransform(m_txFlightModeROrig,false);
+        }
+        else if(movePos==ACCESS_MIN_MOVE/2)
+        {
+            m_txFlightMode->setElementId("flightModeLeft");
+            m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
+        }
+    }
+    if(move==horizontal || move==vertical ||move==mix)
+    {
+        if(movePos==0 && growing)
+            auxFlag=!auxFlag;
+        if(growing)
+            ++movePos;
+        else
+            --movePos;
+        if(movePos>limitMax)
+        {
+            movePos=movePos-2;
+            growing=false;
+        }
+        if(movePos<limitMin)
+        {
+            movePos=movePos+2;
+            growing=true;
+        }
+    }
+}
+
+void ConfigInputWidget::moveSticks()
+{
+    QTransform trans;
+    manualCommandData=manualCommandObj->getData();
+    flightStatusData=flightStatusObj->getData();
+    accessoryDesiredData0=accessoryDesiredObj0->getData();
+    accessoryDesiredData1=accessoryDesiredObj1->getData();
+    accessoryDesiredData2=accessoryDesiredObj2->getData();
+
+    if(transmitterMode==mode2)
+    {
+        trans=m_txLeftStickOrig;
+        m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
+        trans=m_txRightStickOrig;
+        m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
+    }
+    else
+    {
+        trans=m_txRightStickOrig;
+        m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
+        trans=m_txLeftStickOrig;
+        m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
+    }
+    if(flightStatusData.FlightMode==manualSettingsData.FlightModePosition[0])
+    {
+        m_txFlightMode->setElementId("flightModeLeft");
+        m_txFlightMode->setTransform(m_txFlightModeLOrig,false);
+    }
+    else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[1])
+    {
+        m_txFlightMode->setElementId("flightModeCenter");
+        m_txFlightMode->setTransform(m_txFlightModeCOrig,false);
+    }
+    else if (flightStatusData.FlightMode==manualSettingsData.FlightModePosition[2])
+    {
+        m_txFlightMode->setElementId("flightModeRight");
+        m_txFlightMode->setTransform(m_txFlightModeROrig,false);
+    }
+    m_txAccess0->setTransform(QTransform(m_txAccess0Orig).translate(accessoryDesiredData0.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
+    m_txAccess1->setTransform(QTransform(m_txAccess1Orig).translate(accessoryDesiredData1.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
+    m_txAccess2->setTransform(QTransform(m_txAccess2Orig).translate(accessoryDesiredData2.AccessoryVal*ACCESS_MAX_MOVE*10,0),false);
+}
+
+void ConfigInputWidget::dimOtherControls(bool value)
+{
+    qreal opac;
+    if(value)
+        opac=0.1;
+    else
+        opac=1;
+    m_txAccess0->setOpacity(opac);
+    m_txAccess1->setOpacity(opac);
+    m_txAccess2->setOpacity(opac);
+    m_txFlightMode->setOpacity(opac);
+}
+
+void ConfigInputWidget::enableControls(bool enable)
+{
+    m_config->configurationWizard->setEnabled(enable);
+    m_config->runCalibration->setEnabled(enable);
+
+    ConfigTaskWidget::enableControls(enable);
+
+}
+
+void ConfigInputWidget::invertControls()
+{
+    manualSettingsData=manualSettingsObj->getData();
+    foreach(QWidget * wd,extraWidgets)
+    {
+        QCheckBox * cb=qobject_cast<QCheckBox *>(wd);
+        if(cb)
+        {
+            int index = manualSettingsObj->getField("ChannelNumber")->getElementNames().indexOf(cb->text());
+            if((cb->isChecked() && (manualSettingsData.ChannelMax[index]>manualSettingsData.ChannelMin[index])) ||
+                    (!cb->isChecked() && (manualSettingsData.ChannelMax[index]<manualSettingsData.ChannelMin[index])))
+            {
+                qint16 aux;
+                aux=manualSettingsData.ChannelMax[index];
+                manualSettingsData.ChannelMax[index]=manualSettingsData.ChannelMin[index];
+                manualSettingsData.ChannelMin[index]=aux;
+            }
+        }
+    }
+    manualSettingsObj->setData(manualSettingsData);
+}
+
+void ConfigInputWidget::moveFMSlider()
+{
+    ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
+    ManualControlCommand::DataFields manualCommandDataPriv = manualCommandObj->getData();
+
+    float valueScaled;
+    int chMin = manualSettingsDataPriv.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
+    int chMax = manualSettingsDataPriv.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE];
+    int chNeutral = manualSettingsDataPriv.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE];
+
+    int value = manualCommandDataPriv.Channel[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
+    if ((chMax > chMin && value >= chNeutral) || (chMin > chMax && value <= chNeutral))
+    {
+        if (chMax != chNeutral)
+            valueScaled = (float)(value - chNeutral) / (float)(chMax - chNeutral);
+        else
+            valueScaled = 0;
+    }
+    else
+    {
+        if (chMin != chNeutral)
+            valueScaled = (float)(value - chNeutral) / (float)(chNeutral - chMin);
+        else
+            valueScaled = 0;
+    }
+
+    // Bound and scale FlightMode from [-1..+1] to [0..1] range
+    if (valueScaled < -1.0)
+        valueScaled = -1.0;
+    else
+    if (valueScaled >  1.0)
+        valueScaled =  1.0;
+
+    // Convert flightMode value into the switch position in the range [0..N-1]
+    // This uses the same optimized computation as flight code to be consistent
+    uint8_t pos = ((int16_t)(valueScaled * 256) + 256) * manualSettingsDataPriv.FlightModeNumber >> 9;
+    if (pos >= manualSettingsDataPriv.FlightModeNumber)
+        pos = manualSettingsDataPriv.FlightModeNumber - 1;
+    m_config->fmsSlider->setValue(pos);
+}
+
+void ConfigInputWidget::updatePositionSlider()
+{
+    ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
+
+    switch(manualSettingsDataPriv.FlightModeNumber) {
+    default:
+    case 6:
+        m_config->fmsModePos6->setEnabled(true);
+	// pass through
+    case 5:
+        m_config->fmsModePos5->setEnabled(true);
+	// pass through
+    case 4:
+        m_config->fmsModePos4->setEnabled(true);
+	// pass through
+    case 3:
+        m_config->fmsModePos3->setEnabled(true);
+	// pass through
+    case 2:
+        m_config->fmsModePos2->setEnabled(true);
+	// pass through
+    case 1:
+        m_config->fmsModePos1->setEnabled(true);
+	// pass through
+    case 0:
+	break;
+    }
+
+    switch(manualSettingsDataPriv.FlightModeNumber) {
+    case 0:
+        m_config->fmsModePos1->setEnabled(false);
+	// pass through
+    case 1:
+        m_config->fmsModePos2->setEnabled(false);
+	// pass through
+    case 2:
+        m_config->fmsModePos3->setEnabled(false);
+	// pass through
+    case 3:
+        m_config->fmsModePos4->setEnabled(false);
+	// pass through
+    case 4:
+        m_config->fmsModePos5->setEnabled(false);
+	// pass through
+    case 5:
+        m_config->fmsModePos6->setEnabled(false);
+	// pass through
+    case 6:
+    default:
+	break;
+    }
+}
+
+void ConfigInputWidget::updateCalibration()
+{
+    manualCommandData=manualCommandObj->getData();
+    for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
+    {
+        if((!reverse[i] && manualSettingsData.ChannelMin[i]>manualCommandData.Channel[i]) ||
+                (reverse[i] && manualSettingsData.ChannelMin[i]<manualCommandData.Channel[i]))
+            manualSettingsData.ChannelMin[i]=manualCommandData.Channel[i];
+        if((!reverse[i] && manualSettingsData.ChannelMax[i]<manualCommandData.Channel[i]) ||
+                (reverse[i] && manualSettingsData.ChannelMax[i]>manualCommandData.Channel[i]))
+            manualSettingsData.ChannelMax[i]=manualCommandData.Channel[i];
+        manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
+    }
+
+    manualSettingsObj->setData(manualSettingsData);
+    manualSettingsObj->updated();
+}
+
+void ConfigInputWidget::simpleCalibration(bool enable)
+{
+    if (enable) {
+        m_config->configurationWizard->setEnabled(false);
+
+        QMessageBox msgBox;
+        msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
+        msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards."));
+        msgBox.setStandardButtons(QMessageBox::Ok);
+        msgBox.setDefaultButton(QMessageBox::Ok);
+        msgBox.exec();
+
+        manualCommandData = manualCommandObj->getData();
+
+        manualSettingsData=manualSettingsObj->getData();
+        manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
+        manualSettingsObj->setData(manualSettingsData);
+
+        for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
+            reverse[i] = manualSettingsData.ChannelMax[i] < manualSettingsData.ChannelMin[i];
+            manualSettingsData.ChannelMin[i] = manualCommandData.Channel[i];
+            manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
+            manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
+        }
+
+        fastMdata();
+
+        connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
+    } else {
+        m_config->configurationWizard->setEnabled(true);
+
+        manualCommandData = manualCommandObj->getData();
+        manualSettingsData = manualSettingsObj->getData();
+
+        restoreMdata();
+
+        for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
+            manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
+
+        // Force flight mode neutral to middle
+        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] =
+                (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] +
+                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]) / 2;
+
+        // Force throttle to be near min
+        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
+                manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
+                ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
+                  manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
+
+        manualSettingsObj->setData(manualSettingsData);
+
+        disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(updateCalibration()));
+    }
+}
diff --git a/ground/openpilotgcs/src/plugins/config/input.ui b/ground/openpilotgcs/src/plugins/config/input.ui
old mode 100644
new mode 100755
index c5ab2d9dc..85d63b2f5
--- a/ground/openpilotgcs/src/plugins/config/input.ui
+++ b/ground/openpilotgcs/src/plugins/config/input.ui
@@ -6,14 +6,17 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>991</width>
-    <height>711</height>
+    <width>670</width>
+    <height>693</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
+   <property name="margin">
+    <number>12</number>
+   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
@@ -25,20 +28,11 @@
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_11">
        <property name="spacing">
-        <number>24</number>
+        <number>6</number>
        </property>
-       <property name="leftMargin">
+       <property name="margin">
         <number>0</number>
        </property>
-       <property name="topMargin">
-        <number>12</number>
-       </property>
-       <property name="rightMargin">
-        <number>0</number>
-       </property>
-       <property name="bottomMargin">
-        <number>12</number>
-       </property>
        <item>
         <widget class="QScrollArea" name="scrollArea">
          <property name="palette">
@@ -116,19 +110,16 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>961</width>
-            <height>587</height>
+            <width>640</width>
+            <height>610</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout">
-           <property name="topMargin">
-            <number>0</number>
-           </property>
-           <property name="bottomMargin">
-            <number>0</number>
+           <property name="margin">
+            <number>12</number>
            </property>
            <property name="verticalSpacing">
-            <number>24</number>
+            <number>6</number>
            </property>
            <item row="1" column="0">
             <widget class="QGroupBox" name="groupBox_5">
@@ -136,7 +127,16 @@
               <string/>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_6">
-              <property name="margin">
+              <property name="leftMargin">
+               <number>12</number>
+              </property>
+              <property name="topMargin">
+               <number>0</number>
+              </property>
+              <property name="rightMargin">
+               <number>12</number>
+              </property>
+              <property name="bottomMargin">
                <number>0</number>
               </property>
               <item>
@@ -146,6 +146,9 @@
                 </property>
                 <widget class="QWidget" name="advancedPage">
                  <layout class="QVBoxLayout" name="verticalLayout_3">
+                  <property name="margin">
+                   <number>12</number>
+                  </property>
                   <item>
                    <widget class="QPushButton" name="configurationWizard">
                     <property name="text">
@@ -155,517 +158,39 @@
                   </item>
                   <item>
                    <widget class="QCheckBox" name="runCalibration">
+                    <property name="enabled">
+                     <bool>true</bool>
+                    </property>
                     <property name="text">
                      <string>Run Calibration</string>
                     </property>
                    </widget>
                   </item>
                   <item>
-                   <layout class="QGridLayout" name="gridLayout_8" rowstretch="0,0" columnstretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0" rowminimumheight="0,0">
-                    <property name="leftMargin">
-                     <number>0</number>
+                   <spacer name="verticalSpacer_7">
+                    <property name="orientation">
+                     <enum>Qt::Vertical</enum>
                     </property>
-                    <property name="rightMargin">
-                     <number>8</number>
+                    <property name="sizeType">
+                     <enum>QSizePolicy::Fixed</enum>
                     </property>
-                    <property name="horizontalSpacing">
-                     <number>0</number>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>20</width>
+                      <height>12</height>
+                     </size>
                     </property>
-                    <property name="verticalSpacing">
-                     <number>-1</number>
-                    </property>
-                    <item row="1" column="0">
-                     <widget class="QLabel" name="legend0">
-                      <property name="enabled">
-                       <bool>true</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>80</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <italic>false</italic>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-                      </property>
-                      <property name="text">
-                       <string>Function</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="13">
-                     <widget class="QLabel" name="legend5_2">
-                      <property name="enabled">
-                       <bool>true</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>48</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <italic>false</italic>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-                      </property>
-                      <property name="text">
-                       <string>Neut.</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="2">
-                     <widget class="QLabel" name="legend1">
-                      <property name="enabled">
-                       <bool>true</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>105</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <italic>false</italic>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-                      </property>
-                      <property name="text">
-                       <string>Type</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="14">
-                     <spacer name="horizontalSpacer_13">
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Minimum</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>0</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="1" column="8">
-                     <widget class="QLabel" name="legend4">
-                      <property name="enabled">
-                       <bool>true</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>70</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <italic>false</italic>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-                      </property>
-                      <property name="text">
-                       <string>Neutral</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="6">
-                     <widget class="QLabel" name="legend3">
-                      <property name="enabled">
-                       <bool>true</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>53</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <italic>false</italic>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-                      </property>
-                      <property name="text">
-                       <string>Min</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="1">
-                     <spacer name="horizontalSpacer_7">
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>12</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="1" column="4">
-                     <widget class="QLabel" name="legend2">
-                      <property name="enabled">
-                       <bool>true</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>95</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <italic>false</italic>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-                      </property>
-                      <property name="text">
-                       <string>Number</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="5">
-                     <spacer name="horizontalSpacer_10">
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>12</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="1" column="15">
-                     <widget class="QLabel" name="legend5_3">
-                      <property name="enabled">
-                       <bool>true</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>42</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <italic>false</italic>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-                      </property>
-                      <property name="text">
-                       <string>Rev.</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="9">
-                     <spacer name="horizontalSpacer_11">
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>5</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="1" column="11">
-                     <widget class="QLabel" name="legend5">
-                      <property name="enabled">
-                       <bool>true</bool>
-                      </property>
-                      <property name="sizePolicy">
-                       <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                        <horstretch>0</horstretch>
-                        <verstretch>0</verstretch>
-                       </sizepolicy>
-                      </property>
-                      <property name="minimumSize">
-                       <size>
-                        <width>55</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="font">
-                       <font>
-                        <weight>75</weight>
-                        <italic>false</italic>
-                        <bold>true</bold>
-                       </font>
-                      </property>
-                      <property name="styleSheet">
-                       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-                      </property>
-                      <property name="text">
-                       <string>Max</string>
-                      </property>
-                      <property name="alignment">
-                       <set>Qt::AlignCenter</set>
-                      </property>
-                     </widget>
-                    </item>
-                    <item row="1" column="7">
-                     <spacer name="horizontalSpacer_6">
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>9</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="1" column="3">
-                     <spacer name="horizontalSpacer_9">
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>3</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="1" column="12">
-                     <spacer name="horizontalSpacer_12">
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Fixed</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>3</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                    <item row="1" column="16">
-                     <spacer name="horizontalSpacer_14">
-                      <property name="minimumSize">
-                       <size>
-                        <width>0</width>
-                        <height>26</height>
-                       </size>
-                      </property>
-                      <property name="orientation">
-                       <enum>Qt::Horizontal</enum>
-                      </property>
-                      <property name="sizeType">
-                       <enum>QSizePolicy::Minimum</enum>
-                      </property>
-                      <property name="sizeHint" stdset="0">
-                       <size>
-                        <width>0</width>
-                        <height>20</height>
-                       </size>
-                      </property>
-                     </spacer>
-                    </item>
-                   </layout>
+                   </spacer>
                   </item>
                   <item>
-                   <layout class="QVBoxLayout" name="channelSettings"/>
+                   <layout class="QVBoxLayout" name="channelSettings">
+                    <property name="spacing">
+                     <number>0</number>
+                    </property>
+                    <property name="margin">
+                     <number>0</number>
+                    </property>
+                   </layout>
                   </item>
                   <item>
                    <spacer name="verticalSpacer_3">
@@ -756,6 +281,9 @@ font:bold;</string>
                 </widget>
                 <widget class="QWidget" name="wizard">
                  <layout class="QVBoxLayout" name="verticalLayout_5">
+                  <property name="margin">
+                   <number>12</number>
+                  </property>
                   <item>
                    <widget class="QLabel" name="wzText">
                     <property name="sizePolicy">
@@ -832,20 +360,11 @@ font:bold;</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_8">
        <property name="spacing">
-        <number>24</number>
+        <number>6</number>
        </property>
-       <property name="leftMargin">
+       <property name="margin">
         <number>0</number>
        </property>
-       <property name="topMargin">
-        <number>12</number>
-       </property>
-       <property name="rightMargin">
-        <number>0</number>
-       </property>
-       <property name="bottomMargin">
-        <number>12</number>
-       </property>
        <item>
         <widget class="QScrollArea" name="scrollArea_3">
          <property name="palette">
@@ -923,143 +442,269 @@ font:bold;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>961</width>
-            <height>587</height>
+            <width>640</width>
+            <height>610</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_7">
-           <property name="horizontalSpacing">
+           <property name="margin">
             <number>12</number>
            </property>
-           <property name="verticalSpacing">
-            <number>24</number>
+           <property name="spacing">
+            <number>6</number>
            </property>
            <item row="0" column="0">
             <widget class="QGroupBox" name="groupBox_2">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>195</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>195</height>
+              </size>
+             </property>
              <property name="title">
               <string>FlightMode Switch Positions</string>
              </property>
-             <layout class="QGridLayout" name="gridLayout_6">
-              <property name="verticalSpacing">
+             <layout class="QGridLayout" name="gridLayout_4" rowstretch="0,0,0" columnstretch="0,0,1,0,1,0">
+              <property name="margin">
                <number>12</number>
               </property>
-              <item row="0" column="0">
-               <layout class="QGridLayout" name="gridLayout_4" rowstretch="0">
-                <property name="topMargin">
-                 <number>16</number>
+              <item row="0" column="0" rowspan="3">
+               <layout class="QVBoxLayout" name="verticalLayout_9" stretch="0,0,0,0,0,0">
+                <item>
+                 <widget class="QLabel" name="label_pos1">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>16</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string>Pos. 1</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QLabel" name="label_pos2">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>16</width>
+                    <height>16</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string>Pos. 2</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QLabel" name="label_pos3">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>16</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string>Pos. 3</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QLabel" name="label_pos4">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>16</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string>Pos. 4</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QLabel" name="label_pos5">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>16</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string>Pos. 5</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QLabel" name="label_pos6">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>0</width>
+                    <height>16</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16</height>
+                   </size>
+                  </property>
+                  <property name="text">
+                   <string>Pos. 6</string>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </item>
+              <item row="1" column="1">
+               <widget class="QSlider" name="fmsSlider">
+                <property name="enabled">
+                 <bool>false</bool>
                 </property>
-                <property name="bottomMargin">
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>140</height>
+                 </size>
+                </property>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>This slider moves when you move the flight mode switch
+on your remote. It shows currently active flight mode.
+
+Setup the flight mode channel on the RC Input tab if you have not done so already.</string>
+                </property>
+                <property name="minimum">
+                 <number>0</number>
+                </property>
+                <property name="maximum">
+                 <number>5</number>
+                </property>
+                <property name="pageStep">
                  <number>10</number>
                 </property>
-                <item row="0" column="0">
-                 <layout class="QVBoxLayout" name="verticalLayout_9">
-                  <item>
-                   <widget class="QLabel" name="label_pos1">
-                    <property name="text">
-                     <string>Pos. 1</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="label_pos2">
-                    <property name="text">
-                     <string>Pos. 2</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="label_pos3">
-                    <property name="text">
-                     <string>Pos. 3</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="label_pos4">
-                    <property name="text">
-                     <string>Pos. 4</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="label_pos5">
-                    <property name="text">
-                     <string>Pos. 5</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QLabel" name="label_pos6">
-                    <property name="text">
-                     <string>Pos. 6</string>
-                    </property>
-                   </widget>
-                  </item>
-                 </layout>
+                <property name="value">
+                 <number>0</number>
+                </property>
+                <property name="sliderPosition">
+                 <number>0</number>
+                </property>
+                <property name="orientation">
+                 <enum>Qt::Vertical</enum>
+                </property>
+                <property name="invertedAppearance">
+                 <bool>true</bool>
+                </property>
+                <property name="tickPosition">
+                 <enum>QSlider::TicksBelow</enum>
+                </property>
+                <property name="tickInterval">
+                 <number>1</number>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="2" rowspan="3">
+               <layout class="QVBoxLayout" name="verticalLayout_10">
+                <item>
+                 <widget class="QComboBox" name="fmsModePos1">
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
+                  </property>
+                  <property name="toolTip">
+                   <string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
+                  </property>
+                 </widget>
                 </item>
-                <item row="0" column="2">
-                 <layout class="QVBoxLayout" name="verticalLayout_10">
-                  <item>
-                   <widget class="QComboBox" name="fmsModePos1">
-                    <property name="focusPolicy">
-                     <enum>Qt::StrongFocus</enum>
-                    </property>
-                    <property name="toolTip">
-                     <string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QComboBox" name="fmsModePos2">
-                    <property name="focusPolicy">
-                     <enum>Qt::StrongFocus</enum>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QComboBox" name="fmsModePos3">
-                    <property name="focusPolicy">
-                     <enum>Qt::StrongFocus</enum>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QComboBox" name="fmsModePos4">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="focusPolicy">
-                     <enum>Qt::StrongFocus</enum>
-                    </property>
-                    <property name="toolTip">
-                     <string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QComboBox" name="fmsModePos5">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="focusPolicy">
-                     <enum>Qt::StrongFocus</enum>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QComboBox" name="fmsModePos6">
-                    <property name="enabled">
-                     <bool>false</bool>
-                    </property>
-                    <property name="focusPolicy">
-                     <enum>Qt::StrongFocus</enum>
-                    </property>
-                   </widget>
-                  </item>
-                 </layout>
+                <item>
+                 <widget class="QComboBox" name="fmsModePos2">
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
+                  </property>
+                 </widget>
                 </item>
-                <item row="0" column="1">
-                 <widget class="QSlider" name="fmsSlider">
+                <item>
+                 <widget class="QComboBox" name="fmsModePos3">
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QComboBox" name="fmsModePos4">
                   <property name="enabled">
                    <bool>false</bool>
                   </property>
@@ -1067,43 +712,46 @@ font:bold;</string>
                    <enum>Qt::StrongFocus</enum>
                   </property>
                   <property name="toolTip">
-                   <string>This slider moves when you move the flight mode switch
-on your remote. It shows currently active flight mode.
-
-Setup the flight mode channel on the RC Input tab if you have not done so already.</string>
+                   <string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
                   </property>
-                  <property name="minimum">
-                   <number>0</number>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QComboBox" name="fmsModePos5">
+                  <property name="enabled">
+                   <bool>false</bool>
                   </property>
-                  <property name="maximum">
-                   <number>5</number>
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
                   </property>
-                  <property name="pageStep">
-                   <number>10</number>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QComboBox" name="fmsModePos6">
+                  <property name="enabled">
+                   <bool>false</bool>
                   </property>
-                  <property name="value">
-                   <number>0</number>
-                  </property>
-                  <property name="sliderPosition">
-                   <number>0</number>
-                  </property>
-                  <property name="orientation">
-                   <enum>Qt::Vertical</enum>
-                  </property>
-                  <property name="invertedAppearance">
-                   <bool>true</bool>
-                  </property>
-                  <property name="tickPosition">
-                   <enum>QSlider::TicksBelow</enum>
-                  </property>
-                  <property name="tickInterval">
-                   <number>1</number>
+                  <property name="focusPolicy">
+                   <enum>Qt::StrongFocus</enum>
                   </property>
                  </widget>
                 </item>
                </layout>
               </item>
-              <item row="0" column="2">
+              <item row="1" column="3">
+               <spacer name="horizontalSpacer_4">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="4" rowspan="3">
                <layout class="QGridLayout" name="gridLayout_5">
                 <item row="0" column="0">
                  <layout class="QHBoxLayout" name="horizontalLayout_6">
@@ -1157,14 +805,43 @@ channel value for each flight mode.</string>
                 </item>
                </layout>
               </item>
-              <item row="0" column="1">
-               <spacer name="horizontalSpacer_4">
+              <item row="2" column="1">
+               <spacer name="verticalSpacer_4">
                 <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
+                 <enum>Qt::Vertical</enum>
                 </property>
                 <property name="sizeType">
                  <enum>QSizePolicy::Fixed</enum>
                 </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>20</width>
+                  <height>0</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="1">
+               <spacer name="verticalSpacer_6">
+                <property name="orientation">
+                 <enum>Qt::Vertical</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Fixed</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>20</width>
+                  <height>0</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="1" column="5">
+               <spacer name="horizontalSpacer_6">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
                 <property name="sizeHint" stdset="0">
                  <size>
                   <width>40</width>
@@ -1381,20 +1058,11 @@ margin:1px;</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_12">
        <property name="spacing">
-        <number>24</number>
+        <number>6</number>
        </property>
-       <property name="leftMargin">
+       <property name="margin">
         <number>0</number>
        </property>
-       <property name="topMargin">
-        <number>12</number>
-       </property>
-       <property name="rightMargin">
-        <number>0</number>
-       </property>
-       <property name="bottomMargin">
-        <number>12</number>
-       </property>
        <item>
         <widget class="QScrollArea" name="scrollArea_2">
          <property name="palette">
@@ -1472,13 +1140,16 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>961</width>
-            <height>587</height>
+            <width>640</width>
+            <height>610</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
            <property name="spacing">
-            <number>24</number>
+            <number>6</number>
+           </property>
+           <property name="margin">
+            <number>12</number>
            </property>
            <item>
             <widget class="QGroupBox" name="groupBox_6">
@@ -1486,6 +1157,18 @@ margin:1px;</string>
               <string>Arming Settings</string>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_7">
+              <property name="leftMargin">
+               <number>11</number>
+              </property>
+              <property name="topMargin">
+               <number>12</number>
+              </property>
+              <property name="rightMargin">
+               <number>12</number>
+              </property>
+              <property name="bottomMargin">
+               <number>12</number>
+              </property>
               <item>
                <layout class="QHBoxLayout" name="horizontalLayout">
                 <item>
@@ -1658,14 +1341,14 @@ margin:1px;</string>
       <widget class="QPushButton" name="saveRCInputToRAM">
        <property name="minimumSize">
         <size>
-         <width>60</width>
-         <height>32</height>
+         <width>0</width>
+         <height>0</height>
         </size>
        </property>
        <property name="maximumSize">
         <size>
          <width>16777215</width>
-         <height>32</height>
+         <height>16777215</height>
         </size>
        </property>
        <property name="toolTip">
@@ -1684,14 +1367,14 @@ Be sure to set the Neutral position on all sliders before sending!</string>
       <widget class="QPushButton" name="saveRCInputToSD">
        <property name="minimumSize">
         <size>
-         <width>60</width>
-         <height>32</height>
+         <width>0</width>
+         <height>0</height>
         </size>
        </property>
        <property name="maximumSize">
         <size>
          <width>16777215</width>
-         <height>32</height>
+         <height>16777215</height>
         </size>
        </property>
        <property name="toolTip">
@@ -1711,7 +1394,6 @@ Applies and Saves all settings to SD</string>
   </layout>
  </widget>
  <tabstops>
-  <tabstop>fmsSlider</tabstop>
   <tabstop>fmsSsPos1Roll</tabstop>
   <tabstop>fmsSsPos1Pitch</tabstop>
   <tabstop>fmsSsPos1Yaw</tabstop>
diff --git a/ground/openpilotgcs/src/plugins/config/inputchannelform.cpp b/ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
old mode 100644
new mode 100755
index fe54504d0..bd2d5830e
--- a/ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
+++ b/ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
@@ -10,7 +10,23 @@ inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) :
 {
     ui->setupUi(this);
     
+    //The first time through the loop, keep the legend. All other times, delete it.
+    if(!showlegend)
+    {
+        layout()->removeWidget(ui->legend0);
+        layout()->removeWidget(ui->legend1);
+        layout()->removeWidget(ui->legend2);
+        layout()->removeWidget(ui->legend3);
+        layout()->removeWidget(ui->legend4);
+        layout()->removeWidget(ui->legend5);
+        delete ui->legend0;
+        delete ui->legend1;
+        delete ui->legend2;
+        delete ui->legend3;
+        delete ui->legend4;
+        delete ui->legend5;
 
+    }
 
     connect(ui->channelMin,SIGNAL(valueChanged(int)),this,SLOT(minMaxUpdated()));
     connect(ui->channelMax,SIGNAL(valueChanged(int)),this,SLOT(minMaxUpdated()));
diff --git a/ground/openpilotgcs/src/plugins/config/inputchannelform.ui b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui
old mode 100644
new mode 100755
index be7fdb27d..968e12c14
--- a/ground/openpilotgcs/src/plugins/config/inputchannelform.ui
+++ b/ground/openpilotgcs/src/plugins/config/inputchannelform.ui
@@ -6,24 +6,314 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>726</width>
-    <height>49</height>
+    <width>828</width>
+    <height>69</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QHBoxLayout" name="horizontalLayout">
-   <property name="spacing">
-    <number>-1</number>
+  <layout class="QGridLayout" name="gridLayout">
+   <property name="leftMargin">
+    <number>0</number>
    </property>
    <property name="topMargin">
-    <number>1</number>
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>0</number>
    </property>
    <property name="bottomMargin">
-    <number>1</number>
+    <number>6</number>
    </property>
-   <item>
+   <item row="0" column="0">
+    <widget class="QLabel" name="legend0">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="text">
+      <string>Function</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="1">
+    <widget class="QLabel" name="legend1">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="text">
+      <string>Type</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="2">
+    <widget class="QLabel" name="legend2">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="text">
+      <string>Number</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="3">
+    <widget class="QLabel" name="legend3">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="text">
+      <string>Min</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="5">
+    <widget class="QLabel" name="legend4">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="text">
+      <string>Neutral</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="7">
+    <widget class="QLabel" name="legend5">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="lineWidth">
+      <number>1</number>
+     </property>
+     <property name="text">
+      <string>Max</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="8">
+    <spacer name="horizontalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>48</width>
+       <height>10</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="0" column="9">
+    <spacer name="horizontalSpacer_4">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Fixed</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>42</width>
+       <height>10</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="0">
     <widget class="QLabel" name="channelName">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@@ -42,7 +332,7 @@
      </property>
     </widget>
    </item>
-   <item>
+   <item row="1" column="1">
     <widget class="QComboBox" name="channelGroup">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
@@ -67,23 +357,7 @@
      </property>
     </widget>
    </item>
-   <item>
-    <spacer name="horizontalSpacer_5">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Fixed</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>5</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item>
+   <item row="1" column="2">
     <widget class="QComboBox" name="channelNumberDropdown">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
@@ -93,13 +367,13 @@
      </property>
      <property name="minimumSize">
       <size>
-       <width>90</width>
+       <width>0</width>
        <height>25</height>
       </size>
      </property>
      <property name="maximumSize">
       <size>
-       <width>80</width>
+       <width>90</width>
        <height>16777215</height>
       </size>
      </property>
@@ -111,20 +385,7 @@
      </property>
     </widget>
    </item>
-   <item>
-    <widget class="QSpinBox" name="channelNumber">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>0</width>
-       <height>0</height>
-      </size>
-     </property>
-    </widget>
-   </item>
-   <item>
+   <item row="1" column="3">
     <widget class="QSpinBox" name="channelMin">
      <property name="minimumSize">
       <size>
@@ -146,7 +407,7 @@
      </property>
     </widget>
    </item>
-   <item>
+   <item row="1" column="4">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -162,7 +423,7 @@
      </property>
     </spacer>
    </item>
-   <item>
+   <item row="1" column="5">
     <widget class="QSlider" name="channelNeutral">
      <property name="sizePolicy">
       <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@@ -184,7 +445,7 @@
      </property>
     </widget>
    </item>
-   <item>
+   <item row="1" column="6">
     <spacer name="horizontalSpacer_2">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -194,20 +455,14 @@
      </property>
      <property name="sizeHint" stdset="0">
       <size>
-       <width>7</width>
+       <width>10</width>
        <height>20</height>
       </size>
      </property>
     </spacer>
    </item>
-   <item>
+   <item row="1" column="7">
     <widget class="QSpinBox" name="channelMax">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
      <property name="minimumSize">
       <size>
        <width>0</width>
@@ -228,39 +483,23 @@
      </property>
     </widget>
    </item>
-   <item>
-    <spacer name="horizontalSpacer_6">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Fixed</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>5</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item>
+   <item row="1" column="8">
     <widget class="QLabel" name="neutral">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
      <property name="minimumSize">
       <size>
-       <width>35</width>
+       <width>48</width>
        <height>0</height>
       </size>
      </property>
      <property name="maximumSize">
       <size>
-       <width>30</width>
+       <width>45</width>
        <height>16777215</height>
       </size>
      </property>
@@ -269,33 +508,11 @@
      </property>
     </widget>
    </item>
-   <item>
-    <spacer name="horizontalSpacer_4">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Fixed</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>10</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item>
+   <item row="1" column="9">
     <widget class="QCheckBox" name="channelRev">
      <property name="enabled">
       <bool>false</bool>
      </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
      <property name="minimumSize">
       <size>
        <width>0</width>
@@ -303,27 +520,30 @@
       </size>
      </property>
      <property name="text">
-      <string/>
+      <string>Rev</string>
      </property>
     </widget>
    </item>
-   <item>
-    <spacer name="horizontalSpacer_3">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Fixed</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>15</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
   </layout>
+  <widget class="QSpinBox" name="channelNumber">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>216</x>
+     <y>26</y>
+     <width>0</width>
+     <height>0</height>
+    </rect>
+   </property>
+   <property name="maximumSize">
+    <size>
+     <width>0</width>
+     <height>0</height>
+    </size>
+   </property>
+  </widget>
  </widget>
  <tabstops>
   <tabstop>channelNumber</tabstop>
diff --git a/ground/openpilotgcs/src/plugins/config/output.ui b/ground/openpilotgcs/src/plugins/config/output.ui
old mode 100644
new mode 100755
index 32a6337f7..dc23ff7a4
--- a/ground/openpilotgcs/src/plugins/config/output.ui
+++ b/ground/openpilotgcs/src/plugins/config/output.ui
@@ -15,7 +15,10 @@
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_2">
    <property name="spacing">
-    <number>-1</number>
+    <number>6</number>
+   </property>
+   <property name="margin">
+    <number>12</number>
    </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
@@ -34,18 +37,9 @@
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_4">
        <property name="spacing">
-        <number>12</number>
-       </property>
-       <property name="leftMargin">
         <number>0</number>
        </property>
-       <property name="topMargin">
-        <number>12</number>
-       </property>
-       <property name="rightMargin">
-        <number>0</number>
-       </property>
-       <property name="bottomMargin">
+       <property name="margin">
         <number>0</number>
        </property>
        <item>
@@ -126,12 +120,15 @@
             <x>0</x>
             <y>0</y>
             <width>668</width>
-            <height>642</height>
+            <height>671</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
            <property name="spacing">
-            <number>-1</number>
+            <number>6</number>
+           </property>
+           <property name="margin">
+            <number>12</number>
            </property>
            <item>
             <widget class="QGroupBox" name="groupBox_2">
@@ -144,18 +141,18 @@
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>60</height>
+               <height>0</height>
               </size>
              </property>
              <property name="title">
               <string>Output Update Speed</string>
              </property>
              <layout class="QGridLayout" name="gridLayout">
-              <property name="topMargin">
-               <number>0</number>
+              <property name="margin">
+               <number>12</number>
               </property>
-              <property name="bottomMargin">
-               <number>0</number>
+              <property name="horizontalSpacing">
+               <number>6</number>
               </property>
               <item row="0" column="0">
                <spacer name="horizontalSpacer_3">
@@ -526,379 +523,27 @@ Leave at 50Hz for fixed wing.</string>
               <string/>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout">
-              <item>
-               <layout class="QHBoxLayout" name="horizontalLayout_3">
-                <property name="spacing">
-                 <number>10</number>
-                </property>
-                <item>
-                 <spacer name="horizontalSpacer_6">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeType">
-                   <enum>QSizePolicy::Fixed</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>14</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item>
-                 <widget class="QLabel" name="legend6">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>20</width>
-                    <height>0</height>
-                   </size>
-                  </property>
-                  <property name="font">
-                   <font>
-                    <weight>75</weight>
-                    <italic>false</italic>
-                    <bold>true</bold>
-                   </font>
-                  </property>
-                  <property name="layoutDirection">
-                   <enum>Qt::LeftToRight</enum>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
-                  </property>
-                  <property name="text">
-                   <string>#</string>
-                  </property>
-                  <property name="alignment">
-                   <set>Qt::AlignCenter</set>
-                  </property>
-                  <property name="margin">
-                   <number>0</number>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <spacer name="horizontalSpacer_7">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeType">
-                   <enum>QSizePolicy::Fixed</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>5</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item>
-                 <widget class="QLabel" name="legend0">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>90</width>
-                    <height>0</height>
-                   </size>
-                  </property>
-                  <property name="font">
-                   <font>
-                    <weight>75</weight>
-                    <italic>false</italic>
-                    <bold>true</bold>
-                   </font>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
-                  </property>
-                  <property name="text">
-                   <string>Assignment</string>
-                  </property>
-                  <property name="alignment">
-                   <set>Qt::AlignCenter</set>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <spacer name="horizontalSpacer_8">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeType">
-                   <enum>QSizePolicy::Fixed</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>12</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item>
-                 <widget class="QLabel" name="legend1">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>60</width>
-                    <height>0</height>
-                   </size>
-                  </property>
-                  <property name="font">
-                   <font>
-                    <weight>75</weight>
-                    <italic>false</italic>
-                    <bold>true</bold>
-                   </font>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
-                  </property>
-                  <property name="text">
-                   <string>Min</string>
-                  </property>
-                  <property name="alignment">
-                   <set>Qt::AlignCenter</set>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <spacer name="horizontalSpacer_9">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeType">
-                   <enum>QSizePolicy::Minimum</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>0</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item>
-                 <widget class="QLabel" name="legend2">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>20</width>
-                    <height>0</height>
-                   </size>
-                  </property>
-                  <property name="font">
-                   <font>
-                    <weight>75</weight>
-                    <italic>false</italic>
-                    <bold>true</bold>
-                   </font>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
-                  </property>
-                  <property name="text">
-                   <string>Neutral</string>
-                  </property>
-                  <property name="alignment">
-                   <set>Qt::AlignCenter</set>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <spacer name="horizontalSpacer_5">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeType">
-                   <enum>QSizePolicy::Fixed</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>45</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item>
-                 <widget class="QLabel" name="legend3">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>55</width>
-                    <height>0</height>
-                   </size>
-                  </property>
-                  <property name="font">
-                   <font>
-                    <weight>75</weight>
-                    <italic>false</italic>
-                    <bold>true</bold>
-                   </font>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
-                  </property>
-                  <property name="text">
-                   <string>Max</string>
-                  </property>
-                  <property name="alignment">
-                   <set>Qt::AlignCenter</set>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <widget class="QLabel" name="legend4">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>20</width>
-                    <height>0</height>
-                   </size>
-                  </property>
-                  <property name="font">
-                   <font>
-                    <weight>75</weight>
-                    <italic>false</italic>
-                    <bold>true</bold>
-                   </font>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
-                  </property>
-                  <property name="text">
-                   <string>Rev.</string>
-                  </property>
-                  <property name="alignment">
-                   <set>Qt::AlignCenter</set>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <widget class="QLabel" name="legend5">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>20</width>
-                    <height>0</height>
-                   </size>
-                  </property>
-                  <property name="font">
-                   <font>
-                    <weight>75</weight>
-                    <italic>false</italic>
-                    <bold>true</bold>
-                   </font>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font:bold;
-margin:1px;</string>
-                  </property>
-                  <property name="text">
-                   <string>Link</string>
-                  </property>
-                  <property name="alignment">
-                   <set>Qt::AlignCenter</set>
-                  </property>
-                 </widget>
-                </item>
-                <item>
-                 <spacer name="horizontalSpacer_10">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeType">
-                   <enum>QSizePolicy::Minimum</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>18</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-               </layout>
-              </item>
+              <property name="margin">
+               <number>12</number>
+              </property>
               <item>
                <layout class="QVBoxLayout" name="channelLayout">
                 <property name="spacing">
-                 <number>-1</number>
+                 <number>6</number>
                 </property>
                 <property name="sizeConstraint">
                  <enum>QLayout::SetDefaultConstraint</enum>
                 </property>
+                <property name="margin">
+                 <number>0</number>
+                </property>
                </layout>
               </item>
               <item>
                <layout class="QHBoxLayout" name="horizontalLayout_2">
+                <property name="margin">
+                 <number>12</number>
+                </property>
                 <item>
                  <widget class="QCheckBox" name="spinningArmed">
                   <property name="minimumSize">
@@ -955,6 +600,9 @@ margin:1px;</string>
               <string/>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_6">
+              <property name="margin">
+               <number>12</number>
+              </property>
               <item>
                <widget class="QCheckBox" name="channelOutTest">
                 <property name="enabled">
@@ -1050,14 +698,14 @@ margin:1px;</string>
       <widget class="QPushButton" name="saveRCOutputToRAM">
        <property name="minimumSize">
         <size>
-         <width>60</width>
-         <height>32</height>
+         <width>0</width>
+         <height>0</height>
         </size>
        </property>
        <property name="maximumSize">
         <size>
          <width>16777215</width>
-         <height>32</height>
+         <height>16777215</height>
         </size>
        </property>
        <property name="toolTip">
@@ -1076,14 +724,14 @@ Be sure to set the Neutral position on all sliders before sending!</string>
       <widget class="QPushButton" name="saveRCOutputToSD">
        <property name="minimumSize">
         <size>
-         <width>71</width>
-         <height>32</height>
+         <width>0</width>
+         <height>0</height>
         </size>
        </property>
        <property name="maximumSize">
         <size>
          <width>16777215</width>
-         <height>32</height>
+         <height>16777215</height>
         </size>
        </property>
        <property name="toolTip">
diff --git a/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp b/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
old mode 100644
new mode 100755
index 0aaa900ab..f2d039edb
--- a/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
+++ b/ground/openpilotgcs/src/plugins/config/outputchannelform.cpp
@@ -35,6 +35,23 @@ OutputChannelForm::OutputChannelForm(const int index, QWidget *parent, const boo
         m_inChannelTest(false)
 {
     ui.setupUi(this);
+    if(!showLegend)
+    {
+        // Remove legend
+        QGridLayout *grid_layout = dynamic_cast<QGridLayout*>(layout());
+        Q_ASSERT(grid_layout);
+        for (int col = 0; col < grid_layout->columnCount(); col++)
+        { // remove every item in first row
+            QLayoutItem *item = grid_layout->itemAtPosition(0, col);
+            if (!item) continue;
+            // get widget from layout item
+            QWidget *legend_widget = item->widget();
+            if (!legend_widget) continue;
+            // delete widget
+            grid_layout->removeWidget(legend_widget);
+            delete legend_widget;
+        }
+    }
 
     // The convention for OP is Channel 1 to Channel 10.
     ui.actuatorNumber->setText(QString("%1:").arg(m_index+1));
diff --git a/ground/openpilotgcs/src/plugins/config/outputchannelform.ui b/ground/openpilotgcs/src/plugins/config/outputchannelform.ui
old mode 100644
new mode 100755
index 512e1bc4b..3b4079ce7
--- a/ground/openpilotgcs/src/plugins/config/outputchannelform.ui
+++ b/ground/openpilotgcs/src/plugins/config/outputchannelform.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>645</width>
+    <width>825</width>
     <height>58</height>
    </rect>
   </property>
@@ -20,26 +20,13 @@
    <property name="bottomMargin">
     <number>1</number>
    </property>
-   <item row="0" column="6">
-    <spacer name="horizontalSpacer_2">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Minimum</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>5</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="0" column="4">
-    <widget class="QSlider" name="actuatorNeutral">
+   <property name="horizontalSpacing">
+    <number>12</number>
+   </property>
+   <item row="1" column="5">
+    <widget class="QLabel" name="actuatorValue">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
@@ -47,34 +34,54 @@
      <property name="minimumSize">
       <size>
        <width>0</width>
-       <height>0</height>
+       <height>25</height>
       </size>
      </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-     <property name="maximum">
-      <number>9999</number>
-     </property>
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="8">
-    <widget class="QSpinBox" name="actuatorMax">
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
      <property name="toolTip">
-      <string>Maximum PWM value, beware of not overdriving your servo.</string>
+      <string>Current value of slider.</string>
      </property>
-     <property name="maximum">
-      <number>9999</number>
+     <property name="text">
+      <string>0000</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="1">
+   <item row="0" column="10">
+    <widget class="QLabel" name="legend5">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font:bold;
+margin:1px;</string>
+     </property>
+     <property name="text">
+      <string>Link</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="1">
     <widget class="QLabel" name="actuatorName">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@@ -85,7 +92,7 @@
      <property name="minimumSize">
       <size>
        <width>110</width>
-       <height>0</height>
+       <height>25</height>
       </size>
      </property>
      <property name="text">
@@ -97,6 +104,48 @@
     </widget>
    </item>
    <item row="0" column="0">
+    <widget class="QLabel" name="legend6">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="layoutDirection">
+      <enum>Qt::LeftToRight</enum>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font:bold;
+margin:1px;</string>
+     </property>
+     <property name="text">
+      <string>#</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+     <property name="margin">
+      <number>0</number>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0">
     <widget class="QLabel" name="actuatorNumber">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@@ -107,7 +156,7 @@
      <property name="minimumSize">
       <size>
        <width>20</width>
-       <height>0</height>
+       <height>25</height>
       </size>
      </property>
      <property name="toolTip">
@@ -124,8 +173,14 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="2">
+   <item row="1" column="2">
     <widget class="QSpinBox" name="actuatorMin">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>25</height>
+      </size>
+     </property>
      <property name="focusPolicy">
       <enum>Qt::StrongFocus</enum>
      </property>
@@ -137,7 +192,7 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="9">
+   <item row="1" column="9">
     <widget class="QCheckBox" name="actuatorRev">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -147,8 +202,8 @@
      </property>
      <property name="minimumSize">
       <size>
-       <width>40</width>
-       <height>0</height>
+       <width>45</width>
+       <height>25</height>
       </size>
      </property>
      <property name="focusPolicy">
@@ -159,7 +214,79 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="3">
+   <item row="0" column="4">
+    <widget class="QLabel" name="legend2">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font:bold;
+margin:1px;</string>
+     </property>
+     <property name="text">
+      <string>Neutral (slowest for motor)</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="1">
+    <widget class="QLabel" name="legend0">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font:bold;
+margin:1px;</string>
+     </property>
+     <property name="text">
+      <string>Assignment</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="3">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -169,13 +296,85 @@
      </property>
      <property name="sizeHint" stdset="0">
       <size>
-       <width>0</width>
+       <width>5</width>
        <height>20</height>
       </size>
      </property>
     </spacer>
    </item>
-   <item row="0" column="10">
+   <item row="0" column="2">
+    <widget class="QLabel" name="legend1">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font:bold;
+margin:1px;</string>
+     </property>
+     <property name="text">
+      <string>Min</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="8">
+    <widget class="QLabel" name="legend3">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font:bold;
+margin:1px;</string>
+     </property>
+     <property name="text">
+      <string>Max</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="10">
     <widget class="QCheckBox" name="actuatorLink">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -185,8 +384,8 @@
      </property>
      <property name="minimumSize">
       <size>
-       <width>40</width>
-       <height>0</height>
+       <width>45</width>
+       <height>25</height>
       </size>
      </property>
      <property name="focusPolicy">
@@ -197,19 +396,99 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="5">
-    <widget class="QLabel" name="actuatorValue">
+   <item row="1" column="6">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Minimum</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>5</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="0" column="9">
+    <widget class="QLabel" name="legend4">
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
-     <property name="toolTip">
-      <string>Current value of slider.</string>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font:bold;
+margin:1px;</string>
      </property>
      <property name="text">
-      <string>0000</string>
+      <string>Rev</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="4">
+    <widget class="QSlider" name="actuatorNeutral">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>25</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="maximum">
+      <number>9999</number>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="8">
+    <widget class="QSpinBox" name="actuatorMax">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>25</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="toolTip">
+      <string>Maximum PWM value, beware of not overdriving your servo.</string>
+     </property>
+     <property name="maximum">
+      <number>9999</number>
      </property>
     </widget>
    </item>
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index d8c709894..6777d0800 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -1,25143 +1,25172 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>StabilizationWidget</class>
- <widget class="QWidget" name="StabilizationWidget">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>967</width>
-    <height>639</height>
-   </rect>
-  </property>
-  <property name="sizePolicy">
-   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-    <horstretch>0</horstretch>
-    <verstretch>0</verstretch>
-   </sizepolicy>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>350</width>
-    <height>0</height>
-   </size>
-  </property>
-  <property name="palette">
-   <palette>
-    <active>
-     <colorrole role="WindowText">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>0</red>
-        <green>0</green>
-        <blue>0</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="Button">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>240</red>
-        <green>240</green>
-        <blue>240</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="Light">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>255</red>
-        <green>255</green>
-        <blue>255</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="Midlight">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>247</red>
-        <green>247</green>
-        <blue>247</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="Dark">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>120</red>
-        <green>120</green>
-        <blue>120</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="Mid">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>160</red>
-        <green>160</green>
-        <blue>160</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="Text">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>0</red>
-        <green>0</green>
-        <blue>0</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="BrightText">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>255</red>
-        <green>255</green>
-        <blue>255</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="ButtonText">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>0</red>
-        <green>0</green>
-        <blue>0</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="Base">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>255</red>
-        <green>255</green>
-        <blue>255</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="Window">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>240</red>
-        <green>240</green>
-        <blue>240</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="Shadow">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>0</red>
-        <green>0</green>
-        <blue>0</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="AlternateBase">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>247</red>
-        <green>247</green>
-        <blue>247</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="ToolTipBase">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>255</red>
-        <green>255</green>
-        <blue>220</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="ToolTipText">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>0</red>
-        <green>0</green>
-        <blue>0</blue>
-       </color>
-      </brush>
-     </colorrole>
-    </active>
-    <inactive>
-     <colorrole role="WindowText">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>0</red>
-        <green>0</green>
-        <blue>0</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="Button">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>240</red>
-        <green>240</green>
-        <blue>240</blue>
-       </color>
-      </brush>
-     </colorrole>
-     <colorrole role="Light">
-      <brush brushstyle="SolidPattern">
-       <color alpha="255">
-        <red>255</red>
-        <green>255</green>
-        <blue>255</blue>
-       </color>
-      </brush>
-     </colorrole>
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-                     <weight>75</weight>
-                     <bold>true</bold>
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-                   </property>
-                   <property name="autoFillBackground">
-                    <bool>false</bool>
-                   </property>
-                   <property name="styleSheet">
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-border-radius: 5;</string>
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-                   <property name="text">
-                    <string>Yaw</string>
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-                   <property name="alignment">
-                    <set>Qt::AlignCenter</set>
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-                 </item>
-                 <item row="2" column="0">
-                  <widget class="QLabel" name="label_44">
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-                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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-                     <verstretch>0</verstretch>
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-                   <property name="styleSheet">
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-                    <string>Integral</string>
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-                 <item row="2" column="6">
-                  <widget class="QDoubleSpinBox" name="RateYawKi">
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-                   <property name="minimumSize">
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-                     <width>0</width>
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-                   <property name="toolTip">
-                    <string>As a rule of thumb, you can set the Ki at roughly the same
-value as the Kp.</string>
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-                   <property name="decimals">
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-                   <property name="toolTip">
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-
-You can usually go for higher values for Yaw factors.</string>
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-                <property name="text">
-                 <string>Update in real time</string>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </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>149</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </widget>
-        </widget>
-       </item>
-      </layout>
-     </widget>
-    </widget>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <property name="spacing">
-      <number>4</number>
-     </property>
-     <item>
-      <spacer name="horizontalSpacer">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>450</width>
-         <height>16</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="pushButton_23">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>0</width>
-         <height>0</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>25</width>
-         <height>25</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Takes you to the wiki page</string>
-       </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="../coreplugin/core.qrc">
-         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-       </property>
-       <property name="iconSize">
-        <size>
-         <width>25</width>
-         <height>25</height>
-        </size>
-       </property>
-       <property name="flat">
-        <bool>true</bool>
-       </property>
-       <property name="objrelation" stdset="0">
-        <stringlist>
-         <string>button:help</string>
-         <string>url:http://wiki.openpilot.org/x/DAO9</string>
-        </stringlist>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="stabilizationReloadBoardData_6">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>140</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>16777215</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Reloads the saved settings into GCS.
-Useful if you have accidentally changed some settings.</string>
-       </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
-       <property name="text">
-        <string>Reload Board Data</string>
-       </property>
-       <property name="iconSize">
-        <size>
-         <width>16</width>
-         <height>16</height>
-        </size>
-       </property>
-       <property name="objrelation" stdset="0">
-        <stringlist>
-         <string>button:reload</string>
-         <string>buttongroup:10</string>
-        </stringlist>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="saveStabilizationToRAM_6">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>78</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>16777215</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Send settings to the board but do not save to the non-volatile memory</string>
-       </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
-       <property name="text">
-        <string>Apply</string>
-       </property>
-       <property name="objrelation" stdset="0">
-        <stringlist>
-         <string>button:apply</string>
-        </stringlist>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="saveStabilizationToSD_6">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>71</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>16777215</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Send settings to the board and save to the non-volatile memory</string>
-       </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
-       <property name="text">
-        <string>Save</string>
-       </property>
-       <property name="objrelation" stdset="0">
-        <stringlist>
-         <string>button:save</string>
-        </stringlist>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-  </layout>
- </widget>
- <layoutdefault spacing="6" margin="11"/>
- <tabstops>
-  <tabstop>stabilizationReloadBoardData_6</tabstop>
-  <tabstop>saveStabilizationToRAM_6</tabstop>
-  <tabstop>saveStabilizationToSD_6</tabstop>
-  <tabstop>pushButton_23</tabstop>
-  <tabstop>pushButton_20</tabstop>
-  <tabstop>horizontalSlider_76</tabstop>
-  <tabstop>spinBox_7</tabstop>
-  <tabstop>PitchPSlider</tabstop>
-  <tabstop>spinBox_PitchRateP</tabstop>
-  <tabstop>horizontalSlider_78</tabstop>
-  <tabstop>spinBox_12</tabstop>
-  <tabstop>horizontalSlider_79</tabstop>
-  <tabstop>spinBox_8</tabstop>
-  <tabstop>horizontalSlider_80</tabstop>
-  <tabstop>spinBox_9</tabstop>
-  <tabstop>horizontalSlider_81</tabstop>
-  <tabstop>spinBox_10</tabstop>
-  <tabstop>pushButton_22</tabstop>
-  <tabstop>horizontalSlider_82</tabstop>
-  <tabstop>spinBox_13</tabstop>
-  <tabstop>horizontalSlider_83</tabstop>
-  <tabstop>spinBox_14</tabstop>
-  <tabstop>horizontalSlider_84</tabstop>
-  <tabstop>spinBox_15</tabstop>
-  <tabstop>horizontalSlider_85</tabstop>
-  <tabstop>spinBox_18</tabstop>
-  <tabstop>horizontalSlider_86</tabstop>
-  <tabstop>spinBox_19</tabstop>
-  <tabstop>horizontalSlider_87</tabstop>
-  <tabstop>spinBox_20</tabstop>
-  <tabstop>lowThrottleZeroIntegral_8</tabstop>
-  <tabstop>checkBox_7</tabstop>
-  <tabstop>checkBox_8</tabstop>
-  <tabstop>pushButton_4</tabstop>
-  <tabstop>RateRollKp_2</tabstop>
-  <tabstop>RatePitchKp</tabstop>
-  <tabstop>RateYawKp</tabstop>
-  <tabstop>RateRollKi_2</tabstop>
-  <tabstop>RatePitchKi</tabstop>
-  <tabstop>RateYawKi</tabstop>
-  <tabstop>RollRateKd</tabstop>
-  <tabstop>PitchRateKd</tabstop>
-  <tabstop>YawRateKd</tabstop>
-  <tabstop>scrollArea</tabstop>
-  <tabstop>pushButton_2</tabstop>
-  <tabstop>AttitudeRollKp</tabstop>
-  <tabstop>AttitudePitchKp_2</tabstop>
-  <tabstop>AttitudeYawKp</tabstop>
-  <tabstop>AttitudeRollKi</tabstop>
-  <tabstop>AttitudePitchKi_2</tabstop>
-  <tabstop>AttitudeYawKi</tabstop>
-  <tabstop>pushButton_3</tabstop>
-  <tabstop>rateRollKp_3</tabstop>
-  <tabstop>ratePitchKp_4</tabstop>
-  <tabstop>rateYawKp_3</tabstop>
-  <tabstop>rateRollKi_3</tabstop>
-  <tabstop>ratePitchKi_4</tabstop>
-  <tabstop>rateYawKi_3</tabstop>
-  <tabstop>rateRollILimit_3</tabstop>
-  <tabstop>ratePitchILimit_4</tabstop>
-  <tabstop>rateYawILimit_3</tabstop>
-  <tabstop>checkBox_3</tabstop>
-  <tabstop>checkBox_2</tabstop>
-  <tabstop>WeakLevelingKp</tabstop>
-  <tabstop>WeakLevelingRate</tabstop>
-  <tabstop>MaAxisLock</tabstop>
-  <tabstop>MaxAxisLockRate</tabstop>
-  <tabstop>pushButton_9</tabstop>
-  <tabstop>RateRollILimit_2</tabstop>
-  <tabstop>RatePitchILimit</tabstop>
-  <tabstop>RateYawILimit</tabstop>
-  <tabstop>AttitudeRollILimit</tabstop>
-  <tabstop>AttitudePitchILimit_2</tabstop>
-  <tabstop>AttitudeYawILimit</tabstop>
-  <tabstop>pushButton_5</tabstop>
-  <tabstop>GyroTau</tabstop>
-  <tabstop>AccelKp</tabstop>
-  <tabstop>AccelKi</tabstop>
-  <tabstop>realTimeUpdates_6</tabstop>
-  <tabstop>scrollArea_3</tabstop>
-  <tabstop>tabWidget</tabstop>
-  <tabstop>scrollArea_2</tabstop>
- </tabstops>
- <resources>
-  <include location="../coreplugin/core.qrc"/>
- </resources>
- <connections/>
-</ui>
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>StabilizationWidget</class>
+ <widget class="QWidget" name="StabilizationWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>965</width>
+    <height>797</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>350</width>
+    <height>0</height>
+   </size>
+  </property>
+  <property name="palette">
+   <palette>
+    <active>
+     <colorrole role="WindowText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Button">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>240</red>
+        <green>240</green>
+        <blue>240</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Light">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Midlight">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>247</red>
+        <green>247</green>
+        <blue>247</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Dark">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>120</red>
+        <green>120</green>
+        <blue>120</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Mid">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>160</red>
+        <green>160</green>
+        <blue>160</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Text">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="BrightText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ButtonText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Base">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Window">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>240</red>
+        <green>240</green>
+        <blue>240</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Shadow">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="AlternateBase">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>247</red>
+        <green>247</green>
+        <blue>247</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ToolTipBase">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>220</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ToolTipText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+    </active>
+    <inactive>
+     <colorrole role="WindowText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Button">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>240</red>
+        <green>240</green>
+        <blue>240</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Light">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Midlight">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>247</red>
+        <green>247</green>
+        <blue>247</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Dark">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>120</red>
+        <green>120</green>
+        <blue>120</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Mid">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>160</red>
+        <green>160</green>
+        <blue>160</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Text">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="BrightText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ButtonText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Base">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Window">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>240</red>
+        <green>240</green>
+        <blue>240</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Shadow">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="AlternateBase">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>247</red>
+        <green>247</green>
+        <blue>247</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ToolTipBase">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>220</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ToolTipText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+    </inactive>
+    <disabled>
+     <colorrole role="WindowText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>120</red>
+        <green>120</green>
+        <blue>120</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Button">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>240</red>
+        <green>240</green>
+        <blue>240</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Light">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Midlight">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>247</red>
+        <green>247</green>
+        <blue>247</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Dark">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>120</red>
+        <green>120</green>
+        <blue>120</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Mid">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>160</red>
+        <green>160</green>
+        <blue>160</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Text">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>120</red>
+        <green>120</green>
+        <blue>120</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="BrightText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>255</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ButtonText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>120</red>
+        <green>120</green>
+        <blue>120</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Base">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>240</red>
+        <green>240</green>
+        <blue>240</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Window">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>240</red>
+        <green>240</green>
+        <blue>240</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="Shadow">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="AlternateBase">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>240</red>
+        <green>240</green>
+        <blue>240</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ToolTipBase">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>255</red>
+        <green>255</green>
+        <blue>220</blue>
+       </color>
+      </brush>
+     </colorrole>
+     <colorrole role="ToolTipText">
+      <brush brushstyle="SolidPattern">
+       <color alpha="255">
+        <red>0</red>
+        <green>0</green>
+        <blue>0</blue>
+       </color>
+      </brush>
+     </colorrole>
+    </disabled>
+   </palette>
+  </property>
+  <property name="windowTitle">
+   <string>Stabilization</string>
+  </property>
+  <property name="autoFillBackground">
+   <bool>false</bool>
+  </property>
+  <property name="iconSize" stdset="0">
+   <size>
+    <width>30</width>
+    <height>30</height>
+   </size>
+  </property>
+  <property name="documentMode" stdset="0">
+   <bool>false</bool>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_2">
+   <property name="spacing">
+    <number>6</number>
+   </property>
+   <property name="margin">
+    <number>12</number>
+   </property>
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::TabFocus</enum>
+     </property>
+     <property name="acceptDrops">
+      <bool>false</bool>
+     </property>
+     <property name="autoFillBackground">
+      <bool>false</bool>
+     </property>
+     <property name="styleSheet">
+      <string notr="true"/>
+     </property>
+     <property name="tabPosition">
+      <enum>QTabWidget::North</enum>
+     </property>
+     <property name="tabShape">
+      <enum>QTabWidget::Rounded</enum>
+     </property>
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <property name="documentMode">
+      <bool>false</bool>
+     </property>
+     <property name="tabsClosable">
+      <bool>false</bool>
+     </property>
+     <widget class="QWidget" name="Basic">
+      <attribute name="title">
+       <string>Basic</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <property name="spacing">
+        <number>6</number>
+       </property>
+       <property name="margin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>240</red>
+               <green>240</green>
+               <blue>240</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="lineWidth">
+          <number>0</number>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents_3">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>935</width>
+            <height>714</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_12" stretch="0,0,0,0">
+           <property name="spacing">
+            <number>12</number>
+           </property>
+           <property name="leftMargin">
+            <number>12</number>
+           </property>
+           <property name="topMargin">
+            <number>5</number>
+           </property>
+           <property name="rightMargin">
+            <number>12</number>
+           </property>
+           <property name="bottomMargin">
+            <number>12</number>
+           </property>
+           <item>
+            <widget class="QGroupBox" name="RateStabilizationGroup_15">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>195</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>181</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Rate Stabilization (Inner Loop)</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+             </property>
+             <property name="flat">
+              <bool>false</bool>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_19">
+              <property name="margin">
+               <number>12</number>
+              </property>
+              <property name="horizontalSpacing">
+               <number>6</number>
+              </property>
+              <item row="0" column="0">
+               <widget class="QCheckBox" name="checkBox_7">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Link Roll and Pitch</string>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <spacer name="horizontalSpacer_3">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Preferred</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>497</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="2">
+               <widget class="QPushButton" name="pushButton_20">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Reset all values to GCS defaults</string>
+                </property>
+                <property name="autoFillBackground">
+                 <bool>false</bool>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Default</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>button:default</string>
+                  <string>buttongroup:1</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0" colspan="3">
+               <widget class="QGroupBox" name="RateStabilizationGroup_16">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>131</height>
+                 </size>
+                </property>
+                <property name="palette">
+                 <palette>
+                  <active>
+                   <colorrole role="WindowText">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
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+                   </colorrole>
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+                    <brush brushstyle="SolidPattern">
+                     <color alpha="0">
+                      <red>0</red>
+                      <green>0</green>
+                      <blue>0</blue>
+                     </color>
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+                   </colorrole>
+                   <colorrole role="Light">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>255</red>
+                      <green>255</green>
+                      <blue>255</blue>
+                     </color>
+                    </brush>
+                   </colorrole>
+                   <colorrole role="Midlight">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>251</red>
+                      <green>251</green>
+                      <blue>251</blue>
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+                   </colorrole>
+                   <colorrole role="Dark">
+                    <brush brushstyle="SolidPattern">
+                     <color alpha="255">
+                      <red>124</red>
+                      <green>124</green>
+                      <blue>124</blue>
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+                      <green>165</green>
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+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <italic>false</italic>
+                  <bold>false</bold>
+                  <kerning>true</kerning>
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+                <property name="autoFillBackground">
+                 <bool>false</bool>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
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+                <property name="title">
+                 <string/>
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+                <property name="flat">
+                 <bool>true</bool>
+                </property>
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+                   <property name="orientation">
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+                   <property name="sizeHint" stdset="0">
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+                     <width>40</width>
+                     <height>20</height>
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+                   </property>
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+                 </item>
+                 <item row="0" column="1">
+                  <widget class="QLabel" name="label_138">
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+                    <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
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+                     <verstretch>0</verstretch>
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+                   <property name="minimumSize">
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+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
+                         <blue>58</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
+                         <blue>48</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Dark">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
+                         <blue>19</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Mid">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>26</red>
+                         <green>26</green>
+                         <blue>26</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Text">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="BrightText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ButtonText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>255</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Base">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Window">
+                       <brush brushstyle="LinearGradientPattern">
+                        <gradient startx="0.507000000000000" starty="0.000000000000000" endx="0.507000000000000" endy="0.772000000000000" type="LinearGradient" spread="ReflectSpread" coordinatemode="ObjectBoundingMode">
+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
+                          </color>
+                         </gradientstop>
+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
+                           <blue>36</blue>
+                          </color>
+                         </gradientstop>
+                        </gradient>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="AlternateBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Yaw</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="6">
+                  <spacer name="horizontalSpacer_45">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>40</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QLabel" name="label_141">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>78</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Proportional</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="1">
+                  <widget class="QSlider" name="horizontalSlider_76">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="value">
+                    <number>51</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>51</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="2">
+                  <widget class="QSpinBox" name="spinBox_7">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="3">
+                  <widget class="QSlider" name="PitchPSlider">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="4">
+                  <widget class="QSpinBox" name="spinBox_PitchRateP">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="5">
+                  <widget class="QSlider" name="horizontalSlider_78">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="6">
+                  <widget class="QSpinBox" name="spinBox_12">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.</string>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_145">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Integral</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="1">
+                  <widget class="QSlider" name="horizontalSlider_79">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="2">
+                  <widget class="QSpinBox" name="spinBox_8">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="3">
+                  <widget class="QSlider" name="horizontalSlider_80">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="4">
+                  <widget class="QSpinBox" name="spinBox_9">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="5">
+                  <widget class="QSlider" name="horizontalSlider_81">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>25</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="maximum">
+                    <number>100</number>
+                   </property>
+                   <property name="sliderPosition">
+                    <number>50</number>
+                   </property>
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
+                   </property>
+                   <property name="tickInterval">
+                    <number>25</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:yes</string>
+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="6">
+                  <widget class="QSpinBox" name="spinBox_10">
+                   <property name="minimumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>50</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="maximum">
+                    <number>200</number>
+                   </property>
+                   <property name="value">
+                    <number>200</number>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
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+                     <string>scale:0.0001</string>
+                     <string>buttongroup:1,10</string>
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+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="RateStabilizationGroup_17">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>195</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>181</height>
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+              <palette>
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+                </colorrole>
+                <colorrole role="Shadow">
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+                   <green>0</green>
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+                 </brush>
+                </colorrole>
+                <colorrole role="AlternateBase">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>248</red>
+                   <green>248</green>
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+                  </color>
+                 </brush>
+                </colorrole>
+                <colorrole role="ToolTipBase">
+                 <brush brushstyle="SolidPattern">
+                  <color alpha="255">
+                   <red>255</red>
+                   <green>255</green>
+                   <blue>220</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+                <colorrole role="ToolTipText">
+                 <brush brushstyle="SolidPattern">
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+                   <green>0</green>
+                   <blue>0</blue>
+                  </color>
+                 </brush>
+                </colorrole>
+               </disabled>
+              </palette>
+             </property>
+             <property name="autoFillBackground">
+              <bool>false</bool>
+             </property>
+             <property name="title">
+              <string>Attitude Stabilization (Outer Loop)</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_20">
+              <property name="margin">
+               <number>12</number>
+              </property>
+              <property name="horizontalSpacing">
+               <number>6</number>
+              </property>
+              <item row="0" column="0">
+               <widget class="QCheckBox" name="checkBox_8">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Link Roll and Pitch</string>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <spacer name="horizontalSpacer_4">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Preferred</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>497</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="2">
+               <widget class="QPushButton" name="pushButton_22">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Reset all values to GCS defaults</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Default</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>button:default</string>
+                  <string>buttongroup:2</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0" colspan="3">
+               <widget class="QGroupBox" name="RateStabilizationGroup_18">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
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+                    <font>
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+color: rgb(255, 255, 255);
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+                   <property name="text">
+                    <string>Roll</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
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+                 </item>
+                 <item row="0" column="3">
+                  <widget class="QLabel" name="label_151">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
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+                   <property name="minimumSize">
+                    <size>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
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+                           <green>36</green>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
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+                           <green>36</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
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+                         <green>19</green>
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+                         <green>58</green>
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+                         <red>255</red>
+                         <green>255</green>
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+                     <bold>true</bold>
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+                 <item row="0" column="5">
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+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
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+                   <property name="tickPosition">
+                    <enum>QSlider::TicksBelow</enum>
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+                   <property name="objrelation" stdset="0">
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+                 <string>Default</string>
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+                 <property name="bottomMargin">
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+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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+                   <property name="minimumSize">
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+                    <enum>Qt::StrongFocus</enum>
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+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>6</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000001000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Kd</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
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+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
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+                       <brush brushstyle="SolidPattern">
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
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+                         <green>255</green>
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+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
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+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Yaw</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_44">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Integral</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="6">
+                  <widget class="QDoubleSpinBox" name="RateYawKi">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Ki at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="4">
+                  <widget class="QDoubleSpinBox" name="RatePitchKi">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Ki at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:PitchRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="6">
+                  <widget class="QDoubleSpinBox" name="RateYawKp">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>85</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+
+You can usually go for higher values for Yaw factors.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="6">
+                  <widget class="QDoubleSpinBox" name="YawRateKd">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string/>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>6</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000001000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:YawRatePID</string>
+                     <string>element:Kd</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="4">
+                  <widget class="QLabel" name="label_34">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
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+                   <property name="palette">
+                    <palette>
+                     <active>
+                      <colorrole role="WindowText">
+                       <brush brushstyle="SolidPattern">
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+                   <property name="text">
+                    <string>Pitch</string>
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+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
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+                         <red>255</red>
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+                        <color alpha="255">
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+                           <green>74</green>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
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+                           <green>36</green>
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+                         <gradientstop position="0.208955000000000">
+                          <color alpha="255">
+                           <red>74</red>
+                           <green>74</green>
+                           <blue>74</blue>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
+                           <red>36</red>
+                           <green>36</green>
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+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
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+                         <green>255</green>
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+                          <color alpha="255">
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+                           <green>74</green>
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+                         <gradientstop position="0.786070000000000">
+                          <color alpha="255">
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+                         <red>48</red>
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+                         <green>19</green>
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+                       <brush brushstyle="SolidPattern">
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+                         <red>26</red>
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+                       <brush brushstyle="SolidPattern">
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
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+                         <green>39</green>
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+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>Roll</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="5">
+                  <spacer name="horizontalSpacer_28">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="0">
+                  <widget class="QLabel" name="label_43">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>69</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Proportional</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="1">
+                  <spacer name="horizontalSpacer_26">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>10</width>
+                     <height>10</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="1" column="2">
+                  <widget class="QDoubleSpinBox" name="RateRollKp_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>85</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Kp</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="0" column="0">
+                  <spacer name="horizontalSpacer_24">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeType">
+                    <enum>QSizePolicy::Fixed</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>140</width>
+                     <height>13</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                 <item row="2" column="2">
+                  <widget class="QDoubleSpinBox" name="RateRollKi_2">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>As a rule of thumb, you can set the Ki at roughly the same
+value as the Kp.</string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:RollRatePID</string>
+                     <string>element:Ki</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:4,20</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="0">
+                  <widget class="QLabel" name="label_24">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>58</width>
+                     <height>0</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>16777215</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Derivative</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="4">
+                  <widget class="QDoubleSpinBox" name="RatePitchKp">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>85</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
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+                </layout>
+               </widget>
+              </item>
+             </layout>
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+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>170</height>
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+             <property name="maximumSize">
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+             <property name="title">
+              <string>Attitude Stabization Coefficients (Outer Loop)</string>
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+             <property name="alignment">
+              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
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+             <property name="flat">
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+                <property name="styleSheet">
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+                <property name="text">
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+                   <property name="text">
+                    <string>Pitch</string>
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+                 </item>
+                 <item row="0" column="6">
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+                     <bold>true</bold>
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+                   <property name="text">
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+                 </item>
+                 <item row="1" column="0">
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+                  </widget>
+                 </item>
+                 <item row="1" column="2">
+                  <widget class="QDoubleSpinBox" name="AttitudeRollKp">
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+              <string>Stick Range and Limits</string>
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+                   <property name="font">
+                    <font>
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+                     <bold>true</bold>
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+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
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+color: rgb(255, 255, 255);
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+                   <property name="text">
+                    <string>Pitch</string>
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+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
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+                 </item>
+                 <item row="1" column="0">
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+                   <property name="styleSheet">
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+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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+                 <item row="2" column="4">
+                  <widget class="QDoubleSpinBox" name="ratePitchKi_4">
+                   <property name="sizePolicy">
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+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
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+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
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+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
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+                   <property name="focusPolicy">
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+                   <property name="styleSheet">
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+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
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+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
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+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:ManualRate</string>
+                     <string>element:Pitch</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
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+                 <item row="0" column="0">
+                  <spacer name="horizontalSpacer_29">
+                   <property name="orientation">
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+                   <property name="sizeType">
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+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
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+color: rgb(255, 255, 255);
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+                   </property>
+                   <property name="text">
+                    <string>Roll</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
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+                  </widget>
+                 </item>
+                 <item row="2" column="2">
+                  <widget class="QDoubleSpinBox" name="rateRollKi_3">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
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+                     <height>22</height>
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+                   </property>
+                   <property name="maximumSize">
+                    <size>
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+                     <height>22</height>
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+                    <enum>Qt::StrongFocus</enum>
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+                   <property name="toolTip">
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+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>0</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
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+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:ManualRate</string>
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+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
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+                 </item>
+                 <item row="1" column="2">
+                  <widget class="QDoubleSpinBox" name="rateRollKp_3">
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+                   <property name="focusPolicy">
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+                   <property name="toolTip">
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+                   <property name="styleSheet">
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+                   </property>
+                   <property name="alignment">
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+                   <property name="buttonSymbols">
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+                   <property name="decimals">
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+                   <property name="maximum">
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+                   <property name="singleStep">
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+                   <property name="objrelation" stdset="0">
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+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
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+                   </property>
+                  </widget>
+                 </item>
+                 <item row="3" column="6">
+                  <widget class="QDoubleSpinBox" name="rateYawILimit_3">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
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+                   <property name="toolTip">
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+                   <property name="styleSheet">
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+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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+                   <property name="decimals">
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+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>1.000000000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:StabilizationSettings</string>
+                     <string>fieldname:MaximumRate</string>
+                     <string>element:Yaw</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:6,20</string>
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+                   </property>
+                  </widget>
+                 </item>
+                 <item row="2" column="0">
+                  <widget class="QLabel" name="label_40">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>0</width>
+                     <height>16</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="text">
+                    <string>Full stick rate (deg/s)</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="7">
+                  <spacer name="horizontalSpacer_33">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_5">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>200</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="Expert">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <attribute name="title">
+       <string>Expert</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_4">
+       <property name="spacing">
+        <number>6</number>
+       </property>
+       <property name="margin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea_3">
+         <property name="palette">
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+               <green>240</green>
+               <blue>240</blue>
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+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
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+               <green>255</green>
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+               <green>240</green>
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+               <green>240</green>
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+               <green>240</green>
+               <blue>240</blue>
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+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Sunken</enum>
+         </property>
+         <property name="lineWidth">
+          <number>0</number>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents_2">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>935</width>
+            <height>714</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_9">
+           <property name="spacing">
+            <number>6</number>
+           </property>
+           <property name="margin">
+            <number>12</number>
+           </property>
+           <item>
+            <widget class="QGroupBox" name="groupBox_4">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>150</height>
+              </size>
+             </property>
+             <property name="autoFillBackground">
+              <bool>false</bool>
+             </property>
+             <property name="title">
+              <string>Weak Leveling / Axis Lock</string>
+             </property>
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+                <property name="toolTip">
+                 <string>Reset all values to GCS defaults</string>
+                </property>
+                <property name="styleSheet">
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+                </property>
+                <property name="text">
+                 <string>Default</string>
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+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:StabilizationSettings</string>
+                  <string>button:default</string>
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+                        <color alpha="255">
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+                         <gradientstop position="0.786070000000000">
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+                       <brush brushstyle="SolidPattern">
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+                         <green>19</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
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+                       <brush brushstyle="SolidPattern">
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+                         <red>255</red>
+                         <green>255</green>
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+                         <gradientstop position="0.786070000000000">
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+                      <colorrole role="Light">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>58</red>
+                         <green>58</green>
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+                      <colorrole role="Midlight">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>48</red>
+                         <green>48</green>
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>19</red>
+                         <green>19</green>
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+                       <brush brushstyle="SolidPattern">
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+                        <color alpha="255">
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+                      <colorrole role="Shadow">
+                       <brush brushstyle="SolidPattern">
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+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>39</red>
+                         <green>39</green>
+                         <blue>39</blue>
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+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipBase">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>255</red>
+                         <green>255</green>
+                         <blue>220</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                      <colorrole role="ToolTipText">
+                       <brush brushstyle="SolidPattern">
+                        <color alpha="255">
+                         <red>0</red>
+                         <green>0</green>
+                         <blue>0</blue>
+                        </color>
+                       </brush>
+                      </colorrole>
+                     </disabled>
+                    </palette>
+                   </property>
+                   <property name="font">
+                    <font>
+                     <weight>75</weight>
+                     <bold>true</bold>
+                    </font>
+                   </property>
+                   <property name="autoFillBackground">
+                    <bool>false</bool>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;</string>
+                   </property>
+                   <property name="text">
+                    <string>AccelKi</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="5">
+                  <widget class="QDoubleSpinBox" name="AccelKi">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="minimumSize">
+                    <size>
+                     <width>90</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="maximumSize">
+                    <size>
+                     <width>16777215</width>
+                     <height>22</height>
+                    </size>
+                   </property>
+                   <property name="focusPolicy">
+                    <enum>Qt::StrongFocus</enum>
+                   </property>
+                   <property name="toolTip">
+                    <string>The intergral term for the accelerometer within the filter </string>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true"/>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                   </property>
+                   <property name="decimals">
+                    <number>5</number>
+                   </property>
+                   <property name="maximum">
+                    <double>1000000.000000000000000</double>
+                   </property>
+                   <property name="singleStep">
+                    <double>0.000100000000000</double>
+                   </property>
+                   <property name="objrelation" stdset="0">
+                    <stringlist>
+                     <string>objname:AttitudeSettings</string>
+                     <string>fieldname:AccelKi</string>
+                     <string>haslimits:no</string>
+                     <string>scale:1</string>
+                     <string>buttongroup:8</string>
+                    </stringlist>
+                   </property>
+                  </widget>
+                 </item>
+                 <item row="1" column="6">
+                  <spacer name="horizontalSpacer_23">
+                   <property name="orientation">
+                    <enum>Qt::Horizontal</enum>
+                   </property>
+                   <property name="sizeHint" stdset="0">
+                    <size>
+                     <width>20</width>
+                     <height>20</height>
+                    </size>
+                   </property>
+                  </spacer>
+                 </item>
+                </layout>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_3">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>60</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Real Time Updates</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_13">
+              <item>
+               <widget class="QCheckBox" name="realTimeUpdates_6">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>136</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>If you check this, the GCS will udpate the stabilization factors
+automatically every 300ms, which will help for fast tuning.</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Update in real time</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </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>149</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="spacing">
+      <number>4</number>
+     </property>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>450</width>
+         <height>16</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="pushButton_23">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Takes you to the wiki page</string>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:help</string>
+         <string>url:http://wiki.openpilot.org/x/DAO9</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="stabilizationReloadBoardData_6">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Reloads the saved settings into GCS.
+Useful if you have accidentally changed some settings.</string>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Reload Board Data</string>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>16</width>
+         <height>16</height>
+        </size>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:reload</string>
+         <string>buttongroup:10</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveStabilizationToRAM_6">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Send settings to the board but do not save to the non-volatile memory</string>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:apply</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveStabilizationToSD_6">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Send settings to the board and save to the non-volatile memory</string>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:save</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <tabstops>
+  <tabstop>stabilizationReloadBoardData_6</tabstop>
+  <tabstop>saveStabilizationToRAM_6</tabstop>
+  <tabstop>saveStabilizationToSD_6</tabstop>
+  <tabstop>pushButton_23</tabstop>
+  <tabstop>pushButton_20</tabstop>
+  <tabstop>horizontalSlider_76</tabstop>
+  <tabstop>spinBox_7</tabstop>
+  <tabstop>PitchPSlider</tabstop>
+  <tabstop>spinBox_PitchRateP</tabstop>
+  <tabstop>horizontalSlider_78</tabstop>
+  <tabstop>spinBox_12</tabstop>
+  <tabstop>horizontalSlider_79</tabstop>
+  <tabstop>spinBox_8</tabstop>
+  <tabstop>horizontalSlider_80</tabstop>
+  <tabstop>spinBox_9</tabstop>
+  <tabstop>horizontalSlider_81</tabstop>
+  <tabstop>spinBox_10</tabstop>
+  <tabstop>pushButton_22</tabstop>
+  <tabstop>horizontalSlider_82</tabstop>
+  <tabstop>spinBox_13</tabstop>
+  <tabstop>horizontalSlider_83</tabstop>
+  <tabstop>spinBox_14</tabstop>
+  <tabstop>horizontalSlider_84</tabstop>
+  <tabstop>spinBox_15</tabstop>
+  <tabstop>horizontalSlider_85</tabstop>
+  <tabstop>spinBox_18</tabstop>
+  <tabstop>horizontalSlider_86</tabstop>
+  <tabstop>spinBox_19</tabstop>
+  <tabstop>horizontalSlider_87</tabstop>
+  <tabstop>spinBox_20</tabstop>
+  <tabstop>lowThrottleZeroIntegral_8</tabstop>
+  <tabstop>checkBox_7</tabstop>
+  <tabstop>checkBox_8</tabstop>
+  <tabstop>pushButton_4</tabstop>
+  <tabstop>RateRollKp_2</tabstop>
+  <tabstop>RatePitchKp</tabstop>
+  <tabstop>RateYawKp</tabstop>
+  <tabstop>RateRollKi_2</tabstop>
+  <tabstop>RatePitchKi</tabstop>
+  <tabstop>RateYawKi</tabstop>
+  <tabstop>RollRateKd</tabstop>
+  <tabstop>PitchRateKd</tabstop>
+  <tabstop>YawRateKd</tabstop>
+  <tabstop>scrollArea</tabstop>
+  <tabstop>pushButton_2</tabstop>
+  <tabstop>AttitudeRollKp</tabstop>
+  <tabstop>AttitudePitchKp_2</tabstop>
+  <tabstop>AttitudeYawKp</tabstop>
+  <tabstop>AttitudeRollKi</tabstop>
+  <tabstop>AttitudePitchKi_2</tabstop>
+  <tabstop>AttitudeYawKi</tabstop>
+  <tabstop>pushButton_3</tabstop>
+  <tabstop>rateRollKp_3</tabstop>
+  <tabstop>ratePitchKp_4</tabstop>
+  <tabstop>rateYawKp_3</tabstop>
+  <tabstop>rateRollKi_3</tabstop>
+  <tabstop>ratePitchKi_4</tabstop>
+  <tabstop>rateYawKi_3</tabstop>
+  <tabstop>rateRollILimit_3</tabstop>
+  <tabstop>ratePitchILimit_4</tabstop>
+  <tabstop>rateYawILimit_3</tabstop>
+  <tabstop>checkBox_3</tabstop>
+  <tabstop>checkBox_2</tabstop>
+  <tabstop>WeakLevelingKp</tabstop>
+  <tabstop>WeakLevelingRate</tabstop>
+  <tabstop>MaAxisLock</tabstop>
+  <tabstop>MaxAxisLockRate</tabstop>
+  <tabstop>pushButton_9</tabstop>
+  <tabstop>RateRollILimit_2</tabstop>
+  <tabstop>RatePitchILimit</tabstop>
+  <tabstop>RateYawILimit</tabstop>
+  <tabstop>AttitudeRollILimit</tabstop>
+  <tabstop>AttitudePitchILimit_2</tabstop>
+  <tabstop>AttitudeYawILimit</tabstop>
+  <tabstop>pushButton_5</tabstop>
+  <tabstop>GyroTau</tabstop>
+  <tabstop>AccelKp</tabstop>
+  <tabstop>AccelKi</tabstop>
+  <tabstop>realTimeUpdates_6</tabstop>
+  <tabstop>scrollArea_3</tabstop>
+  <tabstop>tabWidget</tabstop>
+  <tabstop>scrollArea_2</tabstop>
+ </tabstops>
+ <resources>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/ground/openpilotgcs/src/plugins/config/txpid.ui b/ground/openpilotgcs/src/plugins/config/txpid.ui
old mode 100644
new mode 100755
index 57d82447f..9d4da0865
--- a/ground/openpilotgcs/src/plugins/config/txpid.ui
+++ b/ground/openpilotgcs/src/plugins/config/txpid.ui
@@ -1,853 +1,850 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>TxPIDWidget</class>
- <widget class="QWidget" name="TxPIDWidget">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>789</width>
-    <height>615</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>TxPID</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
-   <property name="spacing">
-    <number>-1</number>
-   </property>
-   <item>
-    <widget class="QTabWidget" name="tabWidget">
-     <property name="currentIndex">
-      <number>0</number>
-     </property>
-     <widget class="QWidget" name="tab">
-      <attribute name="title">
-       <string>Tx PID</string>
-      </attribute>
-      <layout class="QVBoxLayout" name="verticalLayout_4">
-       <property name="spacing">
-        <number>-1</number>
-       </property>
-       <property name="leftMargin">
-        <number>0</number>
-       </property>
-       <property name="topMargin">
-        <number>12</number>
-       </property>
-       <property name="rightMargin">
-        <number>0</number>
-       </property>
-       <property name="bottomMargin">
-        <number>0</number>
-       </property>
-       <item>
-        <widget class="QScrollArea" name="scrollArea">
-         <property name="palette">
-          <palette>
-           <active>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>232</red>
-               <green>232</green>
-               <blue>232</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </active>
-           <inactive>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>232</red>
-               <green>232</green>
-               <blue>232</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </inactive>
-           <disabled>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>232</red>
-               <green>232</green>
-               <blue>232</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="0">
-               <red>232</red>
-               <green>232</green>
-               <blue>232</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </disabled>
-          </palette>
-         </property>
-         <property name="frameShape">
-          <enum>QFrame::NoFrame</enum>
-         </property>
-         <property name="widgetResizable">
-          <bool>true</bool>
-         </property>
-         <widget class="QWidget" name="scrollAreaWidgetContents_2">
-          <property name="geometry">
-           <rect>
-            <x>0</x>
-            <y>0</y>
-            <width>759</width>
-            <height>503</height>
-           </rect>
-          </property>
-          <layout class="QVBoxLayout" name="verticalLayout_2">
-           <property name="spacing">
-            <number>24</number>
-           </property>
-           <item>
-            <widget class="QGroupBox" name="groupBox_2">
-             <property name="title">
-              <string>Module Control</string>
-             </property>
-             <layout class="QVBoxLayout" name="verticalLayout_5">
-              <item>
-               <widget class="QCheckBox" name="TxPIDEnable">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>This module will periodically update values of stabilization PID settings
-depending on configured input control channels. New values of stabilization
-settings are not saved to flash, but updated in RAM. It is expected that the
-module will be enabled only for tuning. When desired values are found, they
-can be read via GCS and saved permanently. Then this module should be
-disabled again.
-
-Up to 3 separate PID options (or option pairs) can be selected and updated.</string>
-                </property>
-                <property name="text">
-                 <string>Enable TxPID module</string>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QLabel" name="label_7">
-                <property name="text">
-                 <string>After enabling the module, you must power cycle before using and configuring.</string>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <widget class="QGroupBox" name="groupBox_6">
-             <property name="enabled">
-              <bool>true</bool>
-             </property>
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="minimumSize">
-              <size>
-               <width>0</width>
-               <height>293</height>
-              </size>
-             </property>
-             <property name="title">
-              <string>Module Settings</string>
-             </property>
-             <layout class="QGridLayout" name="gridLayout">
-              <item row="1" column="1">
-               <widget class="QLabel" name="label_51">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>PID option</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="2">
-               <widget class="QLabel" name="label_50">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>Control Source</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="3">
-               <widget class="QLabel" name="label_49">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>Min</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="4">
-               <widget class="QLabel" name="label">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>Max</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="label_47">
-                <property name="text">
-                 <string>Instance 1</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QComboBox" name="PID1">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Select PID option or option pair to update.
-Set to Disabled if not used.</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="2">
-               <widget class="QComboBox" name="Input1">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Select input used as a control source for this instance.
-It can be one of Accessory channels or Throttle channel.
-
-If Accessory channel is chosen then its range [0..1] will be mapped
-to PID range [Min..Max] defined for this instance.
-
-If Throttle channel is chosen then Throttle range [Min..Max] will
-be mapped to PID range [Min..Max] defined for this instance. If
-Throttle is out of bounds then PID Min and Max values will be used
-accordingly.
-
-Note that it is possible to set PID Min &gt; Max. In that case increasing
-control input value will decrease the PID option value. This can be
-used, for instance, to decrease PID value when increasing Throttle.</string>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="3">
-               <widget class="QDoubleSpinBox" name="MinPID1">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Minimum PID value mapped to Accessory channel = 0 or
-Throttle channel lesser or equal to Throttle Min value.</string>
-                </property>
-                <property name="decimals">
-                 <number>6</number>
-                </property>
-                <property name="singleStep">
-                 <double>0.000100000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="4">
-               <widget class="QDoubleSpinBox" name="MaxPID1">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Maximum PID value mapped to Accessory channel = 1 or
-Throttle channel greater or equal to Throttle Max value.</string>
-                </property>
-                <property name="decimals">
-                 <number>6</number>
-                </property>
-                <property name="singleStep">
-                 <double>0.000100000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="0">
-               <widget class="QLabel" name="label_48">
-                <property name="text">
-                 <string>Instance 2</string>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="1">
-               <widget class="QComboBox" name="PID2">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Select PID option or option pair to update.
-Set to Disabled if not used.</string>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="2">
-               <widget class="QComboBox" name="Input2">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Select input used as a control source for this instance.
-It can be one of Accessory channels or Throttle channel.
-
-If Accessory channel is chosen then its range [0..1] will be mapped
-to PID range [Min..Max] defined for this instance.
-
-If Throttle channel is chosen then Throttle range [Min..Max] will
-be mapped to PID range [Min..Max] defined for this instance. If
-Throttle is out of bounds then PID Min and Max values will be used
-accordingly.
-
-Note that it is possible to set PID Min &gt; Max. In that case increasing
-control input value will decrease the PID option value. This can be
-used, for instance, to decrease PID value when increasing Throttle.</string>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="3">
-               <widget class="QDoubleSpinBox" name="MinPID2">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Minimum PID value mapped to Accessory channel = 0 or
-Throttle channel lesser or equal to Throttle Min value.</string>
-                </property>
-                <property name="decimals">
-                 <number>6</number>
-                </property>
-                <property name="singleStep">
-                 <double>0.000100000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="4">
-               <widget class="QDoubleSpinBox" name="MaxPID2">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Maximum PID value mapped to Accessory channel = 1 or
-Throttle channel greater or equal to Throttle Max value.</string>
-                </property>
-                <property name="decimals">
-                 <number>6</number>
-                </property>
-                <property name="singleStep">
-                 <double>0.000100000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item row="4" column="0">
-               <widget class="QLabel" name="label_52">
-                <property name="text">
-                 <string>Instance 3</string>
-                </property>
-               </widget>
-              </item>
-              <item row="4" column="1">
-               <widget class="QComboBox" name="PID3">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Select PID option or option pair to update.
-Set to Disabled if not used.</string>
-                </property>
-               </widget>
-              </item>
-              <item row="4" column="2">
-               <widget class="QComboBox" name="Input3">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Select input used as a control source for this instance.
-It can be one of Accessory channels or Throttle channel.
-
-If Accessory channel is chosen then its range [0..1] will be mapped
-to PID range [Min..Max] defined for this instance.
-
-If Throttle channel is chosen then Throttle range [Min..Max] will
-be mapped to PID range [Min..Max] defined for this instance. If
-Throttle is out of bounds then PID Min and Max values will be used
-accordingly.
-
-Note that it is possible to set PID Min &gt; Max. In that case increasing
-control input value will decrease the PID option value. This can be
-used, for instance, to decrease PID value when increasing Throttle.</string>
-                </property>
-               </widget>
-              </item>
-              <item row="4" column="3">
-               <widget class="QDoubleSpinBox" name="MinPID3">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Minimum PID value mapped to Accessory channel = 0 or
-Throttle channel lesser or equal to Throttle Min value.</string>
-                </property>
-                <property name="decimals">
-                 <number>6</number>
-                </property>
-                <property name="singleStep">
-                 <double>0.000100000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item row="4" column="4">
-               <widget class="QDoubleSpinBox" name="MaxPID3">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Maximum PID value mapped to Accessory channel = 1 or
-Throttle channel greater or equal to Throttle Max value.</string>
-                </property>
-                <property name="decimals">
-                 <number>6</number>
-                </property>
-                <property name="singleStep">
-                 <double>0.000100000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item row="8" column="0">
-               <widget class="QLabel" name="label_2">
-                <property name="text">
-                 <string>Update Mode</string>
-                </property>
-               </widget>
-              </item>
-              <item row="8" column="1">
-               <widget class="QComboBox" name="UpdateMode">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>PID values update mode which can be set to:
-- Never: this disables PID updates (but module still will be run if enabled),
-- When Armed: PID updated only when system is armed,
-- Always: PID updated always regardless of arm state.
-
-Since the GCS updates GUI PID values in real time on change, could be
-tricky to change other PID values from the GUI if the module is enabled
-and constantly updates stabilization settings object. As a workaround,
-this option can be used to temporarily disable updates or enable them
-only when system is armed without disabling the module.</string>
-                </property>
-               </widget>
-              </item>
-              <item row="7" column="0">
-               <widget class="QLabel" name="label_3">
-                <property name="text">
-                 <string>Throttle Range</string>
-                </property>
-               </widget>
-              </item>
-              <item row="7" column="1">
-               <widget class="QDoubleSpinBox" name="ThrottleMin">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Throttle channel lower bound mapped to PID Min value</string>
-                </property>
-                <property name="maximum">
-                 <double>1.000000000000000</double>
-                </property>
-                <property name="singleStep">
-                 <double>0.010000000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item row="7" column="2">
-               <widget class="QDoubleSpinBox" name="ThrottleMax">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-                <property name="toolTip">
-                 <string>Throttle channel upper bound mapped to PID Max value</string>
-                </property>
-                <property name="maximum">
-                 <double>1.000000000000000</double>
-                </property>
-                <property name="singleStep">
-                 <double>0.010000000000000</double>
-                </property>
-               </widget>
-              </item>
-              <item row="6" column="1">
-               <widget class="QLabel" name="label_4">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>Min</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="6" column="2">
-               <widget class="QLabel" name="label_5">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>16</height>
-                 </size>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>Max</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="5" column="1">
-               <spacer name="verticalSpacer_3">
-                <property name="orientation">
-                 <enum>Qt::Vertical</enum>
-                </property>
-                <property name="sizeType">
-                 <enum>QSizePolicy::Preferred</enum>
-                </property>
-                <property name="sizeHint" stdset="0">
-                 <size>
-                  <width>20</width>
-                  <height>20</height>
-                 </size>
-                </property>
-               </spacer>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <widget class="QGroupBox" name="groupBox_3">
-             <property name="title">
-              <string>Messages</string>
-             </property>
-             <layout class="QHBoxLayout" name="horizontalLayout">
-              <item>
-               <widget class="QLabel" name="message">
-                <property name="text">
-                 <string/>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
-           <item>
-            <spacer name="verticalSpacer">
-             <property name="orientation">
-              <enum>Qt::Vertical</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </widget>
-        </widget>
-       </item>
-      </layout>
-     </widget>
-    </widget>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <property name="spacing">
-      <number>4</number>
-     </property>
-     <item>
-      <spacer name="horizontalSpacer">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>570</width>
-         <height>16</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="pushButton">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>25</width>
-         <height>25</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>25</width>
-         <height>25</height>
-        </size>
-       </property>
-       <property name="baseSize">
-        <size>
-         <width>0</width>
-         <height>0</height>
-        </size>
-       </property>
-       <property name="autoFillBackground">
-        <bool>false</bool>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="../coreplugin/core.qrc">
-         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-       </property>
-       <property name="iconSize">
-        <size>
-         <width>25</width>
-         <height>25</height>
-        </size>
-       </property>
-       <property name="autoDefault">
-        <bool>false</bool>
-       </property>
-       <property name="default">
-        <bool>false</bool>
-       </property>
-       <property name="flat">
-        <bool>true</bool>
-       </property>
-       <property name="objrelation" stdset="0">
-        <stringlist>
-         <string>button:help</string>
-         <string>url:http://wiki.openpilot.org/x/DACiAQ</string>
-        </stringlist>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="Apply">
-       <property name="minimumSize">
-        <size>
-         <width>78</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Send settings to the board but do not save to the non-volatile memory</string>
-       </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
-       <property name="text">
-        <string>Apply</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="Save">
-       <property name="minimumSize">
-        <size>
-         <width>71</width>
-         <height>32</height>
-        </size>
-       </property>
-       <property name="toolTip">
-        <string>Send settings to the board and save to the non-volatile memory</string>
-       </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
-       <property name="text">
-        <string>Save</string>
-       </property>
-       <property name="checked">
-        <bool>false</bool>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-  </layout>
- </widget>
- <tabstops>
-  <tabstop>Apply</tabstop>
-  <tabstop>Save</tabstop>
-  <tabstop>scrollArea</tabstop>
-  <tabstop>PID1</tabstop>
-  <tabstop>Input1</tabstop>
-  <tabstop>MinPID1</tabstop>
-  <tabstop>MaxPID1</tabstop>
-  <tabstop>PID2</tabstop>
-  <tabstop>Input2</tabstop>
-  <tabstop>MinPID2</tabstop>
-  <tabstop>MaxPID2</tabstop>
-  <tabstop>PID3</tabstop>
-  <tabstop>Input3</tabstop>
-  <tabstop>MinPID3</tabstop>
-  <tabstop>MaxPID3</tabstop>
-  <tabstop>ThrottleMin</tabstop>
-  <tabstop>ThrottleMax</tabstop>
-  <tabstop>UpdateMode</tabstop>
- </tabstops>
- <resources>
-  <include location="../coreplugin/core.qrc"/>
- </resources>
- <connections/>
-</ui>
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>TxPIDWidget</class>
+ <widget class="QWidget" name="TxPIDWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>789</width>
+    <height>615</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>TxPID</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <property name="spacing">
+    <number>6</number>
+   </property>
+   <property name="margin">
+    <number>12</number>
+   </property>
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>Tx PID</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_4">
+       <property name="spacing">
+        <number>6</number>
+       </property>
+       <property name="margin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents_2">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>759</width>
+            <height>532</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_2">
+           <property name="spacing">
+            <number>6</number>
+           </property>
+           <property name="margin">
+            <number>12</number>
+           </property>
+           <item>
+            <widget class="QGroupBox" name="groupBox_2">
+             <property name="title">
+              <string>Module Control</string>
+             </property>
+             <layout class="QVBoxLayout" name="verticalLayout_5">
+              <item>
+               <widget class="QCheckBox" name="TxPIDEnable">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>This module will periodically update values of stabilization PID settings
+depending on configured input control channels. New values of stabilization
+settings are not saved to flash, but updated in RAM. It is expected that the
+module will be enabled only for tuning. When desired values are found, they
+can be read via GCS and saved permanently. Then this module should be
+disabled again.
+
+Up to 3 separate PID options (or option pairs) can be selected and updated.</string>
+                </property>
+                <property name="text">
+                 <string>Enable TxPID module</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QLabel" name="label_7">
+                <property name="text">
+                 <string>After enabling the module, you must power cycle before using and configuring.</string>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_6">
+             <property name="enabled">
+              <bool>true</bool>
+             </property>
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>293</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Module Settings</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout">
+              <item row="1" column="1">
+               <widget class="QLabel" name="label_51">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>PID option</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QLabel" name="label_50">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Control Source</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="3">
+               <widget class="QLabel" name="label_49">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Min</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="4">
+               <widget class="QLabel" name="label">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Max</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label_47">
+                <property name="text">
+                 <string>Instance 1</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QComboBox" name="PID1">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Select PID option or option pair to update.
+Set to Disabled if not used.</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="2">
+               <widget class="QComboBox" name="Input1">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Select input used as a control source for this instance.
+It can be one of Accessory channels or Throttle channel.
+
+If Accessory channel is chosen then its range [0..1] will be mapped
+to PID range [Min..Max] defined for this instance.
+
+If Throttle channel is chosen then Throttle range [Min..Max] will
+be mapped to PID range [Min..Max] defined for this instance. If
+Throttle is out of bounds then PID Min and Max values will be used
+accordingly.
+
+Note that it is possible to set PID Min &gt; Max. In that case increasing
+control input value will decrease the PID option value. This can be
+used, for instance, to decrease PID value when increasing Throttle.</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="3">
+               <widget class="QDoubleSpinBox" name="MinPID1">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Minimum PID value mapped to Accessory channel = 0 or
+Throttle channel lesser or equal to Throttle Min value.</string>
+                </property>
+                <property name="decimals">
+                 <number>6</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.000100000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="4">
+               <widget class="QDoubleSpinBox" name="MaxPID1">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum PID value mapped to Accessory channel = 1 or
+Throttle channel greater or equal to Throttle Max value.</string>
+                </property>
+                <property name="decimals">
+                 <number>6</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.000100000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="0">
+               <widget class="QLabel" name="label_48">
+                <property name="text">
+                 <string>Instance 2</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="1">
+               <widget class="QComboBox" name="PID2">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Select PID option or option pair to update.
+Set to Disabled if not used.</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="2">
+               <widget class="QComboBox" name="Input2">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Select input used as a control source for this instance.
+It can be one of Accessory channels or Throttle channel.
+
+If Accessory channel is chosen then its range [0..1] will be mapped
+to PID range [Min..Max] defined for this instance.
+
+If Throttle channel is chosen then Throttle range [Min..Max] will
+be mapped to PID range [Min..Max] defined for this instance. If
+Throttle is out of bounds then PID Min and Max values will be used
+accordingly.
+
+Note that it is possible to set PID Min &gt; Max. In that case increasing
+control input value will decrease the PID option value. This can be
+used, for instance, to decrease PID value when increasing Throttle.</string>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="3">
+               <widget class="QDoubleSpinBox" name="MinPID2">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Minimum PID value mapped to Accessory channel = 0 or
+Throttle channel lesser or equal to Throttle Min value.</string>
+                </property>
+                <property name="decimals">
+                 <number>6</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.000100000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="4">
+               <widget class="QDoubleSpinBox" name="MaxPID2">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum PID value mapped to Accessory channel = 1 or
+Throttle channel greater or equal to Throttle Max value.</string>
+                </property>
+                <property name="decimals">
+                 <number>6</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.000100000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="0">
+               <widget class="QLabel" name="label_52">
+                <property name="text">
+                 <string>Instance 3</string>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="1">
+               <widget class="QComboBox" name="PID3">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Select PID option or option pair to update.
+Set to Disabled if not used.</string>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="2">
+               <widget class="QComboBox" name="Input3">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Select input used as a control source for this instance.
+It can be one of Accessory channels or Throttle channel.
+
+If Accessory channel is chosen then its range [0..1] will be mapped
+to PID range [Min..Max] defined for this instance.
+
+If Throttle channel is chosen then Throttle range [Min..Max] will
+be mapped to PID range [Min..Max] defined for this instance. If
+Throttle is out of bounds then PID Min and Max values will be used
+accordingly.
+
+Note that it is possible to set PID Min &gt; Max. In that case increasing
+control input value will decrease the PID option value. This can be
+used, for instance, to decrease PID value when increasing Throttle.</string>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="3">
+               <widget class="QDoubleSpinBox" name="MinPID3">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Minimum PID value mapped to Accessory channel = 0 or
+Throttle channel lesser or equal to Throttle Min value.</string>
+                </property>
+                <property name="decimals">
+                 <number>6</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.000100000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="4" column="4">
+               <widget class="QDoubleSpinBox" name="MaxPID3">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Maximum PID value mapped to Accessory channel = 1 or
+Throttle channel greater or equal to Throttle Max value.</string>
+                </property>
+                <property name="decimals">
+                 <number>6</number>
+                </property>
+                <property name="singleStep">
+                 <double>0.000100000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="8" column="0">
+               <widget class="QLabel" name="label_2">
+                <property name="text">
+                 <string>Update Mode</string>
+                </property>
+               </widget>
+              </item>
+              <item row="8" column="1">
+               <widget class="QComboBox" name="UpdateMode">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>PID values update mode which can be set to:
+- Never: this disables PID updates (but module still will be run if enabled),
+- When Armed: PID updated only when system is armed,
+- Always: PID updated always regardless of arm state.
+
+Since the GCS updates GUI PID values in real time on change, could be
+tricky to change other PID values from the GUI if the module is enabled
+and constantly updates stabilization settings object. As a workaround,
+this option can be used to temporarily disable updates or enable them
+only when system is armed without disabling the module.</string>
+                </property>
+               </widget>
+              </item>
+              <item row="7" column="0">
+               <widget class="QLabel" name="label_3">
+                <property name="text">
+                 <string>Throttle Range</string>
+                </property>
+               </widget>
+              </item>
+              <item row="7" column="1">
+               <widget class="QDoubleSpinBox" name="ThrottleMin">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Throttle channel lower bound mapped to PID Min value</string>
+                </property>
+                <property name="maximum">
+                 <double>1.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>0.010000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="7" column="2">
+               <widget class="QDoubleSpinBox" name="ThrottleMax">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+                <property name="toolTip">
+                 <string>Throttle channel upper bound mapped to PID Max value</string>
+                </property>
+                <property name="maximum">
+                 <double>1.000000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>0.010000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="1">
+               <widget class="QLabel" name="label_4">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Min</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="2">
+               <widget class="QLabel" name="label_5">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>16</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Max</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="1">
+               <spacer name="verticalSpacer_3">
+                <property name="orientation">
+                 <enum>Qt::Vertical</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Preferred</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>20</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_3">
+             <property name="title">
+              <string>Messages</string>
+             </property>
+             <layout class="QHBoxLayout" name="horizontalLayout">
+              <item>
+               <widget class="QLabel" name="message">
+                <property name="text">
+                 <string/>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <property name="spacing">
+      <number>4</number>
+     </property>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>570</width>
+         <height>16</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="pushButton">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="baseSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="autoDefault">
+        <bool>false</bool>
+       </property>
+       <property name="default">
+        <bool>false</bool>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:help</string>
+         <string>url:http://wiki.openpilot.org/x/DACiAQ</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="Apply">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Send settings to the board but do not save to the non-volatile memory</string>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="Save">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Send settings to the board and save to the non-volatile memory</string>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+       <property name="checked">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <tabstops>
+  <tabstop>Apply</tabstop>
+  <tabstop>Save</tabstop>
+  <tabstop>scrollArea</tabstop>
+  <tabstop>PID1</tabstop>
+  <tabstop>Input1</tabstop>
+  <tabstop>MinPID1</tabstop>
+  <tabstop>MaxPID1</tabstop>
+  <tabstop>PID2</tabstop>
+  <tabstop>Input2</tabstop>
+  <tabstop>MinPID2</tabstop>
+  <tabstop>MaxPID2</tabstop>
+  <tabstop>PID3</tabstop>
+  <tabstop>Input3</tabstop>
+  <tabstop>MinPID3</tabstop>
+  <tabstop>MaxPID3</tabstop>
+  <tabstop>ThrottleMin</tabstop>
+  <tabstop>ThrottleMax</tabstop>
+  <tabstop>UpdateMode</tabstop>
+ </tabstops>
+ <resources>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
+ <connections/>
+</ui>

From 4cc13c9eea9b4aaa7efb0af8cc9a5d61c53c3b1b Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Sun, 9 Sep 2012 16:58:54 +1000
Subject: [PATCH 478/543] GCS/PFDqml: use the correct sceneSize for svg element
 images

Pass the element source size instead of the scene source size
to ensure the element is not downscalled.
---
 .../pfd/default/AltitudeScale.qml             | 20 ++++-----
 .../share/openpilotgcs/pfd/default/Pfd.qml    | 43 ++++++++++---------
 .../pfd/default/PfdIndicators.qml             | 10 ++---
 .../openpilotgcs/pfd/default/PfdWorldView.qml | 10 ++---
 .../openpilotgcs/pfd/default/SpeedScale.qml   | 24 +++++------
 .../pfd/default/SvgElementImage.qml           | 14 ++++++
 .../openpilotgcs/pfd/default/VsiScale.qml     | 30 ++++++-------
 .../src/libs/utils/svgimageprovider.cpp       | 27 +++++++++---
 8 files changed, 100 insertions(+), 78 deletions(-)
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml
index 6e5b608f7..ff85ffc74 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml
@@ -2,12 +2,12 @@ import Qt 4.7
 
 Item {
     id: sceneItem
-    property variant sourceSize
+    property variant sceneSize
 
-    Image {
+    SvgElementImage {
         id: altitude_bg
-        source: "image://svg/pfd.svg!altitude-bg"
-        sourceSize: sceneItem.sourceSize
+        elementName: "altitude-bg"
+        sceneSize: sceneItem.sceneSize
         clip: true
 
         property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "altitude-bg")
@@ -17,11 +17,11 @@ Item {
         width: scaledBounds.width * sceneItem.width
         height: scaledBounds.height * sceneItem.height
 
-        Image {
+        SvgElementImage {
             id: altitude_scale
 
-            source: "image://svg/pfd.svg!altitude-scale"
-            sourceSize: sceneItem.sourceSize
+            elementName: "altitude-scale"
+            sceneSize: sceneItem.sceneSize
 
             anchors.verticalCenter: parent.verticalCenter
             // The altitude scale represents 30 meters,
@@ -55,12 +55,12 @@ Item {
     }
 
 
-    Image {
+    SvgElementImage {
         id: altitude_window
         clip: true
 
-        source: "image://svg/pfd.svg!altitude-window"
-        sourceSize: sceneItem.sourceSize
+        elementName: "altitude-window"
+        sceneSize: sceneItem.sceneSize
 
         property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "altitude-window")
 
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index 0827b7d30..77f4e3f7d 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -4,15 +4,13 @@ import "."
 Rectangle {
     color: "#666666"
 
-    Image {
+    SvgElementImage {
         id: background
-        source: "image://svg/pfd.svg!background"
-
+        elementName: "background"
         fillMode: Image.PreserveAspectFit
         anchors.fill: parent
 
-        sourceSize.width: width
-        sourceSize.height: height
+        sceneSize: Qt.size(width, height)
 
         Item {
             id: sceneItem
@@ -27,10 +25,11 @@ Rectangle {
                 source: qmlWidget.terrainEnabled ? "PfdTerrainView.qml" : "PfdWorldView.qml"
             }
 
-            Image {
+            SvgElementImage {
                 id: rollscale
-                source: "image://svg/pfd.svg!rollscale"
-                sourceSize: background.sourceSize
+                elementName: "rollscale"
+                sceneSize: background.sceneSize
+
                 smooth: true
                 anchors.centerIn: parent
                 //rotate it around the center of scene
@@ -41,26 +40,28 @@ Rectangle {
                 }
             }
 
-            Image {
+            SvgElementImage {
                 id: foreground
-                source: "image://svg/pfd.svg!foreground"
-                sourceSize: background.sourceSize
+                elementName: "foreground"
+                sceneSize: background.sceneSize
+
                 anchors.centerIn: parent
             }
 
-            Image {
+            SvgElementImage {
                 id: compass
-                source: "image://svg/pfd.svg!compass"
-                sourceSize: background.sourceSize
+                elementName: "compass"
+                sceneSize: background.sceneSize
+
                 clip: true
 
                 y: 12
                 anchors.horizontalCenter: parent.horizontalCenter
 
-                Image {
+                SvgElementImage {
                     id: compass_band
-                    source: "image://svg/pfd.svg!compass-band"
-                    sourceSize: background.sourceSize
+                    elementName: "compass-band"
+                    sceneSize: background.sceneSize
 
                     anchors.centerIn: parent
                     //the band is 540 degrees wide, AttitudeActual.Yaw is converted to -180..180 range
@@ -70,22 +71,22 @@ Rectangle {
 
             SpeedScale {
                 anchors.fill: parent
-                sourceSize: background.sourceSize
+                sceneSize: background.sceneSize
             }
 
             AltitudeScale {
                 anchors.fill: parent
-                sourceSize: background.sourceSize
+                sceneSize: background.sourceSize
             }
 
             VsiScale {
                 anchors.fill: parent
-                sourceSize: background.sourceSize
+                sceneSize: background.sourceSize
             }
 
             PfdIndicators {
                 anchors.fill: parent
-                sourceSize: background.sourceSize
+                sceneSize: background.sourceSize
             }
         }
     }
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml
index d520dcf00..e71e75dda 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml
@@ -2,17 +2,17 @@ import Qt 4.7
 
 Item {
     id: sceneItem
-    property variant sourceSize
+    property variant sceneSize
 
     //telemetry status arrow
-    Image {
+    SvgElementImage {
         id: telemetry_status
-        source: "image://svg/pfd.svg!gcstelemetry-"+statusName
-        sourceSize: sceneItem.sourceSize
+        elementName: "gcstelemetry-"+statusName
+        sceneSize: sceneItem.sceneSize
 
         property string statusName : ["Disconnected","HandshakeReq","HandshakeAck","Connected"][GCSTelemetryStats.Status]
 
-        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gcstelemetry-Disconnected")
+        scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gcstelemetry-Disconnected")
         x: scaledBounds.x * sceneItem.width
         y: scaledBounds.y * sceneItem.height
         width: scaledBounds.width * sceneItem.width
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
index 9e4a02b3b..9c658afdb 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
@@ -1,15 +1,13 @@
 import Qt 4.7
 
 Item {
-    //worldView should fill the source size of svg document
     id: worldView
 
-    Image {
+    SvgElementImage {
         id: world
-        source: "image://svg/pfd.svg!world"
-
-        sourceSize.width: worldView.width
-        sourceSize.height: worldView.height
+        elementName: "world"
+        //worldView is loaded with Loader, so background element is visible
+        sceneSize: background.sceneSize
 
         smooth: true
 
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml
index ddc82b571..cb3845575 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml
@@ -2,28 +2,26 @@ import Qt 4.7
 
 Item {
     id: sceneItem
-    property variant sourceSize
+    property variant sceneSize
     property real groundSpeed : 3.6 * Math.sqrt(Math.pow(VelocityActual.North,2)+
                                                 Math.pow(VelocityActual.East,2))
 
-    Image {
+    SvgElementImage {
         id: speed_bg
-        source: "image://svg/pfd.svg!speed-bg"
-        sourceSize: sceneItem.sourceSize
+        elementName: "speed-bg"
+        sceneSize: sceneItem.sceneSize
         clip: true
 
-        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "speed-bg")
-
         x: scaledBounds.x * sceneItem.width
         y: scaledBounds.y * sceneItem.height
         width: scaledBounds.width * sceneItem.width
         height: scaledBounds.height * sceneItem.height
 
-        Image {
+        SvgElementImage {
             id: speed_scale
 
-            source: "image://svg/pfd.svg!speed-scale"
-            sourceSize: sceneItem.sourceSize
+            elementName: "speed-scale"
+            sceneSize: sceneItem.sceneSize
 
             anchors.verticalCenter: parent.verticalCenter
             // The speed scale represents 30 meters,
@@ -63,14 +61,12 @@ Item {
     }
 
 
-    Image {
+    SvgElementImage {
         id: speed_window
         clip: true
 
-        source: "image://svg/pfd.svg!speed-window"
-        sourceSize: sceneItem.sourceSize
-
-        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "speed-window")
+        elementName: "speed-window"
+        sceneSize: sceneItem.sceneSize
 
         x: scaledBounds.x * sceneItem.width
         y: scaledBounds.y * sceneItem.height
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml
new file mode 100644
index 000000000..f5646b9bd
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml
@@ -0,0 +1,14 @@
+import Qt 4.7
+
+Image {
+    id: sceneItem
+    property variant sceneSize
+    property string elementName
+    property string svgFileName : "pfd.svg"
+    property variant scaledBounds: svgRenderer.scaledElementBounds(svgFileName, elementName)
+
+    sourceSize.width: Math.round(sceneSize.width*scaledBounds.width)
+    sourceSize.height: Math.round(sceneSize.height*scaledBounds.height)
+
+    Component.onCompleted: source = "image://svg/"+svgFileName+"!"+elementName
+}
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml
index 455104462..b543809be 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml
@@ -2,26 +2,24 @@ import Qt 4.7
 
 Item {
     id: sceneItem
-    property variant sourceSize
+    property variant sceneSize
 
-    Image {
+    SvgElementImage {
         id: vsi_bg
-        source: "image://svg/pfd.svg!vsi-bg"
-        sourceSize: sceneItem.sourceSize
+        elementName: "vsi-bg"
+        sceneSize: sceneItem.sceneSize
         clip: true
 
-        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "vsi-bg")
-
         x: scaledBounds.x * sceneItem.width
         y: scaledBounds.y * sceneItem.height
         width: scaledBounds.width * sceneItem.width
         height: scaledBounds.height * sceneItem.height
 
-        Image {
+        SvgElementImage {
             id: vsi_bar
 
-            source: "image://svg/pfd.svg!vsi-bar"
-            sourceSize: sceneItem.sourceSize
+            elementName: "vsi-bar"
+            sceneSize: sceneItem.sceneSize
 
             //the scale in 1000 ft/min with height == 5200 ft/min
             height: (-VelocityActual.Down*3.28*60/1000)*(vsi_scale.height/5.2)
@@ -31,11 +29,11 @@ Item {
             anchors.left: parent.left
         }
 
-        Image {
+        SvgElementImage {
             id: vsi_scale
 
-            source: "image://svg/pfd.svg!vsi-scale"
-            sourceSize: sceneItem.sourceSize
+            elementName: "vsi-scale"
+            sceneSize: sceneItem.sceneSize
 
             anchors.verticalCenter: parent.verticalCenter
             anchors.left: parent.left
@@ -67,15 +65,13 @@ Item {
     }
 
 
-    Image {
+    SvgElementImage {
         id: vsi_window
         clip: true
         smooth: true
 
-        source: "image://svg/pfd.svg!vsi-window"
-        sourceSize: sceneItem.sourceSize
-
-        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "vsi-window")
+        elementName: "vsi-window"
+        sceneSize: sceneItem.sceneSize
 
         x: scaledBounds.x * sceneItem.width
         y: scaledBounds.y * sceneItem.height
diff --git a/ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp b/ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp
index e0f571369..8d60f2e31 100644
--- a/ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp
+++ b/ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp
@@ -92,9 +92,15 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
 
     QSize docSize = renderer->defaultSize();
 
-    if (!requestedSize.isEmpty() && !docSize.isEmpty()) {
-        xScale = qreal(requestedSize.width())/docSize.width();
-        yScale = qreal(requestedSize.height())/docSize.height();
+    if (!requestedSize.isEmpty()) {
+        if (!element.isEmpty()) {
+            QRectF elementBounds = renderer->boundsOnElement(element);
+            xScale = qreal(requestedSize.width())/elementBounds.width();
+            yScale = qreal(requestedSize.height())/elementBounds.height();
+        } else if (!docSize.isEmpty()) {
+            xScale = qreal(requestedSize.width())/docSize.width();
+            yScale = qreal(requestedSize.height())/docSize.height();
+        }
     }
 
     //keep the aspect ratio
@@ -114,10 +120,16 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
         QImage img(w, h, QImage::Format_ARGB32_Premultiplied);
         img.fill(0);
         QPainter p(&img);
-        renderer->render(&p, element);
+        p.setRenderHints(QPainter::TextAntialiasing |
+                         QPainter::Antialiasing |
+                         QPainter::SmoothPixmapTransform);
+
+        renderer->render(&p, element, QRectF(0, 0, w, h));
 
         if (size)
             *size = QSize(w, h);
+
+        //img.save(element+".png");
         return img;
     } else {
         //render the whole svg file
@@ -127,7 +139,12 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
         QImage img(w, h, QImage::Format_ARGB32_Premultiplied);
         img.fill(0);
         QPainter p(&img);
-        renderer->render(&p);
+        p.setRenderHints(QPainter::TextAntialiasing |
+                         QPainter::Antialiasing |
+                         QPainter::SmoothPixmapTransform);
+
+        p.scale(xScale, yScale);
+        renderer->render(&p, QRectF(QPointF(), QSizeF(docSize)));
 
         if (size)
             *size = QSize(w, h);

From 8ca99739ed4c97ae0d03f383386a8d293dbe3ec6 Mon Sep 17 00:00:00 2001
From: Igor Van Airde <igor@public-files.de>
Date: Sun, 9 Sep 2012 13:07:25 +0200
Subject: [PATCH 479/543] Changed rate controller from PID to PIDT1 to improve
 flight stability.

Low pass on D-Term makes the D-Term usable to improve flight stability.
Affects rate and stabilize mode.
---
 flight/Modules/Stabilization/stabilization.c | 14 +++++++++++++-
 1 file changed, 13 insertions(+), 1 deletion(-)

diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 43bb9b0d5..ae02dbeaa 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -68,6 +68,7 @@ typedef struct {
 	float iLim;
 	float iAccumulator;
 	float lastErr;
+	float lastDer;
 } pid_type;
 
 // Private variables
@@ -405,6 +406,7 @@ static void stabilizationTask(void* parameters)
 float ApplyPid(pid_type * pid, const float err, float dT)
 {
 	float diff = (err - pid->lastErr);
+	float dterm = 0;
 	pid->lastErr = err;
 
 	// Scale up accumulator by 1000 while computing to avoid losing precision
@@ -414,7 +416,16 @@ float ApplyPid(pid_type * pid, const float err, float dT)
 	} else if (pid->iAccumulator < -(pid->iLim * 1000.0f)) {
 		pid->iAccumulator = -pid->iLim * 1000.0f;
 	}
-	return ((err * pid->p) + pid->iAccumulator / 1000.0f + (diff * pid->d / dT));
+
+	// Calculate DT1 term, fixed T1 timeconstant
+	if(pid->d)
+	{
+		dterm = pid->lastDer + (( dT / ( dT + 7.9577e-3)) * ((diff * pid->d / dT) - pid->lastDer));
+		pid->lastDer = dterm;            //   ^ set constant to 1/(2*pi*f_cutoff)
+		                                 //   7.9577e-3  means 20 Hz f_cutoff
+	}
+
+	return ((err * pid->p) + pid->iAccumulator / 1000.0f + dterm);
 }
 
 
@@ -423,6 +434,7 @@ static void ZeroPids(void)
 	for(int8_t ct = 0; ct < PID_MAX; ct++) {
 		pids[ct].iAccumulator = 0.0f;
 		pids[ct].lastErr = 0.0f;
+		pids[ct].lastDer = 0.0f;
 	}
 	for(uint8_t i = 0; i < 3; i++)
 		axis_lock_accum[i] = 0.0f;

From 06fc1ed963d40eb4a24f3881c713d6ea4e24c865 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 9 Sep 2012 11:02:13 -0500
Subject: [PATCH 480/543] GCS USB: More the opening and closing code into the
 read thread to simplify some threading issues on OSX.  Should not influence
 other operating systems.

---
 .../src/plugins/rawhid/pjrc_rawhid_mac.cpp    |  5 +-
 .../src/plugins/rawhid/rawhid.cpp             | 67 ++++++++++++-------
 .../openpilotgcs/src/plugins/rawhid/rawhid.h  |  7 ++
 3 files changed, 53 insertions(+), 26 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index 28a02a970..a229cfdd2 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -117,7 +117,7 @@ pjrc_rawhid::~pjrc_rawhid()
 //
 int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
 {
-    static IOHIDManagerRef hid_manager=NULL;
+    IOHIDManagerRef hid_manager=NULL;
     CFMutableDictionaryRef dict;
     CFNumberRef num;
     IOReturn ret;
@@ -439,7 +439,7 @@ static void hid_close(hid_t *hid)
     IOHIDManagerRef hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
     IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, NULL, NULL);
     IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, NULL, NULL);
-    IOHIDDeviceUnscheduleFromRunLoop(hid->ref, CFRunLoopGetCurrent( ), kCFRunLoopDefaultMode);
+    IOHIDDeviceUnscheduleFromRunLoop(hid->ref, the_correct_runloop, kCFRunLoopDefaultMode);
     IOHIDDeviceClose(hid->ref, kIOHIDOptionsTypeNone);
     IOHIDManagerClose(hid_manager, 0);
     hid->ref = NULL;
@@ -463,7 +463,6 @@ static void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDevic
 {
     struct hid_struct *h;
 
-    printf("attach callback\n");
     if (IOHIDDeviceOpen(dev, kIOHIDOptionsTypeNone) != kIOReturnSuccess) return;
     h = (hid_t *)malloc(sizeof(hid_t));
     if (!h) return;
diff --git a/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp b/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
index ddead4e5a..e47f72bac 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
@@ -138,6 +138,7 @@ RawHIDReadThread::RawHIDReadThread(RawHID *hid)
     hidno(hid->m_deviceNo),
     m_running(true)
 {
+    hid->m_startedMutex->lock();
 }
 
 RawHIDReadThread::~RawHIDReadThread()
@@ -151,6 +152,7 @@ RawHIDReadThread::~RawHIDReadThread()
 void RawHIDReadThread::run()
 {
     qDebug() << "Read thread started";
+    m_running = m_hid->openDevice();
     while(m_running)
     {
         //here we use a temporary buffer so we don't need to lock
@@ -182,6 +184,7 @@ void RawHIDReadThread::run()
             m_running=false;
         }
     }
+    m_hid->closeDevice();
 }
 
 int RawHIDReadThread::getReadData(char *data, int size)
@@ -301,13 +304,29 @@ RawHID::RawHID(const QString &deviceName)
 {
 
     m_mutex = new QMutex(QMutex::Recursive);
+    m_startedMutex = new QMutex();
 
     // detect if the USB device is unplugged
     QObject::connect(&dev, SIGNAL(deviceUnplugged(int)), this, SLOT(onDeviceUnplugged(int)));
 
+    // Starting the read thread will lock the m_startexMutex until the
+    // device is opened
+    m_readThread = new RawHIDReadThread(this);
+    m_readThread->start();
+
+    m_startedMutex->lock();
+}
+
+/**
+ * @brief RawHID::openDevice This method opens the USB connection
+ * It is uses as a callback from the read thread so that the USB
+ * system code is registered in that thread instead of the calling
+ * thread (usually UI)
+ */
+bool RawHID::openDevice() {
     int opened = dev.open(USB_MAX_DEVICES, USBMonitor::idVendor_OpenPilot, -1, USB_USAGE_PAGE, USB_USAGE);
     for (int i =0; i< opened; i++) {
-        if (deviceName == dev.getserial(i))
+        if (serialNumber == dev.getserial(i))
             m_deviceNo = i;
         else
             dev.close(i);
@@ -316,27 +335,31 @@ RawHID::RawHID(const QString &deviceName)
     //didn't find the device we are trying to open (shouldnt happen)
     if (opened < 0)
     {
-        qDebug() << "Error: cannot open device " << deviceName;
-        return;
+        return false;
     }
 
-    //m_deviceNo = 0;
-    m_readThread = new RawHIDReadThread(this);
     m_writeThread = new RawHIDWriteThread(this);
-
-    m_readThread->start();
     m_writeThread->start();
+
+    m_startedMutex->unlock();
+
+    return true;
+}
+
+/**
+ * @brief RawHID::closeDevice This method closes the USB connection
+ * It is uses as a callback from the read thread so that the USB
+ * system code is unregistered from that thread\
+ */
+bool RawHID::closeDevice() {
+    dev.close(m_deviceNo);
 }
 
 RawHID::~RawHID()
 {
-	dev.close(m_deviceNo);
-
-	if (m_readThread)
-        delete m_readThread;
-
-	if (m_writeThread)
-        delete m_writeThread;
+    // If the read thread exists then the device is open
+    if (m_readThread)
+        close();
 }
 
 void RawHID::onDeviceUnplugged(int num)
@@ -345,7 +368,6 @@ void RawHID::onDeviceUnplugged(int num)
 		return;
 
 	// the USB device has been unplugged
-
 	close();
 }
 
@@ -372,13 +394,6 @@ void RawHID::close()
 
     m_mutex->lock();
 
-    if (m_readThread)
-    {
-        m_readThread->terminate();
-        delete m_readThread; // calls wait
-        m_readThread = NULL;
-    }
-
     if (m_writeThread)
     {
         m_writeThread->terminate();
@@ -386,7 +401,13 @@ void RawHID::close()
         m_writeThread = NULL;
     }
 
-    dev.close(m_deviceNo);
+
+    if (m_readThread)
+    {
+        m_readThread->terminate();
+        delete m_readThread; // calls wait
+        m_readThread = NULL;
+    }
 
     m_mutex->unlock();
 
diff --git a/ground/openpilotgcs/src/plugins/rawhid/rawhid.h b/ground/openpilotgcs/src/plugins/rawhid/rawhid.h
index 12ec78384..b12ef159d 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/rawhid.h
+++ b/ground/openpilotgcs/src/plugins/rawhid/rawhid.h
@@ -74,6 +74,12 @@ protected:
     virtual qint64 bytesAvailable() const;
     virtual qint64 bytesToWrite() const;
 
+    //! Callback from the read thread to open the device
+    bool openDevice();
+
+    //! Callback from teh read thread to close the device
+    bool closeDevice();
+
     QString serialNumber;
 
     int m_deviceNo;
@@ -83,6 +89,7 @@ protected:
     RawHIDWriteThread *m_writeThread;
 
 	QMutex *m_mutex;
+    QMutex *m_startedMutex;
 };
 
 #endif // RAWHID_H

From 8bb6a2600fa4d2fe55bfd271c90362cf4b59b7bd Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 9 Sep 2012 11:40:14 -0500
Subject: [PATCH 481/543] GCS Serial: Was double detecting USBCDC devices.

---
 .../src/qextserialenumerator_osx.cpp              | 15 +--------------
 1 file changed, 1 insertion(+), 14 deletions(-)

diff --git a/ground/openpilotgcs/src/libs/qextserialport/src/qextserialenumerator_osx.cpp b/ground/openpilotgcs/src/libs/qextserialport/src/qextserialenumerator_osx.cpp
index f8db6fbc6..9cf05e69c 100644
--- a/ground/openpilotgcs/src/libs/qextserialport/src/qextserialenumerator_osx.cpp
+++ b/ground/openpilotgcs/src/libs/qextserialport/src/qextserialenumerator_osx.cpp
@@ -22,8 +22,7 @@ QextSerialEnumerator::~QextSerialEnumerator( )
 
 // static
 QList<QextPortInfo> QextSerialEnumerator::getPorts()
-{
-    QList<QextPortInfo> infoList;
+{    QList<QextPortInfo> infoList;
     io_iterator_t serialPortIterator = 0;
     kern_return_t kernResult = KERN_FAILURE;
     CFMutableDictionaryRef matchingDictionary;
@@ -44,18 +43,6 @@ QList<QextPortInfo> QextSerialEnumerator::getPorts()
     IOObjectRelease(serialPortIterator);
     serialPortIterator = 0;
 
-    if( !(matchingDictionary = IOServiceNameMatching("AppleUSBCDC")) ) {
-        qWarning("IOServiceNameMatching returned a NULL dictionary.");
-        return infoList;
-    }
-
-    if( IOServiceGetMatchingServices(kIOMasterPortDefault, matchingDictionary, &serialPortIterator) != KERN_SUCCESS ) {
-        qCritical() << "IOServiceGetMatchingServices failed, returned" << kernResult;
-        return infoList;
-    }
-    iterateServicesOSX(serialPortIterator, infoList);
-    IOObjectRelease(serialPortIterator);
-
     return infoList;
 }
 

From 741207ddc0d3ac3187de324768ca023c21d70ea5 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 9 Sep 2012 13:03:57 -0500
Subject: [PATCH 482/543] GCS OSX HID: Tweak the closing so that it doesn't
 crash.  Still fails to unregister the input callback.

---
 .../src/plugins/rawhid/pjrc_rawhid_mac.cpp     | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index a229cfdd2..c1cd83312 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -382,8 +382,8 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
             hid->last_buffer = n;
     }
 
-    Q_ASSERT(the_correct_runloop != NULL);
-    CFRunLoopStop(the_correct_runloop);
+    if (the_correct_runloop)
+        CFRunLoopStop(the_correct_runloop);
 }
 
 static void timeout_callback(CFRunLoopTimerRef timer, void *info)
@@ -437,9 +437,12 @@ static void hid_close(hid_t *hid)
 {
     if (!hid || !hid->open || !hid->ref) return;
     IOHIDManagerRef hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
+    if (the_correct_runloop)
+        IOHIDDeviceUnscheduleFromRunLoop(hid->ref, the_correct_runloop, kCFRunLoopDefaultMode);
+    the_correct_runloop = NULL;
+    IOHIDDeviceRegisterInputReportCallback(hid->ref, hid->buffer, sizeof(hid->buffer), NULL, hid);
     IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, NULL, NULL);
     IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, NULL, NULL);
-    IOHIDDeviceUnscheduleFromRunLoop(hid->ref, the_correct_runloop, kCFRunLoopDefaultMode);
     IOHIDDeviceClose(hid->ref, kIOHIDOptionsTypeNone);
     IOHIDManagerClose(hid_manager, 0);
     hid->ref = NULL;
@@ -457,6 +460,10 @@ static void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDevic
                     return;
             }
     }
+
+    hid_t *hid = get_hid(0);
+    if (hid)
+        hid_close(hid);
 }
 
 static void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
@@ -467,6 +474,11 @@ static void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDevic
     h = (hid_t *)malloc(sizeof(hid_t));
     if (!h) return;
     memset(h, 0, sizeof(hid_t));
+
+    // Disconnect the attach callback since we don't want to automatically reconnect
+    IOHIDManagerRef hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
+    IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, NULL, NULL);
+
     IOHIDDeviceScheduleWithRunLoop(dev, CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
     IOHIDDeviceRegisterInputReportCallback(dev, h->buffer, sizeof(h->buffer), input_callback, h);
     h->ref = dev;

From 604e12525125e53f628d0ae7e0f38e5880050dfa Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 9 Sep 2012 17:10:50 -0500
Subject: [PATCH 483/543] GCS RawHID: Refactor the code to move most of the
 functionality into one class.  Removed support for multiple open devices
 since we can just use multiple classes.

---
 .../src/plugins/rawhid/pjrc_rawhid.h          |  22 +-
 .../src/plugins/rawhid/pjrc_rawhid_mac.cpp    | 493 ++++++------------
 2 files changed, 188 insertions(+), 327 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h
index 3ff096db5..8ba8d458a 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h
@@ -96,7 +96,7 @@ public:
     pjrc_rawhid();
     ~pjrc_rawhid();
     int open(int max, int vid, int pid, int usage_page, int usage);
-    int receive(int num, void *buf, int len, int timeout);
+    int receive(int, void *buf, int len, int timeout);
     void close(int num);
     int send(int num, void *buf, int len, int timeout);
     QString getserial(int num);
@@ -110,6 +110,26 @@ signals:
 private:
 #if defined( Q_OS_MAC)
 
+     // Static callbacks called by the HID system with handles to the PJRC object
+     static void attach_callback(void *, IOReturn, void *, IOHIDDeviceRef);
+     static void dettach_callback(void *, IOReturn, void *hid_mgr, IOHIDDeviceRef dev);
+     static void input_callback(void *, IOReturn, void *, IOHIDReportType, uint32_t, uint8_t *, CFIndex);
+     static void timeout_callback(CFRunLoopTimerRef, void *);
+
+     // Non static methods to call into
+     void attach(IOHIDDeviceRef dev);
+     void dettach(IOHIDDeviceRef dev);
+     void input(uint8_t *, CFIndex);
+
+     IOHIDManagerRef hid_manager;
+     CFRunLoopRef the_correct_runloop;
+     IOHIDDeviceRef dev;
+
+     static const int BUFFER_SIZE = 64;
+     uint8_t buffer[BUFFER_SIZE];
+     int32_t buffer_count;
+     bool device_open;
+     int attach_count;
 #elif defined(Q_OS_UNIX)
     //#elif defined(Q_OS_LINUX)
 
diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index c1cd83312..b89f200c5 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -40,102 +40,46 @@
 #include "pjrc_rawhid.h"
 
 #include <unistd.h>
-#include <IOKit/IOKitLib.h>
-#include <IOKit/hid/IOHIDLib.h>
-#include <CoreFoundation/CFString.h>
 #include <QString>
 #include <QThread>
 #include <QTimer>
 #include <QCoreApplication>
 
-class delay : public QThread
+int register_count = 0;
+pjrc_rawhid::pjrc_rawhid() :
+    device_open(false), hid_manager(NULL), buffer_count(0), attach_count(0)
 {
-public:
-    static void msleep(unsigned long msecs)
-    {
-        QThread::msleep(msecs);
-    }
-};
-
-#define BUFFER_SIZE 64
-
-//#define printf qDebug
-#define printf
-
-typedef struct hid_struct hid_t;
-typedef struct buffer_struct buffer_t;
-static hid_t *first_hid = NULL;
-static hid_t *last_hid = NULL;
-// Make sure we use the correct runloop
-CFRunLoopRef the_correct_runloop = NULL;
-struct hid_struct {
-    IOHIDDeviceRef ref;
-    int open;
-    uint8_t buffer[BUFFER_SIZE];
-    buffer_t *first_buffer;
-    buffer_t *last_buffer;
-    struct hid_struct *prev;
-    struct hid_struct *next;
-};
-struct buffer_struct {
-    struct buffer_struct *next;
-    uint32_t len;
-    uint8_t buf[BUFFER_SIZE];
-};
-
-static void add_hid(hid_t *);
-static hid_t * get_hid(int);
-static void free_all_hid(void);
-static void hid_close(hid_t *);
-static void attach_callback(void *, IOReturn, void *, IOHIDDeviceRef);
-static void detach_callback(void *, IOReturn, void *hid_mgr, IOHIDDeviceRef dev);
-static void input_callback(void *, IOReturn, void *, IOHIDReportType, uint32_t, uint8_t *, CFIndex);
-static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len);
-static void timeout_callback(CFRunLoopTimerRef, void *);
-
-
-pjrc_rawhid::pjrc_rawhid()
-{
-    first_hid = NULL;
-    last_hid = NULL;
 }
 
 pjrc_rawhid::~pjrc_rawhid()
 {
 }
 
-//  open - open 1 or more devices
-//
-//    Inputs:
-//	max = maximum number of devices to open
-//	vid = Vendor ID, or -1 if any
-//	pid = Product ID, or -1 if any
-//	usage_page = top level usage page, or -1 if any
-//	usage = top level usage number, or -1 if any
-//    Output:
-//	actual number of devices opened
-//
+/**
+  * @brief open - open 1 or more devices
+  * @param[in] max maximum number of devices to open
+  * @param[in] vid Vendor ID, or -1 if any
+  * @param[in] pid Product ID, or -1 if any
+  * @param[in] usage_page top level usage page, or -1 if any
+  * @param[in] usage top level usage number, or -1 if any
+  * @returns actual number of devices opened
+  */
 int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
 {
-    IOHIDManagerRef hid_manager=NULL;
     CFMutableDictionaryRef dict;
     CFNumberRef num;
     IOReturn ret;
-    hid_t *p;
     int count=0;
 
-    if (first_hid) free_all_hid();
-    //printf("pjrc_rawhid_open, max=%d\n", max);
-    if (max < 1) return 0;
+    Q_ASSERT(hid_manager == NULL);
+
     // Start the HID Manager
-    // http://developer.apple.com/technotes/tn2007/tn2187.html
-    if (!hid_manager) {
-        hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
-        if (hid_manager == NULL || CFGetTypeID(hid_manager) != IOHIDManagerGetTypeID()) {
-            if (hid_manager) CFRelease(hid_manager);
-            return 0;
-        }
+    hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
+    if (hid_manager == NULL || CFGetTypeID(hid_manager) != IOHIDManagerGetTypeID()) {
+        if (hid_manager) CFRelease(hid_manager);
+        return 0;
     }
+
     if (vid > 0 || pid > 0 || usage_page > 0 || usage > 0) {
         // Tell the HID Manager what type of devices we want
         dict = CFDictionaryCreateMutable(kCFAllocatorDefault, 0,
@@ -173,157 +117,116 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
     // set up a callbacks for device attach & detach
     IOHIDManagerScheduleWithRunLoop(hid_manager, CFRunLoopGetCurrent(),
                                     kCFRunLoopDefaultMode);
-    IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, attach_callback, NULL);
-    IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, detach_callback, NULL);
+    IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, pjrc_rawhid::attach_callback, this);
+    IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, pjrc_rawhid::dettach_callback, this);
     ret = IOHIDManagerOpen(hid_manager, kIOHIDOptionsTypeNone);
     if (ret != kIOReturnSuccess) {
-        printf("Could not start IOHIDManager");
+        qDebug() << "Could not start IOHIDManager";
         IOHIDManagerUnscheduleFromRunLoop(hid_manager,
                                           CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
         CFRelease(hid_manager);
         return 0;
     }
-    printf("run loop\n");
+    qDebug() << "run loop";
+
     // let it do the callback for all devices
     while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
+
+    qDebug() << "Attach count: " << attach_count;
     // count up how many were added by the callback
-    for (p = first_hid; p; p = p->next) count++;
-    return count;
+    return attach_count;
 }
 
-//  recveive - receive a packet
-//    Inputs:
-//	num = device to receive from (zero based)
-//	buf = buffer to receive packet
-//	len = buffer's size
-//	timeout = time to wait, in milliseconds
-//    Output:
-//	number of bytes received, or -1 on error
-//
-int pjrc_rawhid::receive(int num, void *buf, int len, int timeout)
+/**
+ * @brief receive - receive a packet
+ * @param[in] num device to receive from (unused now)
+ * @param[in] buf buffer to receive packet
+ * @param[in] len buffer's size
+ * @param[in] timeout = time to wait, in milliseconds
+ * @returns number of bytes received, or -1 on error
+ */
+int pjrc_rawhid::receive(int, void *buf, int len, int timeout)
 {
-   hid_t *hid;
-   buffer_t *b;
-   CFRunLoopTimerRef timer=NULL;
-   CFRunLoopTimerContext context;
-   int ret=0, timeout_occurred=0;
+    if (!device_open)
+        return -1;
+    CFRunLoopTimerRef timer=NULL;
+    int timeout_occurred=0;
 
-   if (len < 1) return 0;
-   hid = get_hid(num);
-   if (!hid || !hid->open) return -1;
-   if ((b = hid->first_buffer) != NULL) {
-       if (len > b->len) len = b->len;
-       memcpy(buf, b->buf, len);
-       hid->first_buffer = b->next;
-       free(b);
-       return len;
-   }
-   memset(&context, 0, sizeof(context));
-   context.info = &timeout_occurred;
-   timer = CFRunLoopTimerCreate(NULL, CFAbsoluteTimeGetCurrent() +
-                                (double)timeout / 1000.0, 0, 0, 0, timeout_callback, &context);
-   CFRunLoopAddTimer(CFRunLoopGetCurrent(), timer, kCFRunLoopDefaultMode);
-   the_correct_runloop = CFRunLoopGetCurrent();
-   //qDebug("--");
-   while (1) {
-       //qDebug(".");
-       CFRunLoopRun(); // Found the problem: somehow the input_callback does not
-                       // stop this CFRunLoopRun because it is hooked to a different run loop !!!
-                       // Hence the use of the "correct_runloop" variable above.
-       //qDebug("  ..");
+    if (buffer_count != 0) {
+        if (len > buffer_count) len = buffer_count;
+        memcpy(buf, buffer, len);
+        return len;
+    }
 
-       if ((b = hid->first_buffer) != NULL) {
-           if (len > b->len) len = b->len;
-           memcpy(buf, b->buf, len);
-           hid->first_buffer = b->next;
-           free(b);
-           ret = len;
-           //qDebug("*************");
-           break;
-       }
-       if (!hid->open) {
-           printf("pjrc_rawhid_recv, device not open\n");
-           ret = -1;
-           break;
-       }
-       if (timeout_occurred)
-            break;
-   }
-   CFRunLoopTimerInvalidate(timer);
-   CFRelease(timer);
-   return ret;
+    timer = CFRunLoopTimerCreate(NULL, CFAbsoluteTimeGetCurrent() +
+                                 (double)timeout / 1000.0, 0, 0, 0, timeout_callback, NULL);
+    CFRunLoopAddTimer(CFRunLoopGetCurrent(), timer, kCFRunLoopDefaultMode);
+    CFRunLoopRun(); // Wait for data
+    if (buffer_count != 0) {
+        if (len > buffer_count) len = buffer_count;
+        memcpy(buf, buffer, len);
+        buffer_count = 0;
+        QString buf_message;
+        for (int i = 0; i < len; i ++)
+            buf_message.append(QString("%1 ").arg(buffer[i], 0, 16));
+    } else
+        timeout_occurred;
+
+    CFRunLoopTimerInvalidate(timer);
+    CFRelease(timer);
 }
 
-//  send - send a packet
-//    Inputs:
-//	num = device to transmit to (zero based)
-//	buf = buffer containing packet to send
-//	len = number of bytes to transmit
-//	timeout = time to wait, in milliseconds
-//    Output:
-//	number of bytes sent, or -1 on error
-//
+/**
+ * @brief Helper class that will workaround the fact
+ * that the HID send is broken on OSX
+ */
+class Sender : public QThread
+{
+public:
+    Sender(IOHIDDeviceRef d, uint8_t * b, int l) :
+        dev(d), buf(b), len(l), result(-1) { }
+
+    void run() {
+        ret = IOHIDDeviceSetReport(dev, kIOHIDReportTypeOutput, buf[0], buf, len);
+        result = (ret == kIOReturnSuccess) ? len : -1;
+    }
+
+    int result;
+    IOReturn ret;
+private:
+    IOHIDDeviceRef dev;
+    uint8_t * buf;
+    int len;
+};
+
+/**
+ * @brief send - send a packet
+ * @param[in] num device to transmit to (zero based)
+ * @param[in] buf buffer containing packet to send
+ * @param[in] len number of bytes to transmit
+ * @param[in] timeout = time to wait, in milliseconds
+ * @returns number of bytes sent, or -1 on error
+ */
 int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
 {
-    hid_t *hid;
-    int result=-100;
-
-    hid = get_hid(num);
-    if (!hid || !hid->open) return -1;
-#if 1
-#warning "Send timeout not implemented on MACOSX"
+    if(!device_open)
+        return -1;
     uint8_t *report_buf = (uint8_t *) malloc(len);
     memcpy(&report_buf[0], buf,len);
-    // Note: packet processing done in OS indepdent code
-    IOReturn ret = IOHIDDeviceSetReport(hid->ref, kIOHIDReportTypeOutput, 2, (uint8_t *)report_buf, len);
-    result = (ret == kIOReturnSuccess) ? len : -1;
-    if (err_get_system(ret) == err_get_system(sys_iokit))
-    {
 
-        // The error was in the I/O Kit system
-        UInt32 codeValue = err_get_code(ret);
-        qDebug("Returned: %x", codeValue);
-        // Can now perform test on error code, display it to user, or whatever.
-        usleep(1000000);
-    }
+    QEventLoop el;
+    Sender sender(dev, report_buf, len);
+    connect(&sender, SIGNAL(finished()), &el, SLOT(quit()));
+    sender.start();
+    QTimer::singleShot(timeout, &el, SLOT(quit()));
+    el.exec();
 
-#endif
-#if 0
-    // No matter what I tried this never actually sends an output
-    // report and output_callback never gets called.  Why??
-    // Did I miss something?  This is exactly the same params as
-    // the sync call that works.  Is it an Apple bug?
-    // (submitted to Apple on 22-sep-2009, problem ID 7245050)
-    //
-    IOHIDDeviceScheduleWithRunLoop(hid->ref, CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
-    // should already be scheduled with run loop by attach_callback,
-    // sadly this doesn't make any difference either way
-    //
-    IOHIDDeviceSetReportWithCallback(hid->ref, kIOHIDReportTypeOutput,
-                                     0, buf, len, (double)timeout / 1000.0, output_callback, &result);
-    while (1) {
-        printf("enter run loop (send)\n");
-        CFRunLoopRun();
-        printf("leave run loop (send)\n");
-        if (result > -100) break;
-        if (!hid->open) {
-            result = -1;
-            break;
-        }
-    }
-#endif
-    return result;
+    return sender.result;
 }
 
+//! Get the serial number for a HID device
 QString pjrc_rawhid::getserial(int num) {
-    hid_t *hid;
-    char buf[128];
-
-    hid = get_hid(num);
-
-    if (!hid || !hid->open) return QString("Error");
-
-    CFTypeRef serialnum = IOHIDDeviceGetProperty(hid->ref, CFSTR(kIOHIDSerialNumberKey));
+    CFTypeRef serialnum = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDSerialNumberKey));
     if(serialnum && CFGetTypeID(serialnum) == CFStringGetTypeID())
     {
         //Note: I'm not sure it will always succeed if encoded as MacRoman but that
@@ -336,165 +239,103 @@ QString pjrc_rawhid::getserial(int num) {
     return QString("Error");
 }
 
-//  close - close a device
-//
-//    Inputs:
-//	num = device to close (zero based)
-//    Output
-//	(nothing)
-//
-void pjrc_rawhid::close(int num)
+//! Close the HID device
+void pjrc_rawhid::close(int)
 {
-    hid_t *hid;
+    device_open = false;
+    qDebug() << "hid_close " << CFRunLoopGetCurrent();
+    qDebug() << "Registering input report as null";
+    IOHIDDeviceRegisterInputReportCallback(dev, buffer, sizeof(buffer), NULL, NULL);
+    register_count--;
 
-    hid = get_hid(num);
-    if (!hid || !hid->open) return;
-    hid_close(hid);
-    hid->open = 0;
+    if (the_correct_runloop)
+        IOHIDDeviceUnscheduleFromRunLoop(dev, the_correct_runloop, kCFRunLoopDefaultMode);
+    the_correct_runloop = NULL;
+
+    IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, NULL, NULL);
+    IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, NULL, NULL);
+    IOHIDDeviceClose(dev, kIOHIDOptionsTypeNone);
+    IOHIDManagerClose(hid_manager, 0);
+    dev = NULL;
+    hid_manager = NULL;
 }
 
-//
-//
-// Private Functions
-//
-//
-static void input_callback(void *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len)
+/**
+ * @brief input Called to add input data to the buffer
+ * @param[in] id Report id
+ * @param[in] data The data buffer
+ * @param[in] len The report length
+ */
+void pjrc_rawhid::input(uint8_t *data, CFIndex len)
 {
-    buffer_t *n;
-    hid_t *hid;
-
-    //qDebug("input_callback, ret: %i - report id: %i buf: %x %x, len: %d\n", ret, id, data[0], data[1], len);
-    if (ret != kIOReturnSuccess || len < 1) return;
-    hid = (hid_t*)context;
-    if (!hid || hid->ref != sender) return;
-    printf("Processing packet");
-    n = (buffer_t *)malloc(sizeof(buffer_t));
-    if (!n) return;
+    if (!device_open)
+        return;
     if (len > BUFFER_SIZE) len = BUFFER_SIZE;
     // Note: packet preprocessing done in OS independent code
-    memcpy(n->buf, &data[0], len);
-    n->len = len;
-    n->next = NULL;
-    if (!hid->first_buffer || !hid->last_buffer) {
-            hid->first_buffer = hid->last_buffer = n;
-    } else {
-            hid->last_buffer->next = n;
-            hid->last_buffer = n;
-    }
+    memcpy(buffer, &data[0], len);
+    buffer_count = len;
 
     if (the_correct_runloop)
         CFRunLoopStop(the_correct_runloop);
 }
 
-static void timeout_callback(CFRunLoopTimerRef timer, void *info)
-{
-   //qDebug("timeout_callback\n");
-   *(int *)info = 1;
-   //qDebug() << "Stop CFRunLoop from timeout_callback" << CFRunLoopGetCurrent();
-   CFRunLoopStop(CFRunLoopGetCurrent());
+//! Callback for the HID driver on an input report
+void pjrc_rawhid::input_callback(void *c, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len)
+{    
+    if (ret != kIOReturnSuccess || len < 1) return;
+
+    pjrc_rawhid *context = (pjrc_rawhid *) c;
+    context->input(data, len);
 }
 
-static void add_hid(hid_t *h)
+//! Timeout used for the
+void pjrc_rawhid::timeout_callback(CFRunLoopTimerRef, void *)
 {
-    if (!first_hid || !last_hid) {
-            first_hid = last_hid = h;
-            h->next = h->prev = NULL;
-            return;
-    }
-    last_hid->next = h;
-    h->prev = last_hid;
-    h->next = NULL;
-    last_hid = h;
+    CFRunLoopStop(CFRunLoopGetCurrent());
 }
 
-
-static hid_t * get_hid(int num)
+//! Called on a dettach event
+void pjrc_rawhid::dettach(IOHIDDeviceRef d)
 {
-    hid_t *p;
-    for (p = first_hid; p && num > 0; p = p->next, num--) ;
-    return p;
+    qDebug() << "dettach";
+    if (d == dev)
+        close(0);
 }
 
-
-static void free_all_hid(void)
+//! Called from the USB system and forwarded to the instance (context)
+void pjrc_rawhid::dettach_callback(void *context, IOReturn, void *, IOHIDDeviceRef dev)
 {
-    hid_t *p, *q;
-
-    for (p = first_hid; p; p = p->next) {
-            hid_close(p);
-    }
-    p = first_hid;
-    while (p) {
-            q = p;
-            p = p->next;
-            free(q);
-    }
-    first_hid = last_hid = NULL;
+    pjrc_rawhid *p = (pjrc_rawhid*) context;
+    p->dettach(dev);
 }
 
-
-static void hid_close(hid_t *hid)
+/**
+ * @brief Called by the USB system
+ * @param dev The device that was attached
+ */
+void pjrc_rawhid::attach(IOHIDDeviceRef d)
 {
-    if (!hid || !hid->open || !hid->ref) return;
-    IOHIDManagerRef hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
-    if (the_correct_runloop)
-        IOHIDDeviceUnscheduleFromRunLoop(hid->ref, the_correct_runloop, kCFRunLoopDefaultMode);
-    the_correct_runloop = NULL;
-    IOHIDDeviceRegisterInputReportCallback(hid->ref, hid->buffer, sizeof(hid->buffer), NULL, hid);
-    IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, NULL, NULL);
-    IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, NULL, NULL);
-    IOHIDDeviceClose(hid->ref, kIOHIDOptionsTypeNone);
-    IOHIDManagerClose(hid_manager, 0);
-    hid->ref = NULL;
-}
+    // Store the device handle
+    dev = d;
 
-static void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
-{
-    hid_t *p;
-
-    printf("detach callback\n");
-    for (p = first_hid; p; p = p->next) {
-            if (p->ref == dev) {
-                    p->open = 0;
-                    CFRunLoopStop(CFRunLoopGetCurrent());
-                    return;
-            }
-    }
-
-    hid_t *hid = get_hid(0);
-    if (hid)
-        hid_close(hid);
-}
-
-static void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
-{
-    struct hid_struct *h;
+    attach_count++;
 
     if (IOHIDDeviceOpen(dev, kIOHIDOptionsTypeNone) != kIOReturnSuccess) return;
-    h = (hid_t *)malloc(sizeof(hid_t));
-    if (!h) return;
-    memset(h, 0, sizeof(hid_t));
 
     // Disconnect the attach callback since we don't want to automatically reconnect
-    IOHIDManagerRef hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
     IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, NULL, NULL);
+    IOHIDDeviceScheduleWithRunLoop(dev, the_correct_runloop, kCFRunLoopDefaultMode);
+    IOHIDDeviceRegisterInputReportCallback(dev, buffer, sizeof(buffer), pjrc_rawhid::input_callback, this);
 
-    IOHIDDeviceScheduleWithRunLoop(dev, CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
-    IOHIDDeviceRegisterInputReportCallback(dev, h->buffer, sizeof(h->buffer), input_callback, h);
-    h->ref = dev;
-    h->open = 1;
-    add_hid(h);
+    register_count++;
+
+    device_open = true;
 }
 
-static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len)
+//! Called from the USB system and forwarded to the instance (context)
+void pjrc_rawhid::attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 {
-        printf("output_callback, r=%d\n", ret);
-        if (ret == kIOReturnSuccess) {
-                *(int *)context = len;
-        } else {
-                // timeout if not success?
-                *(int *)context = 0;
-        }
-        CFRunLoopStop(CFRunLoopGetCurrent());
+    pjrc_rawhid *p = (pjrc_rawhid*) context;
+    p->attach(dev);
 }
 

From 26ff40b5f31369f31b3c1e95335fc6e99e213065 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 9 Sep 2012 17:37:43 -0500
Subject: [PATCH 484/543] GCS OSX: Work on how the receive threads are stopped
 properly

---
 .../plugins/coreplugin/connectionmanager.cpp  |   3 +-
 .../src/plugins/rawhid/pjrc_rawhid.h          |  19 +--
 .../src/plugins/rawhid/pjrc_rawhid_mac.cpp    | 114 ++++++++++--------
 .../src/plugins/rawhid/rawhid.cpp             |  12 +-
 .../src/plugins/rawhid/rawhidplugin.cpp       |   5 +-
 .../src/plugins/uploader/op_dfu.cpp           |  23 ++--
 6 files changed, 95 insertions(+), 81 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
index 962af8acb..1857ca553 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp
@@ -290,8 +290,9 @@ void ConnectionManager::updateConnectionList(IConnection *connection)
         bool found = availableDev.contains(iter->device);
         if (!found) {
             // we are currently using the one we are about to erase
-            if (m_connectionDevice.connection && m_connectionDevice.connection == connection && m_connectionDevice.device == iter->device)
+            if (m_connectionDevice.connection && m_connectionDevice.connection == connection && m_connectionDevice.device == iter->device) {
                 disconnectDevice();
+            }
 
             iter = m_devList.erase(iter);
         } else
diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h
index 8ba8d458a..c2cde4075 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h
@@ -37,6 +37,9 @@
 
 #if defined( Q_OS_MAC)
 
+#include <IOKit/IOKitLib.h>
+#include <IOKit/hid/IOHIDLib.h>
+#include <CoreFoundation/CFString.h>
 
 #elif defined(Q_OS_UNIX)
 //#elif defined(Q_OS_LINUX)
@@ -100,12 +103,8 @@ public:
     void close(int num);
     int send(int num, void *buf, int len, int timeout);
     QString getserial(int num);
-    void mytest(int num);
 signals:
-     void deviceUnplugged(int);//just to make pips changes compile
-#if defined( Q_OS_MAC)
-
-#endif
+     void deviceUnplugged(int);
 
 private:
 #if defined( Q_OS_MAC)
@@ -121,17 +120,19 @@ private:
      void dettach(IOHIDDeviceRef dev);
      void input(uint8_t *, CFIndex);
 
+     // Platform specific handles for the USB device
      IOHIDManagerRef hid_manager;
-     CFRunLoopRef the_correct_runloop;
      IOHIDDeviceRef dev;
+     CFRunLoopRef the_correct_runloop;
 
      static const int BUFFER_SIZE = 64;
      uint8_t buffer[BUFFER_SIZE];
-     int32_t buffer_count;
-     bool device_open;
      int attach_count;
+     int buffer_count;
+     bool device_open;
+     bool unplugged;
+
 #elif defined(Q_OS_UNIX)
-    //#elif defined(Q_OS_LINUX)
 
     hid_t *first_hid;
     hid_t *last_hid;
diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index b89f200c5..94b4f9444 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -45,9 +45,13 @@
 #include <QTimer>
 #include <QCoreApplication>
 
-int register_count = 0;
+struct timeout_info {
+    CFRunLoopRef loopRef;
+    bool timed_out;
+};
+
 pjrc_rawhid::pjrc_rawhid() :
-    device_open(false), hid_manager(NULL), buffer_count(0), attach_count(0)
+    device_open(false), hid_manager(NULL), buffer_count(0), unplugged(false)
 {
 }
 
@@ -127,12 +131,10 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
         CFRelease(hid_manager);
         return 0;
     }
-    qDebug() << "run loop";
 
     // let it do the callback for all devices
     while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
 
-    qDebug() << "Attach count: " << attach_count;
     // count up how many were added by the callback
     return attach_count;
 }
@@ -149,31 +151,45 @@ int pjrc_rawhid::receive(int, void *buf, int len, int timeout)
 {
     if (!device_open)
         return -1;
-    CFRunLoopTimerRef timer=NULL;
-    int timeout_occurred=0;
 
-    if (buffer_count != 0) {
-        if (len > buffer_count) len = buffer_count;
-        memcpy(buf, buffer, len);
-        return len;
-    }
+    qDebug() << "receiving";
 
-    timer = CFRunLoopTimerCreate(NULL, CFAbsoluteTimeGetCurrent() +
-                                 (double)timeout / 1000.0, 0, 0, 0, timeout_callback, NULL);
+    // Pass information to the callback to stop this run loop and signal if a timeout occurred
+    struct timeout_info info;
+    info.loopRef = CFRunLoopGetCurrent();;
+    info.timed_out = false;
+    CFRunLoopTimerContext context;
+    memset(&context, 0, sizeof(context));
+    context.info = &info;
+
+    qDebug() << "sending context info" << context.info;
+
+    // Set up the timer for the timeout
+    CFRunLoopTimerRef timer;
+    timer = CFRunLoopTimerCreate(NULL, CFAbsoluteTimeGetCurrent() + (double)timeout / 1000.0, 0, 0, 0, timeout_callback, &context);
     CFRunLoopAddTimer(CFRunLoopGetCurrent(), timer, kCFRunLoopDefaultMode);
-    CFRunLoopRun(); // Wait for data
-    if (buffer_count != 0) {
-        if (len > buffer_count) len = buffer_count;
-        memcpy(buf, buffer, len);
-        buffer_count = 0;
-        QString buf_message;
-        for (int i = 0; i < len; i ++)
-            buf_message.append(QString("%1 ").arg(buffer[i], 0, 16));
-    } else
-        timeout_occurred;
+
+    // Run the CFRunLoop until either a timeout or data is available
+    while(1) {
+        if (buffer_count != 0) {
+            if (len > buffer_count) len = buffer_count;
+            memcpy(buf, buffer, len);
+            buffer_count = 0;
+            break;
+        } else if (info.timed_out) {
+            qDebug() << "timed out";
+            len = 0;
+            break;
+        }
+        CFRunLoopRun(); // Wait for data
+    }
 
     CFRunLoopTimerInvalidate(timer);
     CFRelease(timer);
+
+    qDebug() << "received";
+
+    return len;
 }
 
 /**
@@ -187,7 +203,7 @@ public:
         dev(d), buf(b), len(l), result(-1) { }
 
     void run() {
-        ret = IOHIDDeviceSetReport(dev, kIOHIDReportTypeOutput, buf[0], buf, len);
+        ret = IOHIDDeviceSetReport(dev, kIOHIDReportTypeOutput, 2, buf, len);
         result = (ret == kIOReturnSuccess) ? len : -1;
     }
 
@@ -214,12 +230,14 @@ int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
     uint8_t *report_buf = (uint8_t *) malloc(len);
     memcpy(&report_buf[0], buf,len);
 
+    qDebug() << "sending";
     QEventLoop el;
     Sender sender(dev, report_buf, len);
     connect(&sender, SIGNAL(finished()), &el, SLOT(quit()));
     sender.start();
     QTimer::singleShot(timeout, &el, SLOT(quit()));
     el.exec();
+    qDebug() << "sent";
 
     return sender.result;
 }
@@ -242,22 +260,22 @@ QString pjrc_rawhid::getserial(int num) {
 //! Close the HID device
 void pjrc_rawhid::close(int)
 {
-    device_open = false;
-    qDebug() << "hid_close " << CFRunLoopGetCurrent();
-    qDebug() << "Registering input report as null";
-    IOHIDDeviceRegisterInputReportCallback(dev, buffer, sizeof(buffer), NULL, NULL);
-    register_count--;
+    if (device_open) {
+        device_open = false;
+        CFRunLoopStop(the_correct_runloop);
 
-    if (the_correct_runloop)
-        IOHIDDeviceUnscheduleFromRunLoop(dev, the_correct_runloop, kCFRunLoopDefaultMode);
-    the_correct_runloop = NULL;
+        if (!unplugged) {
+            IOHIDDeviceUnscheduleFromRunLoop(dev, the_correct_runloop, kCFRunLoopDefaultMode);
+            IOHIDDeviceRegisterInputReportCallback(dev, buffer, sizeof(buffer), NULL, NULL);
+            IOHIDDeviceClose(dev, kIOHIDOptionsTypeNone);
+        }
 
-    IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, NULL, NULL);
-    IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, NULL, NULL);
-    IOHIDDeviceClose(dev, kIOHIDOptionsTypeNone);
-    IOHIDManagerClose(hid_manager, 0);
-    dev = NULL;
-    hid_manager = NULL;
+        IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, NULL, NULL);
+        IOHIDManagerClose(hid_manager, 0);
+
+        dev = NULL;
+        hid_manager = NULL;
+    }
 }
 
 /**
@@ -270,6 +288,7 @@ void pjrc_rawhid::input(uint8_t *data, CFIndex len)
 {
     if (!device_open)
         return;
+
     if (len > BUFFER_SIZE) len = BUFFER_SIZE;
     // Note: packet preprocessing done in OS independent code
     memcpy(buffer, &data[0], len);
@@ -281,7 +300,7 @@ void pjrc_rawhid::input(uint8_t *data, CFIndex len)
 
 //! Callback for the HID driver on an input report
 void pjrc_rawhid::input_callback(void *c, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len)
-{    
+{
     if (ret != kIOReturnSuccess || len < 1) return;
 
     pjrc_rawhid *context = (pjrc_rawhid *) c;
@@ -289,17 +308,20 @@ void pjrc_rawhid::input_callback(void *c, IOReturn ret, void *sender, IOHIDRepor
 }
 
 //! Timeout used for the
-void pjrc_rawhid::timeout_callback(CFRunLoopTimerRef, void *)
+void pjrc_rawhid::timeout_callback(CFRunLoopTimerRef, void *i)
 {
-    CFRunLoopStop(CFRunLoopGetCurrent());
+    qDebug() << "timeout_callback";
+    struct timeout_info *info = (struct timeout_info *) i;
+    info->timed_out = true;
+    CFRunLoopStop(info->loopRef);
 }
 
 //! Called on a dettach event
 void pjrc_rawhid::dettach(IOHIDDeviceRef d)
 {
-    qDebug() << "dettach";
+    unplugged = true;
     if (d == dev)
-        close(0);
+        emit deviceUnplugged(0);
 }
 
 //! Called from the USB system and forwarded to the instance (context)
@@ -318,17 +340,13 @@ void pjrc_rawhid::attach(IOHIDDeviceRef d)
     // Store the device handle
     dev = d;
 
-    attach_count++;
-
     if (IOHIDDeviceOpen(dev, kIOHIDOptionsTypeNone) != kIOReturnSuccess) return;
-
     // Disconnect the attach callback since we don't want to automatically reconnect
     IOHIDManagerRegisterDeviceMatchingCallback(hid_manager, NULL, NULL);
     IOHIDDeviceScheduleWithRunLoop(dev, the_correct_runloop, kCFRunLoopDefaultMode);
     IOHIDDeviceRegisterInputReportCallback(dev, buffer, sizeof(buffer), pjrc_rawhid::input_callback, this);
 
-    register_count++;
-
+    attach_count++;
     device_open = true;
 }
 
diff --git a/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp b/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
index e47f72bac..43226f7cb 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
@@ -151,7 +151,6 @@ RawHIDReadThread::~RawHIDReadThread()
 
 void RawHIDReadThread::run()
 {
-    qDebug() << "Read thread started";
     m_running = m_hid->openDevice();
     while(m_running)
     {
@@ -225,7 +224,6 @@ RawHIDWriteThread::~RawHIDWriteThread()
 
 void RawHIDWriteThread::run()
 {
-    qDebug() << "Write thread started";
     while(m_running)
     {
         char buffer[WRITE_SIZE] = {0};
@@ -390,27 +388,27 @@ bool RawHID::open(OpenMode mode)
 
 void RawHID::close()
 {
+    qDebug() << "RawHID::close()";
     emit aboutToClose();
-
-    m_mutex->lock();
-
     if (m_writeThread)
     {
+        qDebug() << "About to terminate write thread";
         m_writeThread->terminate();
         delete m_writeThread;
         m_writeThread = NULL;
+        qDebug() << "Write thread terminated";
     }
 
 
     if (m_readThread)
     {
+        qDebug() << "About to terminate read thread";
         m_readThread->terminate();
         delete m_readThread; // calls wait
         m_readThread = NULL;
+        qDebug() << "Read thread terminated";
     }
 
-    m_mutex->unlock();
-
     emit closed();
 
     QIODevice::close();
diff --git a/ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.cpp b/ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.cpp
index d3be05e8d..24276b981 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/rawhidplugin.cpp
@@ -72,6 +72,7 @@ void RawHIDConnection::onDeviceConnected()
   */
 void RawHIDConnection::onDeviceDisconnected()
 {
+    qDebug() << "onDeviceDisconnected()";
     if (enablePolling)
         emit availableDevChanged(this);
 }
@@ -110,15 +111,13 @@ QIODevice *RawHIDConnection::openDevice(const QString &deviceName)
 void RawHIDConnection::closeDevice(const QString &deviceName)
 {
     Q_UNUSED(deviceName);
-    //added by andrew...
 	if (RawHidHandle)
 	{
+        qDebug() << "Closing the device here";
         RawHidHandle->close();
-
 		delete RawHidHandle;
 		RawHidHandle = NULL;
     }
-    //end added by andrew
 }
 
 QString RawHIDConnection::connectionName()
diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
index dc08d94f2..84cef5a19 100644
--- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
@@ -106,17 +106,19 @@ DFUObject::DFUObject(bool _debug,bool _use_serial,QString portname):
                     QTimer::singleShot(2000,&m_eventloop, SLOT(quit()));
                 m_eventloop.exec();
                 devices = USBMonitor::instance()->availableDevices(0x20a0,-1,-1,USBMonitor::Bootloader);
+                qDebug() << "Devices length: " << devices.length();
                 if (devices.length()==1) {
-                   if(hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0)==1)
+                    qDebug() << "Opening device";
+                    if(hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0)==1)
                     {
-                       QTimer::singleShot(200,&m_eventloop, SLOT(quit()));
+                        QTimer::singleShot(200,&m_eventloop, SLOT(quit()));
                         m_eventloop.exec();
                         qDebug()<<"OP_DFU detected after delay";
                         mready=true;
+                        qDebug() << "Detected";
                         break;
                     }
-                }
-                else {
+                } else {
                     qDebug() << devices.length()  << " device(s) detected, don't know what to do!";
                     mready = false;
                 }
@@ -590,22 +592,17 @@ bool DFUObject::findDevices()
     buf[9] = 0;
 
     int result = sendData(buf, BUF_LEN);
-    //int result = hidHandle.send(0,buf, BUF_LEN, 5000);
-    if(result<1)
-    {
+    if (result < 1)
         return false;
-    }
+
     result = receiveData(buf,BUF_LEN);
-    //result = hidHandle.receive(0,buf,BUF_LEN,5000);
-    if(result<1)
-    {
+    if (result < 1)
         return false;
-    }
+
     numberOfDevices=buf[7];
     RWFlags=buf[8];
     RWFlags=RWFlags<<8 | buf[9];
 
-
     if(buf[1]==OP_DFU::Rep_Capabilities)
     {
         for(int x=0;x<numberOfDevices;++x)

From f8e5654ff4d29eb3d0fd6ae2fec405b615fc4739 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 9 Sep 2012 23:45:04 -0500
Subject: [PATCH 485/543] Remove some comments

---
 .../src/plugins/rawhid/pjrc_rawhid_mac.cpp            | 11 -----------
 1 file changed, 11 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index 94b4f9444..84874ccec 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -125,7 +125,6 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
     IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, pjrc_rawhid::dettach_callback, this);
     ret = IOHIDManagerOpen(hid_manager, kIOHIDOptionsTypeNone);
     if (ret != kIOReturnSuccess) {
-        qDebug() << "Could not start IOHIDManager";
         IOHIDManagerUnscheduleFromRunLoop(hid_manager,
                                           CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
         CFRelease(hid_manager);
@@ -152,8 +151,6 @@ int pjrc_rawhid::receive(int, void *buf, int len, int timeout)
     if (!device_open)
         return -1;
 
-    qDebug() << "receiving";
-
     // Pass information to the callback to stop this run loop and signal if a timeout occurred
     struct timeout_info info;
     info.loopRef = CFRunLoopGetCurrent();;
@@ -162,8 +159,6 @@ int pjrc_rawhid::receive(int, void *buf, int len, int timeout)
     memset(&context, 0, sizeof(context));
     context.info = &info;
 
-    qDebug() << "sending context info" << context.info;
-
     // Set up the timer for the timeout
     CFRunLoopTimerRef timer;
     timer = CFRunLoopTimerCreate(NULL, CFAbsoluteTimeGetCurrent() + (double)timeout / 1000.0, 0, 0, 0, timeout_callback, &context);
@@ -177,7 +172,6 @@ int pjrc_rawhid::receive(int, void *buf, int len, int timeout)
             buffer_count = 0;
             break;
         } else if (info.timed_out) {
-            qDebug() << "timed out";
             len = 0;
             break;
         }
@@ -187,8 +181,6 @@ int pjrc_rawhid::receive(int, void *buf, int len, int timeout)
     CFRunLoopTimerInvalidate(timer);
     CFRelease(timer);
 
-    qDebug() << "received";
-
     return len;
 }
 
@@ -230,14 +222,12 @@ int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
     uint8_t *report_buf = (uint8_t *) malloc(len);
     memcpy(&report_buf[0], buf,len);
 
-    qDebug() << "sending";
     QEventLoop el;
     Sender sender(dev, report_buf, len);
     connect(&sender, SIGNAL(finished()), &el, SLOT(quit()));
     sender.start();
     QTimer::singleShot(timeout, &el, SLOT(quit()));
     el.exec();
-    qDebug() << "sent";
 
     return sender.result;
 }
@@ -310,7 +300,6 @@ void pjrc_rawhid::input_callback(void *c, IOReturn ret, void *sender, IOHIDRepor
 //! Timeout used for the
 void pjrc_rawhid::timeout_callback(CFRunLoopTimerRef, void *i)
 {
-    qDebug() << "timeout_callback";
     struct timeout_info *info = (struct timeout_info *) i;
     info->timed_out = true;
     CFRunLoopStop(info->loopRef);

From e027c25071f7e2cda5f2f39e6bc4a6a47df36d66 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 10 Sep 2012 00:32:40 -0500
Subject: [PATCH 486/543] OSX USB: Add write and read mutexs to avoid closing
 mid write.

---
 .../src/plugins/rawhid/pjrc_rawhid.h          |  3 ++
 .../src/plugins/rawhid/pjrc_rawhid_mac.cpp    | 47 +++++++++++++++++--
 .../src/plugins/rawhid/rawhid.cpp             |  5 +-
 3 files changed, 49 insertions(+), 6 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h
index c2cde4075..297ae02f9 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h
@@ -32,6 +32,7 @@
 #include <stdlib.h>
 #include <stdint.h>
 #include <QDebug>
+#include <QMutex>
 #include <QString>
 #include "rawhid_global.h"
 
@@ -132,6 +133,8 @@ private:
      bool device_open;
      bool unplugged;
 
+     QMutex *m_writeMutex;
+     QMutex *m_readMutex;
 #elif defined(Q_OS_UNIX)
 
     hid_t *first_hid;
diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index 84874ccec..2a111baa8 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -53,10 +53,25 @@ struct timeout_info {
 pjrc_rawhid::pjrc_rawhid() :
     device_open(false), hid_manager(NULL), buffer_count(0), unplugged(false)
 {
+    m_writeMutex = new QMutex();
+    m_readMutex = new QMutex();
 }
 
 pjrc_rawhid::~pjrc_rawhid()
 {
+    if (device_open) {
+        close(0);
+    }
+
+    if (m_writeMutex) {
+        delete m_writeMutex;
+        m_writeMutex = NULL;
+    }
+
+    if (m_readMutex) {
+        delete m_readMutex;
+        m_readMutex = NULL;
+    }
 }
 
 /**
@@ -73,9 +88,9 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
     CFMutableDictionaryRef dict;
     CFNumberRef num;
     IOReturn ret;
-    int count=0;
 
     Q_ASSERT(hid_manager == NULL);
+    Q_ASSERT(device_open == false);
 
     // Start the HID Manager
     hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
@@ -148,8 +163,12 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
  */
 int pjrc_rawhid::receive(int, void *buf, int len, int timeout)
 {
-    if (!device_open)
+    m_readMutex->lock();
+
+    if (!device_open) {
+        m_readMutex->unlock();
         return -1;
+    }
 
     // Pass information to the callback to stop this run loop and signal if a timeout occurred
     struct timeout_info info;
@@ -181,6 +200,8 @@ int pjrc_rawhid::receive(int, void *buf, int len, int timeout)
     CFRunLoopTimerInvalidate(timer);
     CFRelease(timer);
 
+    m_readMutex->unlock();
+
     return len;
 }
 
@@ -215,10 +236,16 @@ private:
  * @param[in] timeout = time to wait, in milliseconds
  * @returns number of bytes sent, or -1 on error
  */
-int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
+int pjrc_rawhid::send(int, void *buf, int len, int timeout)
 {
-    if(!device_open)
+    // This lock ensures that when closing we don't do it until the
+    // write has terminated (and then the device_open flag is set to false)
+    m_writeMutex->lock();
+
+    if(!device_open || unplugged) {
         return -1;
+    }
+
     uint8_t *report_buf = (uint8_t *) malloc(len);
     memcpy(&report_buf[0], buf,len);
 
@@ -229,6 +256,8 @@ int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
     QTimer::singleShot(timeout, &el, SLOT(quit()));
     el.exec();
 
+    m_writeMutex->unlock();
+
     return sender.result;
 }
 
@@ -250,6 +279,10 @@ QString pjrc_rawhid::getserial(int num) {
 //! Close the HID device
 void pjrc_rawhid::close(int)
 {
+    // Make sure any pending locks are done
+    m_writeMutex->lock();
+    m_readMutex->lock();
+
     if (device_open) {
         device_open = false;
         CFRunLoopStop(the_correct_runloop);
@@ -266,6 +299,12 @@ void pjrc_rawhid::close(int)
         dev = NULL;
         hid_manager = NULL;
     }
+
+    // Must unlock to prevent deadlock in any read/write threads which will then fail
+    // because device_open is false\
+    m_writeMutex->unlock();
+    m_readMutex->unlock();
+
 }
 
 /**
diff --git a/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp b/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
index 43226f7cb..937188917 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
@@ -330,6 +330,9 @@ bool RawHID::openDevice() {
             dev.close(i);
     }
 
+    // Now things are opened or not (from read thread) allow the constructor to complete
+    m_startedMutex->unlock();
+
     //didn't find the device we are trying to open (shouldnt happen)
     if (opened < 0)
     {
@@ -339,8 +342,6 @@ bool RawHID::openDevice() {
     m_writeThread = new RawHIDWriteThread(this);
     m_writeThread->start();
 
-    m_startedMutex->unlock();
-
     return true;
 }
 

From 59dcbf5cb6a8faca68b864db5125684dc5a907a4 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 10 Sep 2012 01:57:06 -0500
Subject: [PATCH 487/543] GCS OSX: More refinements to the USB code to make it
 more robust and work for reset/halt.

---
 .../src/plugins/rawhid/pjrc_rawhid.h          |  1 +
 .../src/plugins/rawhid/pjrc_rawhid_mac.cpp    | 38 ++++++++++---------
 .../src/plugins/rawhid/rawhid.cpp             |  6 ++-
 .../openpilotgcs/src/plugins/rawhid/rawhid.h  |  1 +
 .../src/plugins/uploader/op_dfu.cpp           | 28 +++++---------
 .../plugins/uploader/uploadergadgetwidget.cpp |  4 +-
 6 files changed, 38 insertions(+), 40 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h
index 297ae02f9..f981f6a94 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid.h
@@ -125,6 +125,7 @@ private:
      IOHIDManagerRef hid_manager;
      IOHIDDeviceRef dev;
      CFRunLoopRef the_correct_runloop;
+     CFRunLoopRef received_runloop;
 
      static const int BUFFER_SIZE = 64;
      uint8_t buffer[BUFFER_SIZE];
diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index 2a111baa8..f5fc3eb4a 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -92,6 +92,8 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
     Q_ASSERT(hid_manager == NULL);
     Q_ASSERT(device_open == false);
 
+    attach_count = 0;
+
     // Start the HID Manager
     hid_manager = IOHIDManagerCreate(kCFAllocatorDefault, kIOHIDOptionsTypeNone);
     if (hid_manager == NULL || CFGetTypeID(hid_manager) != IOHIDManagerGetTypeID()) {
@@ -163,12 +165,11 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
  */
 int pjrc_rawhid::receive(int, void *buf, int len, int timeout)
 {
-    m_readMutex->lock();
+    QMutexLocker locker(m_readMutex);
+    Q_UNUSED(locker);
 
-    if (!device_open) {
-        m_readMutex->unlock();
+    if (!device_open)
         return -1;
-    }
 
     // Pass information to the callback to stop this run loop and signal if a timeout occurred
     struct timeout_info info;
@@ -183,6 +184,8 @@ int pjrc_rawhid::receive(int, void *buf, int len, int timeout)
     timer = CFRunLoopTimerCreate(NULL, CFAbsoluteTimeGetCurrent() + (double)timeout / 1000.0, 0, 0, 0, timeout_callback, &context);
     CFRunLoopAddTimer(CFRunLoopGetCurrent(), timer, kCFRunLoopDefaultMode);
 
+    received_runloop = CFRunLoopGetCurrent();
+
     // Run the CFRunLoop until either a timeout or data is available
     while(1) {
         if (buffer_count != 0) {
@@ -200,7 +203,7 @@ int pjrc_rawhid::receive(int, void *buf, int len, int timeout)
     CFRunLoopTimerInvalidate(timer);
     CFRelease(timer);
 
-    m_readMutex->unlock();
+    received_runloop = NULL;
 
     return len;
 }
@@ -240,7 +243,8 @@ int pjrc_rawhid::send(int, void *buf, int len, int timeout)
 {
     // This lock ensures that when closing we don't do it until the
     // write has terminated (and then the device_open flag is set to false)
-    m_writeMutex->lock();
+    QMutexLocker locker(m_writeMutex);
+    Q_UNUSED(locker);
 
     if(!device_open || unplugged) {
         return -1;
@@ -256,13 +260,17 @@ int pjrc_rawhid::send(int, void *buf, int len, int timeout)
     QTimer::singleShot(timeout, &el, SLOT(quit()));
     el.exec();
 
-    m_writeMutex->unlock();
-
     return sender.result;
 }
 
 //! Get the serial number for a HID device
 QString pjrc_rawhid::getserial(int num) {
+    QMutexLocker locker(m_readMutex);
+    Q_UNUSED(locker);
+
+    if (!device_open || unplugged)
+        return "";
+
     CFTypeRef serialnum = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDSerialNumberKey));
     if(serialnum && CFGetTypeID(serialnum) == CFStringGetTypeID())
     {
@@ -280,8 +288,7 @@ QString pjrc_rawhid::getserial(int num) {
 void pjrc_rawhid::close(int)
 {
     // Make sure any pending locks are done
-    m_writeMutex->lock();
-    m_readMutex->lock();
+    QMutexLocker lock(m_writeMutex);
 
     if (device_open) {
         device_open = false;
@@ -299,12 +306,6 @@ void pjrc_rawhid::close(int)
         dev = NULL;
         hid_manager = NULL;
     }
-
-    // Must unlock to prevent deadlock in any read/write threads which will then fail
-    // because device_open is false\
-    m_writeMutex->unlock();
-    m_readMutex->unlock();
-
 }
 
 /**
@@ -323,8 +324,8 @@ void pjrc_rawhid::input(uint8_t *data, CFIndex len)
     memcpy(buffer, &data[0], len);
     buffer_count = len;
 
-    if (the_correct_runloop)
-        CFRunLoopStop(the_correct_runloop);
+    if (received_runloop)
+        CFRunLoopStop(received_runloop);
 }
 
 //! Callback for the HID driver on an input report
@@ -376,6 +377,7 @@ void pjrc_rawhid::attach(IOHIDDeviceRef d)
 
     attach_count++;
     device_open = true;
+    unplugged = false;
 }
 
 //! Called from the USB system and forwarded to the instance (context)
diff --git a/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp b/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
index 937188917..3a1aa896d 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
@@ -307,8 +307,10 @@ RawHID::RawHID(const QString &deviceName)
     // detect if the USB device is unplugged
     QObject::connect(&dev, SIGNAL(deviceUnplugged(int)), this, SLOT(onDeviceUnplugged(int)));
 
+    m_writeThread = new RawHIDWriteThread(this);
+
     // Starting the read thread will lock the m_startexMutex until the
-    // device is opened
+    // device is opened (which happens in that thread).
     m_readThread = new RawHIDReadThread(this);
     m_readThread->start();
 
@@ -334,12 +336,12 @@ bool RawHID::openDevice() {
     m_startedMutex->unlock();
 
     //didn't find the device we are trying to open (shouldnt happen)
+    device_open = opened >= 0;
     if (opened < 0)
     {
         return false;
     }
 
-    m_writeThread = new RawHIDWriteThread(this);
     m_writeThread->start();
 
     return true;
diff --git a/ground/openpilotgcs/src/plugins/rawhid/rawhid.h b/ground/openpilotgcs/src/plugins/rawhid/rawhid.h
index b12ef159d..f3487bf20 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/rawhid.h
+++ b/ground/openpilotgcs/src/plugins/rawhid/rawhid.h
@@ -84,6 +84,7 @@ protected:
 
     int m_deviceNo;
     pjrc_rawhid dev;
+    bool device_open;
 
     RawHIDReadThread *m_readThread;
     RawHIDWriteThread *m_writeThread;
diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
index 84cef5a19..810ddfa06 100644
--- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
@@ -87,11 +87,13 @@ DFUObject::DFUObject(bool _debug,bool _use_serial,QString portname):
         m_eventloop.exec();
         QList<USBPortInfo> devices;
         devices = USBMonitor::instance()->availableDevices(0x20a0,-1,-1,USBMonitor::Bootloader);
-        if (devices.length()==1  && hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0)==1) {
-           qDebug()<<"OP_DFU detected first time";
-           mready=true;
-           QTimer::singleShot(200,&m_eventloop, SLOT(quit()));
-           m_eventloop.exec();
+        if (devices.length()==1) {
+            if (hidHandle.open(1,devices.first().vendorID,devices.first().productID,0,0)==1) {
+                mready=true;
+                QTimer::singleShot(200,&m_eventloop, SLOT(quit()));
+                m_eventloop.exec();
+            } else
+                hidHandle.close(0);
         } else {
             // Wait for the board to appear on the USB bus:
             USBSignalFilter filter(0x20a0,-1,-1,USBMonitor::Bootloader);
@@ -117,7 +119,8 @@ DFUObject::DFUObject(bool _debug,bool _use_serial,QString portname):
                         mready=true;
                         qDebug() << "Detected";
                         break;
-                    }
+                    } else
+                        hidHandle.close(0);
                 } else {
                     qDebug() << devices.length()  << " device(s) detected, don't know what to do!";
                     mready = false;
@@ -173,7 +176,6 @@ bool DFUObject::enterDFU(int const &devNumber)
     buf[9] = 1;                //DFU Data3
 
     int result = sendData(buf, BUF_LEN);
-    // int result = hidHandle.send(0,buf, BUF_LEN, 500);
     if(result<1)
         return false;
     if(debug)
@@ -218,7 +220,6 @@ bool DFUObject::StartUpload(qint32 const & numberOfBytes, TransferTypes const &
 
     int result = sendData(buf, BUF_LEN);
     delay::msleep(1000);
-    // int result = hidHandle.send(0,buf, BUF_LEN, 5000);
 
     if(debug)
         qDebug() << result << " bytes sent";
@@ -443,7 +444,6 @@ bool DFUObject::StartDownloadT(QByteArray *fw, qint32 const & numberOfBytes, Tra
     buf[9] = 1;                     //DFU Data3
 
     int result = sendData(buf, BUF_LEN);
-    //int result = hidHandle.send(0,buf, BUF_LEN, 500);
     if(debug)
         qDebug() << "StartDownload:"<<numberOfPackets<<"packets"<<" Last Packet Size="<<lastPacketCount<<" "<<result << " bytes sent";
     float percentage;
@@ -459,7 +459,6 @@ bool DFUObject::StartDownloadT(QByteArray *fw, qint32 const & numberOfBytes, Tra
         laspercentage=(int)percentage;
 
         result = receiveData(buf,BUF_LEN);
-        //result = hidHandle.receive(0,buf,BUF_LEN,5000);
         if(debug)
             qDebug() << result << " bytes received"<<" Count="<<x<<"-"<<(int)buf[2]<<";"<<(int)buf[3]<<";"<<(int)buf[4]<<";"<<(int)buf[5]<<" Data="<<(int)buf[6]<<";"<<(int)buf[7]<<";"<<(int)buf[8]<<";"<<(int)buf[9];
         if(x==numberOfPackets-1)
@@ -510,7 +509,6 @@ int DFUObject::AbortOperation(void)
     buf[9] = 0;
 
     return sendData(buf, BUF_LEN);
-    //return hidHandle.send(0,buf, BUF_LEN, 500);
 }
 
 /**
@@ -540,7 +538,6 @@ int DFUObject::JumpToApp(bool safeboot)
     }
 
     return sendData(buf, BUF_LEN);
-    //return hidHandle.send(0,buf, BUF_LEN, 500);
 }
 
 OP_DFU::Status DFUObject::StatusRequest()
@@ -558,11 +555,9 @@ OP_DFU::Status DFUObject::StatusRequest()
     buf[9] = 0;
 
     int result = sendData(buf, BUF_LEN);
-    //int result = hidHandle.send(0,buf, BUF_LEN, 10000);
     if(debug)
         qDebug() << "StatusRequest: " << result << " bytes sent";
     result = receiveData(buf,BUF_LEN);
-    // result = hidHandle.receive(0,buf,BUF_LEN,10000);
     if(debug)
         qDebug() << "StatusRequest: " << result << " bytes received";
     if(buf[1]==OP_DFU::Status_Rep)
@@ -623,9 +618,6 @@ bool DFUObject::findDevices()
             buf[9] = 0;
             int result = sendData(buf, BUF_LEN);
             result = receiveData(buf,BUF_LEN);
-            // int result = hidHandle.send(0,buf, BUF_LEN, 5000);
-            // result = hidHandle.receive(0,buf,BUF_LEN,5000);
-            //devices[x].ID=buf[9];
             devices[x].ID=buf[14];
             devices[x].ID=devices[x].ID<<8 | (quint8)buf[15];
             devices[x].BL_Version=buf[7];
@@ -681,8 +673,6 @@ bool DFUObject::EndOperation()
     buf[9] = 0;
 
     int result = sendData(buf, BUF_LEN);
-    // int result = hidHandle.send(0,buf, BUF_LEN, 5000);
-    // hidHandle.receive(0,buf,BUF_LEN,5000);
     if(debug)
         qDebug() << result << " bytes sent";
     if(result>0)
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index 0cbd033a0..39837e3de 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -378,7 +378,8 @@ void UploaderGadgetWidget::systemSafeBoot()
 }
 
 /**
-  Tells the system to boot (from Bootloader state)
+  * Tells the system to boot (from Bootloader state)
+  * @param[in] safeboot Indicates whether the firmware should use the stock HWSettings
   */
 void UploaderGadgetWidget::commonSystemBoot(bool safeboot)
 {
@@ -547,6 +548,7 @@ void UploaderGadgetWidget::systemRescue()
     m_config->rescueButton->setEnabled(false);
     currentStep = IAP_STATE_BOOTLOADER; // So that we can boot from the GUI afterwards.
 }
+
 void UploaderGadgetWidget::perform()
 {
     if(m_progress->value()==19)

From fa9a616b4ccf4be6dcbb1fc6efea3ce46bcb3b60 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 10 Sep 2012 03:10:41 -0500
Subject: [PATCH 488/543] PID: Add the 20 Hz low pass filter to the derivative
 term

---
 flight/Libraries/math/pid.c | 12 +++++++++++-
 flight/Libraries/math/pid.h |  1 +
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/flight/Libraries/math/pid.c b/flight/Libraries/math/pid.c
index 58f15ad1f..8bb0e6013 100644
--- a/flight/Libraries/math/pid.c
+++ b/flight/Libraries/math/pid.c
@@ -37,12 +37,21 @@ static float bound(float val, float range);
 float pid_apply(struct pid *pid, const float err, float dT)
 {
 	float diff = (err - pid->lastErr);
+	float dterm = 0;
 	pid->lastErr = err;
 	
 	// Scale up accumulator by 1000 while computing to avoid losing precision
 	pid->iAccumulator += err * (pid->i * dT * 1000.0f);
 	pid->iAccumulator = bound(pid->iAccumulator, pid->iLim * 1000.0f);
-	return ((err * pid->p) + pid->iAccumulator / 1000.0f + (diff * pid->d / dT));
+
+	// Calculate DT1 term, fixed T1 timeconstant
+	if(pid->d && dT)
+	{
+		dterm = pid->lastDer +  dT / ( dT + 7.9577e-3f) * ((diff * pid->d / dT) - pid->lastDer);
+		pid->lastDer = dterm;            //   ^ set constant to 1/(2*pi*f_cutoff)
+	}	                                 //   7.9577e-3  means 20 Hz f_cutoff
+ 
+	return ((err * pid->p) + pid->iAccumulator / 1000.0f + dterm);
 }
 
 /**
@@ -56,6 +65,7 @@ void pid_zero(struct pid *pid)
 
 	pid->iAccumulator = 0;
 	pid->lastErr = 0;
+	pid->lastDer = 0;
 }
 
 /**
diff --git a/flight/Libraries/math/pid.h b/flight/Libraries/math/pid.h
index 71f9eb56e..e817cab57 100644
--- a/flight/Libraries/math/pid.h
+++ b/flight/Libraries/math/pid.h
@@ -39,6 +39,7 @@ struct pid {
 	float iLim;
 	float iAccumulator;
 	float lastErr;
+	float lastDer;
 };
 
 //! Methods to use the pid structures

From 5b7fb6bcef32ccdecbf3b4823f67e3728998b073 Mon Sep 17 00:00:00 2001
From: "Richard Flay (Hyper)" <hyperreality.au+openpilot@gmail.com>
Date: Mon, 10 Sep 2012 22:22:36 +0930
Subject: [PATCH 489/543] Minor improvement to GCS bias calibration logic, plus
 minor UI behaviour tweak

---
 .../plugins/config/configccattitudewidget.cpp | 42 ++++++++++++-------
 1 file changed, 27 insertions(+), 15 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
index 11beeaff3..2131f58ea 100644
--- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
@@ -43,7 +43,6 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
     ui->setupUi(this);
     connect(ui->zeroBias,SIGNAL(clicked()),this,SLOT(startAccelCalibration()));
 
-
     addApplySaveButtons(ui->applyButton,ui->saveButton);
     addUAVObject("AttitudeSettings");
 
@@ -70,25 +69,33 @@ void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject * obj) {
 	return; 
     }
 
-    // update the progress indicator
-    ui->zeroBiasProgress->setValue((float) qMin(accelUpdates,gyroUpdates) / NUM_SENSOR_UPDATES * 100);
-
     Accels * accels = Accels::GetInstance(getObjectManager());
     Gyros * gyros = Gyros::GetInstance(getObjectManager());
 
-    if(obj->getObjID() == Accels::OBJID && accelUpdates < NUM_SENSOR_UPDATES) {
+    // Accumulate samples until we have _at least_ NUM_SENSOR_UPDATES samples
+    // for both gyros and accels.
+    // Note that, at present, we stash the samples and then compute the bias
+    // at the end, even though the mean could be accumulated as we go.
+    // In future, a better algorithm could be used. 
+    if(obj->getObjID() == Accels::OBJID) {
         accelUpdates++;
         Accels::DataFields accelsData = accels->getData();
         x_accum.append(accelsData.x);
         y_accum.append(accelsData.y);
         z_accum.append(accelsData.z);
-    } else if (obj->getObjID() == Gyros::OBJID && gyroUpdates < NUM_SENSOR_UPDATES) {
+    } else if (obj->getObjID() == Gyros::OBJID) {
         gyroUpdates++;
         Gyros::DataFields gyrosData = gyros->getData();
         x_gyro_accum.append(gyrosData.x);
         y_gyro_accum.append(gyrosData.y);
         z_gyro_accum.append(gyrosData.z);
-    } else if ( accelUpdates >= NUM_SENSOR_UPDATES || gyroUpdates >= NUM_SENSOR_UPDATES) {
+    } 
+
+    // update the progress indicator
+    ui->zeroBiasProgress->setValue((float) qMin(accelUpdates, gyroUpdates) / NUM_SENSOR_UPDATES * 100);
+
+    // If we have enough samples, then stop sampling and compute the biases
+    if (accelUpdates >= NUM_SENSOR_UPDATES && gyroUpdates >= NUM_SENSOR_UPDATES) {
         timer.stop();
         disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(sensorsUpdated(UAVObject*)));
         disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
@@ -113,9 +120,9 @@ void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject * obj) {
         attitudeSettingsData.GyroBias[2] = -z_gyro_bias;
         attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
         AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
-    } else {
-        // Possible to get here if weird threading stuff happens.  Just ignore updates.
-        qDebug("Unexpected accel update received.");
+
+        // reenable controls
+        enableControls(true);
     }
 }
 
@@ -134,11 +141,17 @@ void ConfigCCAttitudeWidget::timeout() {
     msgBox.setStandardButtons(QMessageBox::Ok);
     msgBox.setDefaultButton(QMessageBox::Ok);
     msgBox.exec();
+
     // reset progress indicator
-    ui->zeroBiasProgress->setValue(0);
+    ui->zeroBiasProgress->setValue(0); 
+    // reenable controls
+    enableControls(true);
 }
 
 void ConfigCCAttitudeWidget::startAccelCalibration() {
+    // disable controls during sampling
+    enableControls(false);
+
     accelUpdates = 0;
     gyroUpdates = 0;
     x_accum.clear();
@@ -163,21 +176,20 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
     initialAccelsMdata = accels->getMetadata();
     UAVObject::Metadata accelsMdata = initialAccelsMdata;
     UAVObject::SetFlightTelemetryUpdateMode(accelsMdata, UAVObject::UPDATEMODE_PERIODIC);
-    accelsMdata.flightTelemetryUpdatePeriod = 30;
+    accelsMdata.flightTelemetryUpdatePeriod = 30; // ms
     accels->setMetadata(accelsMdata);
 
     initialGyrosMdata = gyros->getMetadata();
     UAVObject::Metadata gyrosMdata = initialGyrosMdata;
     UAVObject::SetFlightTelemetryUpdateMode(gyrosMdata, UAVObject::UPDATEMODE_PERIODIC);
-    gyrosMdata.flightTelemetryUpdatePeriod = 30;
+    gyrosMdata.flightTelemetryUpdatePeriod = 30; // ms
     gyros->setMetadata(gyrosMdata);
 
     // Set up timeout timer
     timer.setSingleShot(true);
-    timer.start(5000 + (NUM_SENSOR_UPDATES * qMin(accelsMdata.flightTelemetryUpdatePeriod,
+    timer.start(5000 + (NUM_SENSOR_UPDATES * qMax(accelsMdata.flightTelemetryUpdatePeriod,
                                                   gyrosMdata.flightTelemetryUpdatePeriod)));
     connect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
-
 }
 
 void ConfigCCAttitudeWidget::openHelp()

From 4d87af38b655896dd2b7fddb6dde49503cfeed1d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 10 Sep 2012 10:49:27 -0500
Subject: [PATCH 490/543] Make sure the orders of the UAVOs match

---
 shared/uavobjectdefinition/flightstatus.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/shared/uavobjectdefinition/flightstatus.xml b/shared/uavobjectdefinition/flightstatus.xml
index ba24d9bff..46b4a299c 100644
--- a/shared/uavobjectdefinition/flightstatus.xml
+++ b/shared/uavobjectdefinition/flightstatus.xml
@@ -4,7 +4,7 @@
         <field name="Armed" units="" type="enum" elements="1" options="Disarmed,Arming,Armed" defaultvalue="Disarmed"/>
 
 	<!-- Note these enumerated values should be the same as ManualControlSettings -->
-        <field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold,Autotune"/>
+        <field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold"/>
 
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>

From 09f950ff76787d0b600be751588be982108017dc Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Mon, 10 Sep 2012 19:44:20 +0100
Subject: [PATCH 491/543] GCS Fixes -clean-config command line argument
 segfault

---
 ground/openpilotgcs/src/app/main.cpp                      | 2 +-
 ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/app/main.cpp b/ground/openpilotgcs/src/app/main.cpp
index f276f60a2..88eacd532 100644
--- a/ground/openpilotgcs/src/app/main.cpp
+++ b/ground/openpilotgcs/src/app/main.cpp
@@ -60,7 +60,7 @@ static const char *fixedOptionsC =
 "    -clean-config       Delete all existing configuration settings\n"
 "    -exit-after-config  Exit GCS after manipulating configuration settings\n"
 "    -D key=value        Override configuration settings e.g: -D General/OverrideLanguage=de\n"
-"    -config=value       Default configuration file to load if settings file is empty\n";
+"    -configfile=value       Default configuration file to load if settings file is empty\n";
 static const char *HELP_OPTION1 = "-h";
 static const char *HELP_OPTION2 = "-help";
 static const char *HELP_OPTION3 = "/h";
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
index bc7d79dab..647b861da 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
@@ -273,7 +273,7 @@ void MainWindow::extensionsInitialized()
     if ( ! qs->allKeys().count() ){
         foreach(QString str,qApp->arguments())
         {
-            if(str.contains("config"))
+            if(str.contains("configfile"))
             {
                 qDebug()<<"ass";
                 commandLine=str.split("=").at(1);

From 18a9ad3aa801d64883846f6ac84b973dc2b6cd24 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Tue, 11 Sep 2012 15:16:58 +1000
Subject: [PATCH 492/543] PFD: split the compass band to parts to fit the
 texture limit

On older graphics cards the texture size limit
may be smaller than the compass band width,
QML downscales the element to fit the texture.

To avoid this, split compass band to tiles.

Added parameter like hslice=2:8 to svg image provider
and SvgElementImage.
---
 .../openpilotgcs/pfd/default/Compass.qml      | 37 +++++++++++
 .../share/openpilotgcs/pfd/default/Pfd.qml    | 20 +-----
 .../pfd/default/SvgElementImage.qml           | 19 +++++-
 .../src/libs/utils/svgimageprovider.cpp       | 61 +++++++++++++++++--
 4 files changed, 111 insertions(+), 26 deletions(-)
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml
new file mode 100644
index 000000000..650ac639b
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml
@@ -0,0 +1,37 @@
+import Qt 4.7
+import "."
+
+Item {
+    id: sceneItem
+    property variant sceneSize
+
+    SvgElementImage {
+        id: compass
+        elementName: "compass"
+        sceneSize: sceneItem.sceneSize
+
+        clip: true
+
+        x: scaledBounds.x * sceneItem.width
+        y: scaledBounds.y * sceneItem.height
+        //anchors.horizontalCenter: parent.horizontalCenter
+
+        //split compass band to 8 parts to ensure it doesn't exceed the max texture size
+        Row {
+            anchors.centerIn: parent
+            //the band is 540 degrees wide, AttitudeActual.Yaw is converted to -180..180 range
+            anchors.horizontalCenterOffset: -1*((AttitudeActual.Yaw+180+720) % 360 - 180)/540*width
+
+            Repeater {
+                model: 5
+                SvgElementImage {
+                    id: compass_band
+                    elementName: "compass-band"
+                    sceneSize: background.sceneSize
+                    hSliceCount: 5
+                    hSlice: index
+                }
+            }
+        }
+    }
+}
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index 77f4e3f7d..c0456dd76 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -48,25 +48,9 @@ Rectangle {
                 anchors.centerIn: parent
             }
 
-            SvgElementImage {
-                id: compass
-                elementName: "compass"
+            Compass {
+                anchors.fill: parent
                 sceneSize: background.sceneSize
-
-                clip: true
-
-                y: 12
-                anchors.horizontalCenter: parent.horizontalCenter
-
-                SvgElementImage {
-                    id: compass_band
-                    elementName: "compass-band"
-                    sceneSize: background.sceneSize
-
-                    anchors.centerIn: parent
-                    //the band is 540 degrees wide, AttitudeActual.Yaw is converted to -180..180 range
-                    anchors.horizontalCenterOffset: -1*((AttitudeActual.Yaw+180+720) % 360 - 180)/540*width
-                }
             }
 
             SpeedScale {
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml
index f5646b9bd..6f84f433d 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml
@@ -4,11 +4,26 @@ Image {
     id: sceneItem
     property variant sceneSize
     property string elementName
-    property string svgFileName : "pfd.svg"
+    property string svgFileName: "pfd.svg"
+    property int vSlice: 0
+    property int vSliceCount: 0
+    property int hSlice: 0
+    property int hSliceCount: 0
     property variant scaledBounds: svgRenderer.scaledElementBounds(svgFileName, elementName)
 
     sourceSize.width: Math.round(sceneSize.width*scaledBounds.width)
     sourceSize.height: Math.round(sceneSize.height*scaledBounds.height)
 
-    Component.onCompleted: source = "image://svg/"+svgFileName+"!"+elementName
+    Component.onCompleted: {
+        var params = ""
+        if (hSliceCount > 1)
+            params += "hslice="+hSlice+":"+hSliceCount
+        if (vSliceCount > 1)
+            params += "vslice="+vSlice+":"+vSliceCount
+
+        if (params != "")
+            params = "?" + params
+
+        source = "image://svg/"+svgFileName+"!"+elementName+params
+    }
 }
diff --git a/ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp b/ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp
index 8d60f2e31..2a032980d 100644
--- a/ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp
+++ b/ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp
@@ -67,12 +67,23 @@ QSvgRenderer *SvgImageProvider::loadRenderer(const QString &svgFile)
 }
 
 /**
-  requestedSize is realted to the whole svg file, not to specific element
-  */
+   Supported id format: fileName[!elementName[?parameters]]
+   where parameters may be:
+   vslice=1:2;hslice=2:4 - use the 3rd horizontal slice of total 4 slices, slice numbering starts from 0
+
+   requestedSize is related to the whole element size, even if slice is requested.
+
+   usage:
+
+   Image {
+       source: "image://svg/pfd.svg!world"
+   }
+*/
 QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSize &requestedSize)
 {
     QString svgFile = id;
     QString element;
+    QString parameters;
 
     int separatorPos = id.indexOf('!');
     if (separatorPos != -1) {
@@ -80,6 +91,29 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
         element = id.mid(separatorPos+1);
     }
 
+    int parametersPos = element.indexOf('?');
+    if (parametersPos != -1) {
+        parameters = element.mid(parametersPos+1);
+        element = element.left(parametersPos);
+    }
+
+    int hSlicesCount = 0;
+    int hSlice = 0;
+    int vSlicesCount = 0;
+    int vSlice = 0;
+    if (!parameters.isEmpty()) {
+        QRegExp hSliceRx("hslice=(\\d+):(\\d+)");
+        if (hSliceRx.indexIn(parameters) != -1) {
+            hSlice = hSliceRx.cap(1).toInt();
+            hSlicesCount = hSliceRx.cap(2).toInt();
+        }
+        QRegExp vSliceRx("vslice=(\\d+):(\\d+)");
+        if (vSliceRx.indexIn(parameters) != -1) {
+            vSlice = vSliceRx.cap(1).toInt();
+            vSlicesCount = vSliceRx.cap(2).toInt();
+        }
+    }
+
     if (size)
         *size = QSize();
 
@@ -114,8 +148,22 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
         }
 
         QRectF elementBounds = renderer->boundsOnElement(element);
-        int w = qRound(elementBounds.width() * xScale);
-        int h = qRound(elementBounds.height() * yScale);
+        int elementWidth = qRound(elementBounds.width() * xScale);
+        int elementHeigh = qRound(elementBounds.height() * yScale);
+        int w = elementWidth;
+        int h = elementHeigh;
+        int x = 0;
+        int y = 0;
+
+        if (hSlicesCount > 1) {
+            x = (w*hSlice)/hSlicesCount;
+            w = (w*(hSlice+1))/hSlicesCount - x;
+        }
+
+        if (vSlicesCount > 1) {
+            y = (h*(vSlice))/vSlicesCount;
+            h = (h*(vSlice+1))/vSlicesCount - y;
+        }
 
         QImage img(w, h, QImage::Format_ARGB32_Premultiplied);
         img.fill(0);
@@ -124,12 +172,13 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
                          QPainter::Antialiasing |
                          QPainter::SmoothPixmapTransform);
 
-        renderer->render(&p, element, QRectF(0, 0, w, h));
+        p.translate(-x,-y);
+        renderer->render(&p, element, QRectF(0, 0, elementWidth, elementHeigh));
 
         if (size)
             *size = QSize(w, h);
 
-        //img.save(element+".png");
+        //img.save(element+parameters+".png");
         return img;
     } else {
         //render the whole svg file

From 53d8fa46666dacc67ede022e50715c1616e4237b Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Tue, 11 Sep 2012 15:19:19 +1000
Subject: [PATCH 493/543] Added the border parameter to the svg image provider

it's useful to extent the image by 1 pixel sometimes,
so the AA area is not clipped.
---
 .../openpilotgcs/src/libs/utils/svgimageprovider.cpp   | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp b/ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp
index 2a032980d..102a24b26 100644
--- a/ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp
+++ b/ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp
@@ -70,6 +70,7 @@ QSvgRenderer *SvgImageProvider::loadRenderer(const QString &svgFile)
    Supported id format: fileName[!elementName[?parameters]]
    where parameters may be:
    vslice=1:2;hslice=2:4 - use the 3rd horizontal slice of total 4 slices, slice numbering starts from 0
+   borders=1 - 1 pixel wide transparent border
 
    requestedSize is related to the whole element size, even if slice is requested.
 
@@ -101,6 +102,7 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
     int hSlice = 0;
     int vSlicesCount = 0;
     int vSlice = 0;
+    int border = 0;
     if (!parameters.isEmpty()) {
         QRegExp hSliceRx("hslice=(\\d+):(\\d+)");
         if (hSliceRx.indexIn(parameters) != -1) {
@@ -112,6 +114,10 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
             vSlice = vSliceRx.cap(1).toInt();
             vSlicesCount = vSliceRx.cap(2).toInt();
         }
+        QRegExp borderRx("border=(\\d+)");
+        if (borderRx.indexIn(parameters) != -1) {
+            border = borderRx.cap(1).toInt();
+        }
     }
 
     if (size)
@@ -165,14 +171,14 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
             h = (h*(vSlice+1))/vSlicesCount - y;
         }
 
-        QImage img(w, h, QImage::Format_ARGB32_Premultiplied);
+        QImage img(w+border*2, h+border*2, QImage::Format_ARGB32_Premultiplied);
         img.fill(0);
         QPainter p(&img);
         p.setRenderHints(QPainter::TextAntialiasing |
                          QPainter::Antialiasing |
                          QPainter::SmoothPixmapTransform);
 
-        p.translate(-x,-y);
+        p.translate(-x+border,-y+border);
         renderer->render(&p, element, QRectF(0, 0, elementWidth, elementHeigh));
 
         if (size)

From 288cb40c92c39a1ae605d8576f3b8b4379b0f7e5 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Tue, 11 Sep 2012 15:22:04 +1000
Subject: [PATCH 494/543] Updated the pfd.svg file

compass-band has a hidden vertical square to make the vertical limit.

New IDs:
world-bg (group of sky and ground)
sky (blue part of the world)
ground (orange part of the world)
pitch_scale (the center scale)
world-centerline (the centerline in the center of the world and in
the middle of the sky and ground)

By muralha
---
 .../share/openpilotgcs/pfd/default/pfd.svg    | 899 ++++--------------
 1 file changed, 203 insertions(+), 696 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
index 94fa89f92..2fb70210c 100755
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
@@ -15,7 +15,7 @@
    id="svg2"
    version="1.1"
    inkscape:version="0.48.3.1 r9886"
-   sodipodi:docname="pfd-4.svg"
+   sodipodi:docname="pfd-6.svg"
    style="display:inline"
    inkscape:export-filename="C:\Users\Nuno\Desktop\OpenPilot\PFD\PFD-4.png"
    inkscape:export-xdpi="71.993568"
@@ -1615,11 +1615,11 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="1.1193346"
-     inkscape:cx="509.61927"
-     inkscape:cy="365.39566"
+     inkscape:zoom="1"
+     inkscape:cx="568.94653"
+     inkscape:cy="247.78161"
      inkscape:document-units="px"
-     inkscape:current-layer="dots1-3"
+     inkscape:current-layer="layer41"
      showgrid="false"
      inkscape:window-width="1680"
      inkscape:window-height="987"
@@ -1753,699 +1753,200 @@
        id="world"
        inkscape:label="#g3042">
       <g
-         transform="matrix(4.6362185,0,0,1.5267412,-1475.4746,-169.05952)"
-         id="g4280">
+         transform="matrix(4.6362185,0,0,1.9084264,-1475.4746,-363.49767)"
+         id="world-bg"
+         inkscape:label="#g4280">
         <rect
            ry="0"
            y="509.42014"
            x="227.8495"
            height="654.98987"
            width="305.71429"
-           id="rect3724"
-           style="fill:url(#linearGradient5597);fill-opacity:1;stroke:none" />
+           id="ground"
+           style="fill:url(#linearGradient5597);fill-opacity:1;stroke:none"
+           inkscape:label="#rect3724" />
         <rect
            style="fill:url(#linearGradient5599);fill-opacity:1;stroke:none"
-           id="rect2942"
+           id="sky"
            width="305.71429"
            height="654.98987"
            x="227.8495"
            y="-145.56979"
            ry="0"
-           rx="2.7755576e-017" />
+           rx="2.7755576e-017"
+           inkscape:label="#rect2942" />
       </g>
       <path
          inkscape:connector-curvature="0"
-         id="path3808"
+         id="world-centerline"
          d="m -419.11463,608.77894 1414.04665,0"
-         style="fill:none;stroke:#ffffff;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" />
-      <text
-         y="537.23804"
-         x="200.32983"
-         style="font-size:13.30799103px;fill:#ffffff;font-family:CenturyGothic"
-         transform="scale(0.97685661,1.0236917)"
-         font-size="13"
-         id="text6388">
-        <tspan
-           style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:Sans;-inkscape-font-specification:Sans"
-           id="tspan3995">10</tspan>
-      </text>
-      <text
-         y="537.23804"
-         x="373.58994"
-         style="font-size:13.30799103px;fill:#ffffff;font-family:CenturyGothic"
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-         font-size="13"
-         id="text6390">
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-               width="2"
+            <path
+               style="fill:#ffffff;fill-opacity:1;stroke:none;display:inline"
+               d="m 128.0625,-93.34375 0,2.96875 2.96875,0 0,-2.96875 -2.96875,0 z"
+               transform="matrix(0.67785185,0,0,0.67785185,-47.661172,18.484012)"
                id="dot1-2-1-3-1-7-1-1-2-4"
-               style="fill:#ffffff;fill-opacity:1;stroke:none;display:inline" />
+               inkscape:connector-curvature="0" />
             <rect
                inkscape:label="#rect5223"
                transform="scale(1,-1)"
@@ -4371,6 +3860,13 @@
                x="986.11395"
                y="-40.022587"
                style="font-size:10.84562969px;font-weight:bold;fill:#ffffff;fill-opacity:1;-inkscape-font-specification:Sans Bold">255</tspan></text>
+          <rect
+             style="fill:none;stroke:none"
+             id="rect3810"
+             width="3.4080374"
+             height="22.428366"
+             x="274.1824"
+             y="-55.134415" />
         </g>
       </g>
     </g>
@@ -4379,8 +3875,7 @@
      inkscape:groupmode="layer"
      id="layer35"
      inkscape:label="desired_layers"
-     style="display:none"
-     sodipodi:insensitive="true">
+     style="display:none">
     <g
        inkscape:groupmode="layer"
        id="layer37"
@@ -4504,7 +3999,7 @@
          transform="translate(221.84567,-26.835058)">
         <path
            transform="translate(0.06314146,9.609375e-6)"
-           d="m 415.17269,306.0354 c 0,3.90524 -3.16582,7.07107 -7.07107,7.07107 -3.90524,0 -7.07106,-3.16583 -7.07106,-7.07107 0,-3.90524 3.16582,-7.07107 7.07106,-7.07107 3.90525,0 7.07107,3.16583 7.07107,7.07107 z"
+           d="m 415.17269,306.0354 a 7.0710678,7.0710678 0 1 1 -14.14213,0 7.0710678,7.0710678 0 1 1 14.14213,0 z"
            sodipodi:ry="7.0710678"
            sodipodi:rx="7.0710678"
            sodipodi:cy="306.0354"
@@ -4543,7 +4038,7 @@
            sodipodi:cy="306.0354"
            sodipodi:rx="7.0710678"
            sodipodi:ry="7.0710678"
-           d="m 415.17269,306.0354 c 0,3.90524 -3.16582,7.07107 -7.07107,7.07107 -3.90524,0 -7.07106,-3.16583 -7.07106,-7.07107 0,-3.90524 3.16582,-7.07107 7.07106,-7.07107 3.90525,0 7.07107,3.16583 7.07107,7.07107 z"
+           d="m 415.17269,306.0354 a 7.0710678,7.0710678 0 1 1 -14.14213,0 7.0710678,7.0710678 0 1 1 14.14213,0 z"
            transform="translate(0.06314146,9.609375e-6)" />
         <path
            style="fill:none;stroke:#ff00ff;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
@@ -4557,6 +4052,18 @@
            inkscape:connector-curvature="0" />
       </g>
     </g>
+    <g
+       inkscape:groupmode="layer"
+       id="layer44"
+       inkscape:label="vsi-desired"
+       style="display:inline"
+       sodipodi:insensitive="true">
+      <path
+         id="path5668-1-2-0"
+         d="m 958.17615,212.27932 17.40348,0"
+         style="fill:none;stroke:#ff00ff;stroke-width:2.64598298;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
+         inkscape:connector-curvature="0" />
+    </g>
   </g>
   <g
      inkscape:groupmode="layer"

From 02c00fabb29f7926b3b72c3e54dd3f6aeec2ee2f Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Tue, 11 Sep 2012 15:25:13 +1000
Subject: [PATCH 495/543] GCS/PFDqml: split the world view to smaller parts

Ground and sky is rendered as QML Rectangle with gradients;
Pitch scale and center line are rendered separately from the world
element, so they always fit the maximum texture size.
---
 .../openpilotgcs/pfd/default/PfdWorldView.qml | 38 ++++++++++++++++---
 .../pfd/default/SvgElementImage.qml           |  9 ++++-
 2 files changed, 40 insertions(+), 7 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
index 9c658afdb..004fc1394 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
@@ -3,14 +3,21 @@ import Qt 4.7
 Item {
     id: worldView
 
-    SvgElementImage {
+    Rectangle {
         id: world
-        elementName: "world"
-        //worldView is loaded with Loader, so background element is visible
-        sceneSize: background.sceneSize
-
         smooth: true
 
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "world")
+        width: sceneItem.width*scaledBounds.width
+        height: sceneItem.height*scaledBounds.height
+
+        gradient: Gradient {
+            GradientStop { position: 0.3;    color: "#6589E2" }
+            GradientStop { position: 0.4999; color: "#AFC2F0" }
+            GradientStop { position: 0.5;    color: "#A46933" }
+            GradientStop { position: 0.8;    color: "black" }
+        }
+
         transform: [
             Translate {
                 id: pitchTranslate
@@ -23,5 +30,26 @@ Item {
                 origin.y : world.parent.height/2
             }
         ]
+
+        SvgElementImage {
+            id: pitch_scale
+            elementName: "pitch_scale"
+            //worldView is loaded with Loader, so background element is visible
+            sceneSize: background.sceneSize
+            anchors.centerIn: parent
+            border: 64 //sometimes numbers are excluded from bounding rect
+
+            smooth: true
+        }
+
+        SvgElementImage {
+            id: horizont_line
+            elementName: "world-centerline"
+            //worldView is loaded with Loader, so background element is visible
+            sceneSize: background.sceneSize
+            anchors.centerIn: parent
+            border: 1
+            smooth: true
+        }
     }
 }
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml
index 6f84f433d..ea9d54626 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml
@@ -9,6 +9,9 @@ Image {
     property int vSliceCount: 0
     property int hSlice: 0
     property int hSliceCount: 0
+    //border property is useful to extent the area of image e bit,
+    //so it looks well antialiased when rotated
+    property int border: 0
     property variant scaledBounds: svgRenderer.scaledElementBounds(svgFileName, elementName)
 
     sourceSize.width: Math.round(sceneSize.width*scaledBounds.width)
@@ -17,9 +20,11 @@ Image {
     Component.onCompleted: {
         var params = ""
         if (hSliceCount > 1)
-            params += "hslice="+hSlice+":"+hSliceCount
+            params += "hslice="+hSlice+":"+hSliceCount+";"
         if (vSliceCount > 1)
-            params += "vslice="+vSlice+":"+vSliceCount
+            params += "vslice="+vSlice+":"+vSliceCount+";"
+        if (border > 0)
+            params += "border="+border+";"
 
         if (params != "")
             params = "?" + params

From d74b9c9b9f42382b031a07dc48636d73aa2f0794 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 11 Sep 2012 10:18:31 -0500
Subject: [PATCH 496/543] Revert changes from Kenn in pjrc_rawhid which
 conflict with usb cleanup

---
 .../src/plugins/rawhid/pjrc_rawhid_mac.cpp    | 57 ++++++-------------
 1 file changed, 17 insertions(+), 40 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index 490ea2fdd..382c43829 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -90,7 +90,7 @@ static void hid_close(hid_t *);
 static void attach_callback(void *, IOReturn, void *, IOHIDDeviceRef);
 static void detach_callback(void *, IOReturn, void *hid_mgr, IOHIDDeviceRef dev);
 static void input_callback(void *, IOReturn, void *, IOHIDReportType, uint32_t, uint8_t *, CFIndex);
-//static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len);
+static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len);
 static void timeout_callback(CFRunLoopTimerRef, void *);
 
 
@@ -173,7 +173,7 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
     IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, detach_callback, NULL);
     ret = IOHIDManagerOpen(hid_manager, kIOHIDOptionsTypeNone);
     if (ret != kIOReturnSuccess) {
-        qDebug()<< "Could not start IOHIDManager";
+        printf("Could not start IOHIDManager");
         IOHIDManagerUnscheduleFromRunLoop(hid_manager,
                                           CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
         CFRelease(hid_manager);
@@ -181,7 +181,7 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
     }
     // Set the run loop reference:
     the_correct_runloop = CFRunLoopGetCurrent();
-    qDebug() << "run loop";
+    printf("run loop\n");
     // let it do the callback for all devices
     while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
     // count up how many were added by the callback
@@ -240,7 +240,7 @@ int pjrc_rawhid::receive(int num, void *buf, int len, int timeout)
            break;
        }
        if (!hid->open) {
-           qDebug() << "pjrc_rawhid_recv, device not open\n";
+           printf("pjrc_rawhid_recv, device not open\n");
            ret = -1;
            break;
        }
@@ -263,8 +263,6 @@ int pjrc_rawhid::receive(int num, void *buf, int len, int timeout)
 //
 int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
 {
-    Q_UNUSED(timeout);
-
     hid_t *hid;
     int result=-100;
 
@@ -289,7 +287,6 @@ int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
 
 #endif
 #if 0
-#define TIMEOUT_FIXED
     // No matter what I tried this never actually sends an output
     // report and output_callback never gets called.  Why??
     // Did I miss something?  This is exactly the same params as
@@ -318,7 +315,7 @@ int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
 
 QString pjrc_rawhid::getserial(int num) {
     hid_t *hid;
-//    char buf[128];
+    char buf[128];
 
     hid = get_hid(num);
 
@@ -361,9 +358,6 @@ void pjrc_rawhid::close(int num)
 //
 static void input_callback(void *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len)
 {
-    Q_UNUSED(type);
-    Q_UNUSED(id);
-
     buffer_t *n;
     hid_t *hid;
 
@@ -371,7 +365,7 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
     if (ret != kIOReturnSuccess || len < 1) return;
     hid = (hid_t*)context;
     if (!hid || hid->ref != sender) return;
-    qDebug() << "Processing packet";
+    printf("Processing packet");
     n = (buffer_t *)malloc(sizeof(buffer_t));
     if (!n) return;
     if (len > BUFFER_SIZE) len = BUFFER_SIZE;
@@ -391,8 +385,6 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
 
 static void timeout_callback(CFRunLoopTimerRef timer, void *info)
 {
-    Q_UNUSED(timer);
-
    //qDebug("timeout_callback\n");
    *(int *)info = 1;
    //qDebug() << "Stop CFRunLoop from timeout_callback" << CFRunLoopGetCurrent();
@@ -448,13 +440,9 @@ static void hid_close(hid_t *hid)
 
 static void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 {
-    Q_UNUSED(context);
-    Q_UNUSED(r);
-    Q_UNUSED(hid_mgr);
-
     hid_t *p;
 
-    qDebug()<< "detach callback";
+    printf("detach callback\n");
     for (p = first_hid; p; p = p->next) {
             if (p->ref == dev) {
                     p->open = 0;
@@ -466,13 +454,9 @@ static void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDevic
 
 static void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 {
-    Q_UNUSED(context);
-    Q_UNUSED(r);
-    Q_UNUSED(hid_mgr);
-
     struct hid_struct *h;
 
-    qDebug() << "attach callback";
+    printf("attach callback\n");
     if (IOHIDDeviceOpen(dev, kIOHIDOptionsTypeNone) != kIOReturnSuccess) return;
     h = (hid_t *)malloc(sizeof(hid_t));
     if (!h) return;
@@ -484,22 +468,15 @@ static void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDevic
     add_hid(h);
 }
 
-#ifdef TIMEOUT_FIXED
 static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len)
 {
-    Q_UNUSED(sender);
-    Q_UNUSED(type);
-    Q_UNUSED(id);
-    Q_UNUSED(data);
-
-    qDebug()<< QString("output_callback, r=%1").arg(ret);
-//    printf("output_callback, r=%d\n", ret);
-    if (ret == kIOReturnSuccess) {
-            *(int *)context = len;
-    } else {
-            // timeout if not success?
-            *(int *)context = 0;
-    }
-    CFRunLoopStop(CFRunLoopGetCurrent());
+        printf("output_callback, r=%d\n", ret);
+        if (ret == kIOReturnSuccess) {
+                *(int *)context = len;
+        } else {
+                // timeout if not success?
+                *(int *)context = 0;
+        }
+        CFRunLoopStop(CFRunLoopGetCurrent());
 }
-#endif
+

From 7cb6e71fae29e5eda8491e6c049bc66164c8eee6 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 11 Sep 2012 10:21:01 -0500
Subject: [PATCH 497/543] Remove a Q_UNUSED where the parameter doesn't exist.

---
 .../src/plugins/ipconnection/ipconnectionplugin.cpp           | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
index a11468015..c4d95ec4b 100644
--- a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
@@ -176,8 +176,6 @@ QList <Core::IConnection::device> IPconnectionConnection::availableDevices()
 
 QIODevice *IPconnectionConnection::openDevice(const QString &)
 {
-    Q_UNUSED(deviceName);
-
     QString HostName;
     int Port;
     bool UseTCP;
@@ -212,8 +210,6 @@ QIODevice *IPconnectionConnection::openDevice(const QString &)
 
 void IPconnectionConnection::closeDevice(const QString &)
 {
-    Q_UNUSED(deviceName);
-
     if (ipSocket){
         ipConMutex.lock();
         emit CloseSocket(ipSocket);

From 42bbd52d6894555ba4631cd578ded4f7a3528dde Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 11 Sep 2012 12:25:01 -0500
Subject: [PATCH 498/543] PID: Add a function to set the cutoff for the
 derivative term

Also contains a term for setting the deriative setpoint in the future
---
 flight/Libraries/math/pid.c | 17 ++++++++++++++++-
 flight/Libraries/math/pid.h |  1 +
 2 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/flight/Libraries/math/pid.c b/flight/Libraries/math/pid.c
index 8bb0e6013..b15c0e592 100644
--- a/flight/Libraries/math/pid.c
+++ b/flight/Libraries/math/pid.c
@@ -31,9 +31,14 @@
 #include "openpilot.h"
 #include "pid.h"
 
+#define F_PI ((float) M_PI)
+
 //! Private method
 static float bound(float val, float range);
 
+//! Store the shared time constant for the derivative cutoff.
+static float deriv_tau = 7.9577e-3f;
+
 float pid_apply(struct pid *pid, const float err, float dT)
 {
 	float diff = (err - pid->lastErr);
@@ -47,7 +52,7 @@ float pid_apply(struct pid *pid, const float err, float dT)
 	// Calculate DT1 term, fixed T1 timeconstant
 	if(pid->d && dT)
 	{
-		dterm = pid->lastDer +  dT / ( dT + 7.9577e-3f) * ((diff * pid->d / dT) - pid->lastDer);
+		dterm = pid->lastDer +  dT / ( dT + deriv_tau) * ((diff * pid->d / dT) - pid->lastDer);
 		pid->lastDer = dterm;            //   ^ set constant to 1/(2*pi*f_cutoff)
 	}	                                 //   7.9577e-3  means 20 Hz f_cutoff
  
@@ -68,6 +73,16 @@ void pid_zero(struct pid *pid)
 	pid->lastDer = 0;
 }
 
+/**
+ * @brief Configure the common terms that alter ther derivative
+ * @param[in] cutoff The cutoff frequency (in Hz)
+ * @param[in] gamma The gamma term for setpoint shaping (unsused now)
+ */
+void pid_configure_derivative(float cutoff, float gamma)
+{
+	deriv_tau = 1.0f / (2 * F_PI * cutoff);
+}
+
 /**
  * Configure the settings for a pid structure
  * @param[out] pid The PID structure to configure
diff --git a/flight/Libraries/math/pid.h b/flight/Libraries/math/pid.h
index e817cab57..a827c23f0 100644
--- a/flight/Libraries/math/pid.h
+++ b/flight/Libraries/math/pid.h
@@ -46,5 +46,6 @@ struct pid {
 float pid_apply(struct pid *pid, const float err, float dT);
 void pid_zero(struct pid *pid);
 void pid_configure(struct pid *pid, float p, float i, float d, float iLim);
+void pid_configure_derivative(float cutoff, float gamma);
 
 #endif /* PID_H */
\ No newline at end of file

From 11b099b1ef333d3f3dfc118666394673c2d6eaea Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 11 Sep 2012 12:29:38 -0500
Subject: [PATCH 499/543] Stabilization: Add configuration terms for the
 derivative calculation to the UAVO and pass them in to the PID system.

---
 flight/Modules/Stabilization/stabilization.c         | 3 +++
 shared/uavobjectdefinition/stabilizationsettings.xml | 2 ++
 2 files changed, 5 insertions(+)

diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 9aabff114..2e49f89cf 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -448,6 +448,9 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
 		settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI], 0,
 		settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT]);
 	
+	// Set up the derivative term
+	pid_configure_derivative(settings.DerivativeCutoff, settings.DerivativeGamma);
+
 	// Maximum deviation to accumulate for axis lock
 	max_axis_lock = settings.MaxAxisLock;
 	max_axislock_rate = settings.MaxAxisLockRate;
diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml
index 7cd7de210..b1b541310 100644
--- a/shared/uavobjectdefinition/stabilizationsettings.xml
+++ b/shared/uavobjectdefinition/stabilizationsettings.xml
@@ -24,6 +24,8 @@
 	<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
 
 	<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
+	<field name="DerivativeCutoff" units="Hz" type="uint8" elements="1" defaultvalue="20"/>
+	<field name="DerivativeGamma" units="" type="float" elements="1" defaultvalue="1"/>
 
 	<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="15"/>
 	<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>

From e4a167dca1b2e0c462ce2e7b62bb8d20de6978a3 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 11 Sep 2012 13:21:19 -0500
Subject: [PATCH 500/543] PID: Add a pid_apply_setpoint which takes in the
 setpoint and feedback term

This version allows performing setpoint weighting, currently on the derivative
component.
---
 flight/Libraries/math/pid.c | 48 ++++++++++++++++++++++++++++++++++---
 flight/Libraries/math/pid.h |  1 +
 2 files changed, 46 insertions(+), 3 deletions(-)

diff --git a/flight/Libraries/math/pid.c b/flight/Libraries/math/pid.c
index b15c0e592..8d19ef580 100644
--- a/flight/Libraries/math/pid.c
+++ b/flight/Libraries/math/pid.c
@@ -39,17 +39,58 @@ static float bound(float val, float range);
 //! Store the shared time constant for the derivative cutoff.
 static float deriv_tau = 7.9577e-3f;
 
+//! Store the setpoint weight to apply for the derivative term
+static float deriv_gamma = 1.0;
+
+/**
+ * Update the PID computation
+ * @param[in] pid The PID struture which stores temporary information
+ * @param[in] err The error term
+ * @param[in] dT  The time step
+ * @returns Output the computed controller value
+ */
 float pid_apply(struct pid *pid, const float err, float dT)
-{
+{	
+	// Scale up accumulator by 1000 while computing to avoid losing precision
+	pid->iAccumulator += err * (pid->i * dT * 1000.0f);
+	pid->iAccumulator = bound(pid->iAccumulator, pid->iLim * 1000.0f);
+
+	// Calculate DT1 term
 	float diff = (err - pid->lastErr);
 	float dterm = 0;
 	pid->lastErr = err;
+	if(pid->d && dT)
+	{
+		dterm = pid->lastDer +  dT / ( dT + deriv_tau) * ((diff * pid->d / dT) - pid->lastDer);
+		pid->lastDer = dterm;            //   ^ set constant to 1/(2*pi*f_cutoff)
+	}	                                 //   7.9577e-3  means 20 Hz f_cutoff
+ 
+	return ((err * pid->p) + pid->iAccumulator / 1000.0f + dterm);
+}
+
+/**
+ * Update the PID computation with setpoint weighting on the derivative
+ * @param[in] pid The PID struture which stores temporary information
+ * @param[in] setpoint The setpoint to use
+ * @param[in] measured The measured value of output
+ * @param[in] dT  The time step
+ * @returns Output the computed controller value
+ *
+ * This version of apply uses setpoint weighting for the derivative component so the gain
+ * on the gyro derivative can be different than the gain on the setpoint derivative
+ */
+float pid_apply_setpoint(struct pid *pid, const float setpoint, const float measured, float dT)
+{
+	float err = setpoint - measured;
 	
 	// Scale up accumulator by 1000 while computing to avoid losing precision
 	pid->iAccumulator += err * (pid->i * dT * 1000.0f);
 	pid->iAccumulator = bound(pid->iAccumulator, pid->iLim * 1000.0f);
 
-	// Calculate DT1 term, fixed T1 timeconstant
+	// Calculate DT1 term,
+	float diff = ((deriv_gamma * setpoint - measured) - pid->lastErr);
+	float dterm = 0;
+	pid->lastErr = err;
 	if(pid->d && dT)
 	{
 		dterm = pid->lastDer +  dT / ( dT + deriv_tau) * ((diff * pid->d / dT) - pid->lastDer);
@@ -78,9 +119,10 @@ void pid_zero(struct pid *pid)
  * @param[in] cutoff The cutoff frequency (in Hz)
  * @param[in] gamma The gamma term for setpoint shaping (unsused now)
  */
-void pid_configure_derivative(float cutoff, float gamma)
+void pid_configure_derivative(float cutoff, float g)
 {
 	deriv_tau = 1.0f / (2 * F_PI * cutoff);
+	deriv_gamma = g;
 }
 
 /**
diff --git a/flight/Libraries/math/pid.h b/flight/Libraries/math/pid.h
index a827c23f0..602f560bf 100644
--- a/flight/Libraries/math/pid.h
+++ b/flight/Libraries/math/pid.h
@@ -44,6 +44,7 @@ struct pid {
 
 //! Methods to use the pid structures
 float pid_apply(struct pid *pid, const float err, float dT);
+float pid_apply_setpoint(struct pid *pid, const float setpoint, const float measured, float dT);
 void pid_zero(struct pid *pid);
 void pid_configure(struct pid *pid, float p, float i, float d, float iLim);
 void pid_configure_derivative(float cutoff, float gamma);

From 4717c376c0dfe57510894e8012bbeb2e18692e79 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Tue, 11 Sep 2012 13:21:53 -0500
Subject: [PATCH 501/543] Stabilization: For the inner loop call the setpoint
 shaping version so that the derivative term can weight the sticks and gyros
 independently.

---
 flight/Modules/Stabilization/stabilization.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index 2e49f89cf..fc4a5dcc5 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -247,7 +247,7 @@ static void stabilizationTask(void* parameters)
 					rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate[i]);
 
 					// Compute the inner loop
-					actuatorDesiredAxis[i] = pid_apply(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
+					actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i],  gyro_filtered[i], dT);
 					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
 
 					break;
@@ -263,7 +263,7 @@ static void stabilizationTask(void* parameters)
 					rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]);
 
 					// Compute the inner loop
-					actuatorDesiredAxis[i] = pid_apply(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
+					actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i],  gyro_filtered[i], dT);
 					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
 
 					break;
@@ -287,7 +287,7 @@ static void stabilizationTask(void* parameters)
 
 					// Compute desired rate as input biased towards leveling
 					rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
-					actuatorDesiredAxis[i] = pid_apply(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
+					actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i],  gyro_filtered[i], dT);
 					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
 
 					break;
@@ -309,7 +309,7 @@ static void stabilizationTask(void* parameters)
 
 					rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate[i]);
 
-					actuatorDesiredAxis[i] = pid_apply(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
+					actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i],  gyro_filtered[i], dT);
 					actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i],1.0f);
 
 					break;

From a4729ea27c2f880217f312249572819a687a2e5e Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Wed, 12 Sep 2012 07:49:16 +1000
Subject: [PATCH 502/543] Changes to default config, make UAVOB fill left side,
 add logging as it fits on system better, add GPS desplay gadget also.

---
 .../default_configurations/OpenPilotGCS.xml   | 125 +++++++-----------
 1 file changed, 47 insertions(+), 78 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
index a378d1649..25f56284b 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
@@ -2,23 +2,14 @@
   <General>
     <AutoConnect>true</AutoConnect>
     <AutoSelect>true</AutoSelect>
+    <Description>None</Description>
+    <Details>None</Details>
     <ExpertMode>false</ExpertMode>
     <OverrideLanguage>en_AU</OverrideLanguage>
     <SaveSettingsOnExit>true</SaveSettingsOnExit>
-    <UDPMirror>false</UDPMirror>
-    <Description>Default configuration</Description>
-    <Details>Default configuration built to work on all screen sizes</Details>
     <StyleSheet>default</StyleSheet>
+    <UDPMirror>false</UDPMirror>
   </General>
-  <IPconnection>
-    <Current>
-      <arr_1>
-        <Port>1</Port>
-        <UseTCP>0</UseTCP>
-      </arr_1>
-      <size>1</size>
-    </Current>
-  </IPconnection>
   <KeyBindings>
     <size>0</size>
   </KeyBindings>
@@ -45,49 +36,30 @@
       <data>
         <Current>
           <arr_1>
-            <CurrentLanguage>default</CurrentLanguage>
-            <DataObject>FlightStatus</DataObject>
+            <CurrentLanguage></CurrentLanguage>
+            <DataObject></DataObject>
             <ExpireTimeout>0</ExpireTimeout>
             <Mute>false</Mute>
-            <ObjectField>Armed</ObjectField>
+            <ObjectField></ObjectField>
             <RangeLimit>0</RangeLimit>
             <Repeat>0</Repeat>
             <SayOrder>0</SayOrder>
-            <Sound1>armed</Sound1>
+            <Sound1></Sound1>
             <Sound2></Sound2>
             <Sound3></Sound3>
-            <SoundCollectionPath>%%DATAPATH%%sounds</SoundCollectionPath>
-            <Value1>Armed</Value1>
+            <SoundCollectionPath></SoundCollectionPath>
+            <Value1></Value1>
             <Value2>0</Value2>
           </arr_1>
           <size>1</size>
         </Current>
-        <EnableSound>true</EnableSound>
+        <EnableSound>false</EnableSound>
         <listNotifies>
-          <arr_1>
-            <CurrentLanguage>default</CurrentLanguage>
-            <DataObject>FlightStatus</DataObject>
-            <ExpireTimeout>15</ExpireTimeout>
-            <Mute>false</Mute>
-            <ObjectField>Armed</ObjectField>
-            <RangeLimit>0</RangeLimit>
-            <Repeat>0</Repeat>
-            <SayOrder>0</SayOrder>
-            <Sound1>armed</Sound1>
-            <Sound2></Sound2>
-            <Sound3></Sound3>
-            <SoundCollectionPath>%%DATAPATH%%sounds</SoundCollectionPath>
-            <Value1>Armed</Value1>
-            <Value2>0</Value2>
-          </arr_1>
-          <size>1</size>
+          <size>0</size>
         </listNotifies>
       </data>
     </SoundNotifyPlugin>
   </Plugins>
-  <SerialConnection>
-    <speed>57600</speed>
-  </SerialConnection>
   <UAVGadgetConfigurations>
     <ConfigGadget>
       <default>
@@ -1673,6 +1645,7 @@
           <defaultZoom>2</defaultZoom>
           <mapProvider>GoogleSatellite</mapProvider>
           <maxUpdateRate>2000</maxUpdateRate>
+          <overlayOpacity>1</overlayOpacity>
           <showTileGridLines>false</showTileGridLines>
           <uavSymbol>mapquad.png</uavSymbol>
           <useMemoryCache>true</useMemoryCache>
@@ -1692,6 +1665,7 @@
           <defaultZoom>2</defaultZoom>
           <mapProvider>GoogleMap</mapProvider>
           <maxUpdateRate>2000</maxUpdateRate>
+          <overlayOpacity>1</overlayOpacity>
           <showTileGridLines>false</showTileGridLines>
           <uavSymbol>airplanepip.png</uavSymbol>
           <useMemoryCache>true</useMemoryCache>
@@ -1711,6 +1685,7 @@
           <defaultZoom>2</defaultZoom>
           <mapProvider>GoogleMap</mapProvider>
           <maxUpdateRate>2000</maxUpdateRate>
+          <overlayOpacity>1</overlayOpacity>
           <showTileGridLines>false</showTileGridLines>
           <uavSymbol>mapquad.png</uavSymbol>
           <useMemoryCache>true</useMemoryCache>
@@ -2552,35 +2527,38 @@
       <showToolbars>false</showToolbars>
       <splitter>
         <side0>
+          <classId>UAVObjectBrowser</classId>
+          <gadget>
+            <activeConfiguration>default</activeConfiguration>
+          </gadget>
+          <type>uavGadget</type>
+        </side0>
+        <side1>
           <side0>
-            <classId>UAVObjectBrowser</classId>
-            <gadget>
-              <activeConfiguration>default</activeConfiguration>
-            </gadget>
-            <type>uavGadget</type>
+            <side0>
+              <classId>LoggingGadget</classId>
+              <type>uavGadget</type>
+            </side0>
+            <side1>
+              <classId>GpsDisplayGadget</classId>
+              <gadget>
+                <activeConfiguration>Flight GPS</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side1>
+            <splitterOrientation>2</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAcAAAAAIAAAHo)</splitterSizes>
+            <type>splitter</type>
           </side0>
           <side1>
             <classId>DebugGadget</classId>
             <type>uavGadget</type>
           </side1>
-          <splitterOrientation>1</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
-          <type>splitter</type>
-        </side0>
-        <side1>
-          <side0>
-            <classId>EmptyGadget</classId>
-            <type>uavGadget</type>
-          </side0>
-          <side1>
-            <classId>EmptyGadget</classId>
-            <type>uavGadget</type>
-          </side1>
-          <splitterOrientation>1</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+          <splitterOrientation>2</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB3wAAAAIAAAEp)</splitterSizes>
           <type>splitter</type>
         </side1>
-        <splitterOrientation>2</splitterOrientation>
+        <splitterOrientation>1</splitterOrientation>
         <splitterSizes>@Variant(AAAACQAAAAIAAAACAAACJgAAAAIAAADo)</splitterSizes>
         <type>splitter</type>
       </splitter>
@@ -2610,26 +2588,17 @@
         </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>
+            <classId>ScopeGadget</classId>
+            <gadget>
+              <activeConfiguration>Attitude</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
           </side0>
           <side1>
-            <classId>LoggingGadget</classId>
+            <classId>ScopeGadget</classId>
+            <gadget>
+              <activeConfiguration>Uptimes</activeConfiguration>
+            </gadget>
             <type>uavGadget</type>
           </side1>
           <splitterOrientation>2</splitterOrientation>

From 595083c98245bceecff1e50858aa29db1fab2493 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 12 Sep 2012 00:07:17 -0500
Subject: [PATCH 503/543] PID: Fix small bug in setpoint weighting that had
 really ugly consequences

---
 flight/Libraries/math/pid.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/flight/Libraries/math/pid.c b/flight/Libraries/math/pid.c
index 8d19ef580..1df416123 100644
--- a/flight/Libraries/math/pid.c
+++ b/flight/Libraries/math/pid.c
@@ -88,9 +88,9 @@ float pid_apply_setpoint(struct pid *pid, const float setpoint, const float meas
 	pid->iAccumulator = bound(pid->iAccumulator, pid->iLim * 1000.0f);
 
 	// Calculate DT1 term,
-	float diff = ((deriv_gamma * setpoint - measured) - pid->lastErr);
 	float dterm = 0;
-	pid->lastErr = err;
+	float diff = ((deriv_gamma * setpoint - measured) - pid->lastErr);
+	pid->lastErr = (deriv_gamma * setpoint - measured);
 	if(pid->d && dT)
 	{
 		dterm = pid->lastDer +  dT / ( dT + deriv_tau) * ((diff * pid->d / dT) - pid->lastDer);

From 55a0f91da49a4ce977d8ac64e9ff29d9c77a339b Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 12 Sep 2012 02:36:33 -0500
Subject: [PATCH 504/543] Update android objects

---
 .../uavtalk/uavobjects/FlightStatus.java      |   3 +-
 .../uavtalk/uavobjects/GPSSettings.java       |   2 +-
 .../uavtalk/uavobjects/HwSettings.java        |   7 +-
 .../uavobjects/ManualControlSettings.java     |  13 +-
 .../uavtalk/uavobjects/PathAction.java        | 195 ++++++++++++++++++
 .../uavtalk/uavobjects/RelayTuning.java       | 146 +++++++++++++
 .../uavobjects/RelayTuningSettings.java       | 171 +++++++++++++++
 .../uavobjects/StabilizationDesired.java      |   4 +-
 .../uavobjects/StabilizationSettings.java     |  12 +-
 .../uavtalk/uavobjects/SystemAlarms.java      |   6 +-
 .../uavtalk/uavobjects/TaskInfo.java          |   8 +-
 .../uavobjects/UAVObjectsInitialize.java      |   7 +
 .../uavtalk/uavobjects/Waypoint.java          |  17 +-
 13 files changed, 562 insertions(+), 29 deletions(-)
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/PathAction.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/RelayTuning.java
 create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/RelayTuningSettings.java

diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
index cdf2f39f2..97c0fafe5 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java
@@ -66,6 +66,7 @@ public class FlightStatus extends UAVDataObject {
 		FlightModeEnumOptions.add("Stabilized1");
 		FlightModeEnumOptions.add("Stabilized2");
 		FlightModeEnumOptions.add("Stabilized3");
+		FlightModeEnumOptions.add("Autotune");
 		FlightModeEnumOptions.add("AltitudeHold");
 		FlightModeEnumOptions.add("VelocityControl");
 		FlightModeEnumOptions.add("PositionHold");
@@ -144,7 +145,7 @@ public class FlightStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xE7A476DAl;
+	protected static final long OBJID = 0x9B6A127El;
 	protected static final String NAME = "FlightStatus";
 	protected static String DESCRIPTION = "Contains major flight status information for other modules.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
index 068dc34f3..317d4d249 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GPSSettings.java
@@ -102,7 +102,7 @@ public class GPSSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("DataProtocol").setValue("NMEA");
+		getField("DataProtocol").setValue("UBX");
 
 	}
 
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
index 2d24ffeeb..a6716d209 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java
@@ -194,6 +194,7 @@ public class HwSettings extends UAVDataObject {
 		USB_HIDPortElemNames.add("0");
 		List<String> USB_HIDPortEnumOptions = new ArrayList<String>();
 		USB_HIDPortEnumOptions.add("USBTelemetry");
+		USB_HIDPortEnumOptions.add("RCTransmitter");
 		USB_HIDPortEnumOptions.add("Disabled");
 		fields.add( new UAVObjectField("USB_HIDPort", "function", UAVObjectField.FieldType.ENUM, USB_HIDPortElemNames, USB_HIDPortEnumOptions) );
 
@@ -212,6 +213,7 @@ public class HwSettings extends UAVDataObject {
 		OptionalModulesElemNames.add("Fault");
 		OptionalModulesElemNames.add("Altitude");
 		OptionalModulesElemNames.add("TxPID");
+		OptionalModulesElemNames.add("Autotune");
 		List<String> OptionalModulesEnumOptions = new ArrayList<String>();
 		OptionalModulesEnumOptions.add("Disabled");
 		OptionalModulesEnumOptions.add("Enabled");
@@ -266,7 +268,7 @@ public class HwSettings extends UAVDataObject {
 	public void setDefaultFieldValues()
 	{
 		getField("CC_RcvrPort").setValue("PWM");
-		getField("CC_MainPort").setValue("Disabled");
+		getField("CC_MainPort").setValue("Telemetry");
 		getField("CC_FlexiPort").setValue("Disabled");
 		getField("RV_RcvrPort").setValue("PWM");
 		getField("RV_AuxPort").setValue("Disabled");
@@ -285,6 +287,7 @@ public class HwSettings extends UAVDataObject {
 		getField("OptionalModules").setValue("Disabled",3);
 		getField("OptionalModules").setValue("Disabled",4);
 		getField("OptionalModules").setValue("Disabled",5);
+		getField("OptionalModules").setValue("Disabled",6);
 		getField("DSMxBind").setValue(0);
 
 	}
@@ -314,7 +317,7 @@ public class HwSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x9408E9F0l;
+	protected static final long OBJID = 0x428D4DCEl;
 	protected static final String NAME = "HwSettings";
 	protected static String DESCRIPTION = "Selection of optional hardware configurations.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
index afdd204b4..be71d23f0 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java
@@ -151,6 +151,8 @@ public class ManualControlSettings extends UAVDataObject {
 		Stabilization1SettingsEnumOptions.add("AxisLock");
 		Stabilization1SettingsEnumOptions.add("WeakLeveling");
 		Stabilization1SettingsEnumOptions.add("VirtualBar");
+		Stabilization1SettingsEnumOptions.add("RelayRate");
+		Stabilization1SettingsEnumOptions.add("RelayAttitude");
 		fields.add( new UAVObjectField("Stabilization1Settings", "", UAVObjectField.FieldType.ENUM, Stabilization1SettingsElemNames, Stabilization1SettingsEnumOptions) );
 
 		List<String> Stabilization2SettingsElemNames = new ArrayList<String>();
@@ -164,6 +166,8 @@ public class ManualControlSettings extends UAVDataObject {
 		Stabilization2SettingsEnumOptions.add("AxisLock");
 		Stabilization2SettingsEnumOptions.add("WeakLeveling");
 		Stabilization2SettingsEnumOptions.add("VirtualBar");
+		Stabilization2SettingsEnumOptions.add("RelayRate");
+		Stabilization2SettingsEnumOptions.add("RelayAttitude");
 		fields.add( new UAVObjectField("Stabilization2Settings", "", UAVObjectField.FieldType.ENUM, Stabilization2SettingsElemNames, Stabilization2SettingsEnumOptions) );
 
 		List<String> Stabilization3SettingsElemNames = new ArrayList<String>();
@@ -177,6 +181,8 @@ public class ManualControlSettings extends UAVDataObject {
 		Stabilization3SettingsEnumOptions.add("AxisLock");
 		Stabilization3SettingsEnumOptions.add("WeakLeveling");
 		Stabilization3SettingsEnumOptions.add("VirtualBar");
+		Stabilization3SettingsEnumOptions.add("RelayRate");
+		Stabilization3SettingsEnumOptions.add("RelayAttitude");
 		fields.add( new UAVObjectField("Stabilization3Settings", "", UAVObjectField.FieldType.ENUM, Stabilization3SettingsElemNames, Stabilization3SettingsEnumOptions) );
 
 		List<String> FlightModeNumberElemNames = new ArrayList<String>();
@@ -195,6 +201,7 @@ public class ManualControlSettings extends UAVDataObject {
 		FlightModePositionEnumOptions.add("Stabilized1");
 		FlightModePositionEnumOptions.add("Stabilized2");
 		FlightModePositionEnumOptions.add("Stabilized3");
+		FlightModePositionEnumOptions.add("Autotune");
 		FlightModePositionEnumOptions.add("AltitudeHold");
 		FlightModePositionEnumOptions.add("VelocityControl");
 		FlightModePositionEnumOptions.add("PositionHold");
@@ -306,8 +313,8 @@ public class ManualControlSettings extends UAVDataObject {
 		getField("FlightModePosition").setValue("Stabilized1",1);
 		getField("FlightModePosition").setValue("Stabilized2",2);
 		getField("FlightModePosition").setValue("Stabilized3",3);
-		getField("FlightModePosition").setValue("AltitudeHold",4);
-		getField("FlightModePosition").setValue("PositionHold",5);
+		getField("FlightModePosition").setValue("Stabilized1",4);
+		getField("FlightModePosition").setValue("Stabilized2",5);
 
 	}
 
@@ -336,7 +343,7 @@ public class ManualControlSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x7672339El;
+	protected static final long OBJID = 0xA240D466l;
 	protected static final String NAME = "ManualControlSettings";
 	protected static String DESCRIPTION = "Settings to indicate how to decode receiver input by @ref ManualControlModule.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathAction.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathAction.java
new file mode 100644
index 000000000..f21e301c3
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PathAction.java
@@ -0,0 +1,195 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             A waypoint command the pathplanner is to use at a certain waypoint
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+A waypoint command the pathplanner is to use at a certain waypoint
+
+generated from pathaction.xml
+ **/
+public class PathAction extends UAVDataObject {
+
+	public PathAction() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> ModeParametersElemNames = new ArrayList<String>();
+		ModeParametersElemNames.add("0");
+		ModeParametersElemNames.add("1");
+		ModeParametersElemNames.add("2");
+		ModeParametersElemNames.add("3");
+		fields.add( new UAVObjectField("ModeParameters", "", UAVObjectField.FieldType.FLOAT32, ModeParametersElemNames, null) );
+
+		List<String> ConditionParametersElemNames = new ArrayList<String>();
+		ConditionParametersElemNames.add("0");
+		ConditionParametersElemNames.add("1");
+		ConditionParametersElemNames.add("2");
+		ConditionParametersElemNames.add("3");
+		fields.add( new UAVObjectField("ConditionParameters", "", UAVObjectField.FieldType.FLOAT32, ConditionParametersElemNames, null) );
+
+		List<String> ModeElemNames = new ArrayList<String>();
+		ModeElemNames.add("0");
+		List<String> ModeEnumOptions = new ArrayList<String>();
+		ModeEnumOptions.add("FlyEndpoint");
+		ModeEnumOptions.add("FlyVector");
+		ModeEnumOptions.add("FlyCircleRight");
+		ModeEnumOptions.add("FlyCircleLeft");
+		ModeEnumOptions.add("DriveEndpoint");
+		ModeEnumOptions.add("DriveVector");
+		ModeEnumOptions.add("DriveCircleLeft");
+		ModeEnumOptions.add("DriveCircleRight");
+		ModeEnumOptions.add("FixedAttitude");
+		ModeEnumOptions.add("SetAccessory");
+		ModeEnumOptions.add("DisarmAlarm");
+		fields.add( new UAVObjectField("Mode", "", UAVObjectField.FieldType.ENUM, ModeElemNames, ModeEnumOptions) );
+
+		List<String> EndConditionElemNames = new ArrayList<String>();
+		EndConditionElemNames.add("0");
+		List<String> EndConditionEnumOptions = new ArrayList<String>();
+		EndConditionEnumOptions.add("None");
+		EndConditionEnumOptions.add("TimeOut");
+		EndConditionEnumOptions.add("DistanceToTarget");
+		EndConditionEnumOptions.add("LegRemaining");
+		EndConditionEnumOptions.add("AboveAltitude");
+		EndConditionEnumOptions.add("PointingTowardsNext");
+		EndConditionEnumOptions.add("PythonScript");
+		EndConditionEnumOptions.add("Immediate");
+		fields.add( new UAVObjectField("EndCondition", "", UAVObjectField.FieldType.ENUM, EndConditionElemNames, EndConditionEnumOptions) );
+
+		List<String> CommandElemNames = new ArrayList<String>();
+		CommandElemNames.add("0");
+		List<String> CommandEnumOptions = new ArrayList<String>();
+		CommandEnumOptions.add("OnConditionNextWaypoint");
+		CommandEnumOptions.add("OnNotConditionNextWaypoint");
+		CommandEnumOptions.add("OnConditionJumpWaypoint");
+		CommandEnumOptions.add("OnNotConditionJumpWaypoint");
+		CommandEnumOptions.add("IfConditionJumpWaypointElseNextWaypoint");
+		fields.add( new UAVObjectField("Command", "", UAVObjectField.FieldType.ENUM, CommandElemNames, CommandEnumOptions) );
+
+		List<String> JumpDestinationElemNames = new ArrayList<String>();
+		JumpDestinationElemNames.add("0");
+		fields.add( new UAVObjectField("JumpDestination", "waypoint", UAVObjectField.FieldType.UINT8, JumpDestinationElemNames, null) );
+
+		List<String> ErrorDestinationElemNames = new ArrayList<String>();
+		ErrorDestinationElemNames.add("0");
+		fields.add( new UAVObjectField("ErrorDestination", "waypoint", UAVObjectField.FieldType.UINT8, ErrorDestinationElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 4000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(long instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			PathAction obj = new PathAction();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public PathAction GetInstance(UAVObjectManager objMngr, long instID)
+	{
+	    return (PathAction)(objMngr.getObject(PathAction.OBJID, instID));
+	}
+
+	// Constants
+	protected static final long OBJID = 0x34595F1Cl;
+	protected static final String NAME = "PathAction";
+	protected static String DESCRIPTION = "A waypoint command the pathplanner is to use at a certain waypoint";
+	protected static final boolean ISSINGLEINST = 0 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
+	protected static int NUMBYTES = 0;
+
+
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RelayTuning.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RelayTuning.java
new file mode 100644
index 000000000..741e024a7
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RelayTuning.java
@@ -0,0 +1,146 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The input to the relay tuning.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The input to the relay tuning.
+
+generated from relaytuning.xml
+ **/
+public class RelayTuning extends UAVDataObject {
+
+	public RelayTuning() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> PeriodElemNames = new ArrayList<String>();
+		PeriodElemNames.add("Roll");
+		PeriodElemNames.add("Pitch");
+		PeriodElemNames.add("Yaw");
+		fields.add( new UAVObjectField("Period", "ms", UAVObjectField.FieldType.FLOAT32, PeriodElemNames, null) );
+
+		List<String> GainElemNames = new ArrayList<String>();
+		GainElemNames.add("Roll");
+		GainElemNames.add("Pitch");
+		GainElemNames.add("Yaw");
+		fields.add( new UAVObjectField("Gain", "(deg/s)/output", UAVObjectField.FieldType.FLOAT32, GainElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(long instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			RelayTuning obj = new RelayTuning();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public RelayTuning GetInstance(UAVObjectManager objMngr, long instID)
+	{
+	    return (RelayTuning)(objMngr.getObject(RelayTuning.OBJID, instID));
+	}
+
+	// Constants
+	protected static final long OBJID = 0xF6EE61BEl;
+	protected static final String NAME = "RelayTuning";
+	protected static String DESCRIPTION = "The input to the relay tuning.";
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
+	protected static int NUMBYTES = 0;
+
+
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RelayTuningSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RelayTuningSettings.java
new file mode 100644
index 000000000..9dfa78654
--- /dev/null
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RelayTuningSettings.java
@@ -0,0 +1,171 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Setting to run a relay tuning algorithm
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Setting to run a relay tuning algorithm
+
+generated from relaytuningsettings.xml
+ **/
+public class RelayTuningSettings extends UAVDataObject {
+
+	public RelayTuningSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> RateGainElemNames = new ArrayList<String>();
+		RateGainElemNames.add("0");
+		fields.add( new UAVObjectField("RateGain", "", UAVObjectField.FieldType.FLOAT32, RateGainElemNames, null) );
+
+		List<String> AttitudeGainElemNames = new ArrayList<String>();
+		AttitudeGainElemNames.add("0");
+		fields.add( new UAVObjectField("AttitudeGain", "", UAVObjectField.FieldType.FLOAT32, AttitudeGainElemNames, null) );
+
+		List<String> AmplitudeElemNames = new ArrayList<String>();
+		AmplitudeElemNames.add("0");
+		fields.add( new UAVObjectField("Amplitude", "", UAVObjectField.FieldType.FLOAT32, AmplitudeElemNames, null) );
+
+		List<String> HysteresisThreshElemNames = new ArrayList<String>();
+		HysteresisThreshElemNames.add("0");
+		fields.add( new UAVObjectField("HysteresisThresh", "deg/s", UAVObjectField.FieldType.UINT8, HysteresisThreshElemNames, null) );
+
+		List<String> ModeElemNames = new ArrayList<String>();
+		ModeElemNames.add("0");
+		List<String> ModeEnumOptions = new ArrayList<String>();
+		ModeEnumOptions.add("Rate");
+		ModeEnumOptions.add("Attitude");
+		fields.add( new UAVObjectField("Mode", "", UAVObjectField.FieldType.ENUM, ModeElemNames, ModeEnumOptions) );
+
+		List<String> BehaviorElemNames = new ArrayList<String>();
+		BehaviorElemNames.add("0");
+		List<String> BehaviorEnumOptions = new ArrayList<String>();
+		BehaviorEnumOptions.add("Measure");
+		BehaviorEnumOptions.add("Compute");
+		BehaviorEnumOptions.add("Save");
+		fields.add( new UAVObjectField("Behavior", "", UAVObjectField.FieldType.ENUM, BehaviorElemNames, BehaviorEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 0;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("RateGain").setValue(0.3333);
+		getField("AttitudeGain").setValue(0.2);
+		getField("Amplitude").setValue(0.25);
+		getField("HysteresisThresh").setValue(5);
+		getField("Mode").setValue("Attitude");
+		getField("Behavior").setValue("Compute");
+
+	}
+
+	/**
+	 * Create a clone of this object, a new instance ID must be specified.
+	 * Do not use this function directly to create new instances, the
+	 * UAVObjectManager should be used instead.
+	 */
+	public UAVDataObject clone(long instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			RelayTuningSettings obj = new RelayTuningSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public RelayTuningSettings GetInstance(UAVObjectManager objMngr, long instID)
+	{
+	    return (RelayTuningSettings)(objMngr.getObject(RelayTuningSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final long OBJID = 0xEA358166l;
+	protected static final String NAME = "RelayTuningSettings";
+	protected static String DESCRIPTION = "Setting to run a relay tuning algorithm";
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
+	protected static int NUMBYTES = 0;
+
+
+}
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
index 68cb82692..31ca2e901 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationDesired.java
@@ -78,6 +78,8 @@ public class StabilizationDesired extends UAVDataObject {
 		StabilizationModeEnumOptions.add("AxisLock");
 		StabilizationModeEnumOptions.add("WeakLeveling");
 		StabilizationModeEnumOptions.add("VirtualBar");
+		StabilizationModeEnumOptions.add("RelayRate");
+		StabilizationModeEnumOptions.add("RelayAttitude");
 		fields.add( new UAVObjectField("StabilizationMode", "", UAVObjectField.FieldType.ENUM, StabilizationModeElemNames, StabilizationModeEnumOptions) );
 
 
@@ -152,7 +154,7 @@ public class StabilizationDesired extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xDE1EAAD6l;
+	protected static final long OBJID = 0x4FDBFEEAl;
 	protected static final String NAME = "StabilizationDesired";
 	protected static String DESCRIPTION = "The desired attitude that @ref StabilizationModule will try and achieve if FlightMode is Stabilized.  Comes from @ref ManaulControlModule.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
index c1270df59..99cfcd830 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/StabilizationSettings.java
@@ -131,6 +131,10 @@ public class StabilizationSettings extends UAVDataObject {
 		GyroTauElemNames.add("0");
 		fields.add( new UAVObjectField("GyroTau", "", UAVObjectField.FieldType.FLOAT32, GyroTauElemNames, null) );
 
+		List<String> DerivativeGammaElemNames = new ArrayList<String>();
+		DerivativeGammaElemNames.add("0");
+		fields.add( new UAVObjectField("DerivativeGamma", "", UAVObjectField.FieldType.FLOAT32, DerivativeGammaElemNames, null) );
+
 		List<String> WeakLevelingKpElemNames = new ArrayList<String>();
 		WeakLevelingKpElemNames.add("0");
 		fields.add( new UAVObjectField("WeakLevelingKp", "(deg/s)/deg", UAVObjectField.FieldType.FLOAT32, WeakLevelingKpElemNames, null) );
@@ -162,6 +166,10 @@ public class StabilizationSettings extends UAVDataObject {
 		VbarMaxAngleElemNames.add("0");
 		fields.add( new UAVObjectField("VbarMaxAngle", "deg", UAVObjectField.FieldType.UINT8, VbarMaxAngleElemNames, null) );
 
+		List<String> DerivativeCutoffElemNames = new ArrayList<String>();
+		DerivativeCutoffElemNames.add("0");
+		fields.add( new UAVObjectField("DerivativeCutoff", "Hz", UAVObjectField.FieldType.UINT8, DerivativeCutoffElemNames, null) );
+
 		List<String> MaxAxisLockElemNames = new ArrayList<String>();
 		MaxAxisLockElemNames.add("0");
 		fields.add( new UAVObjectField("MaxAxisLock", "deg", UAVObjectField.FieldType.UINT8, MaxAxisLockElemNames, null) );
@@ -263,6 +271,7 @@ public class StabilizationSettings extends UAVDataObject {
 		getField("VbarYawPI").setValue(0.002,1);
 		getField("VbarTau").setValue(0.5);
 		getField("GyroTau").setValue(0.005);
+		getField("DerivativeGamma").setValue(1);
 		getField("WeakLevelingKp").setValue(0.1);
 		getField("RollMax").setValue(55);
 		getField("PitchMax").setValue(55);
@@ -270,6 +279,7 @@ public class StabilizationSettings extends UAVDataObject {
 		getField("VbarGyroSuppress").setValue(30);
 		getField("VbarPiroComp").setValue("FALSE");
 		getField("VbarMaxAngle").setValue(10);
+		getField("DerivativeCutoff").setValue(20);
 		getField("MaxAxisLock").setValue(15);
 		getField("MaxAxisLockRate").setValue(2);
 		getField("MaxWeakLevelingRate").setValue(5);
@@ -302,7 +312,7 @@ public class StabilizationSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xBBC337D4l;
+	protected static final long OBJID = 0x3D03DE86l;
 	protected static final String NAME = "StabilizationSettings";
 	protected static String DESCRIPTION = "PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
index 97505641e..bb5d098a4 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java
@@ -56,7 +56,6 @@ public class SystemAlarms extends UAVDataObject {
 		AlarmElemNames.add("StackOverflow");
 		AlarmElemNames.add("CPUOverload");
 		AlarmElemNames.add("EventSystem");
-		AlarmElemNames.add("SDCard");
 		AlarmElemNames.add("Telemetry");
 		AlarmElemNames.add("ManualControl");
 		AlarmElemNames.add("Actuator");
@@ -64,7 +63,6 @@ public class SystemAlarms extends UAVDataObject {
 		AlarmElemNames.add("Sensors");
 		AlarmElemNames.add("Stabilization");
 		AlarmElemNames.add("Guidance");
-		AlarmElemNames.add("AHRSComms");
 		AlarmElemNames.add("Battery");
 		AlarmElemNames.add("FlightTime");
 		AlarmElemNames.add("I2C");
@@ -138,8 +136,6 @@ public class SystemAlarms extends UAVDataObject {
 		getField("Alarm").setValue("Uninitialised",13);
 		getField("Alarm").setValue("Uninitialised",14);
 		getField("Alarm").setValue("Uninitialised",15);
-		getField("Alarm").setValue("Uninitialised",16);
-		getField("Alarm").setValue("Uninitialised",17);
 
 	}
 
@@ -168,7 +164,7 @@ public class SystemAlarms extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x9C7CBFEl;
+	protected static final long OBJID = 0x7BD9C77Al;
 	protected static final String NAME = "SystemAlarms";
 	protected static String DESCRIPTION = "Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
index f9baf33de..8a62efc66 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java
@@ -69,6 +69,8 @@ public class TaskInfo extends UAVDataObject {
 		StackRemainingElemNames.add("Com2UsbBridge");
 		StackRemainingElemNames.add("Usb2ComBridge");
 		StackRemainingElemNames.add("OveroSync");
+		StackRemainingElemNames.add("Autotune");
+		StackRemainingElemNames.add("EventDispatcher");
 		fields.add( new UAVObjectField("StackRemaining", "bytes", UAVObjectField.FieldType.UINT16, StackRemainingElemNames, null) );
 
 		List<String> RunningElemNames = new ArrayList<String>();
@@ -89,6 +91,8 @@ public class TaskInfo extends UAVDataObject {
 		RunningElemNames.add("Com2UsbBridge");
 		RunningElemNames.add("Usb2ComBridge");
 		RunningElemNames.add("OveroSync");
+		RunningElemNames.add("Autotune");
+		RunningElemNames.add("EventDispatcher");
 		List<String> RunningEnumOptions = new ArrayList<String>();
 		RunningEnumOptions.add("False");
 		RunningEnumOptions.add("True");
@@ -112,6 +116,8 @@ public class TaskInfo extends UAVDataObject {
 		RunningTimeElemNames.add("Com2UsbBridge");
 		RunningTimeElemNames.add("Usb2ComBridge");
 		RunningTimeElemNames.add("OveroSync");
+		RunningTimeElemNames.add("Autotune");
+		RunningTimeElemNames.add("EventDispatcher");
 		fields.add( new UAVObjectField("RunningTime", "%", UAVObjectField.FieldType.UINT8, RunningTimeElemNames, null) );
 
 
@@ -186,7 +192,7 @@ public class TaskInfo extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x51172B8Al;
+	protected static final long OBJID = 0xB81CD2AEl;
 	protected static final String NAME = "TaskInfo";
 	protected static String DESCRIPTION = "Task information";
 	protected static final boolean ISSINGLEINST = 1 > 0;
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
index 88300d54e..f8bd73662 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java
@@ -63,6 +63,7 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new GPSSettings() );
 			objMngr.registerObject( new GPSTime() );
 			objMngr.registerObject( new GPSVelocity() );
+			objMngr.registerObject( new GuidanceSettings() );
 			objMngr.registerObject( new Gyros() );
 			objMngr.registerObject( new GyrosBias() );
 			objMngr.registerObject( new HomeLocation() );
@@ -76,11 +77,15 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new NedAccel() );
 			objMngr.registerObject( new ObjectPersistence() );
 			objMngr.registerObject( new OveroSyncStats() );
+			objMngr.registerObject( new PathAction() );
 			objMngr.registerObject( new PipXSettings() );
 			objMngr.registerObject( new PipXStatus() );
 			objMngr.registerObject( new PositionActual() );
+			objMngr.registerObject( new PositionDesired() );
 			objMngr.registerObject( new RateDesired() );
 			objMngr.registerObject( new ReceiverActivity() );
+			objMngr.registerObject( new RelayTuning() );
+			objMngr.registerObject( new RelayTuningSettings() );
 			objMngr.registerObject( new RevoCalibration() );
 			objMngr.registerObject( new SonarAltitude() );
 			objMngr.registerObject( new StabilizationDesired() );
@@ -93,6 +98,8 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new VelocityActual() );
 			objMngr.registerObject( new VelocityDesired() );
 			objMngr.registerObject( new WatchdogStatus() );
+			objMngr.registerObject( new Waypoint() );
+			objMngr.registerObject( new WaypointActive() );
 	
 		} catch (Exception e) {
 			e.printStackTrace();
diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
index 97dab8a97..017b274f5 100644
--- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
+++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/Waypoint.java
@@ -58,23 +58,12 @@ public class Waypoint extends UAVDataObject {
 		fields.add( new UAVObjectField("Position", "m", UAVObjectField.FieldType.FLOAT32, PositionElemNames, null) );
 
 		List<String> VelocityElemNames = new ArrayList<String>();
-		VelocityElemNames.add("North");
-		VelocityElemNames.add("East");
-		VelocityElemNames.add("Down");
+		VelocityElemNames.add("0");
 		fields.add( new UAVObjectField("Velocity", "m/s", UAVObjectField.FieldType.FLOAT32, VelocityElemNames, null) );
 
-		List<String> YawDesiredElemNames = new ArrayList<String>();
-		YawDesiredElemNames.add("0");
-		fields.add( new UAVObjectField("YawDesired", "deg", UAVObjectField.FieldType.FLOAT32, YawDesiredElemNames, null) );
-
 		List<String> ActionElemNames = new ArrayList<String>();
 		ActionElemNames.add("0");
-		List<String> ActionEnumOptions = new ArrayList<String>();
-		ActionEnumOptions.add("PathToNext");
-		ActionEnumOptions.add("EndpointToNext");
-		ActionEnumOptions.add("Land");
-		ActionEnumOptions.add("Stop");
-		fields.add( new UAVObjectField("Action", "", UAVObjectField.FieldType.ENUM, ActionElemNames, ActionEnumOptions) );
+		fields.add( new UAVObjectField("Action", "", UAVObjectField.FieldType.UINT8, ActionElemNames, null) );
 
 
 		// Compute the number of bytes for this object
@@ -148,7 +137,7 @@ public class Waypoint extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x338C5F90l;
+	protected static final long OBJID = 0xD23852DCl;
 	protected static final String NAME = "Waypoint";
 	protected static String DESCRIPTION = "A waypoint the aircraft can try and hit.  Used by the @ref PathPlanner module";
 	protected static final boolean ISSINGLEINST = 0 > 0;

From c11958c9b635119546000959ad5bb73741931f6b Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Wed, 12 Sep 2012 11:09:30 +0100
Subject: [PATCH 505/543] GCS-Review comments changes

Added font mixer curve font size to linux default and wide stylesheets
Change Node class name to MixerNode to ease stylesheet access
Changed language selection to top of the list
---
 .../stylesheets/default_linux.qss             |   1 +
 .../openpilotgcs/stylesheets/wide_linux.qss   |   1 +
 .../src/plugins/config/mixercurve.cpp         |   4 +-
 .../src/plugins/config/mixercurve.h           |   2 +-
 .../plugins/coreplugin/connectionmanager.h    |   3 +-
 .../src/plugins/coreplugin/generalsettings.ui | 188 +++++++++---------
 .../uavobjectwidgetutils/mixercurveline.cpp   |  10 +-
 .../uavobjectwidgetutils/mixercurveline.h     |  14 +-
 .../uavobjectwidgetutils/mixercurvepoint.cpp  |  29 ++-
 .../uavobjectwidgetutils/mixercurvepoint.h    |   7 +-
 .../uavobjectwidgetutils/mixercurvewidget.cpp |  52 ++---
 .../uavobjectwidgetutils/mixercurvewidget.h   |  18 +-
 12 files changed, 165 insertions(+), 164 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
index 035fa5633..558054cc1 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/default_linux.qss
@@ -1,4 +1,5 @@
 MyListWidget {font-size: 11px;}
+MixerCurveWidget {font-size: 12px;}
 Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
  
 
diff --git a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
index 035fa5633..558054cc1 100644
--- a/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
+++ b/ground/openpilotgcs/share/openpilotgcs/stylesheets/wide_linux.qss
@@ -1,4 +1,5 @@
 MyListWidget {font-size: 11px;}
+MixerCurveWidget {font-size: 12px;}
 Utils--StyledBar { background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(0, 0, 0, 255), stop:1 rgba(200, 200, 200, 255));}
  
 
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
index 4ad2e3afe..b55974c86 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.cpp
@@ -67,7 +67,7 @@ MixerCurve::MixerCurve(QWidget *parent) :
     connect(m_mixerUI->PopupCurve, SIGNAL(clicked()),this,SLOT(PopupCurve()));
     connect(m_mixerUI->GenerateCurve, SIGNAL(clicked()), this, SLOT(GenerateCurve()));
     connect(m_curve, SIGNAL(curveUpdated()), this, SLOT(UpdateSettingsTable()));
-    connect(m_curve, SIGNAL(commandActivated(Node*)),this, SLOT(CommandActivated(Node*)));
+    connect(m_curve, SIGNAL(commandActivated(MixerNode*)),this, SLOT(CommandActivated(MixerNode*)));
     connect(m_settings, SIGNAL(cellChanged(int,int)), this, SLOT(SettingsTableChanged()));
     connect(m_mixerUI->CurveMin, SIGNAL(valueChanged(double)), this, SLOT(CurveMinChanged(double)));
     connect(m_mixerUI->CurveMax, SIGNAL(valueChanged(double)), this, SLOT(CurveMaxChanged(double)));
@@ -370,7 +370,7 @@ void MixerCurve::SettingsTableChanged()
     m_curve->setCurve(&points);
 }
 
-void MixerCurve::CommandActivated(Node* node)
+void MixerCurve::CommandActivated(MixerNode* node)
 {
     QString name = (node) ? node->getName() : "Reset";
 
diff --git a/ground/openpilotgcs/src/plugins/config/mixercurve.h b/ground/openpilotgcs/src/plugins/config/mixercurve.h
index 1e60534f6..ef98414bc 100644
--- a/ground/openpilotgcs/src/plugins/config/mixercurve.h
+++ b/ground/openpilotgcs/src/plugins/config/mixercurve.h
@@ -84,7 +84,7 @@ public slots:
     void UpdateSettingsTable();
 
 private slots:
-    void CommandActivated(Node* node = 0);
+    void CommandActivated(MixerNode* node = 0);
     void SettingsTableChanged();
     void CurveTypeChanged();
     void CurveMinChanged(double value);
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
index 6c2533fec..52cf2836f 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h
@@ -103,8 +103,7 @@ private slots:
     void onConnectClicked();
     void devChanged(IConnection *connection);
 
-//	void onConnectionClosed(QObject *obj);
-	void onConnectionDestroyed(QObject *obj);
+    void onConnectionDestroyed(QObject *obj);
     void connectionsCallBack(); //used to call devChange after all the plugins are loaded
     void reconnectSlot();
     void reconnectCheckSlot();
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
index 9e3dd68df..8861aa752 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
+++ b/ground/openpilotgcs/src/plugins/coreplugin/generalsettings.ui
@@ -17,14 +17,14 @@
       <string>General settings</string>
      </property>
      <layout class="QGridLayout" name="gridLayout">
-      <item row="0" column="0">
+      <item row="1" column="0">
        <widget class="QLabel" name="colorLabel">
         <property name="text">
          <string>User interface color:</string>
         </property>
        </widget>
       </item>
-      <item row="0" column="1">
+      <item row="1" column="1">
        <widget class="QWidget" name="widget" native="true">
         <layout class="QGridLayout" name="gridLayout_2">
          <property name="margin">
@@ -79,7 +79,7 @@
         </layout>
        </widget>
       </item>
-      <item row="8" column="1">
+      <item row="9" column="1">
        <widget class="QWidget" name="widget_2" native="true">
         <layout class="QGridLayout" name="gridLayout_3">
          <property name="margin">
@@ -88,14 +88,98 @@
         </layout>
        </widget>
       </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_3">
+      <item row="10" column="1">
+       <widget class="QCheckBox" name="checkBoxSaveOnExit">
         <property name="text">
-         <string>Language:</string>
+         <string/>
+        </property>
+        <property name="checked">
+         <bool>true</bool>
         </property>
        </widget>
       </item>
-      <item row="1" column="1">
+      <item row="10" column="0">
+       <widget class="QLabel" name="label_4">
+        <property name="text">
+         <string>Save configuration settings on exit:</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="11" column="0">
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>Automatically connect an OpenPilot USB device:</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="11" column="1">
+       <widget class="QCheckBox" name="checkAutoConnect">
+        <property name="text">
+         <string/>
+        </property>
+        <property name="checked">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="12" column="0">
+       <widget class="QLabel" name="label_6">
+        <property name="text">
+         <string>Automatically select an OpenPilot USB device:</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="12" column="1">
+       <widget class="QCheckBox" name="checkAutoSelect">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="checked">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="13" column="1">
+       <widget class="QCheckBox" name="cbUseUDPMirror">
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+      <item row="13" column="0">
+       <widget class="QLabel" name="labelUDP">
+        <property name="text">
+         <string>Use UDP Mirror</string>
+        </property>
+       </widget>
+      </item>
+      <item row="14" column="0">
+       <widget class="QLabel" name="labelExpert">
+        <property name="text">
+         <string>Expert Mode</string>
+        </property>
+       </widget>
+      </item>
+      <item row="14" column="1">
+       <widget class="QCheckBox" name="cbExpertMode">
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
        <layout class="QHBoxLayout" name="horizontalLayout">
         <item>
          <widget class="QComboBox" name="languageBox"/>
@@ -115,94 +199,10 @@
         </item>
        </layout>
       </item>
-      <item row="9" column="1">
-       <widget class="QCheckBox" name="checkBoxSaveOnExit">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_3">
         <property name="text">
-         <string/>
-        </property>
-        <property name="checked">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="9" column="0">
-       <widget class="QLabel" name="label_4">
-        <property name="text">
-         <string>Save configuration settings on exit:</string>
-        </property>
-        <property name="wordWrap">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="10" column="0">
-       <widget class="QLabel" name="label_5">
-        <property name="text">
-         <string>Automatically connect an OpenPilot USB device:</string>
-        </property>
-        <property name="wordWrap">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="10" column="1">
-       <widget class="QCheckBox" name="checkAutoConnect">
-        <property name="text">
-         <string/>
-        </property>
-        <property name="checked">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="11" column="0">
-       <widget class="QLabel" name="label_6">
-        <property name="text">
-         <string>Automatically select an OpenPilot USB device:</string>
-        </property>
-        <property name="wordWrap">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="11" column="1">
-       <widget class="QCheckBox" name="checkAutoSelect">
-        <property name="enabled">
-         <bool>false</bool>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-        <property name="checked">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="12" column="1">
-       <widget class="QCheckBox" name="cbUseUDPMirror">
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
-      <item row="12" column="0">
-       <widget class="QLabel" name="labelUDP">
-        <property name="text">
-         <string>Use UDP Mirror</string>
-        </property>
-       </widget>
-      </item>
-      <item row="13" column="0">
-       <widget class="QLabel" name="labelExpert">
-        <property name="text">
-         <string>Expert Mode</string>
-        </property>
-       </widget>
-      </item>
-      <item row="13" column="1">
-       <widget class="QCheckBox" name="cbExpertMode">
-        <property name="text">
-         <string/>
+         <string>Language:</string>
         </property>
        </widget>
       </item>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.cpp
index e0498366c..1a7ed4388 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.cpp
@@ -35,7 +35,7 @@
 static const double Pi = 3.14159265358979323846264338327950288419717;
 // static double TwoPi = 2.0 * Pi;
 
-Edge::Edge(Node *sourceNode, Node *destNode)
+Edge::Edge(MixerNode *sourceNode, MixerNode *destNode)
     : arrowSize(10)
 {
     setAcceptedMouseButtons(0);
@@ -50,23 +50,23 @@ Edge::~Edge()
 {
 }
 
-Node *Edge::sourceNode() const
+MixerNode *Edge::sourceNode() const
 {
     return source;
 }
 
-void Edge::setSourceNode(Node *node)
+void Edge::setSourceNode(MixerNode *node)
 {
     source = node;
     adjust();
 }
 
-Node *Edge::destNode() const
+MixerNode *Edge::destNode() const
 {
     return dest;
 }
 
-void Edge::setDestNode(Node *node)
+void Edge::setDestNode(MixerNode *node)
 {
     dest = node;
     adjust();
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.h
index 417f5b1ca..1c4281c4a 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.h
@@ -35,19 +35,19 @@
 
 #include <QGraphicsItem>
 
-class Node;
+class MixerNode;
 
 class Edge : public QGraphicsItem
 {
 public:
-    Edge(Node *sourceNode, Node *destNode);
+    Edge(MixerNode *sourceNode, MixerNode *destNode);
     ~Edge();
 
-    Node *sourceNode() const;
-    void setSourceNode(Node *node);
+    MixerNode *sourceNode() const;
+    void setSourceNode(MixerNode *node);
 
-    Node *destNode() const;
-    void setDestNode(Node *node);
+    MixerNode *destNode() const;
+    void setDestNode(MixerNode *node);
 
     void adjust();
 
@@ -59,7 +59,7 @@ protected:
     void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
     
 private:
-    Node *source, *dest;
+    MixerNode *source, *dest;
 
     QPointF sourcePoint;
     QPointF destPoint;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
index f81d283d9..c4462fc94 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
@@ -36,7 +36,7 @@
 #include "mixercurvepoint.h"
 #include "mixercurvewidget.h"
 
-Node::Node(MixerCurveWidget *graphWidget)
+MixerNode::MixerNode(MixerCurveWidget *graphWidget)
     : graph(graphWidget)
 {
     setFlag(ItemIsMovable);
@@ -54,37 +54,36 @@ Node::Node(MixerCurveWidget *graphWidget)
     posColor1 = "#116703";  //greenish?
     negColor0 = "#aa0000";  //red
     negColor1 = "#aa0000";  //red
-
 }
 
-void Node::addEdge(Edge *edge)
+void MixerNode::addEdge(Edge *edge)
 {
     edgeList << edge;
     edge->adjust();
 }
 
-QList<Edge *> Node::edges() const
+QList<Edge *> MixerNode::edges() const
 {
     return edgeList;
 }
 
 
-QRectF Node::boundingRect() const
+QRectF MixerNode::boundingRect() const
 {
     return cmdNode ? QRectF(-4, -4, 15, 10) : QRectF(-13, -13, 26, 26);
 }
 
-QPainterPath Node::shape() const
+QPainterPath MixerNode::shape() const
 {
     QPainterPath path;
     path.addEllipse(boundingRect());
     return path;
 }
 
-void Node::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *)
+void MixerNode::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *)
 {
     QString text = cmdNode ? cmdText : QString().sprintf("%.2f", value());
-
+    painter->setFont(graph->font());
     if (drawNode) {
         QRadialGradient gradient(-3, -3, 10);
         if (option->state & QStyle::State_Sunken) {
@@ -128,25 +127,25 @@ void Node::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWid
     }
 }
 
-void Node::verticalMove(bool flag){
+void MixerNode::verticalMove(bool flag){
     vertical = flag;
 }
 
-void Node::commandNode(bool enable){
+void MixerNode::commandNode(bool enable){
     cmdNode = enable;
 }
-void Node::commandText(QString text){
+void MixerNode::commandText(QString text){
     cmdText = text;
 }
 
-double Node::value() {
+double MixerNode::value() {
     double h = graph->sceneRect().height();
     double ratio = (h - pos().y()) / h;
     return ((graph->getMax() - graph->getMin()) * ratio ) + graph->getMin();
 }
 
 
-QVariant Node::itemChange(GraphicsItemChange change, const QVariant &val)
+QVariant MixerNode::itemChange(GraphicsItemChange change, const QVariant &val)
 {
     QPointF newPos = val.toPointF();
     double h = graph->sceneRect().height();
@@ -185,7 +184,7 @@ QVariant Node::itemChange(GraphicsItemChange change, const QVariant &val)
     return QGraphicsItem::itemChange(change, val);
 }
 
-void Node::mousePressEvent(QGraphicsSceneMouseEvent *event)
+void MixerNode::mousePressEvent(QGraphicsSceneMouseEvent *event)
 {
     if (cmdNode) {
         graph->cmdActivated(this);
@@ -195,7 +194,7 @@ void Node::mousePressEvent(QGraphicsSceneMouseEvent *event)
     QGraphicsItem::mousePressEvent(event);
 }
 
-void Node::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
+void MixerNode::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
 {
     update();
     QGraphicsItem::mouseReleaseEvent(event);
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
index 68d6b9cec..3c4b0cc5d 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
@@ -31,6 +31,7 @@
 #include <QGraphicsItem>
 #include <QColor>
 #include <QList>
+#include <QFont>
 
 class Edge;
 class MixerCurveWidget;
@@ -38,11 +39,11 @@ QT_BEGIN_NAMESPACE
 class QGraphicsSceneMouseEvent;
 QT_END_NAMESPACE
 
-class Node : public QGraphicsItem
+class MixerNode : public QObject,public QGraphicsItem
 {
+    Q_OBJECT
 public:
-    Node(MixerCurveWidget *graphWidget);
-
+    MixerNode(MixerCurveWidget *graphWidget);
     void addEdge(Edge *edge);
     QList<Edge *> edges() const;
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index 90a84f490..63e388a28 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -80,7 +80,7 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
 
     // commmand nodes
     // reset
-    Node* node = getCommandNode(0);    
+    MixerNode* node = getCommandNode(0);
     node->setName("Reset");
     node->setToolTip("Reset Curve to Defaults");
     node->setToggle(false);
@@ -274,16 +274,16 @@ MixerCurveWidget::~MixerCurveWidget()
         delete cmdNodePool.takeFirst();
 }
 
-Node* MixerCurveWidget::getCommandNode(int index)
+MixerNode* MixerCurveWidget::getCommandNode(int index)
 {
-    Node* node;
+    MixerNode* node;
 
     if (index >= 0 && index < cmdNodePool.count())
     {
         node = cmdNodePool.at(index);
     }
     else {
-        node = new Node(this);        
+        node = new MixerNode(this);
         node->commandNode(true);
         node->commandText("");
         node->setCommandIndex(index);
@@ -296,21 +296,21 @@ Node* MixerCurveWidget::getCommandNode(int index)
 
 }
 
-Node* MixerCurveWidget::getNode(int index)
+MixerNode* MixerCurveWidget::getNode(int index)
 {
-    Node* node;
+    MixerNode* node;
 
     if (index >= 0 && index < nodePool.count())
     {
         node = nodePool.at(index);
     }
     else {
-        node = new Node(this);
+        node = new MixerNode(this);
         nodePool.append(node);
     }
     return node;
 }
-Edge* MixerCurveWidget::getEdge(int index, Node* sourceNode, Node* destNode)
+Edge* MixerCurveWidget::getEdge(int index, MixerNode* sourceNode, MixerNode* destNode)
 {
     Edge* edge;
 
@@ -332,7 +332,7 @@ void MixerCurveWidget::setPositiveColor(QString color0, QString color1)
     posColor0 = color0;
     posColor1 = color1;
     for (int i=0; i<nodePool.count(); i++) {
-        Node* node = nodePool.at(i);
+        MixerNode* node = nodePool.at(i);
         node->setPositiveColor(color0, color1);
     }
 }
@@ -341,7 +341,7 @@ void MixerCurveWidget::setNegativeColor(QString color0, QString color1)
     negColor0 = color0;
     negColor1 = color1;
     for (int i=0; i<nodePool.count(); i++) {
-        Node* node = nodePool.at(i);
+        MixerNode* node = nodePool.at(i);
         node->setNegativeColor(color0, color1);
     }
 }
@@ -366,7 +366,7 @@ void MixerCurveWidget::initNodes(int numPoints)
 {
     // First of all, clear any existing list
     if (nodeList.count()) {
-        foreach (Node *node, nodeList ) {
+        foreach (MixerNode *node, nodeList ) {
             foreach(Edge *edge, node->edges()) {
                 if (edge->sourceNode() == node) {
                     scene()->removeItem(edge);
@@ -379,10 +379,10 @@ void MixerCurveWidget::initNodes(int numPoints)
     }
 
     // Create the nodes and edges
-    Node* prevNode = 0;
+    MixerNode* prevNode = 0;
     for (int i=0; i<numPoints; i++) {
 
-        Node *node = getNode(i);
+        MixerNode *node = getNode(i);
 
         nodeList.append(node);
         scene()->addItem(node);
@@ -404,7 +404,7 @@ QList<double> MixerCurveWidget::getCurve() {
 
     QList<double> list;
 
-    foreach(Node *node, nodeList) {
+    foreach(MixerNode *node, nodeList) {
         list.append(node->value());
     }
 
@@ -447,7 +447,7 @@ void MixerCurveWidget::setCurve(const QList<double>* points)
         val -= (curveMin + range);
         val /= range;
 
-        Node* node = nodeList.at(i);
+        MixerNode* node = nodeList.at(i);
         node->setPos(w*i, h - (val*h));
         node->verticalMove(true);
 
@@ -486,7 +486,7 @@ void MixerCurveWidget::resizeCommands()
 {
     QRectF rect = plot->boundingRect();
 
-    Node* node;
+    MixerNode* node;
     //popup
     node = getCommandNode(14);
     node->setPos((rect.left() + rect.width() / 2) - 20, rect.height() + 10);
@@ -575,11 +575,11 @@ double MixerCurveWidget::setRange(double min, double max)
     return curveMax - curveMin;
 }
 
-Node* MixerCurveWidget::getCmdNode(const QString& name)
+MixerNode* MixerCurveWidget::getCmdNode(const QString& name)
 {
-    Node* node = 0;
+    MixerNode* node = 0;
     for (int i=0; i<cmdNodePool.count(); i++) {
-        Node* n = cmdNodePool.at(i);
+        MixerNode* n = cmdNodePool.at(i);
         if (n->getName() == name)
             node = n;
     }
@@ -589,7 +589,7 @@ Node* MixerCurveWidget::getCmdNode(const QString& name)
 void MixerCurveWidget::setCommandText(const QString& name, const QString& text)
 {
     for (int i=0; i<cmdNodePool.count(); i++) {
-        Node* n = cmdNodePool.at(i);
+        MixerNode* n = cmdNodePool.at(i);
         if (n->getName() == name) {
             n->commandText(text);
             n->update();
@@ -599,7 +599,7 @@ void MixerCurveWidget::setCommandText(const QString& name, const QString& text)
 void MixerCurveWidget::activateCommand(const QString& name)
 {
     for (int i=1; i<cmdNodePool.count()-2; i++) {
-        Node* node = cmdNodePool.at(i);
+        MixerNode* node = cmdNodePool.at(i);
         node->setCommandActive(node->getName() == name);
         node->update();
     }
@@ -607,7 +607,7 @@ void MixerCurveWidget::activateCommand(const QString& name)
 
 void MixerCurveWidget::showCommand(const QString& name, bool show)
 {
-    Node* node = getCmdNode(name);
+    MixerNode* node = getCmdNode(name);
     if (node) {
         if (show)
             node->show();
@@ -618,7 +618,7 @@ void MixerCurveWidget::showCommand(const QString& name, bool show)
 void MixerCurveWidget::showCommands(bool show)
 {
     for (int i=1; i<cmdNodePool.count()-2; i++) {
-        Node* node = cmdNodePool.at(i);
+        MixerNode* node = cmdNodePool.at(i);
         if (show)
             node->show();
         else
@@ -630,14 +630,14 @@ void MixerCurveWidget::showCommands(bool show)
 bool MixerCurveWidget::isCommandActive(const QString& name)
 {
     bool active = false;
-    Node* node = getCmdNode(name);
+    MixerNode* node = getCmdNode(name);
     if (node) {
         active = node->getCommandActive();
     }
     return active;
 }
 
-void MixerCurveWidget::cmdActivated(Node* node)
+void MixerCurveWidget::cmdActivated(MixerNode* node)
 {
     if (node->getToggle()) {
         if (node->getName() == "Commands") {
@@ -646,7 +646,7 @@ void MixerCurveWidget::cmdActivated(Node* node)
         }
         else {
             for (int i=1; i<cmdNodePool.count()-2; i++) {
-                Node* n = cmdNodePool.at(i);
+                MixerNode* n = cmdNodePool.at(i);
                 n->setCommandActive(false);
                 n->update();
             }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
index f2e8226cf..d9469ba58 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
@@ -59,12 +59,12 @@ public:
    double setRange(double min, double max);
 
 
-   void cmdActivated(Node* node);
+   void cmdActivated(MixerNode* node);
    void activateCommand(const QString& name);
    bool isCommandActive(const QString& name);
    void showCommand(const QString& name, bool show);
    void showCommands(bool show);
-   Node* getCmdNode(const QString& name);
+   MixerNode* getCmdNode(const QString& name);
    void setCommandText(const QString& name, const QString& text);
 
    static const int NODE_NUMELEM = 5;
@@ -73,17 +73,17 @@ signals:
    void curveUpdated();
    void curveMinChanged(double value);
    void curveMaxChanged(double value);
-   void commandActivated(Node* node);
+   void commandActivated(MixerNode* node);
 
 private slots:
 
 private:
    QGraphicsSvgItem *plot;
 
-   QList<Node*> nodePool;
-   QList<Node*> cmdNodePool;
+   QList<MixerNode*> nodePool;
+   QList<MixerNode*> cmdNodePool;
    QList<Edge*> edgePool;
-   QList<Node*> nodeList;
+   QList<MixerNode*> nodeList;
 
    double curveMin;
    double curveMax;
@@ -95,9 +95,9 @@ private:
    QString negColor1;
 
    void  initNodes(int numPoints);
-   Node* getNode(int index);
-   Node* getCommandNode(int index);
-   Edge* getEdge(int index, Node* sourceNode, Node* destNode);
+   MixerNode* getNode(int index);
+   MixerNode* getCommandNode(int index);
+   Edge* getEdge(int index, MixerNode* sourceNode, MixerNode* destNode);
    void setPositiveColor(QString color0 = "#00ff00", QString color1 = "#00ff00");
    void setNegativeColor(QString color0 = "#ff0000", QString color1 = "#ff0000");
 

From d4cd0a9f89281985fdb00a455bdd201fb8a4b701 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Wed, 12 Sep 2012 13:39:35 +0100
Subject: [PATCH 506/543] GCS- Config fix and new copy method for data
 collections

---
 .../openpilotgcs/default_configurations/OpenPilotGCS.xml     | 5 +++--
 ground/openpilotgcs/share/share.pro                          | 3 ++-
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
index 25f56284b..3445e0b17 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
@@ -2,8 +2,9 @@
   <General>
     <AutoConnect>true</AutoConnect>
     <AutoSelect>true</AutoSelect>
-    <Description>None</Description>
-    <Details>None</Details>
+    <UDPMirror>false</UDPMirror>
+    <Description>Default configuration</Description>
+    <Details>Default configuration built to work on all screen sizes</Details>
     <ExpertMode>false</ExpertMode>
     <OverrideLanguage>en_AU</OverrideLanguage>
     <SaveSettingsOnExit>true</SaveSettingsOnExit>
diff --git a/ground/openpilotgcs/share/share.pro b/ground/openpilotgcs/share/share.pro
index c5fa73e60..31b545e71 100644
--- a/ground/openpilotgcs/share/share.pro
+++ b/ground/openpilotgcs/share/share.pro
@@ -9,7 +9,8 @@ equals(copydata, 1) {
     for(dir, DATACOLLECTIONS) {
         exists($$GCS_SOURCE_TREE/share/openpilotgcs/$$dir) {
             macx:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
-            !macx:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/$$dir\") $$addNewline()
+            !macx:data_copy.commands += $(MKDIR) $$targetPath(\"$$GCS_DATA_PATH/$$dir\") $$addNewline()
+            !macx:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
         }
     }
 

From a8487fc990a02e05fbdd9869fcf09d11fedf22c5 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov <os@openpilot.org>
Date: Wed, 12 Sep 2012 23:09:06 +0300
Subject: [PATCH 507/543] qt_sdk_install: update QtSDK to 1.2.1 and Qt to 4.8.1

---
 Makefile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Makefile b/Makefile
index 6564abc44..54cdf913a 100644
--- a/Makefile
+++ b/Makefile
@@ -162,7 +162,7 @@ QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-v1.2
 
 .PHONY: qt_sdk_install
 qt_sdk_install: QT_SDK_URL  := http://www.developer.nokia.com/dp?uri=http://sw.nokia.com/id/8ea74da4-fec1-4277-8b26-c58cc82e204b/Qt_SDK_Lin32_offline
-qt_sdk_install: QT_SDK_FILE := Qt_SDK_Lin32_offline_v1_2_en.run
+qt_sdk_install: QT_SDK_FILE := QtSdk-offline-linux-x86-v1.2.1.run
 #qt_sdk_install: QT_SDK_URL  := http://www.developer.nokia.com/dp?uri=http://sw.nokia.com/id/c365bbf5-c2b9-4dda-9c1f-34b2c8d07785/Qt_SDK_Lin32_offline_v1_1_2
 #qt_sdk_install: QT_SDK_FILE := Qt_SDK_Lin32_offline_v1_1_2_en.run
 # order-only prereq on directory existance:
@@ -433,7 +433,7 @@ dfuutil_clean:
 ##############################
 
 ifeq ($(shell [ -d "$(QT_SDK_DIR)" ] && echo "exists"), exists)
-  QMAKE=$(QT_SDK_DIR)/Desktop/Qt/4.8.0/gcc/bin/qmake
+  QMAKE=$(QT_SDK_DIR)/Desktop/Qt/4.8.1/gcc/bin/qmake
 else
   # not installed, hope it's in the path...
   QMAKE=qmake

From abbf85812352dee794edb6e09d2944ac1385932e Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Wed, 12 Sep 2012 21:57:49 +0100
Subject: [PATCH 508/543] Fixes special settings not being saved.

---
 .../src/plugins/coreplugin/mainwindow.cpp             | 11 +++++++----
 .../openpilotgcs/src/plugins/coreplugin/mainwindow.h  |  3 +++
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
index 647b861da..2df94e9c9 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
@@ -317,7 +317,10 @@ void MainWindow::extensionsInitialized()
         qDebug() << "Load default config from resource "<<filename;
     }
     qs->beginGroup("General");
-    loadStyleSheet(qs->value("StyleSheet","none").toString());
+    m_config_description=qs->value("Description","none").toString();
+    m_config_details=qs->value("Details","none").toString();
+    m_config_stylesheet=qs->value("StyleSheet","none").toString();
+    loadStyleSheet(m_config_stylesheet);
     qs->endGroup();
     m_uavGadgetInstanceManager = new UAVGadgetInstanceManager(this);
     m_uavGadgetInstanceManager->readSettings(qs);
@@ -1275,9 +1278,9 @@ void MainWindow::saveSettings(QSettings* qs)
     m_actionManager->saveSettings(qs);
     m_generalSettings->saveSettings(qs);
     qs->beginGroup("General");
-    qs->setValue("Description",m_settings->value("Description","None"));
-    qs->setValue("Details",m_settings->value("Details","None"));
-    qs->setValue("StyleSheet",m_settings->value("StyleSheet","default"));
+    qs->setValue("Description",m_config_description);
+    qs->setValue("Details",m_config_details);
+    qs->setValue("StyleSheet",m_config_stylesheet);
     qs->endGroup();
 }
 
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h
index 18965b164..da7d40386 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/mainwindow.h
@@ -219,6 +219,9 @@ private:
     QAction *m_removeAllSplitsAction;
     QAction *m_gotoOtherSplitAction;
 
+    QString m_config_description;
+    QString m_config_details;
+    QString m_config_stylesheet;
 #ifdef Q_WS_MAC
     QAction *m_minimizeAction;
     QAction *m_zoomAction;

From 36242fa70e84e48f005940e27c13f42da51ccd61 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 12 Sep 2012 16:06:07 -0500
Subject: [PATCH 509/543] Delete file that shouldn't have been committed

---
 .../notify/notifypluginoptionspage.cpp.orig   | 512 ------------------
 1 file changed, 512 deletions(-)
 delete mode 100644 ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig

diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig
deleted file mode 100644
index 2ff775e31..000000000
--- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig
+++ /dev/null
@@ -1,512 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       notifypluginoptionspage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Notify Plugin options page
- * @see        The GNU Public License (GPL) Version 3
- * @defgroup   notifyplugin
- * @{
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "notifypluginoptionspage.h"
-#include <coreplugin/icore.h>
-#include "notificationitem.h"
-#include "ui_notifypluginoptionspage.h"
-#include "extensionsystem/pluginmanager.h"
-#include "utils/pathutils.h"
-
-#include <QFileDialog>
-#include <QtAlgorithms>
-#include <QStringList>
-#include <QtCore/QSettings>
-#include <QTableWidget>
-#include <QPalette>
-#include <QBuffer>
-
-#include "notifyplugin.h"
-#include "notifyitemdelegate.h"
-#include "notifytablemodel.h"
-#include "notifylogging.h"
-
-NotifyPluginOptionsPage::NotifyPluginOptionsPage(/*NotificationItem *config,*/ QObject *parent)
-    : IOptionsPage(parent)
-    , objManager(*ExtensionSystem::PluginManager::instance()->getObject<UAVObjectManager>())
-    , owner(qobject_cast<SoundNotifyPlugin*>(parent))
-    , currentCollectionPath("")
-{
-}
-
-NotifyPluginOptionsPage::~NotifyPluginOptionsPage()
-{
-}
-
-//creates options page widget (uses the UI file)
-QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent)
-{
-    options_page.reset(new Ui::NotifyPluginOptionsPage());
-    //main widget
-    QWidget *optionsPageWidget = new QWidget;
-    //main layout
-    options_page->setupUi(optionsPageWidget);
-
-    listSoundFiles.clear();
-
-    options_page->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory);
-    options_page->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory"));
-
-    // Fills the combo boxes for the UAVObjects
-    QList< QList<UAVDataObject*> > objList = objManager.getDataObjects();
-    foreach (QList<UAVDataObject*> list, objList) {
-        foreach (UAVDataObject* obj, list) {
-            options_page->UAVObject->addItem(obj->getName());
-        }
-    }
-
-<<<<<<< Updated upstream
-    connect(options_page->SoundDirectoryPathChooser, SIGNAL(changed(const QString&)), this, SLOT(on_buttonSoundFolder_clicked(const QString&)));
-    connect(options_page->SoundCollectionList, SIGNAL(currentIndexChanged (int)), this, SLOT(on_soundLanguage_indexChanged(int)));
-    connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString)));
-=======
-	options_page = new Ui::NotifyPluginOptionsPage();
-	//main widget
-	QWidget *optionsPageWidget = new QWidget;
-	//main layout
-	options_page->setupUi(optionsPageWidget);
-
-	delegateItems.clear();
-	listSoundFiles.clear();
-
-	options_page->horizontalLayout_3->addWidget(new QPushButton("testtt"));
-	delegateItems << "Repeat Once"
-			 << "Repeat Instantly"
-			 << "Repeat 10 seconds"
-			 << "Repeat 30 seconds"
-			 << "Repeat 1 minute";
-
-	options_page->chkEnableSound->setChecked(owner->getEnableSound());
-	options_page->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory);
-	options_page->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory"));
-
-
-
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	objManager = pm->getObject<UAVObjectManager>();
-
-	// Fills the combo boxes for the UAVObjects
-	QList< QList<UAVDataObject*> > objList = objManager->getDataObjects();
-	foreach (QList<UAVDataObject*> list, objList) {
-		foreach (UAVDataObject* obj, list) {
-			options_page->UAVObject->addItem(obj->getName());
-		}
-	}
-
-	connect(options_page->SoundDirectoryPathChooser, SIGNAL(changed(const QString&)), this, SLOT(on_buttonSoundFolder_clicked(const QString&)));
-	connect(options_page->SoundCollectionList, SIGNAL(currentIndexChanged (int)), this, SLOT(on_soundLanguage_indexChanged(int)));
-	connect(options_page->buttonAdd, SIGNAL(pressed()), this, SLOT(on_buttonAddNotification_clicked()));
-	connect(options_page->buttonDelete, SIGNAL(pressed()), this, SLOT(on_buttonDeleteNotification_clicked()));
-	connect(options_page->buttonModify, SIGNAL(pressed()), this, SLOT(on_buttonModifyNotification_clicked()));
-//	connect(options_page->buttonTestSound1, SIGNAL(clicked()), this, SLOT(on_buttonTestSound1_clicked()));
-//	connect(options_page->buttonTestSound2, SIGNAL(clicked()), this, SLOT(on_buttonTestSound2_clicked()));
-	connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked()));
-	connect(options_page->chkEnableSound, SIGNAL(toggled(bool)), this, SLOT(on_chkEnableSound_toggled(bool)));
-
-
-	connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString)));
-	connect(this, SIGNAL(updateNotifications(QList<NotifyPluginConfiguration*>)),
-			owner, SLOT(updateNotificationList(QList<NotifyPluginConfiguration*>)));
-	connect(this, SIGNAL(resetNotification()),owner, SLOT(resetNotification()));
-
-	//emit resetNotification();
-
-
-        privListNotifications.clear();
-
-        for (int i = 0; i < owner->getListNotifications().size(); ++i) {
-                 NotifyPluginConfiguration* notification = new NotifyPluginConfiguration();
-                 owner->getListNotifications().at(i)->copyTo(notification);
-		 privListNotifications.append(notification);
-	}
-
-        updateConfigView(owner->getCurrentNotification());
-
-        options_page->chkEnableSound->setChecked(owner->getEnableSound());
-
-	QStringList headerStrings;
-	headerStrings << "Name" << "Repeats" << "Lifetime,sec";
->>>>>>> Stashed changes
-
-    connect(this, SIGNAL(updateNotifications(QList<NotificationItem*>)),
-        owner, SLOT(updateNotificationList(QList<NotificationItem*>)));
-    //connect(this, SIGNAL(resetNotification()),owner, SLOT(resetNotification()));
-
-
-//    privListNotifications = ((qobject_cast<SoundNotifyPlugin*>(parent))->getListNotifications());
-    privListNotifications = owner->getListNotifications();
-
-    updateConfigView(owner->getCurrentNotification());
-
-    initRulesTable();
-    initButtons();
-    initPhononPlayer();
-
-    return optionsPageWidget;
-}
-
-void NotifyPluginOptionsPage::initButtons()
-{
-    options_page->chkEnableSound->setChecked(owner->getEnableSound());
-    connect(options_page->chkEnableSound, SIGNAL(toggled(bool)), this, SLOT(on_chkEnableSound_toggled(bool)));
-
-    options_page->buttonModify->setEnabled(false);
-    options_page->buttonDelete->setEnabled(false);
-    options_page->buttonPlayNotification->setEnabled(false);
-    connect(options_page->buttonAdd, SIGNAL(pressed()), this, SLOT(on_buttonAddNotification_clicked()));
-    connect(options_page->buttonDelete, SIGNAL(pressed()), this, SLOT(on_buttonDeleteNotification_clicked()));
-    connect(options_page->buttonModify, SIGNAL(pressed()), this, SLOT(on_buttonModifyNotification_clicked()));
-    connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked()));
-}
-
-void NotifyPluginOptionsPage::initPhononPlayer()
-{
-    notifySound.reset(Phonon::createPlayer(Phonon::NotificationCategory));
-    connect(notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)),
-        this,SLOT(changeButtonText(Phonon::State,Phonon::State)));
-    connect(notifySound.data(), SIGNAL(finished(void)), this, SLOT(onFinishedPlaying(void)));
-}
-
-void NotifyPluginOptionsPage::initRulesTable()
-{
-    qNotifyDebug_if(_notifyRulesModel.isNull()) << "_notifyRulesModel.isNull())";
-    qNotifyDebug_if(!_notifyRulesSelection) << "_notifyRulesSelection.isNull())";
-    //QItemSelectionModel* selection = _notifyRulesSelection.take();
-    _notifyRulesModel.reset(new NotifyTableModel(privListNotifications));
-    _notifyRulesSelection = new QItemSelectionModel(_notifyRulesModel.data());
-
-    connect(_notifyRulesSelection, SIGNAL(selectionChanged ( const QItemSelection &, const QItemSelection & )),
-        this, SLOT(on_tableNotification_changeSelection( const QItemSelection & , const QItemSelection & )));
-    connect(this, SIGNAL(entryUpdated(int)),
-        _notifyRulesModel.data(), SLOT(entryUpdated(int)));
-    connect(this, SIGNAL(entryAdded(int)),
-        _notifyRulesModel.data(), SLOT(entryAdded(int)));
-
-    options_page->notifyRulesView->setModel(_notifyRulesModel.data());
-    options_page->notifyRulesView->setSelectionModel(_notifyRulesSelection);
-    options_page->notifyRulesView->setItemDelegate(new NotifyItemDelegate(this));
-
-    options_page->notifyRulesView->resizeRowsToContents();
-    options_page->notifyRulesView->setColumnWidth(eMESSAGE_NAME,200);
-    options_page->notifyRulesView->setColumnWidth(eREPEAT_VALUE,120);
-    options_page->notifyRulesView->setColumnWidth(eEXPIRE_TIME,100);
-    options_page->notifyRulesView->setColumnWidth(eENABLE_NOTIFICATION,60);
-    options_page->notifyRulesView->setDragEnabled(true);
-    options_page->notifyRulesView->setAcceptDrops(true);
-    options_page->notifyRulesView->setDropIndicatorShown(true);
-    options_page->notifyRulesView->setDragDropMode(QAbstractItemView::InternalMove);
-
-
-}
-
-void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notification)
-{
-    notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path());
-    notification->setCurrentLanguage(options_page->SoundCollectionList->currentText());
-    notification->setDataObject(options_page->UAVObject->currentText());
-    notification->setObjectField(options_page->UAVObjectField->currentText());
-    notification->setSound1(options_page->Sound1->currentText());
-    notification->setSound2(options_page->Sound2->currentText());
-    notification->setSound3(options_page->Sound3->currentText());
-    notification->setSayOrder(options_page->SayOrder->currentText());
-    notification->setValue(options_page->Value->currentText());
-    notification->setSpinBoxValue(options_page->ValueSpinBox->value());
-}
-
-/*!
-* Called when the user presses apply or OK.
-* Saves the current values
-*/
-void NotifyPluginOptionsPage::apply()
-{
-    getOptionsPageValues(owner->getCurrentNotification());
-    owner->setEnableSound(options_page->chkEnableSound->isChecked());
-    emit updateNotifications(privListNotifications);
-}
-
-void NotifyPluginOptionsPage::finish()
-{
-    disconnect(notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)),
-        this,SLOT(changeButtonText(Phonon::State,Phonon::State)));
-    if (notifySound) {
-        notifySound->stop();
-        notifySound->clear();
-    }
-}
-
-//////////////////////////////////////////////////////////////////////////////
-//  Fills in the <Field> combo box when value is changed in the
-//  <Object> combo box
-//////////////////////////////////////////////////////////////////////////////
-void NotifyPluginOptionsPage::on_UAVObject_indexChanged(QString val) {
-    options_page->UAVObjectField->clear();
-    ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(val) );
-    QList<UAVObjectField*> fieldList = obj->getFields();
-    foreach (UAVObjectField* field, fieldList) {
-        options_page->UAVObjectField->addItem(field->getName());
-    }
-}
-
-// locate collection folder on disk
-void NotifyPluginOptionsPage::on_buttonSoundFolder_clicked(const QString& path)
-{
-    QDir dirPath(path);
-    listDirCollections = dirPath.entryList(QDir::AllDirs | QDir::NoDotAndDotDot);
-    options_page->SoundCollectionList->clear();
-    options_page->SoundCollectionList->addItems(listDirCollections);
-}
-
-
-void NotifyPluginOptionsPage::on_soundLanguage_indexChanged(int index)
-{
-    options_page->SoundCollectionList->setCurrentIndex(index);
-
-    currentCollectionPath = options_page->SoundDirectoryPathChooser->path()
-        + QDir::toNativeSeparators("/" + options_page->SoundCollectionList->currentText());
-
-    QDir dirPath(currentCollectionPath);
-    QStringList filters;
-    filters << "*.mp3" << "*.wav";
-    dirPath.setNameFilters(filters);
-    listSoundFiles = dirPath.entryList(filters);
-    listSoundFiles.replaceInStrings(QRegExp(".mp3|.wav"), "");
-    options_page->Sound1->clear();
-    options_page->Sound2->clear();
-    options_page->Sound3->clear();
-    options_page->Sound1->addItems(listSoundFiles);
-    options_page->Sound2->addItem("");
-    options_page->Sound2->addItems(listSoundFiles);
-    options_page->Sound3->addItem("");
-    options_page->Sound3->addItems(listSoundFiles);
-
-}
-
-void  NotifyPluginOptionsPage::changeButtonText(Phonon::State newstate, Phonon::State oldstate)
-{
-    //Q_ASSERT(Phonon::ErrorState != newstate);
-
-    if (newstate  == Phonon::PausedState || newstate  == Phonon::StoppedState) {
-        options_page->buttonPlayNotification->setText("Play");
-        options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/play.png"));
-    } else {
-        if (newstate  == Phonon::PlayingState) {
-            options_page->buttonPlayNotification->setText("Stop");
-            options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/stop.png"));
-        }
-    }
-}
-
-void  NotifyPluginOptionsPage::onFinishedPlaying()
-{
-    notifySound->clear();
-}
-
-void NotifyPluginOptionsPage::on_buttonTestSoundNotification_clicked()
-{
-    NotificationItem* notification = NULL;
-
-    if (-1 == _notifyRulesSelection->currentIndex().row())
-            return;
-    notifySound->clearQueue();
-    notification = privListNotifications.at(_notifyRulesSelection->currentIndex().row());
-    notification->parseNotifyMessage();
-    QStringList sequence = notification->getMessageSequence();
-    Q_ASSERT(!!sequence.size());
-    foreach(QString item, sequence)
-            notifySound->enqueue(Phonon::MediaSource(item));
-
-    notifySound->play();
-}
-
-void NotifyPluginOptionsPage::on_chkEnableSound_toggled(bool state)
-{
-    bool state1 = 1^state;
-
-    QList<Phonon::Path> listOutputs = notifySound->outputPaths();
-    Phonon::AudioOutput * audioOutput = (Phonon::AudioOutput*)listOutputs.last().sink();
-    audioOutput->setMuted(state1);
-}
-
-void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification)
-{
-    QString path = notification->getSoundCollectionPath();
-    if (path == "") {
-            //QDir dir = QDir::currentPath();
-            //path = QDir::currentPath().left(QDir::currentPath().indexOf("OpenPilot",0,Qt::CaseSensitive))+"../share/sounds";
-            path = Utils::PathUtils().InsertDataPath("%%DATAPATH%%sounds");
-    }
-
-    options_page->SoundDirectoryPathChooser->setPath(path);
-
-    if (-1 != options_page->SoundCollectionList->findText(notification->getCurrentLanguage())){
-            options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText(notification->getCurrentLanguage()));
-    } else {
-            options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default"));
-    }
-
-    if (options_page->UAVObject->findText(notification->getDataObject())!=-1){
-            options_page->UAVObject->setCurrentIndex(options_page->UAVObject->findText(notification->getDataObject()));
-    }
-
-    // Now load the object field values:
-    options_page->UAVObjectField->clear();
-    QString uavDataObject = notification->getDataObject();
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objManager.getObject(uavDataObject));
-    if (obj != NULL ) {
-            QList<UAVObjectField*> fieldList = obj->getFields();
-            foreach (UAVObjectField* field, fieldList) {
-                    options_page->UAVObjectField->addItem(field->getName());
-            }
-    }
-
-    if (-1 != options_page->UAVObjectField->findText(notification->getObjectField())) {
-            options_page->UAVObjectField->setCurrentIndex(options_page->UAVObjectField->findText(notification->getObjectField()));
-    }
-
-    if (-1 != options_page->Sound1->findText(notification->getSound1())) {
-            options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1()));
-    } else {
-            // show item from default location
-            options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default"));
-            options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1()));
-
-            // don't show item if it wasn't find in stored location
-            //options_page->Sound1->setCurrentIndex(-1);
-    }
-
-    if (-1 != options_page->Sound2->findText(notification->getSound2())) {
-            options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2()));
-    } else {
-            // show item from default location
-            options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default"));
-            options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2()));
-
-            // don't show item if it wasn't find in stored location
-            //options_page->Sound2->setCurrentIndex(-1);
-    }
-
-    if (-1 != options_page->Sound3->findText(notification->getSound3())) {
-            options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3()));
-    } else {
-            // show item from default location
-            options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default"));
-            options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3()));
-    }
-
-    if (-1 != options_page->Value->findText(notification->getValue())) {
-            options_page->Value->setCurrentIndex(options_page->Value->findText(notification->getValue()));
-    }
-
-    if (-1 != options_page->SayOrder->findText(notification->getSayOrder())) {
-            options_page->SayOrder->setCurrentIndex(options_page->SayOrder->findText(notification->getSayOrder()));
-    }
-
-    options_page->ValueSpinBox->setValue(notification->getSpinBoxValue());
-}
-
-void NotifyPluginOptionsPage::on_tableNotification_changeSelection( const QItemSelection & selected, const QItemSelection & deselected )
-{
-    bool select = false;
-    notifySound->stop();
-    if (selected.indexes().size()) {
-            select = true;
-            updateConfigView(privListNotifications.at(selected.indexes().at(0).row()));
-    }
-
-    options_page->buttonModify->setEnabled(select);
-    options_page->buttonDelete->setEnabled(select);
-    options_page->buttonPlayNotification->setEnabled(select);
-}
-
-
-void NotifyPluginOptionsPage::on_buttonAddNotification_clicked()
-{
-    NotificationItem* notification = new NotificationItem;
-
-    if (options_page->SoundDirectoryPathChooser->path()=="") {
-            QPalette textPalette=options_page->SoundDirectoryPathChooser->palette();
-            textPalette.setColor(QPalette::Normal,QPalette::Text, Qt::red);
-            options_page->SoundDirectoryPathChooser->setPalette(textPalette);
-            options_page->SoundDirectoryPathChooser->setPath("please select sound collection folder");
-            return;
-    }
-
-    notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path());
-    notification->setCurrentLanguage(options_page->SoundCollectionList->currentText());
-    notification->setDataObject(options_page->UAVObject->currentText());
-    notification->setObjectField(options_page->UAVObjectField->currentText());
-    notification->setValue(options_page->Value->currentText());
-    notification->setSpinBoxValue(options_page->ValueSpinBox->value());
-
-    if (options_page->Sound1->currentText().size() > 0)
-            notification->setSound1(options_page->Sound1->currentText());
-
-    notification->setSound2(options_page->Sound2->currentText());
-    notification->setSound3(options_page->Sound3->currentText());
-
-if ( ((!options_page->Sound2->currentText().size()) && (options_page->SayOrder->currentText()=="After second"))
-     || ((!options_page->Sound3->currentText().size()) && (options_page->SayOrder->currentText()=="After third")) ) {
-            return;
-    } else {
-            notification->setSayOrder(options_page->SayOrder->currentText());
-    }
-    privListNotifications.append(notification);
-    emit entryAdded(privListNotifications.size() - 1);
-    _notifyRulesSelection->setCurrentIndex(_notifyRulesModel->index(privListNotifications.size()-1,0,QModelIndex()),
-                                                                              QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows);
-}
-
-
-void NotifyPluginOptionsPage::on_buttonDeleteNotification_clicked()
-{
-    _notifyRulesModel->removeRow(_notifyRulesSelection->currentIndex().row());
-    if (!_notifyRulesModel->rowCount()
-        && (_notifyRulesSelection->currentIndex().row() > 0
-        && _notifyRulesSelection->currentIndex().row() < _notifyRulesModel->rowCount()) )
-    {
-        options_page->buttonDelete->setEnabled(false);
-        options_page->buttonModify->setEnabled(false);
-        options_page->buttonPlayNotification->setEnabled(false);
-    }
-
-}
-
-void NotifyPluginOptionsPage::on_buttonModifyNotification_clicked()
-{
-    NotificationItem* notification = new NotificationItem;
-    getOptionsPageValues(notification);
-    notification->setRetryString(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->retryString());
-    notification->setLifetime(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->lifetime());
-    notification->setMute(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->mute());
-
-    privListNotifications.replace(_notifyRulesSelection->currentIndex().row(),notification);
-    entryUpdated(_notifyRulesSelection->currentIndex().row());
-
-}
-

From 69688813b56aa8c5da93839d427e126da71e2e5b Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 13 Sep 2012 09:28:46 -0500
Subject: [PATCH 510/543] GCS Build: Include UAVTalk in SystemHealth
 dependencies

---
 ground/openpilotgcs/src/plugins/plugins.pro | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ground/openpilotgcs/src/plugins/plugins.pro b/ground/openpilotgcs/src/plugins/plugins.pro
index 154335e3a..632c8b0f6 100644
--- a/ground/openpilotgcs/src/plugins/plugins.pro
+++ b/ground/openpilotgcs/src/plugins/plugins.pro
@@ -106,6 +106,7 @@ SUBDIRS += plugin_lineardial
 plugin_systemhealth.subdir = systemhealth
 plugin_systemhealth.depends = plugin_coreplugin
 plugin_systemhealth.depends += plugin_uavobjects
+plugin_systemhealth.depends += plugin_uavtalk
 SUBDIRS += plugin_systemhealth
 
 #Config gadget

From 42213b21f7da6e959e07d8e82245d562bfdb49df Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 13 Sep 2012 09:44:04 -0500
Subject: [PATCH 511/543] Make OSG selection a QMake config option (OSG)

To include this module from the command line:
    make GCS_QMAKE_OPTS="CONFIG+=OSG" -j7 gcs
---
 Makefile                                          | 2 +-
 ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/Makefile b/Makefile
index 6564abc44..b5d2bce53 100644
--- a/Makefile
+++ b/Makefile
@@ -471,7 +471,7 @@ gcs_clean: openpilotgcs_clean
 openpilotgcs:  uavobjects_gcs
 	$(V1) mkdir -p $(BUILD_DIR)/ground/$@
 	$(V1) ( cd $(BUILD_DIR)/ground/$@ && \
-	  $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) && \
+	  $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) $(GCS_QMAKE_OPTS) && \
 	  $(MAKE) -w ; \
 	)
 
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro b/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro
index e1ba3bbd6..55f15b4d2 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqml.pro
@@ -3,7 +3,9 @@ TARGET = PfdQml
 QT += svg
 QT += opengl
 QT += declarative
-#DEFINES += USE_OSG
+OSG {
+    DEFINES += USE_OSG
+}
 
 include(../../openpilotgcsplugin.pri)
 include(../../plugins/coreplugin/coreplugin.pri)

From 9f0ad56745a5ace487d6398dd7645636c02f5a23 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Thu, 13 Sep 2012 16:25:32 +0100
Subject: [PATCH 512/543] GCS-Minor cleaning acording to review comments

---
 .../src/plugins/uavobjects/uavobjectfield.cpp | 22 +++++++++----------
 .../uavobjectwidgetutils/mixercurveline.cpp   |  4 +---
 2 files changed, 12 insertions(+), 14 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp b/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
index fcd108155..85b0f721f 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
@@ -121,16 +121,16 @@ void UAVObjectField::limitsInitialize(const QString &limits)
                 continue;
             QStringList valuesPerElement=_str.split(":");
             LimitStruct lstruc;
-            bool b1=valuesPerElement.at(0).startsWith("%");
-            bool b2=(int)(index)<(int)numElements;
-            bool b3=valuesPerElement.at(0).size()==3;
-            bool auxb;
-            valuesPerElement.at(0).mid(1,4).toInt(&auxb,16);
-            bool b4=((valuesPerElement.at(0).size())==7 && auxb);
-            if(b1 && b2 && (b3 || b4))
+            bool startFlag=valuesPerElement.at(0).startsWith("%");
+            bool maxIndexFlag=(int)(index)<(int)numElements;
+            bool elemNumberSizeFlag=valuesPerElement.at(0).size()==3;
+            bool aux;
+            valuesPerElement.at(0).mid(1,4).toInt(&aux,16);
+            bool b4=((valuesPerElement.at(0).size())==7 && aux);
+            if(startFlag && maxIndexFlag && (elemNumberSizeFlag || b4))
             {
                 if(b4)
-                    lstruc.board=valuesPerElement.at(0).mid(1,4).toInt(&auxb,16);
+                    lstruc.board=valuesPerElement.at(0).mid(1,4).toInt(&aux,16);
                 else
                     lstruc.board=0;
                 if(valuesPerElement.at(0).right(2)=="EQ")
@@ -179,11 +179,11 @@ void UAVObjectField::limitsInitialize(const QString &limits)
             }
             else
             {
-                if(!valuesPerElement.at(0).isEmpty() && !b1)
+                if(!valuesPerElement.at(0).isEmpty() && !startFlag)
                     qDebug()<<"limits parsing failed (property doesn't start with %) on UAVObjectField"<<name;
-                else if(!b2)
+                else if(!maxIndexFlag)
                     qDebug()<<"limits parsing failed (index>numelements) on UAVObjectField"<<name<<"index"<<index<<"numElements"<<numElements;
-                else if(!b3 || !b4 )
+                else if(!elemNumberSizeFlag || !b4 )
                     qDebug()<<"limits parsing failed limit not starting with %XX or %YYYYXX where XX is the limit type and YYYY is the board type on UAVObjectField"<<name;
             }
         }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.cpp
index 1a7ed4388..7add08628 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurveline.cpp
@@ -30,10 +30,8 @@
 #include "mixercurveline.h"
 #include "mixercurvepoint.h"
 
-#include <math.h>
+#include <qmath.h>
 
-static const double Pi = 3.14159265358979323846264338327950288419717;
-// static double TwoPi = 2.0 * Pi;
 
 Edge::Edge(MixerNode *sourceNode, MixerNode *destNode)
     : arrowSize(10)

From a8e6f4991b54089c0fa56d93ff2f1aa0a8862bf8 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Fri, 14 Sep 2012 08:50:02 +1000
Subject: [PATCH 513/543] Added "use OpenGL" option to qml based PFD

---
 .../src/plugins/pfdqml/pfdqmlgadget.cpp       |  1 +
 .../pfdqml/pfdqmlgadgetconfiguration.cpp      |  6 +-
 .../pfdqml/pfdqmlgadgetconfiguration.h        |  3 +
 .../pfdqml/pfdqmlgadgetoptionspage.cpp        |  7 +++
 .../plugins/pfdqml/pfdqmlgadgetoptionspage.ui | 62 ++++++++++++-------
 .../src/plugins/pfdqml/pfdqmlgadgetwidget.cpp | 29 +++++++--
 .../src/plugins/pfdqml/pfdqmlgadgetwidget.h   |  4 +-
 7 files changed, 85 insertions(+), 27 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
index 89d0b852d..7fa9be6a5 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
@@ -38,6 +38,7 @@ PfdQmlGadget::~PfdQmlGadget()
 void PfdQmlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
 {
     PfdQmlGadgetConfiguration *m = qobject_cast<PfdQmlGadgetConfiguration*>(config);
+    m_widget->setOpenGLEnabled(m->openGLEnabled());
     m_widget->setQmlFile(m->qmlFile());
     m_widget->setEarthFile(m->earthFile());
     m_widget->setTerrainEnabled(m->terrainEnabled());
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp
index 8a21da857..8991107fd 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp
@@ -25,7 +25,8 @@ PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(QString classId, QSettings
     IUAVGadgetConfiguration(classId, parent),
     m_qmlFile("Unknown"),
     m_earthFile("Unknown"),
-    m_terrainEnabled(true),
+    m_openGLEnabled(true),
+    m_terrainEnabled(false),
     m_actualPositionUsed(false),
     m_latitude(0),
     m_longitude(0),
@@ -40,6 +41,7 @@ PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(QString classId, QSettings
         m_earthFile = qSettings->value("earthFile").toString();
         m_earthFile=Utils::PathUtils().InsertDataPath(m_earthFile);
 
+        m_openGLEnabled = qSettings->value("openGLEnabled", true).toBool();
         m_terrainEnabled = qSettings->value("terrainEnabled").toBool();
         m_actualPositionUsed = qSettings->value("actualPositionUsed").toBool();
         m_latitude = qSettings->value("latitude").toDouble();
@@ -57,6 +59,7 @@ IUAVGadgetConfiguration *PfdQmlGadgetConfiguration::clone()
 {
     PfdQmlGadgetConfiguration *m = new PfdQmlGadgetConfiguration(this->classId());
     m->m_qmlFile = m_qmlFile;
+    m->m_openGLEnabled = m_openGLEnabled;
     m->m_earthFile = m_earthFile;
     m->m_terrainEnabled = m_terrainEnabled;
     m->m_actualPositionUsed = m_actualPositionUsed;
@@ -78,6 +81,7 @@ void PfdQmlGadgetConfiguration::saveConfig(QSettings* qSettings) const {
     QString earthFile = Utils::PathUtils().RemoveDataPath(m_earthFile);
     qSettings->setValue("earthFile", earthFile);
 
+    qSettings->setValue("openGLEnabled", m_openGLEnabled);
     qSettings->setValue("terrainEnabled", m_terrainEnabled);
     qSettings->setValue("actualPositionUsed", m_actualPositionUsed);
     qSettings->setValue("latitude", m_latitude);
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h
index 69205375c..b13f6ea0a 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h
@@ -29,6 +29,7 @@ public:
 
     void setQmlFile(const QString &fileName) { m_qmlFile=fileName; }
     void setEarthFile(const QString &fileName) { m_earthFile=fileName; }
+    void setOpenGLEnabled(bool flag) { m_openGLEnabled = flag; }
     void setTerrainEnabled(bool flag) { m_terrainEnabled = flag; }
     void setActualPositionUsed(bool flag) { m_actualPositionUsed = flag; }
     void setLatitude(double value) { m_latitude = value; }
@@ -38,6 +39,7 @@ public:
 
     QString qmlFile() const { return m_qmlFile; }
     QString earthFile() const { return m_earthFile; }
+    bool openGLEnabled() const { return m_openGLEnabled; }
     bool terrainEnabled() const { return m_terrainEnabled; }
     bool actualPositionUsed() const { return m_actualPositionUsed; }
     double latitude() const { return m_latitude; }
@@ -51,6 +53,7 @@ public:
 private:
     QString m_qmlFile; // The name of the dial's SVG source file
     QString m_earthFile; // The name of osgearth terrain file
+    bool m_openGLEnabled;
     bool m_terrainEnabled;
     bool m_actualPositionUsed;
     double m_latitude;
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
index 929dce289..bd4d21649 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
@@ -53,6 +53,7 @@ QWidget *PfdQmlGadgetOptionsPage::createPage(QWidget *parent)
     options_page->earthFile->setPromptDialogTitle(tr("Choose OsgEarth terrain file"));
     options_page->earthFile->setPath(m_config->earthFile());
 
+    options_page->useOpenGL->setChecked(m_config->openGLEnabled());
     options_page->showTerrain->setChecked(m_config->terrainEnabled());
 
     options_page->useActualLocation->setChecked(m_config->actualPositionUsed());
@@ -80,7 +81,13 @@ void PfdQmlGadgetOptionsPage::apply()
 {
     m_config->setQmlFile(options_page->qmlSourceFile->path());
     m_config->setEarthFile(options_page->earthFile->path());
+    m_config->setOpenGLEnabled(options_page->useOpenGL->isChecked());
+
+#ifdef USE_OSG
     m_config->setTerrainEnabled(options_page->showTerrain->isChecked());
+#else
+    m_config->setTerrainEnabled(false);
+#endif
 
     m_config->setActualPositionUsed(options_page->useActualLocation->isChecked());
     m_config->setLatitude(options_page->latitude->text().toDouble());
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui
index 3f244043b..92e87fbb3 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui
@@ -20,12 +20,6 @@
    <string>Form</string>
   </property>
   <layout class="QGridLayout" name="gridLayout_4">
-   <property name="margin">
-    <number>0</number>
-   </property>
-   <property name="spacing">
-    <number>0</number>
-   </property>
    <item row="0" column="0">
     <widget class="QScrollArea" name="scrollArea">
      <property name="frameShape">
@@ -42,8 +36,8 @@
        <rect>
         <x>0</x>
         <y>0</y>
-        <width>457</width>
-        <height>436</height>
+        <width>439</width>
+        <height>418</height>
        </rect>
       </property>
       <layout class="QGridLayout" name="gridLayout_3">
@@ -78,6 +72,16 @@
         </layout>
        </item>
        <item row="1" column="0" colspan="2">
+        <widget class="QCheckBox" name="useOpenGL">
+         <property name="text">
+          <string>Use OpenGL</string>
+         </property>
+         <property name="checked">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0" colspan="2">
         <widget class="QGroupBox" name="showTerrain">
          <property name="title">
           <string>Show Terrain:</string>
@@ -213,7 +217,7 @@
          </layout>
         </widget>
        </item>
-       <item row="2" column="1">
+       <item row="3" column="1">
         <spacer name="verticalSpacer">
          <property name="orientation">
           <enum>Qt::Vertical</enum>
@@ -249,12 +253,12 @@
    <slot>setEnabled(bool)</slot>
    <hints>
     <hint type="sourcelabel">
-     <x>150</x>
-     <y>138</y>
+     <x>167</x>
+     <y>188</y>
     </hint>
     <hint type="destinationlabel">
-     <x>142</x>
-     <y>172</y>
+     <x>260</x>
+     <y>222</y>
     </hint>
    </hints>
   </connection>
@@ -265,12 +269,12 @@
    <slot>setEnabled(bool)</slot>
    <hints>
     <hint type="sourcelabel">
-     <x>164</x>
-     <y>141</y>
+     <x>181</x>
+     <y>188</y>
     </hint>
     <hint type="destinationlabel">
-     <x>164</x>
-     <y>202</y>
+     <x>282</x>
+     <y>255</y>
     </hint>
    </hints>
   </connection>
@@ -281,12 +285,28 @@
    <slot>setEnabled(bool)</slot>
    <hints>
     <hint type="sourcelabel">
-     <x>190</x>
-     <y>141</y>
+     <x>207</x>
+     <y>188</y>
     </hint>
     <hint type="destinationlabel">
-     <x>190</x>
-     <y>237</y>
+     <x>308</x>
+     <y>288</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>useOpenGL</sender>
+   <signal>toggled(bool)</signal>
+   <receiver>showTerrain</receiver>
+   <slot>setEnabled(bool)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>99</x>
+     <y>57</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>99</x>
+     <y>89</y>
     </hint>
    </hints>
   </connection>
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
index d6e43e70e..0c0ff6e36 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
@@ -34,6 +34,7 @@
 
 PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWidget *parent) :
     QDeclarativeView(parent),
+    m_openGLEnabled(false),
     m_terrainEnabled(false),
     m_actualPositionUsed(false),
     m_latitude(46.671478),
@@ -44,12 +45,15 @@ PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWidget *parent) :
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
     setResizeMode(SizeRootObjectToView);
 
-    setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
+    //setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
 
     QStringList objectsToExport;
     objectsToExport << "VelocityActual" <<
                        "PositionActual" <<
                        "AttitudeActual" <<
+                       "VelocityDesired" <<
+                       "PositionDesired" <<
+                       "AttitudeHoldDesired" <<
                        "GPSPosition" <<
                        "GCSTelemetryStats" <<
                        "FlightBatteryState";
@@ -106,9 +110,26 @@ void PfdQmlGadgetWidget::setEarthFile(QString arg)
 
 void PfdQmlGadgetWidget::setTerrainEnabled(bool arg)
 {
-    if (m_terrainEnabled != arg) {
-        m_terrainEnabled = arg;
-        emit terrainEnabledChanged(arg);
+    bool wasEnabled = terrainEnabled();
+    m_terrainEnabled = arg;
+
+    if (wasEnabled != terrainEnabled())
+        emit terrainEnabledChanged(terrainEnabled());
+}
+
+void PfdQmlGadgetWidget::setOpenGLEnabled(bool arg)
+{
+    if (m_openGLEnabled != arg) {
+        m_openGLEnabled = arg;
+
+        qDebug() << Q_FUNC_INFO << "Set OPENGL" << m_openGLEnabled;
+        if (m_openGLEnabled)
+            setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
+        else
+            setViewport(new QWidget);
+
+        //update terrainEnabled status with opengl status chaged
+        setTerrainEnabled(m_terrainEnabled);
     }
 }
 
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h
index ba89f282c..2e8bb3f8e 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h
@@ -39,7 +39,7 @@ public:
     void setQmlFile(QString fn);
 
     QString earthFile() const { return m_earthFile; }
-    bool terrainEnabled() const { return m_terrainEnabled; }
+    bool terrainEnabled() const { return m_terrainEnabled && m_openGLEnabled; }
 
     bool actualPositionUsed() const { return m_actualPositionUsed; }
     double latitude() const { return m_latitude; }
@@ -49,6 +49,7 @@ public:
 public slots:
     void setEarthFile(QString arg);
     void setTerrainEnabled(bool arg);
+    void setOpenGLEnabled(bool arg);
 
     void setLatitude(double arg);
     void setLongitude(double arg);
@@ -68,6 +69,7 @@ signals:
 private:
     QString m_qmlFileName;
     QString m_earthFile;
+    bool m_openGLEnabled;
     bool m_terrainEnabled;
 
     bool m_actualPositionUsed;

From 6d7fa8a083bb162aeb3fa82a8ddd1145351f2935 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Fri, 14 Sep 2012 23:31:13 +0100
Subject: [PATCH 514/543] Flight-Added sha1 uavo directory calculation to
 fw_version_info struct.

---
 make/firmware-defs.mk                 |  3 ++-
 make/scripts/version-info.py          | 38 ++++++++++++++++++++++++++-
 make/templates/firmwareinfotemplate.c |  4 ++-
 3 files changed, 42 insertions(+), 3 deletions(-)

diff --git a/make/firmware-defs.mk b/make/firmware-defs.mk
index 522d2e320..e77e71d2a 100644
--- a/make/firmware-defs.mk
+++ b/make/firmware-defs.mk
@@ -131,7 +131,8 @@ $(1).firmwareinfo.c: $(1) $(TOP)/make/templates/firmwareinfotemplate.c FORCE
 		--outfile=$$@ \
 		--image=$(1) \
 		--type=$(2) \
-		--revision=$(3)
+		--revision=$(3) \
+		--uavodir=$(TOP)/shared/uavobjectdefinition
 
 $(eval $(call COMPILE_C_TEMPLATE, $(1).firmwareinfo.c))
 
diff --git a/make/scripts/version-info.py b/make/scripts/version-info.py
index 8c4fe901e..12ab9895b 100644
--- a/make/scripts/version-info.py
+++ b/make/scripts/version-info.py
@@ -250,6 +250,40 @@ def xtrim(string, suffix, length):
         assert n > 0, "length of truncated string+suffix exceeds maximum length"
         return ''.join([string[:n], '+', suffix])
 
+def GetHashofDirs(directory, verbose=0):
+  import hashlib, os
+  SHAhash = hashlib.sha1()
+  if not os.path.exists (directory):
+    return -1
+    
+  try:
+    for root, dirs, files in os.walk(directory):
+      for names in files:
+        if verbose == 1:
+          print 'Hashing', names
+        filepath = os.path.join(root,names)
+        try:
+          f1 = open(filepath, 'rb')
+        except:
+          # You can't open the file for some reason
+          f1.close()
+          continue
+
+	while 1:
+	  # Read file in as little chunks
+  	  buf = f1.read(4096)
+	  if not buf : break
+	  SHAhash.update(hashlib.sha1(buf).hexdigest())
+        f1.close()
+
+  except:
+    import traceback
+    # Print the stack traceback
+    traceback.print_exc()
+    return -2
+  hex_stream = lambda s:",".join(['0x'+hex(ord(c))[2:].zfill(2) for c in s])
+  return hex_stream(SHAhash.digest())
+
 def main():
     """This utility uses git repository in the current working directory
 or from the given path to extract some info about it and HEAD commit.
@@ -302,7 +336,8 @@ dependent targets.
                         help='board type, for example, 0x04 for CopterControl');
     parser.add_option('--revision', default = "",
                         help='board revision, for example, 0x01');
-
+    parser.add_option('--uavodir', default = "",
+                        help='uav object definition directory');
     (args, positional_args) = parser.parse_args()
     if len(positional_args) != 0:
         parser.error("incorrect number of arguments, try --help for help")
@@ -328,6 +363,7 @@ dependent targets.
         BOARD_TYPE = args.type,
         BOARD_REVISION = args.revision,
         SHA1 = sha1(args.image),
+	UAVOSHA1= GetHashofDirs(args.uavodir,0),
     )
 
     if args.info:
diff --git a/make/templates/firmwareinfotemplate.c b/make/templates/firmwareinfotemplate.c
index b9297273e..b876b64dd 100644
--- a/make/templates/firmwareinfotemplate.c
+++ b/make/templates/firmwareinfotemplate.c
@@ -53,7 +53,8 @@ struct __attribute__((packed)) fw_version_info {
 	uint8_t board_revision;
 	uint8_t commit_tag_name[26];
 	uint8_t sha1sum[20];
-	uint8_t pad[40];
+	uint8_t uavosha1[20];
+	uint8_t pad[20];
 };
 
 const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__((__section__(".fw_version_blob"))) = {
@@ -64,6 +65,7 @@ const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__
 	.board_revision = ${BOARD_REVISION},
 	.commit_tag_name = "${FWTAG}",
 	.sha1sum = { ${SHA1} },
+	.uavosha1 = { ${UAVOSHA1} },
 }; 
 
 /**

From fa2aa81079769606594e938944890953c5868164 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Sat, 15 Sep 2012 23:02:45 +0100
Subject: [PATCH 515/543] First pass on using the uavo hash to check
 compatability between GCS and FW

---
 .../src/plugins/coreplugin/coreconstants.h         |  2 ++
 .../plugins/uavobjectutil/devicedescriptorstruct.h |  1 +
 .../plugins/uavobjectutil/uavobjectutilmanager.cpp |  4 +++-
 .../src/plugins/uploader/uploadergadgetwidget.cpp  | 14 ++++++--------
 make/templates/gcsversioninfotemplate.h            |  2 +-
 5 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/coreconstants.h b/ground/openpilotgcs/src/plugins/coreplugin/coreconstants.h
index c7a1db3b4..2117843b8 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/coreconstants.h
+++ b/ground/openpilotgcs/src/plugins/coreplugin/coreconstants.h
@@ -52,8 +52,10 @@ const char * const GCS_YEAR              = "2012";
 const char * const GCS_HELP              = "http://wiki.openpilot.org";
 #ifdef GCS_REVISION
 const char * const GCS_REVISION_STR      = STRINGIFY(GCS_REVISION);
+const char * const UAVOSHA1_STR          = STRINGIFY(UAVO_HASH);
 #else
 const char * const GCS_REVISION_STR      = "";
+const char * const UAVOSHA1_STR          = "";
 #endif
 
 #undef GCS_VERSION
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h b/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
index b83a76a15..a2a8bbab7 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
@@ -8,6 +8,7 @@ public:
        QString gitHash;
        QString gitDate;
        QString gitTag;
+       QString uavoHash;
        int boardType;
        int boardRevision;
        static QString idToBoardName(int id)
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
index 1c69c63e9..6538b0bfc 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
@@ -641,7 +641,8 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
         *  26 bytes: commit tag if it is there, otherwise "Unreleased". Zero-padded
         *   ---- 40 bytes limit ---
         *  20 bytes: SHA1 sum of the firmware.
-        *  40 bytes: free for now.
+        *  20 bytes: SHA1 sum of the UAVO definition files.
+        *  20 bytes: free for now.
         */
 
        // Note: the ARM binary is big-endian:
@@ -667,6 +668,7 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
        struc->boardType = (int)targetPlatform.at(0);
        struc->boardRevision = (int)targetPlatform.at(1);
 
+       struc->uavoHash=desc.mid(46,20);
        return true;
    }
    return false;
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index 160944b8b..1d296946e 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -651,16 +651,14 @@ void UploaderGadgetWidget::versionMatchCheck()
     UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
     deviceDescriptorStruct boardDescription = utilMngr->getBoardDescriptionStruct();
 
-    QString gcsDescription = QString::fromLatin1(Core::Constants::GCS_REVISION_STR);
-    QString gcsGitHash = gcsDescription.mid(gcsDescription.indexOf(":")+1, 8);
-    gcsGitHash.remove( QRegExp("^[0]*") );
-    QString gcsGitDate = gcsDescription.mid(gcsDescription.indexOf(" ")+1, 14);
-    QString gcsVersion = gcsGitDate + " (" + gcsGitHash + ")";
-    QString fwVersion = boardDescription.gitDate + " (" + boardDescription.gitHash + ")";
+    QString uavoHash = QString::fromLatin1(Core::Constants::UAVOSHA1_STR);
+    uavoHash.remove( QRegExp("^[0]*") );
+    QString gcsVersion = uavoHash;
+    QString fwVersion =  boardDescription.gitHash;
 
-    if (boardDescription.gitHash != gcsGitHash) {
+    if (boardDescription.uavoHash != uavoHash) {
         QString warning = QString(tr(
-            "GCS and firmware versions do not match which can cause configuration problems. "
+            "GCS and firmware versions of the UAV object set do not match which can cause configuration problems. "
             "GCS version: %1. Firmware version: %2.")).arg(gcsVersion).arg(fwVersion);
         msg->showMessage(warning);
     }
diff --git a/make/templates/gcsversioninfotemplate.h b/make/templates/gcsversioninfotemplate.h
index 2130f59bf..da8a64968 100644
--- a/make/templates/gcsversioninfotemplate.h
+++ b/make/templates/gcsversioninfotemplate.h
@@ -26,7 +26,7 @@
  */
 
 #define GCS_REVISION ${TAG_OR_BRANCH}:${HASH8}${DIRTY} ${DATETIME}
-
+#define UAVO_HASH ${UAVOSHA1}
 /**
  * @}
  */

From 150314ff98235800498b5cd1179e296c536e0488 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Sun, 16 Sep 2012 10:03:28 +1000
Subject: [PATCH 516/543] PFD qml: align elements to pixels grid

It improves the rendering quality,
sub pixels accuracy gives no benefits in placing PFD elements
---
 .../openpilotgcs/pfd/default/AltitudeScale.qml    |  6 ++----
 .../share/openpilotgcs/pfd/default/Compass.qml    |  4 ++--
 .../openpilotgcs/pfd/default/PfdIndicators.qml    | 15 ++++++---------
 .../openpilotgcs/pfd/default/PfdWorldView.qml     |  9 +++++----
 .../share/openpilotgcs/pfd/default/SpeedScale.qml |  6 ++----
 .../share/openpilotgcs/pfd/default/VsiScale.qml   | 12 ++++--------
 6 files changed, 21 insertions(+), 31 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml
index ff85ffc74..a8f4d66b2 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml
@@ -12,10 +12,8 @@ Item {
 
         property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "altitude-bg")
 
-        x: scaledBounds.x * sceneItem.width
-        y: scaledBounds.y * sceneItem.height
-        width: scaledBounds.width * sceneItem.width
-        height: scaledBounds.height * sceneItem.height
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
 
         SvgElementImage {
             id: altitude_scale
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml
index 650ac639b..3c956d526 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml
@@ -12,8 +12,8 @@ Item {
 
         clip: true
 
-        x: scaledBounds.x * sceneItem.width
-        y: scaledBounds.y * sceneItem.height
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
         //anchors.horizontalCenter: parent.horizontalCenter
 
         //split compass band to 8 parts to ensure it doesn't exceed the max texture size
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml
index e71e75dda..8d821e7c3 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml
@@ -13,10 +13,8 @@ Item {
         property string statusName : ["Disconnected","HandshakeReq","HandshakeAck","Connected"][GCSTelemetryStats.Status]
 
         scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gcstelemetry-Disconnected")
-        x: scaledBounds.x * sceneItem.width
-        y: scaledBounds.y * sceneItem.height
-        width: scaledBounds.width * sceneItem.width
-        height: scaledBounds.height * sceneItem.height
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
     }
 
     //telemetry rate text
@@ -41,8 +39,8 @@ Item {
         visible: GPSPosition.Satellites > 0
 
         property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gps-txt")
-        x: scaledBounds.x * sceneItem.width
-        y: scaledBounds.y * sceneItem.height
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
     }
 
     Text {
@@ -63,8 +61,7 @@ Item {
         visible: FlightBatteryState.Voltage > 0 || FlightBatteryState.Current > 0
 
         property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "battery-txt")
-        x: scaledBounds.x * sceneItem.width
-        y: scaledBounds.y * sceneItem.height
-
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
     }
 }
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
index 004fc1394..9a461464f 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
@@ -8,8 +8,8 @@ Item {
         smooth: true
 
         property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "world")
-        width: sceneItem.width*scaledBounds.width
-        height: sceneItem.height*scaledBounds.height
+        width: Math.round(sceneItem.width*scaledBounds.width/2)*2
+        height: Math.round(sceneItem.height*scaledBounds.height/2)*2
 
         gradient: Gradient {
             GradientStop { position: 0.3;    color: "#6589E2" }
@@ -21,8 +21,9 @@ Item {
         transform: [
             Translate {
                 id: pitchTranslate
-                x: (world.parent.width - world.width)/2
-                y: (world.parent.height - world.height)/2 + AttitudeActual.Pitch*world.parent.height/94
+                x: Math.round((world.parent.width - world.width)/2)
+                y: Math.round((world.parent.height - world.height)/2 +
+                              AttitudeActual.Pitch*world.parent.height/94)
             },
             Rotation {
                 angle: -AttitudeActual.Roll
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml
index cb3845575..1340b9cdb 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml
@@ -12,10 +12,8 @@ Item {
         sceneSize: sceneItem.sceneSize
         clip: true
 
-        x: scaledBounds.x * sceneItem.width
-        y: scaledBounds.y * sceneItem.height
-        width: scaledBounds.width * sceneItem.width
-        height: scaledBounds.height * sceneItem.height
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
 
         SvgElementImage {
             id: speed_scale
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml
index b543809be..171c048e0 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml
@@ -10,10 +10,8 @@ Item {
         sceneSize: sceneItem.sceneSize
         clip: true
 
-        x: scaledBounds.x * sceneItem.width
-        y: scaledBounds.y * sceneItem.height
-        width: scaledBounds.width * sceneItem.width
-        height: scaledBounds.height * sceneItem.height
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
 
         SvgElementImage {
             id: vsi_bar
@@ -73,9 +71,7 @@ Item {
         elementName: "vsi-window"
         sceneSize: sceneItem.sceneSize
 
-        x: scaledBounds.x * sceneItem.width
-        y: scaledBounds.y * sceneItem.height
-        width: scaledBounds.width * sceneItem.width
-        height: scaledBounds.height * sceneItem.height
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
     }
 }

From 718062ed6e7e6bb92e4be57b3b7bd7ac0c4a2579 Mon Sep 17 00:00:00 2001
From: lilvinz <lilvinz@nscit.com>
Date: Sun, 16 Sep 2012 18:19:27 +0200
Subject: [PATCH 517/543] pios_led: added support for active_high connected
 leds

---
 flight/PiOS/STM32F10x/pios_led.c | 20 ++++++++++++++++----
 flight/PiOS/STM32F4xx/pios_led.c | 20 ++++++++++++++++----
 flight/PiOS/inc/pios_led_priv.h  |  1 +
 3 files changed, 33 insertions(+), 8 deletions(-)

diff --git a/flight/PiOS/STM32F10x/pios_led.c b/flight/PiOS/STM32F10x/pios_led.c
index 30c6f1296..1714a9165 100644
--- a/flight/PiOS/STM32F10x/pios_led.c
+++ b/flight/PiOS/STM32F10x/pios_led.c
@@ -93,7 +93,10 @@ void PIOS_LED_On(uint32_t led_id)
 
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 
-	GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	if (led->active_high)
+		GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	else
+		GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
 }
 
 /**
@@ -111,7 +114,10 @@ void PIOS_LED_Off(uint32_t led_id)
 
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 
-	GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	if (led->active_high)
+		GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	else
+		GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
 }
 
 /**
@@ -130,9 +136,15 @@ void PIOS_LED_Toggle(uint32_t led_id)
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 
 	if (GPIO_ReadOutputDataBit(led->pin.gpio, led->pin.init.GPIO_Pin) == Bit_SET) {
-		PIOS_LED_On(led_id);
+		if (led->active_high)
+			PIOS_LED_Off(led_id);
+		else
+			PIOS_LED_On(led_id);
 	} else {
-		PIOS_LED_Off(led_id);
+		if (led->active_high)
+			PIOS_LED_On(led_id);
+		else
+			PIOS_LED_Off(led_id);
 	}
 }
 
diff --git a/flight/PiOS/STM32F4xx/pios_led.c b/flight/PiOS/STM32F4xx/pios_led.c
index c73d37198..5a8d25d33 100644
--- a/flight/PiOS/STM32F4xx/pios_led.c
+++ b/flight/PiOS/STM32F4xx/pios_led.c
@@ -77,7 +77,10 @@ void PIOS_LED_On(uint32_t led_id)
 	
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 	
-	GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	if (led->active_high)
+		GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	else
+		GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
 }
 
 /**
@@ -95,7 +98,10 @@ void PIOS_LED_Off(uint32_t led_id)
 	
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 	
-	GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	if (led->active_high)
+		GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
+	else
+		GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
 }
 
 /**
@@ -114,9 +120,15 @@ void PIOS_LED_Toggle(uint32_t led_id)
 	const struct pios_led * led = &(led_cfg->leds[led_id]);
 	
 	if (GPIO_ReadOutputDataBit(led->pin.gpio, led->pin.init.GPIO_Pin) == Bit_SET) {
-		PIOS_LED_On(led_id);
+		if (led->active_high)
+			PIOS_LED_Off(led_id);
+		else
+			PIOS_LED_On(led_id);
 	} else {
-		PIOS_LED_Off(led_id);
+		if (led->active_high)
+			PIOS_LED_On(led_id);
+		else
+			PIOS_LED_Off(led_id);
 	}
 }
 
diff --git a/flight/PiOS/inc/pios_led_priv.h b/flight/PiOS/inc/pios_led_priv.h
index 20f09eafc..36a1ee3f7 100644
--- a/flight/PiOS/inc/pios_led_priv.h
+++ b/flight/PiOS/inc/pios_led_priv.h
@@ -37,6 +37,7 @@
 struct pios_led {
 	struct stm32_gpio pin;
 	uint32_t remap;
+	bool active_high;
 };
 
 struct pios_led_cfg {

From 05483e2a74801d0c5a2ddf11405dd1bb6b5e7252 Mon Sep 17 00:00:00 2001
From: Stacey Sheldon <stac@solidgoldbomb.org>
Date: Sun, 16 Sep 2012 15:40:47 -0400
Subject: [PATCH 518/543] simposix: adapt simposix to addition of relay tuning

---
 flight/SimPosix/Makefile       | 6 ++++++
 flight/SimPosix/UAVObjects.inc | 2 ++
 2 files changed, 8 insertions(+)

diff --git a/flight/SimPosix/Makefile b/flight/SimPosix/Makefile
index 84a9bb060..622d7f53c 100644
--- a/flight/SimPosix/Makefile
+++ b/flight/SimPosix/Makefile
@@ -71,6 +71,8 @@ PIOSINC = $(PIOS)/inc
 OPMODULEDIR = ../Modules
 FLIGHTLIB = ../Libraries
 FLIGHTLIBINC = ../Libraries/inc
+MATHLIB = ../Libraries/math
+MATHLIBINC = ../Libraries/math
 PIOSPOSIX = $(PIOS)/posix
 PIOSCOMMON = $(PIOS)/posix
 PIOSBOARDS = $(PIOS)/Boards
@@ -132,6 +134,9 @@ SRC += $(FLIGHTLIB)/WorldMagModel.c
 SRC += $(FLIGHTLIB)/insgps13state.c
 SRC += $(FLIGHTLIB)/taskmonitor.c
 
+SRC += $(MATHLIB)/sin_lookup.c
+SRC += $(MATHLIB)/pid.c
+
 ## PIOS Hardware (STM32F4xx)
 include $(PIOS)/posix/library.mk
 
@@ -190,6 +195,7 @@ EXTRAINCDIRS  += $(OPUAVOBJ)
 EXTRAINCDIRS  += $(OPUAVOBJINC)
 EXTRAINCDIRS  += $(UAVOBJSYNTHDIR)
 EXTRAINCDIRS  += $(FLIGHTLIBINC)
+EXTRAINCDIRS  += $(MATHLIBINC)
 #EXTRAINCDIRS  += $(PIOSSTM32F4XX)
 EXTRAINCDIRS  += $(PIOSCOMMON)
 EXTRAINCDIRS  += $(PIOSBOARDS)
diff --git a/flight/SimPosix/UAVObjects.inc b/flight/SimPosix/UAVObjects.inc
index 8953c7462..b2400f16b 100644
--- a/flight/SimPosix/UAVObjects.inc
+++ b/flight/SimPosix/UAVObjects.inc
@@ -63,6 +63,8 @@ UAVOBJSRCFILENAMES += positionactual
 UAVOBJSRCFILENAMES += positiondesired
 UAVOBJSRCFILENAMES += ratedesired
 UAVOBJSRCFILENAMES += revocalibration
+UAVOBJSRCFILENAMES += relaytuning
+UAVOBJSRCFILENAMES += relaytuningsettings
 UAVOBJSRCFILENAMES += sonaraltitude
 UAVOBJSRCFILENAMES += stabilizationdesired
 UAVOBJSRCFILENAMES += stabilizationsettings

From 3e236bd3e66b336ad769f6424f5d25f0aa16f131 Mon Sep 17 00:00:00 2001
From: Stacey Sheldon <stac@solidgoldbomb.org>
Date: Sun, 16 Sep 2012 16:01:24 -0400
Subject: [PATCH 519/543] makefile: change QT SDK install dir so we can support
 multiple installs

QT SDK version was changed but the install dir wasn't changed
to match.  This makes it impossible to keep both versions
installed at the same time which is essential in order to work
on/build old and new branches.

This update gives the new SDK version a unique install dir so
it can coexist with older versions.
---
 Makefile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Makefile b/Makefile
index e78824e5e..dd3522760 100644
--- a/Makefile
+++ b/Makefile
@@ -158,7 +158,7 @@ $(BUILD_DIR):
 ###############################################################
 
 # Set up QT toolchain
-QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-v1.2
+QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-v1.2.1
 
 .PHONY: qt_sdk_install
 qt_sdk_install: QT_SDK_URL  := http://www.developer.nokia.com/dp?uri=http://sw.nokia.com/id/8ea74da4-fec1-4277-8b26-c58cc82e204b/Qt_SDK_Lin32_offline

From 410a9a18370676450fffa665de9676c5f7dd36e6 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Mon, 17 Sep 2012 09:04:36 +1000
Subject: [PATCH 520/543] Add Steve's curve bg

---
 .../src/plugins/config/images/curve-bg.svg    | 72 ++++++++++++-------
 1 file changed, 47 insertions(+), 25 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/images/curve-bg.svg b/ground/openpilotgcs/src/plugins/config/images/curve-bg.svg
index 4b424a335..d8194ec7a 100644
--- a/ground/openpilotgcs/src/plugins/config/images/curve-bg.svg
+++ b/ground/openpilotgcs/src/plugins/config/images/curve-bg.svg
@@ -7,16 +7,28 @@
    xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
    xmlns:svg="http://www.w3.org/2000/svg"
    xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
    xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
    xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
    width="253"
    height="253"
    id="svg2"
    version="1.1"
-   inkscape:version="0.47 r22583"
+   inkscape:version="0.48.2 r9819"
    sodipodi:docname="curve-bg.svg">
   <defs
      id="defs4">
+    <linearGradient
+       id="linearGradient3774">
+      <stop
+         style="stop-color:#ffffff;stop-opacity:1;"
+         offset="0"
+         id="stop3776" />
+      <stop
+         style="stop-color:#f0f6e9;stop-opacity:0.98290598;"
+         offset="1"
+         id="stop3778" />
+    </linearGradient>
     <inkscape:perspective
        sodipodi:type="inkscape:persp3d"
        inkscape:vp_x="0 : 526.18109 : 1"
@@ -24,6 +36,16 @@
        inkscape:vp_z="744.09448 : 526.18109 : 1"
        inkscape:persp3d-origin="372.04724 : 350.78739 : 1"
        id="perspective10" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3774"
+       id="radialGradient3780"
+       cx="300.41299"
+       cy="379.09206"
+       fx="300.41299"
+       fy="379.09206"
+       r="126.5"
+       gradientUnits="userSpaceOnUse" />
   </defs>
   <sodipodi:namedview
      id="base"
@@ -32,17 +54,17 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="1.4"
-     inkscape:cx="96.087002"
-     inkscape:cy="157.47786"
+     inkscape:zoom="1.9966906"
+     inkscape:cx="181.06787"
+     inkscape:cy="89.329853"
      inkscape:document-units="px"
      inkscape:current-layer="layer1"
      showgrid="false"
-     inkscape:window-width="1280"
-     inkscape:window-height="744"
-     inkscape:window-x="-4"
-     inkscape:window-y="1020"
-     inkscape:window-maximized="1" />
+     inkscape:window-width="1440"
+     inkscape:window-height="878"
+     inkscape:window-x="1695"
+     inkscape:window-y="97"
+     inkscape:window-maximized="0" />
   <metadata
      id="metadata7">
     <rdf:RDF>
@@ -51,7 +73,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
+        <dc:title />
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -61,7 +83,7 @@
      id="layer1"
      transform="translate(-173.91299,-252.59206)">
     <rect
-       style="opacity:0.98000004;fill:#eeeeee;fill-opacity:1;stroke:#000000;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
+       style="opacity:0.98000003999999996;fill:url(#radialGradient3780);fill-opacity:1;stroke:#000000;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:0.44888889999999998;stroke-dasharray:none;stroke-dashoffset:0"
        id="rect2816"
        width="250"
        height="250"
@@ -69,59 +91,59 @@
        y="254.09206"
        ry="10" />
     <path
-       style="fill:none;stroke:#000000;stroke-width:1.0199573px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       style="fill:none;stroke:#242c00;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.49333334;stroke-miterlimit:4;stroke-dasharray:none"
        d="m 175.95412,379.09206 248.91774,0"
        id="path3590" />
     <path
        id="path3592"
        d="m 300.41299,254.63319 0,248.91774"
-       style="fill:none;stroke:#000000;stroke-width:1.0199573px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
+       style="fill:none;stroke:#242c00;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.49333334;stroke-miterlimit:4;stroke-dasharray:none" />
     <path
        id="path3594"
        d="m 175.95412,348.09206 248.91774,0"
-       style="fill:none;stroke:#000000;stroke-width:1.01999998;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:1.01999998, 4.07999992;stroke-dashoffset:0" />
+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:5.30000019;stroke-opacity:0.28888890000000000;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7" />
     <path
-       style="fill:none;stroke:#000000;stroke-width:1.01999998;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:1.01999998, 4.07999992;stroke-dashoffset:0"
+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:5.30000019;stroke-opacity:0.28888890000000000;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7"
        d="m 175.95412,317.09206 248.91774,0"
        id="path3596" />
     <path
        id="path3598"
        d="m 175.95412,286.09206 248.91774,0"
-       style="fill:none;stroke:#000000;stroke-width:1.01999998;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:1.01999998, 4.07999992;stroke-dashoffset:0" />
+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:5.30000019;stroke-opacity:0.28888890000000000;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7" />
     <path
-       style="fill:none;stroke:#000000;stroke-width:1.01999998;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:1.01999998,4.07999992;stroke-dashoffset:0;marker-start:none"
+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:5.30000019;stroke-opacity:0.28888890000000000;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7;marker-start:none"
        d="m 175.95412,410.09206 248.91774,0"
        id="path3600" />
     <path
        id="path3602"
        d="m 175.95412,441.09206 248.91774,0"
-       style="fill:none;stroke:#000000;stroke-width:1.01999998;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:1.01999998,4.07999992;stroke-dashoffset:0;marker-start:none" />
+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:5.30000019;stroke-opacity:0.28888890000000000;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7;marker-start:none" />
     <path
-       style="fill:none;stroke:#000000;stroke-width:1.01999998;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:1.01999998,4.07999992;stroke-dashoffset:0;marker-start:none"
+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:5.30000019;stroke-opacity:0.28888890000000000;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7;marker-start:none"
        d="m 175.95412,472.09206 248.91774,0"
        id="path3604" />
     <path
-       style="fill:none;stroke:#000000;stroke-width:1.0199573;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:1.0199573,4.07982922;stroke-dashoffset:0"
+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.28888890000000000;stroke-miterlimit:5.30000019;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7"
        d="m 269.41299,254.63319 0,248.91774"
        id="path3792" />
     <path
        id="path3794"
        d="m 238.41299,254.63319 0,248.91774"
-       style="fill:none;stroke:#000000;stroke-width:1.0199573;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:1.0199573,4.07982922;stroke-dashoffset:0" />
+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.28888890000000000;stroke-miterlimit:5.30000019;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7" />
     <path
-       style="fill:none;stroke:#000000;stroke-width:1.0199573;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:1.0199573,4.07982922;stroke-dashoffset:0"
+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.28888890000000000;stroke-miterlimit:5.30000019;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7"
        d="m 207.41299,254.63319 0,248.91774"
        id="path3796" />
     <path
-       style="fill:none;stroke:#000000;stroke-width:1.0199573;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:1.0199573,4.07982922;stroke-dashoffset:0"
+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.28888890000000000;stroke-miterlimit:5.30000019;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7"
        d="m 331.41299,254.63319 0,248.91774"
        id="path3800" />
     <path
        id="path3802"
        d="m 362.41299,254.63319 0,248.91774"
-       style="fill:none;stroke:#000000;stroke-width:1.0199573;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:1.0199573,4.07982922;stroke-dashoffset:0" />
+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.28888890000000000;stroke-miterlimit:5.30000019;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7" />
     <path
-       style="fill:none;stroke:#000000;stroke-width:1.0199573;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:1.0199573,4.07982922;stroke-dashoffset:0"
+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.28888890000000000;stroke-miterlimit:5.30000019;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7"
        d="m 393.41299,254.63319 0,248.91774"
        id="path3804" />
   </g>

From 14123069be154d757f86baaca80ed2b7ac70191c Mon Sep 17 00:00:00 2001
From: Stacey Sheldon <stac@solidgoldbomb.org>
Date: Sun, 16 Sep 2012 21:13:42 -0400
Subject: [PATCH 521/543] gdb: add gdb config file for CC BU image

---
 flight/Project/gdb/bu_coptercontrol | 38 +++++++++++++++++++++++++++++
 1 file changed, 38 insertions(+)
 create mode 100644 flight/Project/gdb/bu_coptercontrol

diff --git a/flight/Project/gdb/bu_coptercontrol b/flight/Project/gdb/bu_coptercontrol
new file mode 100644
index 000000000..7afe52f0e
--- /dev/null
+++ b/flight/Project/gdb/bu_coptercontrol
@@ -0,0 +1,38 @@
+define connect
+	target remote localhost:3333
+	monitor cortex_m3 vector_catch all
+	file ./build/bu_coptercontrol/bu_coptercontrol.elf
+end
+#monitor reset halt
+
+define hook-step
+	monitor cortex_m3 maskisr on
+end
+define hookpost-step
+	monitor cortex_m3 maskisr off
+end
+
+define hook-stepi
+	monitor cortex_m3 maskisr on
+end
+
+define hookpost-stepi
+	monitor cortex_m3 maskisr off
+end
+
+define hook-next
+	monitor cortex_m3 maskisr on
+end
+
+define hookpost-next
+	monitor cortex_m3 maskisr off
+end
+
+define hook-finish
+	monitor cortex_m3 maskisr on
+end
+
+define hookpost-finish
+	monitor cortex_m3 maskisr off
+end
+

From ca7ce48a4e7b91fd7b0751300dc8682fb2de1ed1 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Mon, 17 Sep 2012 22:11:51 +1000
Subject: [PATCH 522/543] Spelling fix with input wizard, add a t to
 transmitter spotted by Drifter.

---
 ground/openpilotgcs/src/plugins/config/configinputwidget.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index 6cd30a2b6..963d600ca 100755
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -437,7 +437,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         m_config->graphicsView->setVisible(true);
         m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
         setTxMovement(nothing);
-        m_config->wzText->setText(tr("Please choose your transmiter type.\n"
+        m_config->wzText->setText(tr("Please choose your transmitter type.\n"
                                      "Mode 1 means your throttle stick is on the right\n"
                                      "Mode 2 means your throttle stick is on the left\n"));
         m_config->wzBack->setEnabled(true);
@@ -453,7 +453,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         break;
     case wizardChooseType:
     {
-        m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
+        m_config->wzText->setText(tr("Please choose your transmitter mode.\n"
                                      "Acro means normal transmitter\n"
                                      "Heli means there is a collective pitch and throttle input\n"
                                      "If you are using a heli transmitter please engage throttle hold now please.\n"));

From fb073059ad0dd8756e5839cd5972ee75070a1362 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Mon, 17 Sep 2012 17:08:15 +0100
Subject: [PATCH 523/543] GCS-Use uavo definition hash to check for
 compatability

Unfortunately had to change the iap object.
---
 .../src/plugins/coreplugin/gcsversioninfo.pri |  2 ++
 ground/openpilotgcs/src/plugins/plugins.pro   |  1 +
 .../uavobjectutil/devicedescriptorstruct.h    |  3 +-
 .../uavobjectutil/uavobjectutilmanager.cpp    | 27 ++++++++++------
 .../uavobjectutil/uavobjectutilmanager.h      |  2 +-
 .../src/plugins/uploader/devicewidget.cpp     |  4 +--
 .../plugins/uploader/runningdevicewidget.cpp  |  2 +-
 .../plugins/uploader/uploadergadgetwidget.cpp | 31 +++++++++++++++----
 make/templates/firmwareinfotemplate.c         |  3 +-
 make/templates/gcsversioninfotemplate.h       |  2 +-
 shared/uavobjectdefinition/firmwareiapobj.xml |  2 +-
 11 files changed, 55 insertions(+), 24 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/gcsversioninfo.pri b/ground/openpilotgcs/src/plugins/coreplugin/gcsversioninfo.pri
index 559dc3528..70bb8e475 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/gcsversioninfo.pri
+++ b/ground/openpilotgcs/src/plugins/coreplugin/gcsversioninfo.pri
@@ -12,12 +12,14 @@
     VERSION_INFO_SCRIPT   = $$ROOT_DIR/make/scripts/version-info.py
     VERSION_INFO_TEMPLATE = $$ROOT_DIR/make/templates/gcsversioninfotemplate.h
     VERSION_INFO_COMMAND  = python \"$$VERSION_INFO_SCRIPT\"
+    UAVO_DEF_PATH         = $$ROOT_DIR/shared/uavobjectdefinition
 
     # 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\" \
+                                    --uavodir=\"$$UAVO_DEF_PATH\" \
                                     --outfile=\"$$VERSION_INFO_HEADER\"
     version_info.depends = FORCE
     QMAKE_EXTRA_TARGETS += version_info
diff --git a/ground/openpilotgcs/src/plugins/plugins.pro b/ground/openpilotgcs/src/plugins/plugins.pro
index fcd84239d..f107e24b5 100644
--- a/ground/openpilotgcs/src/plugins/plugins.pro
+++ b/ground/openpilotgcs/src/plugins/plugins.pro
@@ -92,6 +92,7 @@ plugin_uploader.subdir = uploader
 plugin_uploader.depends = plugin_coreplugin
 plugin_uploader.depends += plugin_uavobjects
 plugin_uploader.depends += plugin_rawhid
+plugin_uploader.depends += plugin_uavobjectutil
 SUBDIRS += plugin_uploader
 
 #Dial gadget
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h b/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
index a2a8bbab7..886ebe649 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
@@ -8,7 +8,8 @@ public:
        QString gitHash;
        QString gitDate;
        QString gitTag;
-       QString uavoHash;
+       QByteArray fwHash;
+       QByteArray uavoHash;
        int boardType;
        int boardRevision;
        static QString idToBoardName(int id)
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
index 6538b0bfc..a5b60e384 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
@@ -257,7 +257,12 @@ FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
 int UAVObjectUtilManager::getBoardModel()
 {
     FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
-    return (firmwareIapData.BoardType << 8) + firmwareIapData.BoardRevision;
+    qDebug()<<"Board type="<<firmwareIapData.BoardType;
+    qDebug()<<"Board revision="<<firmwareIapData.BoardRevision;
+    int ret=firmwareIapData.BoardType <<8;
+    ret = ret + firmwareIapData.BoardRevision;
+    qDebug()<<"Board info="<<ret;
+    return ret;
 }
 
 /**
@@ -625,11 +630,11 @@ int UAVObjectUtilManager::getTelemetrySerialPortSpeeds(QComboBox *comboBox)
 deviceDescriptorStruct UAVObjectUtilManager::getBoardDescriptionStruct()
 {
     deviceDescriptorStruct ret;
-    descriptionToStructure(getBoardDescription(),&ret);
+    descriptionToStructure(getBoardDescription(),ret);
     return ret;
 }
 
-bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescriptorStruct *struc)
+bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescriptorStruct & struc)
 {
    if (desc.startsWith("OpFw")) {
        /*
@@ -651,24 +656,26 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
            gitCommitHash = gitCommitHash << 8;
            gitCommitHash += desc.at(7-i) & 0xFF;
        }
-       struc->gitHash = QString::number(gitCommitHash, 16);
+       struc.gitHash = QString::number(gitCommitHash, 16);
 
        quint32 gitDate = desc.at(11) & 0xFF;
        for (int i = 1; i < 4; i++) {
            gitDate = gitDate << 8;
            gitDate += desc.at(11-i) & 0xFF;
        }
-       struc->gitDate = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyyMMdd HH:mm");
+       struc.gitDate = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyyMMdd HH:mm");
 
        QString gitTag = QString(desc.mid(14,26));
-       struc->gitTag = gitTag;
+       struc.gitTag = gitTag;
 
        // TODO: check platform compatibility
        QByteArray targetPlatform = desc.mid(12,2);
-       struc->boardType = (int)targetPlatform.at(0);
-       struc->boardRevision = (int)targetPlatform.at(1);
-
-       struc->uavoHash=desc.mid(46,20);
+       struc.boardType = (int)targetPlatform.at(0);
+       struc.boardRevision = (int)targetPlatform.at(1);
+       struc.fwHash.clear();
+       struc.fwHash=desc.mid(40,20);
+       struc.uavoHash.clear();
+       struc.uavoHash=desc.mid(60,20);
        return true;
    }
    return false;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h
index 6f71123b8..11f5f0979 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h
@@ -68,7 +68,7 @@ public:
         quint32 getFirmwareCRC();
         QByteArray getBoardDescription();
         deviceDescriptorStruct getBoardDescriptionStruct();
-        static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct * struc);
+        static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct & struc);
         UAVObjectManager* getObjectManager();
         void saveObjectToSD(UAVObject *obj);
 protected:
diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
index dec1fefb7..c944f9a37 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
@@ -154,7 +154,7 @@ void deviceWidget::freeze()
   */
 bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
 {
-    if(UAVObjectUtilManager::descriptionToStructure(desc,&onBoardDescription))
+    if(UAVObjectUtilManager::descriptionToStructure(desc,onBoardDescription))
     {
         myDevice->lblGitTag->setText(onBoardDescription.gitHash);
         myDevice->lblBuildDate->setText(onBoardDescription.gitDate.insert(4,"-").insert(7,"-"));
@@ -184,7 +184,7 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
 }
 bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
 {
-    if(UAVObjectUtilManager::descriptionToStructure(desc,&LoadedDescription))
+    if(UAVObjectUtilManager::descriptionToStructure(desc,LoadedDescription))
     {
         myDevice->lblGitTagL->setText(LoadedDescription.gitHash);
         myDevice->lblBuildDateL->setText( LoadedDescription.gitDate.insert(4,"-").insert(7,"-"));
diff --git a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
index 40be848e7..284345b62 100644
--- a/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
@@ -101,7 +101,7 @@ void runningDeviceWidget::populate()
 
     QByteArray description = utilMngr->getBoardDescription();
     deviceDescriptorStruct devDesc;
-    if(UAVObjectUtilManager::descriptionToStructure(description,&devDesc))
+    if(UAVObjectUtilManager::descriptionToStructure(description,devDesc))
     {
         if(devDesc.gitTag.startsWith("release",Qt::CaseInsensitive))
         {
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index 1d296946e..afcb32669 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -650,16 +650,35 @@ void UploaderGadgetWidget::versionMatchCheck()
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
     deviceDescriptorStruct boardDescription = utilMngr->getBoardDescriptionStruct();
-
+    QByteArray uavoHashArray;
     QString uavoHash = QString::fromLatin1(Core::Constants::UAVOSHA1_STR);
-    uavoHash.remove( QRegExp("^[0]*") );
-    QString gcsVersion = uavoHash;
-    QString fwVersion =  boardDescription.gitHash;
+    uavoHash.chop(2);
+    uavoHash.remove(0,2);
+    uavoHash=uavoHash.trimmed();
+    bool ok;
+    foreach(QString str,uavoHash.split(","))
+    {
+        uavoHashArray.append(str.toInt(&ok,16));
+    }
 
-    if (boardDescription.uavoHash != uavoHash) {
+    QByteArray fwVersion;
+    fwVersion=boardDescription.uavoHash;
+    if (fwVersion != uavoHashArray) {
+        QString uavoHashStr;
+        QString fwVersionStr;
+        foreach(char i, fwVersion)
+        {
+            qDebug()<<i<<" "<<QString::number(i,16).right(2);
+            fwVersionStr.append(QString::number(i,16).right(2));
+        }
+        foreach(char i, uavoHashArray)
+        {
+            qDebug()<<i<<" "<<QString::number(i,16).right(2);
+            uavoHashStr.append(QString::number(i,16).right(2));
+        }
         QString warning = QString(tr(
             "GCS and firmware versions of the UAV object set do not match which can cause configuration problems. "
-            "GCS version: %1. Firmware version: %2.")).arg(gcsVersion).arg(fwVersion);
+            "GCS version: %1. Firmware version: %2.")).arg(uavoHashStr).arg(fwVersionStr);
         msg->showMessage(warning);
     }
   }
diff --git a/make/templates/firmwareinfotemplate.c b/make/templates/firmwareinfotemplate.c
index b876b64dd..0f0e22978 100644
--- a/make/templates/firmwareinfotemplate.c
+++ b/make/templates/firmwareinfotemplate.c
@@ -41,7 +41,8 @@
  *  26 bytes: commit tag if it is there, otherwise branch name. '-dirty' may be added if needed. Zero-padded.
  *  ---- 40 bytes limit ---
  *  20 bytes: SHA1 sum of the firmware.
- *  40 bytes: free for now.
+ *  20 bytes: SHA1 sum of the uavo definitions.
+ *  20 bytes: free for now.
  *
  */
 
diff --git a/make/templates/gcsversioninfotemplate.h b/make/templates/gcsversioninfotemplate.h
index da8a64968..7b7dc8100 100644
--- a/make/templates/gcsversioninfotemplate.h
+++ b/make/templates/gcsversioninfotemplate.h
@@ -26,7 +26,7 @@
  */
 
 #define GCS_REVISION ${TAG_OR_BRANCH}:${HASH8}${DIRTY} ${DATETIME}
-#define UAVO_HASH ${UAVOSHA1}
+#define UAVO_HASH "{ ${UAVOSHA1} }"
 /**
  * @}
  */
diff --git a/shared/uavobjectdefinition/firmwareiapobj.xml b/shared/uavobjectdefinition/firmwareiapobj.xml
index be8431ef5..9ce85bfcf 100644
--- a/shared/uavobjectdefinition/firmwareiapobj.xml
+++ b/shared/uavobjectdefinition/firmwareiapobj.xml
@@ -2,7 +2,7 @@
     <object name="FirmwareIAPObj" singleinstance="true" settings="false"> 
         <description>Queries board for SN, model, revision, and sends reset command</description> 
         <field name="Command" units="" type="uint16" elements="1"/> 
-        <field name="Description" units="" type="uint8" elements="40"/> 
+        <field name="Description" units="" type="uint8" elements="100"/> 
         <field name="CPUSerial" units="" type="uint8" elements="12" /> 
         <field name="BoardRevision" units="" type="uint16" elements="1"/> 
         <field name="BoardType" units="" type="uint8" elements="1"/> 

From 0d3013857121f0942e1a1077fd04faed1c3b8fc7 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Tue, 18 Sep 2012 13:51:44 +0100
Subject: [PATCH 524/543] GCS-Reduced UAVO hash bytes displayed from 20 to 8

---
 .../plugins/uploader/uploadergadgetwidget.cpp | 26 ++++++++++++-------
 1 file changed, 16 insertions(+), 10 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index afcb32669..5085d1afd 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -661,24 +661,30 @@ void UploaderGadgetWidget::versionMatchCheck()
         uavoHashArray.append(str.toInt(&ok,16));
     }
 
-    QByteArray fwVersion;
-    fwVersion=boardDescription.uavoHash;
+    QByteArray fwVersion=boardDescription.uavoHash;
     if (fwVersion != uavoHashArray) {
-        QString uavoHashStr;
-        QString fwVersionStr;
+
+        QString gcsDescription = QString::fromLatin1(Core::Constants::GCS_REVISION_STR);
+        QString gcsGitHash = gcsDescription.mid(gcsDescription.indexOf(":")+1, 8);
+        gcsGitHash.remove( QRegExp("^[0]*") );
+        QString gcsGitDate = gcsDescription.mid(gcsDescription.indexOf(" ")+1, 14);
+
+        QString gcsUavoHashStr;
+        QString fwUavoHashStr;
         foreach(char i, fwVersion)
         {
-            qDebug()<<i<<" "<<QString::number(i,16).right(2);
-            fwVersionStr.append(QString::number(i,16).right(2));
+            fwUavoHashStr.append(QString::number(i,16).right(2));
         }
         foreach(char i, uavoHashArray)
         {
-            qDebug()<<i<<" "<<QString::number(i,16).right(2);
-            uavoHashStr.append(QString::number(i,16).right(2));
+            gcsUavoHashStr.append(QString::number(i,16).right(2));
         }
+        QString gcsVersion = gcsGitDate + " (" + gcsGitHash + "-"+ gcsUavoHashStr.right(8) + ")";
+        QString fwVersion = boardDescription.gitDate + " (" + boardDescription.gitHash + "-" + fwUavoHashStr.right(8) + ")";
+
         QString warning = QString(tr(
-            "GCS and firmware versions of the UAV object set do not match which can cause configuration problems. "
-            "GCS version: %1. Firmware version: %2.")).arg(uavoHashStr).arg(fwVersionStr);
+            "GCS and firmware versions of the UAV objects set do not match which can cause configuration problems. "
+            "GCS version: %1. Firmware version: %2.")).arg(gcsVersion).arg(fwVersion);
         msg->showMessage(warning);
     }
   }

From f8387bfaaa27374c9d547afad4e1f6a0ffbfc6b1 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Tue, 18 Sep 2012 14:23:35 +0100
Subject: [PATCH 525/543] GCS-Only update the aiframe config widget after all
 relevant objects are updated

This was deleted by someone with any aparent reason.
---
 .../src/plugins/config/configvehicletypewidget.cpp         | 7 +++----
 .../src/plugins/uavobjectwidgetutils/configtaskwidget.cpp  | 2 ++
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 2d43e6673..7055851ef 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -471,11 +471,10 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
 {
     Q_UNUSED(o);
 
-    //if(!allObjectsUpdated())
-      //  return;
+    if(!allObjectsUpdated())
+        return;
 	
-	//WHAT DOES THIS DO?
-    bool dirty=isDirty(); //WHY IS THIS CALLED HERE AND THEN AGAIN SEVERAL LINES LATER IN setupAirframeUI()
+    bool dirty=isDirty();
 	
     // Get the Airframe type from the system settings:
     UAVDataObject* system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
index ddad8c88a..63c2d13f4 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
@@ -553,11 +553,13 @@ void ConfigTaskWidget::objectUpdated(UAVObject *obj)
  */
 bool ConfigTaskWidget::allObjectsUpdated()
 {
+    qDebug()<<"ConfigTaskWidge:allObjectsUpdated called";
     bool ret=true;
     foreach(UAVObject *obj, objectUpdates.keys())
     {
         ret=ret & objectUpdates[obj];
     }
+    qDebug()<<"Returned:"<<ret;
     return ret;
 }
 /**

From 608297fbd3421a495b076f19da4172437b3c93c9 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Thu, 20 Sep 2012 09:14:49 +1000
Subject: [PATCH 526/543] Changed the default PFD widget to qml based one

---
 .../openpilotgcs/default_configurations/OpenPilotGCS.xml      | 4 ++--
 .../openpilotgcs/default_configurations/OpenPilotGCS_wide.xml | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
index 3445e0b17..443d47edd 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
@@ -2467,9 +2467,9 @@
               <type>splitter</type>
             </side0>
             <side1>
-              <classId>PFDGadget</classId>
+              <classId>PfdQmlGadget</classId>
               <gadget>
-                <activeConfiguration>raw</activeConfiguration>
+                <activeConfiguration>NoTerrain</activeConfiguration>
               </gadget>
               <type>uavGadget</type>
             </side1>
diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
index 3b3ceddd5..960c10355 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
@@ -2494,9 +2494,9 @@
               <type>splitter</type>
             </side0>
             <side1>
-              <classId>PFDGadget</classId>
+              <classId>PfdQmlGadget</classId>
               <gadget>
-                <activeConfiguration>raw</activeConfiguration>
+                <activeConfiguration>NoTerrain</activeConfiguration>
               </gadget>
               <type>uavGadget</type>
             </side1>

From 6174fa2d7f250e6aca5a3fc8ad262364d04a3c7c Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Thu, 20 Sep 2012 09:17:10 +1000
Subject: [PATCH 527/543] PFD: display the side-slip indicator

---
 .../share/openpilotgcs/pfd/default/Pfd.qml    | 22 +++++++++++++++++++
 .../src/plugins/pfdqml/pfdqmlgadgetwidget.cpp |  1 +
 2 files changed, 23 insertions(+)

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
index c0456dd76..e393b185e 100644
--- a/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
@@ -48,6 +48,28 @@ Rectangle {
                 anchors.centerIn: parent
             }
 
+            SvgElementImage {
+                id: side_slip
+                elementName: "sideslip"
+                sceneSize: background.sceneSize
+                smooth: true
+
+                property real sideSlip: Accels.y
+                //smooth side slip changes, a low pass filter replacement
+                //accels are updated once per second
+                Behavior on sideSlip {
+                    SmoothedAnimation {
+                        duration: 1000
+                        velocity: -1
+                    }
+                }
+
+                anchors.horizontalCenter: foreground.horizontalCenter
+                //0.5 coefficient is empirical to limit indicator movement
+                anchors.horizontalCenterOffset: -sideSlip*width*0.5
+                y: scaledBounds.y * sceneItem.height
+            }
+
             Compass {
                 anchors.fill: parent
                 sceneSize: background.sceneSize
diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
index 0c0ff6e36..7ef3612aa 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
@@ -51,6 +51,7 @@ PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWidget *parent) :
     objectsToExport << "VelocityActual" <<
                        "PositionActual" <<
                        "AttitudeActual" <<
+                       "Accels" <<
                        "VelocityDesired" <<
                        "PositionDesired" <<
                        "AttitudeHoldDesired" <<

From b921e3213f2953cc0997533a6027bab0425021ed Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Thu, 20 Sep 2012 12:55:42 +1000
Subject: [PATCH 528/543] Minor tweak to make top row splitters better on
 smaller screens

---
 .../openpilotgcs/default_configurations/OpenPilotGCS.xml      | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
index 3445e0b17..d01015cae 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
@@ -2459,11 +2459,11 @@
                   <type>uavGadget</type>
                 </side1>
                 <splitterOrientation>1</splitterOrientation>
-                <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAsQAAAAIAAAEV)</splitterSizes>
+                <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAYwAAAAIAAAB7)</splitterSizes>
                 <type>splitter</type>
               </side1>
               <splitterOrientation>1</splitterOrientation>
-              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAArgAAAAIAAAHH)</splitterSizes>
+              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAZgAAAAIAAADf)</splitterSizes>
               <type>splitter</type>
             </side0>
             <side1>

From 7f71769c5bbf65f3a030757e63bce14b8cfb0337 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Thu, 20 Sep 2012 13:17:18 +1000
Subject: [PATCH 529/543] Add Nuno's new models

---
 artwork/3D Model/boards/CC3D/CC3D.3ds         | Bin 0 -> 501010 bytes
 artwork/3D Model/boards/CC3D/TEXTURE.PNG      | Bin 0 -> 163527 bytes
 .../3D Model/multi/dankers_quad/TEXTURE.jpg   | Bin 0 -> 104932 bytes
 .../multi/dankers_quad/dankers_quad.3ds       | Bin 0 -> 998911 bytes
 .../multi/dankers_quad/dankers_quad.jpg       | Bin 0 -> 115678 bytes
 artwork/3D Model/multi/mattL_Y6/TEXTURE.PNG   | Bin 0 -> 133968 bytes
 artwork/3D Model/multi/mattL_Y6/mattL_Y6.3ds  | Bin 0 -> 1620300 bytes
 artwork/3D Model/multi/mattL_Y6/mattL_Y6.jpg  | Bin 0 -> 94893 bytes
 .../default_configurations/OpenPilotGCS.xml   |  33 ++++++++++++++++++
 .../openpilotgcs/models/boards/CC3D/CC3D.3ds  | Bin 0 -> 501010 bytes
 .../models/boards/CC3D/TEXTURE.PNG            | Bin 0 -> 163527 bytes
 .../models/multi/dankers_quad/TEXTURE.jpg     | Bin 0 -> 104932 bytes
 .../multi/dankers_quad/dankers_quad.3ds       | Bin 0 -> 998911 bytes
 .../multi/dankers_quad/dankers_quad.jpg       | Bin 0 -> 115678 bytes
 .../models/multi/mattL_Y6/TEXTURE.PNG         | Bin 0 -> 133968 bytes
 .../models/multi/mattL_Y6/mattL_Y6.3ds        | Bin 0 -> 1620300 bytes
 .../models/multi/mattL_Y6/mattL_Y6.jpg        | Bin 0 -> 94893 bytes
 17 files changed, 33 insertions(+)
 create mode 100644 artwork/3D Model/boards/CC3D/CC3D.3ds
 create mode 100644 artwork/3D Model/boards/CC3D/TEXTURE.PNG
 create mode 100644 artwork/3D Model/multi/dankers_quad/TEXTURE.jpg
 create mode 100644 artwork/3D Model/multi/dankers_quad/dankers_quad.3ds
 create mode 100644 artwork/3D Model/multi/dankers_quad/dankers_quad.jpg
 create mode 100644 artwork/3D Model/multi/mattL_Y6/TEXTURE.PNG
 create mode 100644 artwork/3D Model/multi/mattL_Y6/mattL_Y6.3ds
 create mode 100644 artwork/3D Model/multi/mattL_Y6/mattL_Y6.jpg
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/models/boards/CC3D/CC3D.3ds
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/models/boards/CC3D/TEXTURE.PNG
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/models/multi/dankers_quad/TEXTURE.jpg
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/models/multi/dankers_quad/dankers_quad.3ds
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/models/multi/dankers_quad/dankers_quad.jpg
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/models/multi/mattL_Y6/TEXTURE.PNG
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/models/multi/mattL_Y6/mattL_Y6.3ds
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/models/multi/mattL_Y6/mattL_Y6.jpg

diff --git a/artwork/3D Model/boards/CC3D/CC3D.3ds b/artwork/3D Model/boards/CC3D/CC3D.3ds
new file mode 100644
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diff --git a/artwork/3D Model/multi/mattL_Y6/mattL_Y6.3ds b/artwork/3D Model/multi/mattL_Y6/mattL_Y6.3ds
new file mode 100644
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HcmV?d00001

diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
index d01015cae..4e443abe0 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
@@ -1455,6 +1455,17 @@
           <enableVbo>false</enableVbo>
         </data>
       </CopterControl>
+      <CC3D>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/boards/CC3D/CC3D.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </CC3D>
       <Easyquad__PCT__20X>
         <configInfo>
           <locked>false</locked>
@@ -1609,6 +1620,17 @@
           <enableVbo>false</enableVbo>
         </data>
       </Scorpion__PCT__20Tricopter>
+      <MattL__PCT__27s__PCT__20Y6>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/mattL_Y6/mattL_Y6.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </MattL__PCT__27s__PCT__20Y6>
       <Test__PCT__20Quad__PCT__20__PCT__2B>
         <configInfo>
           <locked>false</locked>
@@ -1631,6 +1653,17 @@
           <enableVbo>false</enableVbo>
         </data>
       </Test__PCT__20Quad__PCT__20X>
+      <Danker__PCT__27s__PCT__20Quad>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/dankers_quad/dankers_quad.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Danker__PCT__27s__PCT__20Quad>
     </ModelViewGadget>
     <OPMapGadget>
       <Google__PCT__20Sat>
diff --git a/ground/openpilotgcs/share/openpilotgcs/models/boards/CC3D/CC3D.3ds b/ground/openpilotgcs/share/openpilotgcs/models/boards/CC3D/CC3D.3ds
new file mode 100644
index 0000000000000000000000000000000000000000..61569821225a480eeea1d346b3bd03206869f15a
GIT binary patch
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diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/dankers_quad/dankers_quad.3ds b/ground/openpilotgcs/share/openpilotgcs/models/multi/dankers_quad/dankers_quad.3ds
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diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/mattL_Y6/TEXTURE.PNG b/ground/openpilotgcs/share/openpilotgcs/models/multi/mattL_Y6/TEXTURE.PNG
new file mode 100644
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diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/mattL_Y6/mattL_Y6.3ds b/ground/openpilotgcs/share/openpilotgcs/models/multi/mattL_Y6/mattL_Y6.3ds
new file mode 100644
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HcmV?d00001


From 8bd4a8c6fd69783a16111fb9305dd3084dcc42fa Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Thu, 20 Sep 2012 10:22:52 +0100
Subject: [PATCH 530/543] GCS - Very small UI fix on the autotuning page

---
 ground/openpilotgcs/src/plugins/config/autotune.ui | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/autotune.ui b/ground/openpilotgcs/src/plugins/config/autotune.ui
index 113144535..4d7653c0b 100644
--- a/ground/openpilotgcs/src/plugins/config/autotune.ui
+++ b/ground/openpilotgcs/src/plugins/config/autotune.ui
@@ -1001,13 +1001,13 @@ border-radius: 4;
     <rect>
      <x>30</x>
      <y>440</y>
-     <width>371</width>
+     <width>401</width>
      <height>31</height>
     </rect>
    </property>
    <property name="text">
     <string>The buttons below change the autotuning settings which
-will alter thingsfor the next autotuning flight</string>
+will alter things for the next autotuning flight</string>
    </property>
   </widget>
   <widget class="QPushButton" name="useComputedValues">

From 64d8f64ea725f26465dd4ab8971536410f9d6fb1 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 20 Sep 2012 15:28:47 -0500
Subject: [PATCH 531/543] Matlab parser: small fix from Kenz

---
 ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m b/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
index 29ea1e084..0b4e50950 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
@@ -126,7 +126,7 @@ $(SWITCHCODE)
 			if msgBytesLeft > 255
 				msgBytesLeft = 0;
 			end
-			bufferIdx=bufferIdx+msgBytesLeft;
+			bufferIdx=bufferIdx+double(msgBytesLeft);
 	end
 	catch
 		% One of the reads failed - indicates EOF

From aff29b5af544cd6f2b78ed927b861d1dceec33f4 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Thu, 20 Sep 2012 15:55:16 -0500
Subject: [PATCH 532/543] GCS: Add some plugin dependencies.  Thanks to Amedee
 for finding these.

---
 ground/openpilotgcs/src/plugins/plugins.pro | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ground/openpilotgcs/src/plugins/plugins.pro b/ground/openpilotgcs/src/plugins/plugins.pro
index fcd84239d..f28dc17c1 100644
--- a/ground/openpilotgcs/src/plugins/plugins.pro
+++ b/ground/openpilotgcs/src/plugins/plugins.pro
@@ -174,6 +174,7 @@ plugin_logging.subdir = logging
 plugin_logging.depends = plugin_coreplugin
 plugin_logging.depends += plugin_uavobjects
 plugin_logging.depends += plugin_uavtalk
+plugin_logging.depends += plugin_scope
 SUBDIRS += plugin_logging
 
 #GCS Control of UAV gadget
@@ -217,6 +218,7 @@ SUBDIRS += plugin_uavsettingsimportexport
 plugin_uavobjectwidgetutils.subdir = uavobjectwidgetutils
 plugin_uavobjectwidgetutils.depends = plugin_coreplugin
 plugin_uavobjectwidgetutils.depends += plugin_uavobjects
+plugin_uavobjectwidgetutils.depends += plugin_uavobjectutil
 plugin_uavobjectwidgetutils.depends += plugin_uavsettingsimportexport
 SUBDIRS += plugin_uavobjectwidgetutils
 

From 8f23905a99ef8c8cbab30112e72c0e6755abcb2e Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Fri, 21 Sep 2012 18:40:55 +0100
Subject: [PATCH 533/543] GCS- Input config gadget

Text changes only from Berkely
---
 .../src/plugins/config/configinputwidget.cpp  | 32 +++++++++----------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index 963d600ca..f66878779 100755
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -296,7 +296,7 @@ void ConfigInputWidget::goToWizard()
 {
     QMessageBox msgBox;
     msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
-    msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards."));
+    msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually when the wizard is finished."));
     msgBox.setStandardButtons(QMessageBox::Ok);
     msgBox.setDefaultButton(QMessageBox::Ok);
     msgBox.exec();
@@ -428,7 +428,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
                                      "Please follow the instructions on the screen and only move your controls when asked to.\n"
                                      "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
-                                     "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n"));
+                                     "You can press 'back' at any time to return to the previous screeen or press 'Cancel' to quit the wizard.\n"));
         m_config->stackedWidget->setCurrentIndex(1);
         m_config->wzBack->setEnabled(false);
         break;
@@ -438,8 +438,8 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
         setTxMovement(nothing);
         m_config->wzText->setText(tr("Please choose your transmitter type.\n"
-                                     "Mode 1 means your throttle stick is on the right\n"
-                                     "Mode 2 means your throttle stick is on the left\n"));
+                                     "Mode 1 means your throttle stick is on the right.\n"
+                                     "Mode 2 means your throttle stick is on the left.\n"));
         m_config->wzBack->setEnabled(true);
         QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
         QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
@@ -454,9 +454,9 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
     case wizardChooseType:
     {
         m_config->wzText->setText(tr("Please choose your transmitter mode.\n"
-                                     "Acro means normal transmitter\n"
-                                     "Heli means there is a collective pitch and throttle input\n"
-                                     "If you are using a heli transmitter please engage throttle hold now please.\n"));
+                                     "Acro means normal transmitter.\n"
+                                     "Heli means there is a collective pitch and throttle input.\n"
+                                     "If you are using a heli transmitter please engage throttle hold now.\n"));
         m_config->wzBack->setEnabled(true);
         QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
         QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
@@ -480,7 +480,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         break;
     case wizardIdentifyCenter:
         setTxMovement(centerAll);
-        m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)")));
+        m_config->wzText->setText(QString(tr("Please center all controls and press next when ready (if your FlightMode switch has only two positions, leave it in either position).")));
         break;
     case wizardIdentifyLimits:
     {
@@ -488,7 +488,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(),1);
         accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(),2);
         setTxMovement(nothing);
-        m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
+        m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready.")));
         fastMdata();
         manualSettingsData=manualSettingsObj->getData();
         for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
@@ -530,7 +530,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
             }
         }
         connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready")));
+        m_config->wzText->setText(QString(tr("Please check the picture below and correct all the sticks which show an inverted movement, press next when ready.")));
         fastMdata();
         break;
     case wizardFinish:
@@ -538,8 +538,8 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
         connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
         connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
-                                             "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
+        m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture mimics your sticks movement.\n"
+                                             "These new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can save the configuration.")));
         fastMdata();
 
         manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
@@ -665,11 +665,11 @@ void ConfigInputWidget::restoreMdata()
 void ConfigInputWidget::setChannel(int newChan)
 {
     if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
-        m_config->wzText->setText(QString(tr("Please enable throttle hold mode and move the collective pitch stick")));
+        m_config->wzText->setText(QString(tr("Please enable the throttle hold mode and move the collective pitch stick.")));
     else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE)
-        m_config->wzText->setText(QString(tr("Please flick the flight mode switch.  For switches you may have to repeat this rapidly.")));
+        m_config->wzText->setText(QString(tr("Please toggle the flight mode switch. For switches you may have to repeat this rapidly.")));
     else if((transmitterType == heli) && (newChan == ManualControlSettings::CHANNELGROUPS_THROTTLE))
-        m_config->wzText->setText(QString(tr("Please disable throttle hold mode and move the throttle stick")));
+        m_config->wzText->setText(QString(tr("Please disable throttle hold mode and move the throttle stick.")));
     else
         m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
                                  "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
@@ -1299,7 +1299,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
 
         QMessageBox msgBox;
         msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
-        msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards."));
+        msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually when the wizard is finished."));
         msgBox.setStandardButtons(QMessageBox::Ok);
         msgBox.setDefaultButton(QMessageBox::Ok);
         msgBox.exec();

From c3b9e7a9922d8365f626ff35f9bf05778cb11d14 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Fri, 21 Sep 2012 19:03:40 +0100
Subject: [PATCH 534/543] GCS-UAVObject Browser

Changed the save and load buttons order
---
 .../uavobjectbrowser/uavobjectbrowser.ui      | 40 +++++++++----------
 1 file changed, 20 insertions(+), 20 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
index ac1c8385a..959df59cc 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
@@ -85,26 +85,6 @@
        </property>
       </widget>
      </item>
-     <item>
-      <widget class="QToolButton" name="saveSDButton">
-       <property name="toolTip">
-        <string>Save</string>
-       </property>
-       <property name="text">
-        <string>...</string>
-       </property>
-       <property name="icon">
-        <iconset resource="uavobjectbrowser.qrc">
-         <normaloff>:/uavobjectbrowser/images/remove.png</normaloff>:/uavobjectbrowser/images/remove.png</iconset>
-       </property>
-       <property name="iconSize">
-        <size>
-         <width>32</width>
-         <height>32</height>
-        </size>
-       </property>
-      </widget>
-     </item>
      <item>
       <widget class="QToolButton" name="readSDButton">
        <property name="toolTip">
@@ -125,6 +105,26 @@
        </property>
       </widget>
      </item>
+     <item>
+      <widget class="QToolButton" name="saveSDButton">
+       <property name="toolTip">
+        <string>Save</string>
+       </property>
+       <property name="text">
+        <string>...</string>
+       </property>
+       <property name="icon">
+        <iconset resource="uavobjectbrowser.qrc">
+         <normaloff>:/uavobjectbrowser/images/remove.png</normaloff>:/uavobjectbrowser/images/remove.png</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
+       </property>
+      </widget>
+     </item>
      <item>
       <widget class="QToolButton" name="eraseSDButton">
        <property name="toolTip">

From 432642952c5e63ae66b1cd5f03731ea9155e6fbc Mon Sep 17 00:00:00 2001
From: Nuno Guedes <muralha@gmail.com>
Date: Sat, 22 Sep 2012 00:25:31 +0100
Subject: [PATCH 535/543] Test Quad updated with CC3D

- Old Test Quad versions (OP Pro+AHRS+GPS) renamed to "old".
- New Test Quad versions updated with CC3D
---
 artwork/3D Model/multi/test_quad/TEXTURE.PNG  | Bin 0 -> 34245 bytes
 .../multi/test_quad/test_quad_+-old.3ds       | Bin 0 -> 657476 bytes
 .../multi/test_quad/test_quad_+-old.jpg       | Bin 0 -> 126010 bytes
 .../3D Model/multi/test_quad/test_quad_+.3ds  | Bin 657476 -> 1474750 bytes
 .../3D Model/multi/test_quad/test_quad_+.jpg  | Bin 126010 -> 50832 bytes
 .../multi/test_quad/test_quad_X-old.3ds       | Bin 0 -> 657480 bytes
 .../multi/test_quad/test_quad_X-old.jpg       | Bin 0 -> 123863 bytes
 .../3D Model/multi/test_quad/test_quad_X.3ds  | Bin 657480 -> 1474750 bytes
 .../3D Model/multi/test_quad/test_quad_X.jpg  | Bin 123863 -> 50934 bytes
 .../models/multi/test_quad/TEXTURE.PNG        | Bin 0 -> 34245 bytes
 .../multi/test_quad/test_quad_+-old.3ds       | Bin 0 -> 657476 bytes
 .../multi/test_quad/test_quad_+-old.jpg       | Bin 0 -> 126010 bytes
 .../models/multi/test_quad/test_quad_+.3ds    | Bin 657476 -> 1474750 bytes
 .../models/multi/test_quad/test_quad_+.jpg    | Bin 126010 -> 50832 bytes
 .../multi/test_quad/test_quad_X-old.3ds       | Bin 0 -> 657480 bytes
 .../multi/test_quad/test_quad_X-old.jpg       | Bin 0 -> 123863 bytes
 .../models/multi/test_quad/test_quad_X.3ds    | Bin 657480 -> 1474750 bytes
 .../models/multi/test_quad/test_quad_X.jpg    | Bin 123863 -> 50934 bytes
 18 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100755 artwork/3D Model/multi/test_quad/TEXTURE.PNG
 create mode 100755 artwork/3D Model/multi/test_quad/test_quad_+-old.3ds
 create mode 100755 artwork/3D Model/multi/test_quad/test_quad_+-old.jpg
 mode change 100644 => 100755 artwork/3D Model/multi/test_quad/test_quad_+.3ds
 mode change 100644 => 100755 artwork/3D Model/multi/test_quad/test_quad_+.jpg
 create mode 100755 artwork/3D Model/multi/test_quad/test_quad_X-old.3ds
 create mode 100755 artwork/3D Model/multi/test_quad/test_quad_X-old.jpg
 mode change 100644 => 100755 artwork/3D Model/multi/test_quad/test_quad_X.3ds
 mode change 100644 => 100755 artwork/3D Model/multi/test_quad/test_quad_X.jpg
 create mode 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/TEXTURE.PNG
 create mode 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_+-old.3ds
 create mode 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_+-old.jpg
 mode change 100644 => 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_+.3ds
 mode change 100644 => 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_+.jpg
 create mode 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_X-old.3ds
 create mode 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_X-old.jpg
 mode change 100644 => 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_X.3ds
 mode change 100644 => 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_X.jpg

diff --git a/artwork/3D Model/multi/test_quad/TEXTURE.PNG b/artwork/3D Model/multi/test_quad/TEXTURE.PNG
new file mode 100755
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diff --git a/artwork/3D Model/multi/test_quad/test_quad_+.3ds b/artwork/3D Model/multi/test_quad/test_quad_+.3ds
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diff --git a/artwork/3D Model/multi/test_quad/test_quad_X.3ds b/artwork/3D Model/multi/test_quad/test_quad_X.3ds
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diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_+-old.3ds b/ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_+-old.3ds
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diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_+.3ds b/ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_+.3ds
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diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_X-old.3ds b/ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_X-old.3ds
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diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_X.3ds b/ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_X.3ds
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From 570917f331364061be7bf1faa88a868aaf579970 Mon Sep 17 00:00:00 2001
From: David Ankers <david@openpilot.org>
Date: Sat, 22 Sep 2012 10:47:10 +1000
Subject: [PATCH 536/543] Remove old versions from source, however, they are
 still in the Artwork folder.

---
 .../models/multi/test_quad/test_quad_+-old.3ds | Bin 657476 -> 0 bytes
 .../models/multi/test_quad/test_quad_+-old.jpg | Bin 126010 -> 0 bytes
 .../models/multi/test_quad/test_quad_X-old.3ds | Bin 657480 -> 0 bytes
 .../models/multi/test_quad/test_quad_X-old.jpg | Bin 123863 -> 0 bytes
 4 files changed, 0 insertions(+), 0 deletions(-)
 delete mode 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_+-old.3ds
 delete mode 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_+-old.jpg
 delete mode 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_X-old.3ds
 delete mode 100755 ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_X-old.jpg

diff --git a/ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_+-old.3ds b/ground/openpilotgcs/share/openpilotgcs/models/multi/test_quad/test_quad_+-old.3ds
deleted file mode 100755
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From 28f028064a22d6bf87d2f75ed5be2c3eaafbaddd Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Sun, 23 Sep 2012 19:13:05 +1000
Subject: [PATCH 537/543] Fixed the osgearth cache only configuration

osgEarth enables it even if OSGEARTH_CACHE_ONLY is set to false
it's necessary to unset it instead
---
 ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
index 7fa9be6a5..770cc9744 100644
--- a/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
+++ b/ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
@@ -52,8 +52,10 @@ void PfdQmlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
     if (m->cacheOnly()) {
         qputenv("OSGEARTH_CACHE_ONLY", "true");
     } else {
-        //how portable it is?
-        //unsetenv("OSGEARTH_CACHE_ONLY");
-        qputenv("OSGEARTH_CACHE_ONLY", "false");
+#ifdef Q_OS_WIN32
+        qputenv("OSGEARTH_CACHE_ONLY", "");
+#else
+        unsetenv("OSGEARTH_CACHE_ONLY");
+#endif
     }
 }

From dbbdb62173298e132888ed3cce4b122f063977d8 Mon Sep 17 00:00:00 2001
From: Dmytro Poplavskiy <dmytro.poplavskiy@gmail.com>
Date: Sun, 23 Sep 2012 19:30:10 +1000
Subject: [PATCH 538/543] Added the readymap based earth files

---
 .../openpilotgcs/pfd/default/readymap.earth   | 35 +++++++++++++++++++
 .../pfd/default/yahoo_readymap.earth          | 25 +++++++++++++
 2 files changed, 60 insertions(+)
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/pfd/default/readymap.earth
 create mode 100644 ground/openpilotgcs/share/openpilotgcs/pfd/default/yahoo_readymap.earth

diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/readymap.earth b/ground/openpilotgcs/share/openpilotgcs/pfd/default/readymap.earth
new file mode 100644
index 000000000..55adca838
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/readymap.earth
@@ -0,0 +1,35 @@
+<!--
+osgEarth Sample - ReadyMap.ORG Server - http://readymap.org
+
+ReadyMap.ORG provides free global base map data for osgEarth developers!
+This tiled, worldwide dataset of imagery, elevation, and street map data
+is a great base map that provides global context for your own local datasets.
+It works "out of the box" with osgEarth applications.
+
+**** NOTICE ****
+YOU ARE RESPONSIBLE for abiding by the TERMS AND CONDITIONS outlined at:
+http://readymap.org
+
+-->
+<map name="readymap.org" type="geocentric" version="2">
+
+    <image name="ReadyMap.org - Imagery" driver="tms">
+        <url>http://readymap.org/readymap/tiles/1.0.0/7/</url>
+    </image>
+
+    <image name="ReadyMap.org - Street Map" driver="tms">
+        <url>http://readymap.org/readymap/tiles/1.0.0/35/</url>
+    </image>
+        
+    <elevation name="ReadyMap.org - Elevation" driver="tms">
+        <url>http://readymap.org/readymap/tiles/1.0.0/9/</url>
+    </elevation>
+    
+    <options>
+        <terrain>
+            <lighting>false</lighting>
+            <lod_fall_off>6.0</lod_fall_off>
+        </terrain>
+    </options>
+    
+</map>
diff --git a/ground/openpilotgcs/share/openpilotgcs/pfd/default/yahoo_readymap.earth b/ground/openpilotgcs/share/openpilotgcs/pfd/default/yahoo_readymap.earth
new file mode 100644
index 000000000..6846feb27
--- /dev/null
+++ b/ground/openpilotgcs/share/openpilotgcs/pfd/default/yahoo_readymap.earth
@@ -0,0 +1,25 @@
+<!--
+osgEarth Sample - SRTM global elevation
+
+This sample demonstrates the use of a global SRTM TMS data source for world-wide elevation.
+The heightfield is draped with the NASA Blue Marble imagery.
+-->
+
+<map name="srtm sample" type="globe" version="2">
+
+  <image name="yahoo aerial" driver="yahoo">
+          <dataset>satellite</dataset>
+  </image>
+  
+
+  <elevation name="ReadyMap.org - Elevation" driver="tms">
+        <url>http://readymap.org/readymap/tiles/1.0.0/9/</url>
+  </elevation>
+    
+  <options>
+        <terrain>
+            <lighting>false</lighting>
+            <lod_fall_off>6.0</lod_fall_off>
+        </terrain>
+   </options>
+</map>

From 6b2d1e3d6fde91632b64ea41dc51f72902d96bb2 Mon Sep 17 00:00:00 2001
From: Stacey Sheldon <stac@solidgoldbomb.org>
Date: Sun, 23 Sep 2012 20:45:06 -0400
Subject: [PATCH 539/543] uavo hash: ensure that uavo hash is stable across
 OSes

In python, os.walk() is not sorted.  This can result in the
hash being computed over the files in different orders on
different OSes, or even after touching a directory.

This ensures that the files are considered in lexical order
so that the hash is stable.
---
 make/scripts/version-info.py | 27 ++++++++++++++++++++++-----
 1 file changed, 22 insertions(+), 5 deletions(-)

diff --git a/make/scripts/version-info.py b/make/scripts/version-info.py
index 12ab9895b..2f742962b 100644
--- a/make/scripts/version-info.py
+++ b/make/scripts/version-info.py
@@ -258,6 +258,11 @@ def GetHashofDirs(directory, verbose=0):
     
   try:
     for root, dirs, files in os.walk(directory):
+      # os.walk() is unsorted.  Must make sure we process files in sorted order so
+      # that the hash is stable across invocations and across OSes.
+      if files:
+          files.sort()
+
       for names in files:
         if verbose == 1:
           print 'Hashing', names
@@ -269,18 +274,30 @@ def GetHashofDirs(directory, verbose=0):
           f1.close()
           continue
 
-	while 1:
-	  # Read file in as little chunks
-  	  buf = f1.read(4096)
-	  if not buf : break
-	  SHAhash.update(hashlib.sha1(buf).hexdigest())
+        # Compute file hash.  Same as running "sha1sum <file>".
+        f1hash = hashlib.sha1()
+        while 1:
+          # Read file in as little chunks
+          buf = f1.read(4096)
+          if not buf : break
+          f1hash.update(buf)
         f1.close()
 
+        if verbose == 1:
+          print 'Hash is', f1hash.hexdigest()
+
+        # Append the hex representation of the current file's hash into the cumulative hash
+        SHAhash.update(f1hash.hexdigest())
+
   except:
     import traceback
     # Print the stack traceback
     traceback.print_exc()
     return -2
+
+  if verbose == 1:
+      print 'Final hash is', SHAhash.hexdigest()
+
   hex_stream = lambda s:",".join(['0x'+hex(ord(c))[2:].zfill(2) for c in s])
   return hex_stream(SHAhash.digest())
 

From 4e08fa548fdfd8398590ee517d353e6458119557 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Mon, 24 Sep 2012 11:50:15 +0100
Subject: [PATCH 540/543] GCS/Uploader- Added leading zeros to git hash

---
 .../src/plugins/uavobjectutil/uavobjectutilmanager.cpp         | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
index a5b60e384..d68a87d59 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
@@ -644,7 +644,6 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
         *  4 bytes: Unix timestamp of last git commit
         *  2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
         *  26 bytes: commit tag if it is there, otherwise "Unreleased". Zero-padded
-        *   ---- 40 bytes limit ---
         *  20 bytes: SHA1 sum of the firmware.
         *  20 bytes: SHA1 sum of the UAVO definition files.
         *  20 bytes: free for now.
@@ -656,7 +655,7 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
            gitCommitHash = gitCommitHash << 8;
            gitCommitHash += desc.at(7-i) & 0xFF;
        }
-       struc.gitHash = QString::number(gitCommitHash, 16);
+       struc.gitHash = QString("%1").arg(gitCommitHash, 8, 16, QChar('0'));
 
        quint32 gitDate = desc.at(11) & 0xFF;
        for (int i = 1; i < 4; i++) {

From c8de27cbaf05a93d69c5bf4a9dd1b52769062208 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Mon, 24 Sep 2012 12:17:32 +0100
Subject: [PATCH 541/543] GCS/Uploader Changes acording to review

Changed template comments.
Added UAVO hash to the GCS help dialog
---
 .../src/plugins/coreplugin/versiondialog.cpp  | 24 ++++++++++++++++++-
 .../plugins/uploader/uploadergadgetwidget.cpp |  2 +-
 make/templates/firmwareinfotemplate.c         |  3 ---
 3 files changed, 24 insertions(+), 5 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/coreplugin/versiondialog.cpp b/ground/openpilotgcs/src/plugins/coreplugin/versiondialog.cpp
index 1fbb3b1b9..70a125d3b 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/versiondialog.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/versiondialog.cpp
@@ -67,6 +67,26 @@ VersionDialog::VersionDialog(QWidget *parent)
      //: This gets conditionally inserted as argument %8 into the description string.
      ideRev = tr("From revision %1<br/>").arg(QString::fromLatin1(GCS_REVISION_STR).left(60));
 #endif
+     QString uavoHashStr;
+ #ifdef UAVO_HASH
+      //: This gets conditionally inserted as argument %11 into the description string.
+     QByteArray uavoHashArray;
+     QString uavoHash = QString::fromLatin1(Core::Constants::UAVOSHA1_STR);
+     uavoHash.chop(2);
+     uavoHash.remove(0,2);
+     uavoHash=uavoHash.trimmed();
+     bool ok;
+     foreach(QString str,uavoHash.split(","))
+     {
+         uavoHashArray.append(str.toInt(&ok,16));
+     }
+     QString gcsUavoHashStr;
+     foreach(char i, uavoHashArray)
+     {
+         gcsUavoHashStr.append(QString::number(i,16).right(2));
+     }
+     uavoHashStr = tr("UAVO hash %1<br/>").arg(gcsUavoHashStr);
+ #endif
 
      const QString description = tr(
         "<h3>OpenPilot GCS %1 %9 (%10)</h3>"
@@ -76,6 +96,8 @@ VersionDialog::VersionDialog(QWidget *parent)
         "<br/>"
         "%8"
         "<br/>"
+        "%11"
+        "<br/>"
         "Copyright 2010-%6 %7. All rights reserved.<br/>"
         "<br/>"
          "<small>This program is free software; you can redistribute it and/or modify<br/>"
@@ -87,7 +109,7 @@ VersionDialog::VersionDialog(QWidget *parent)
         "PARTICULAR PURPOSE.</small><br/>")
         .arg(version, QLatin1String(QT_VERSION_STR), QString::number(QSysInfo::WordSize),
              QLatin1String(__DATE__), QLatin1String(__TIME__), QLatin1String(GCS_YEAR), 
-             (QLatin1String(GCS_AUTHOR)), ideRev).arg(QLatin1String(GCS_VERSION_TYPE), QLatin1String(GCS_VERSION_CODENAME));
+             (QLatin1String(GCS_AUTHOR)), ideRev).arg(QLatin1String(GCS_VERSION_TYPE), QLatin1String(GCS_VERSION_CODENAME), uavoHashStr);
 
     QLabel *copyRightLabel = new QLabel(description);
     copyRightLabel->setWordWrap(true);
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index 5085d1afd..314914667 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -684,7 +684,7 @@ void UploaderGadgetWidget::versionMatchCheck()
 
         QString warning = QString(tr(
             "GCS and firmware versions of the UAV objects set do not match which can cause configuration problems. "
-            "GCS version: %1. Firmware version: %2.")).arg(gcsVersion).arg(fwVersion);
+            "GCS version: %1 Firmware version: %2.")).arg(gcsVersion).arg(fwVersion);
         msg->showMessage(warning);
     }
   }
diff --git a/make/templates/firmwareinfotemplate.c b/make/templates/firmwareinfotemplate.c
index 0f0e22978..6e4fbf8b3 100644
--- a/make/templates/firmwareinfotemplate.c
+++ b/make/templates/firmwareinfotemplate.c
@@ -30,8 +30,6 @@
 /**
  * We have 100 bytes for the whole description.
  *
- * Only the first 40 are visible on the FirmwareIAP uavobject, the remaining
- * 60 are ok to use for packaging and will be saved in the flash.
  *
  * Structure is:
  *   4 bytes: header: "OpFw".
@@ -39,7 +37,6 @@
  *   4 bytes: Unix timestamp of compile time.
  *   2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
  *  26 bytes: commit tag if it is there, otherwise branch name. '-dirty' may be added if needed. Zero-padded.
- *  ---- 40 bytes limit ---
  *  20 bytes: SHA1 sum of the firmware.
  *  20 bytes: SHA1 sum of the uavo definitions.
  *  20 bytes: free for now.

From 8b91e19733193881176683f751aa49b3264e7ee0 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Mon, 24 Sep 2012 12:32:46 +0100
Subject: [PATCH 542/543] GCS/Telemetry Fixes reconnection loop

This fixes a situation where the telemetry would keep looping from the
connected to the reconnecting state. One of the situations this was
happening was going from "halt" to "boot"
---
 ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.h b/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.h
index 5d480a86e..2cd31c474 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.h
+++ b/ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.h
@@ -60,7 +60,7 @@ public slots:
 
 private:
     static const int STATS_UPDATE_PERIOD_MS = 4000;
-    static const int STATS_CONNECT_PERIOD_MS = 1000;
+    static const int STATS_CONNECT_PERIOD_MS = 2000;
     static const int CONNECTION_TIMEOUT_MS = 8000;
 
     UAVObjectManager* objMngr;

From 3d5381893b26d1481922c6763a9548422e9834a7 Mon Sep 17 00:00:00 2001
From: PT_Dreamer <josemanuelbarros@gmail.com>
Date: Mon, 24 Sep 2012 22:47:18 +0100
Subject: [PATCH 543/543] GCS-Changed relaytuning uavo to gcs readOnly

---
 shared/uavobjectdefinition/relaytuning.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/shared/uavobjectdefinition/relaytuning.xml b/shared/uavobjectdefinition/relaytuning.xml
index d781e45ca..e7b7419ee 100644
--- a/shared/uavobjectdefinition/relaytuning.xml
+++ b/shared/uavobjectdefinition/relaytuning.xml
@@ -3,7 +3,7 @@
         <description>The input to the relay tuning.</description>
 	<field name="Period" units="ms" type="float" elementnames="Roll,Pitch,Yaw"/>
 	<field name="Gain" units="(deg/s)/output" type="float" elementnames="Roll,Pitch,Yaw"/>
-        <access gcs="readwrite" flight="readwrite"/>
+        <access gcs="readonly" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>
         <logging updatemode="manual" period="0"/>