OP-33 Flight/ExampleModule: Created three example modules that can be used as templates for actual modules

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@420 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/Makefile

@@ -75,6 +75,8 @@ OPSETTINGS = ./Settings
 OPSETTINGSINC = $(OPSETTINGS)/inc
 OPTESTS  = ./Tests
 OPMODULEDIR = ./Modules
+MODEXAMPLE = $(OPMODULEDIR)/Example
+MODEXAMPLEINC = $(MODEXAMPLE)/inc
 MODTELEMETRY = $(OPMODULEDIR)/Telemetry
 MODTELEMETRYINC = $(MODTELEMETRY)/inc
 MODGPS = $(OPMODULEDIR)/GPS
@@ -105,7 +107,8 @@ DOXYGENDIR = ../Doc/Doxygen
 # use file-extension c for "c-only"-files
 
 ## MODULES
-SRC =  $(MODTELEMETRY)/telemetry.c
+SRC = $(MODEXAMPLE)/examplemodevent.c $(MODEXAMPLE)/examplemodperiodic.c $(MODEXAMPLE)/examplemodthread.c
+SRC +=  $(MODTELEMETRY)/telemetry.c
 SRC += $(MODGPS)/GPS.c $(MODGPS)/buffer.c
 
 ## OPENPILOT:
@@ -125,7 +128,8 @@ SRC += $(OPUAVOBJ)/eventdispatcher.c
 
 
 ## UAVOBJECTS
-SRC += $(OPUAVOBJ)/exampleobject.c
+SRC += $(OPUAVOBJ)/exampleobject1.c
+SRC += $(OPUAVOBJ)/exampleobject2.c
 SRC += $(OPUAVOBJ)/examplesettings.c
 
 ## PIOS Hardware (STM32F10x)
@@ -243,6 +247,8 @@ EXTRAINCDIRS  += $(OPUAVOBJ)
 EXTRAINCDIRS  += $(OPUAVOBJINC)
 EXTRAINCDIRS  += $(OPSETTINGS)
 EXTRAINCDIRS  += $(OPSETTINGSINC)
+EXTRAINCDIRS  += $(MODEXAMPLE)
+EXTRAINCDIRS  += $(MODEXAMPLEINC)
 EXTRAINCDIRS  += $(MODTELEMETRY)
 EXTRAINCDIRS  += $(MODTELEMETRYINC)
 EXTRAINCDIRS  += $(MODGPS)

flight/OpenPilot/Modules/Example/examplemodevent.c

@@ -0,0 +1,128 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplemodevent.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Example module to be used as a template for actual modules.
+ *             Event callback version.
+ *
+ * @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: ExampleObject1, ExampleSettings
+ * Output object: ExampleObject2
+ *
+ * This module executes in response to ExampleObject1 updates. When the
+ * module is triggered it will update the data of ExampleObject2.
+ *
+ * No threads are used in this example.
+ *
+ * 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 "examplemodevent.h"
+#include "exampleobject1.h" // object the module will listen for updates (input)
+#include "exampleobject2.h" // object the module will update (output)
+#include "examplesettings.h" // object holding module settings (input)
+
+// Private constants
+
+// Private types
+
+// Private variables
+
+// Private functions
+void ObjectUpdatedCb(UAVObjEvent* ev);
+
+/**
+ * Initialise the module, called on startup.
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t ExampleModEventInitialize(void)
+{
+	// Listen for ExampleObject1 updates, connect a callback function
+	ExampleObject1ConnectCallback(&ObjectUpdatedCb);
+
+	return 0;
+}
+
+/**
+ * This function is called each time ExampleObject1 is updated, this could be
+ * a local update or a remote update from the GCS. In this example the module
+ * does not have its own thread, the callbacks are executed from within the
+ * event thread. Because of that the callback execution time must be kept to
+ * a minimum, if the callback needs to wait for I/O or other long operations
+ * then a thread should be used instead (see ExampleModThread.c). This is
+ * important since all callbacks are executed from the same thread, so other
+ * queued events can not be executed until the currently active callback returns.
+ */
+void ObjectUpdatedCb(UAVObjEvent* ev)
+{
+	ExampleSettingsData settings;
+	ExampleObject1Data data1;
+	ExampleObject1Data data2;
+	int32_t step;
+
+	// Make sure that the object update is for ExampleObject1
+	// This is redundant in this case since this callback will
+	// only be called for a single object, it is however possible
+	// to use the same callback for multiple object updates.
+	if ( ev->obj == ExampleObject1Handle() )
+	{
+		// Update settings with latest value
+		ExampleSettingsGet(&settings);
+
+		// Get the input object
+		ExampleObject1Get(&data1);
+
+		// Determine how to update the output object
+		if ( settings.StepDirection == EXAMPLESETTINGS_STEPDIRECTION_UP )
+		{
+			step = settings.StepSize;
+		}
+		else
+		{
+			step = -settings.StepSize;
+		}
+
+		// Update data
+		data2.Field1 = data1.Field1 + step;
+		data2.Field2 = data1.Field2 + step;
+		data2.Field3 = data1.Field3 + step;
+		data2.Field4[0] = data1.Field4[0] + step;
+		data2.Field4[1] = data1.Field4[1] + step;
+
+		// Update the ExampleObject2, after this function is called
+		// notifications to any other modules listening to that object
+		// will be sent and the GCS object will be updated through the
+		// telemetry link. All operations will take place asynchronously
+		// and the following call will return immediately.
+		ExampleObject2Set(&data2);
+	}
+}
+
+

flight/OpenPilot/Modules/Example/examplemodperiodic.c

@@ -0,0 +1,124 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplemodperiodic.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Example module to be used as a template for actual modules.
+ *             Threaded periodic version.
+ *
+ * @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 object: ExampleSettings
+ * Output object: ExampleObject1
+ *
+ * This module will periodically update the value of the ExampleObject object.
+ * The module settings can configure how the ExampleObject is manipulated.
+ *
+ * The module executes in its own thread in this example.
+ *
+ * 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 "examplemodperiodic.h"
+#include "exampleobject1.h" // object that will be updated by the module
+#include "examplesettings.h" // object holding module settings
+
+// Private constants
+#define STACK_SIZE 200
+#define TASK_PRIORITY (tskIDLE_PRIORITY)
+
+// Private types
+
+// Private variables
+static xTaskHandle taskHandle;
+
+// Private functions
+static void exampleTask(void* parameters);
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t ExampleModPeriodicInitialize(void)
+{
+	// Start main task
+	xTaskCreate(exampleTask, (signed char*)"ExamplePeriodic", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+
+	return 0;
+}
+
+/**
+ * Module thread, should not return.
+ */
+void exampleTask(void* parameters)
+{
+	ExampleSettingsData settings;
+	ExampleObject1Data data;
+	int32_t step;
+
+	// Main task loop
+	while (1)
+	{
+		// Update settings with latest value
+		ExampleSettingsGet(&settings);
+
+		// Get the object data
+		ExampleObject1Get(&data);
+
+		// Determine how to update the data
+		if ( settings.StepDirection == EXAMPLESETTINGS_STEPDIRECTION_UP )
+		{
+			step = settings.StepSize;
+		}
+		else
+		{
+			step = -settings.StepSize;
+		}
+
+		// Update the data
+		data.Field1 += step;
+		data.Field2 += step;
+		data.Field3 += step;
+		data.Field4[0] += step;
+		data.Field4[1] += step;
+
+
+		// Update the ExampleObject, after this function is called
+		// notifications to any other modules listening to that object
+		// will be sent and the GCS object will be updated through the
+		// telemetry link. All operations will take place asynchronously
+		// and the following call will return immediately.
+		ExampleObject1Set(&data);
+
+		// Since this module executes at fixed time intervals, we need to
+		// block the task until it is time for the next update.
+		// The settings field is in ms, to convert to RTOS ticks we need
+		// to divide by portTICK_RATE_MS.
+		vTaskDelay( settings.UpdatePeriod / portTICK_RATE_MS );
+	}
+}

flight/OpenPilot/Modules/Example/examplemodthread.c

@@ -0,0 +1,144 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplemodthread.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Example module to be used as a template for actual modules.
+ *             Threaded version.
+ *
+ * @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: ExampleObject1, ExampleSettings
+ * Output object: ExampleObject2
+ *
+ * This module executes in response to ExampleObject1 updates. When the
+ * module is triggered it will update the data of ExampleObject2.
+ *
+ * The module executes in its own thread in this example.
+ *
+ * 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 "examplemodthread.h"
+#include "exampleobject1.h" // object the module will listen for updates (input)
+#include "exampleobject2.h" // object the module will update (output)
+#include "examplesettings.h" // object holding module settings (input)
+
+// Private constants
+#define MAX_QUEUE_SIZE 20
+#define STACK_SIZE 200
+#define TASK_PRIORITY (tskIDLE_PRIORITY)
+
+// Private types
+
+// Private variables
+static xQueueHandle queue;
+static xTaskHandle taskHandle;
+
+// Private functions
+static void exampleTask(void* parameters);
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t ExampleModThreadInitialize(void)
+{
+	// Create object queue
+	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
+
+	// Listen for ExampleObject1 updates
+	ExampleObject1ConnectQueue(queue);
+
+	// Start main task
+	xTaskCreate(exampleTask, (signed char*)"ExampleThread", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+
+	return 0;
+}
+
+/**
+ * Module thread, should not return.
+ */
+void exampleTask(void* parameters)
+{
+	UAVObjEvent ev;
+	ExampleSettingsData settings;
+	ExampleObject1Data data1;
+	ExampleObject1Data data2;
+	int32_t step;
+
+	// Main task loop
+	while (1)
+	{
+		// Check the event queue for any object updates. In this case
+		// we are only listening for the ExampleSettings object. However
+		// the module could listen to multiple objects.
+		// Since this object only executes on object updates, the task
+		// will block until an object event is pushed in the queue.
+		while ( xQueueReceive(queue, &ev, portMAX_DELAY) != pdTRUE );
+
+		// Make sure that the object update is for ExampleObject1
+		// This is redundant in this example since we have only
+		// registered a single object in the queue, however
+		// in most practical cases there will be more than one
+		// object connected in the queue.
+		if ( ev.obj == ExampleObject1Handle() )
+		{
+			// Update settings with latest value
+			ExampleSettingsGet(&settings);
+
+			// Get the input object
+			ExampleObject1Get(&data1);
+
+			// Determine how to update the output object
+			if ( settings.StepDirection == EXAMPLESETTINGS_STEPDIRECTION_UP )
+			{
+				step = settings.StepSize;
+			}
+			else
+			{
+				step = -settings.StepSize;
+			}
+
+			// Update data
+			data2.Field1 = data1.Field1 + step;
+			data2.Field2 = data1.Field2 + step;
+			data2.Field3 = data1.Field3 + step;
+			data2.Field4[0] = data1.Field4[0] + step;
+			data2.Field4[1] = data1.Field4[1] + step;
+
+			// Update the ExampleObject2, after this function is called
+			// notifications to any other modules listening to that object
+			// will be sent and the GCS object will be updated through the
+			// telemetry link. All operations will take place asynchronously
+			// and the following call will return immediately.
+			ExampleObject2Set(&data2);
+		}
+	}
+}
+
+

flight/OpenPilot/Modules/Example/inc/examplemodevent.h

@@ -0,0 +1,34 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplemodevent.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Example module to be used as a template for actual 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
+ */
+#ifndef EXAMPLEMODEVENT_H
+#define EXAMPLEMODEVENT_H
+
+#include "openpilot.h"
+
+int32_t ExampleModEventInitialize(void);
+
+#endif // EXAMPLEMODEVENT_H
+

flight/OpenPilot/Modules/Example/inc/examplemodperiodic.h

@@ -0,0 +1,34 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplemodperiodic.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Example module to be used as a template for actual 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
+ */
+#ifndef EXAMPLEMODPERIODIC_H
+#define EXAMPLEMODPERIODIC_H
+
+#include "openpilot.h"
+
+int32_t ExampleModPeriodicInitialize(void);
+
+#endif // EXAMPLEMODPERIODIC_H
+

flight/OpenPilot/Modules/Example/inc/examplemodthread.h

@@ -0,0 +1,34 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplemodthread.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Example module to be used as a template for actual 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
+ */
+#ifndef EXAMPLEMODTHREAD_H
+#define EXAMPLEMODTHREAD_H
+
+#include "openpilot.h"
+
+int32_t ExampleModThreadInitialize(void);
+
+#endif // EXAMPLEMODTHREAD_H
+

flight/OpenPilot/UAVObjects/exampleobject1.c

@@ -0,0 +1,73 @@
+/**
+ ******************************************************************************
+ *
+ * @file       exampleobject1.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ExampleObject1 object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: exampleobject1.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @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 "exampleobject1.h"
+
+// Private variables
+UAVObjHandle handle;
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t ExampleObject1Initialize()
+{
+	UAVObjMetadata metadata;
+
+	// Register object with the object manager
+	handle = UAVObjRegister(EXAMPLEOBJECT1_OBJID, EXAMPLEOBJECT1_NAME, 0, EXAMPLEOBJECT1_ISSINGLEINST, EXAMPLEOBJECT1_ISSETTINGS, EXAMPLEOBJECT1_NUMBYTES);
+	if (handle == 0) return -1;
+
+	// Initialize metadata
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.telemetryUpdatePeriod = 0;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.gcsTelemetryUpdatePeriod = 200;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(handle, &metadata);
+
+	// Done
+	return 0;
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle ExampleObject1Handle()
+{
+	return handle;
+}
+
+

flight/OpenPilot/UAVObjects/exampleobject2.c

@@ -1,12 +1,12 @@
 /**
  ******************************************************************************
  *
- * @file       exampleobject.c
+ * @file       exampleobject2.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Implementation of the ExampleObject object. This file has been 
+ * @brief      Implementation of the ExampleObject2 object. This file has been 
  *             automatically generated by the UAVObjectGenerator.
  * 
- * @note       Object definition file: exampleobject.xml. 
+ * @note       Object definition file: exampleobject2.xml. 
  *             This is an automatically generated file.
  *             DO NOT modify manually.
  *
@@ -29,7 +29,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "exampleobject.h"
+#include "exampleobject2.h"
 
 // Private variables
 UAVObjHandle handle;
@@ -39,17 +39,17 @@ UAVObjHandle handle;
  * \return 0 Success
  * \return -1 Failure
  */
-int32_t ExampleObjectInitialize()
+int32_t ExampleObject2Initialize()
 {
 	UAVObjMetadata metadata;
 
 	// Register object with the object manager
-	handle = UAVObjRegister(EXAMPLEOBJECT_OBJID, EXAMPLEOBJECT_NAME, 0, EXAMPLEOBJECT_ISSINGLEINST, EXAMPLEOBJECT_ISSETTINGS, EXAMPLEOBJECT_NUMBYTES);
+	handle = UAVObjRegister(EXAMPLEOBJECT2_OBJID, EXAMPLEOBJECT2_NAME, 0, EXAMPLEOBJECT2_ISSINGLEINST, EXAMPLEOBJECT2_ISSETTINGS, EXAMPLEOBJECT2_NUMBYTES);
 	if (handle == 0) return -1;
 
 	// Initialize metadata
 	metadata.telemetryAcked = 1;
-	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
 	metadata.telemetryUpdatePeriod = 100;
 	metadata.gcsTelemetryAcked = 1;
 	metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
@@ -65,7 +65,7 @@ int32_t ExampleObjectInitialize()
 /**
  * Get object handle
  */
-UAVObjHandle ExampleObjectGetHandle()
+UAVObjHandle ExampleObject2Handle()
 {
 	return handle;
 }

flight/OpenPilot/UAVObjects/examplesettings.c

@@ -65,7 +65,7 @@ int32_t ExampleSettingsInitialize()
 /**
  * Get object handle
  */
-UAVObjHandle ExampleSettingsGetHandle()
+UAVObjHandle ExampleSettingsHandle()
 {
 	return handle;
 }

flight/OpenPilot/UAVObjects/inc/exampleobject1.h

@@ -0,0 +1,71 @@
+/**
+ ******************************************************************************
+ *
+ * @file       exampleobject1.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ExampleObject1 object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: exampleobject1.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @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 EXAMPLEOBJECT1_H
+#define EXAMPLEOBJECT1_H
+
+#include "openpilot.h"
+
+// Object constants
+#define EXAMPLEOBJECT1_OBJID 3852936276U
+#define EXAMPLEOBJECT1_NAME "ExampleObject1"
+#define EXAMPLEOBJECT1_ISSINGLEINST 0
+#define EXAMPLEOBJECT1_ISSETTINGS 0
+#define EXAMPLEOBJECT1_NUMBYTES sizeof(ExampleObject1Data)
+
+// Data access macros
+#define ExampleObject1Get(dataOut) UAVObjGetData(ExampleObject1Handle(), dataOut)
+#define ExampleObject1Set(dataIn) UAVObjSetData(ExampleObject1Handle(), dataIn)
+#define ExampleObject1ConnectQueue(queue) UAVObjConnectQueue(ExampleObject1Handle(), queue, EV_MASK_ALL_UPDATES)
+#define ExampleObject1ConnectCallback(cb) UAVObjConnectCallback(ExampleObject1Handle(), cb, EV_MASK_ALL_UPDATES)
+
+// Object data
+typedef struct {
+    int8_t Field1;
+    int16_t Field2;
+    int32_t Field3;
+    float Field4[4];
+    uint8_t Field5;
+    uint16_t Field6;
+    uint32_t Field7;
+    uint8_t Field8;
+
+} __attribute__((packed)) ExampleObject1Data;
+
+// Enumeration types
+typedef enum { EXAMPLEOBJECT1_FIELD8_OPTION1=0, EXAMPLEOBJECT1_FIELD8_OPTION2=1,  } EXAMPLEOBJECT1FIELD8Enum;
+
+
+// Generic interface functions
+int32_t ExampleObject1Initialize();
+UAVObjHandle ExampleObject1Handle();
+
+#endif // EXAMPLEOBJECT1_H

flight/OpenPilot/UAVObjects/inc/exampleobject2.h

@@ -1,12 +1,12 @@
 /**
  ******************************************************************************
  *
- * @file       exampleobject.h
+ * @file       exampleobject2.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Implementation of the ExampleObject object. This file has been 
+ * @brief      Implementation of the ExampleObject2 object. This file has been 
  *             automatically generated by the UAVObjectGenerator.
  * 
- * @note       Object definition file: exampleobject.xml. 
+ * @note       Object definition file: exampleobject2.xml. 
  *             This is an automatically generated file.
  *             DO NOT modify manually.
  *
@@ -29,41 +29,38 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef EXAMPLEOBJECT_H
+#ifndef EXAMPLEOBJECT2_H
-#define EXAMPLEOBJECT_H
+#define EXAMPLEOBJECT2_H
 
 #include "openpilot.h"
 
 // Object constants
-#define EXAMPLEOBJECT_OBJID 1785231914U
+#define EXAMPLEOBJECT2_OBJID 2743296914U
-#define EXAMPLEOBJECT_NAME "ExampleObject"
+#define EXAMPLEOBJECT2_NAME "ExampleObject2"
-#define EXAMPLEOBJECT_ISSINGLEINST 0
+#define EXAMPLEOBJECT2_ISSINGLEINST 0
-#define EXAMPLEOBJECT_ISSETTINGS 0
+#define EXAMPLEOBJECT2_ISSETTINGS 0
-#define EXAMPLEOBJECT_NUMBYTES sizeof(ExampleObjectData)
+#define EXAMPLEOBJECT2_NUMBYTES sizeof(ExampleObject2Data)
 
 // Data access macros
-#define ExampleObjectGet(dataOut) UAVObjGetData(ExampleObjectGetHandle(), dataOut)
+#define ExampleObject2Get(dataOut) UAVObjGetData(ExampleObject2Handle(), dataOut)
-#define ExampleObjectSet(dataIn) UAVObjSetData(ExampleObjectGetHandle(), dataIn)
+#define ExampleObject2Set(dataIn) UAVObjSetData(ExampleObject2Handle(), dataIn)
+#define ExampleObject2ConnectQueue(queue) UAVObjConnectQueue(ExampleObject2Handle(), queue, EV_MASK_ALL_UPDATES)
+#define ExampleObject2ConnectCallback(cb) UAVObjConnectCallback(ExampleObject2Handle(), cb, EV_MASK_ALL_UPDATES)
 
 // Object data
 typedef struct {
-    int8_t field1;
+    int8_t Field1;
-    int16_t field2;
+    int16_t Field2;
-    int32_t field3;
+    int32_t Field3;
-    float field4[4];
+    float Field4[4];
-    uint8_t field5;
-    uint16_t field6;
-    uint32_t field7;
-    uint8_t field8;
 
-} __attribute__((packed)) ExampleObjectData;
+} __attribute__((packed)) ExampleObject2Data;
 
 // Enumeration types
-typedef enum { EXAMPLEOBJECT_FIELD8_OPTION1=0, EXAMPLEOBJECT_FIELD8_OPTION2=1,  } EXAMPLEOBJECTFIELD8Enum;
 
 
 // Generic interface functions
-int32_t ExampleObjectInitialize();
+int32_t ExampleObject2Initialize();
-UAVObjHandle ExampleObjectGetHandle();
+UAVObjHandle ExampleObject2Handle();
 
-#endif // EXAMPLEOBJECT_H
+#endif // EXAMPLEOBJECT2_H

flight/OpenPilot/UAVObjects/inc/examplesettings.h

@@ -35,30 +35,32 @@
 #include "openpilot.h"
 
 // Object constants
-#define EXAMPLESETTINGS_OBJID 3555345034U
+#define EXAMPLESETTINGS_OBJID 1640607828U
 #define EXAMPLESETTINGS_NAME "ExampleSettings"
 #define EXAMPLESETTINGS_ISSINGLEINST 1
 #define EXAMPLESETTINGS_ISSETTINGS 1
 #define EXAMPLESETTINGS_NUMBYTES sizeof(ExampleSettingsData)
 
 // Data access macros
-#define ExampleSettingsGet(dataOut) UAVObjGetData(ExampleSettingsGetHandle(), dataOut)
+#define ExampleSettingsGet(dataOut) UAVObjGetData(ExampleSettingsHandle(), dataOut)
-#define ExampleSettingsSet(dataIn) UAVObjSetData(ExampleSettingsGetHandle(), dataIn)
+#define ExampleSettingsSet(dataIn) UAVObjSetData(ExampleSettingsHandle(), dataIn)
+#define ExampleSettingsConnectQueue(queue) UAVObjConnectQueue(ExampleSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
+#define ExampleSettingsConnectCallback(cb) UAVObjConnectCallback(ExampleSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
 
 // Object data
 typedef struct {
-    int8_t setting1;
+    int32_t UpdatePeriod;
-    int16_t setting2;
+    int32_t StepSize;
-    int8_t setting3;
+    uint8_t StepDirection;
-    int32_t setting4;
 
 } __attribute__((packed)) ExampleSettingsData;
 
 // Enumeration types
+typedef enum { EXAMPLESETTINGS_STEPDIRECTION_UP=0, EXAMPLESETTINGS_STEPDIRECTION_DOWN=1,  } EXAMPLESETTINGSSTEPDIRECTIONEnum;
 
 
 // Generic interface functions
 int32_t ExampleSettingsInitialize();
-UAVObjHandle ExampleSettingsGetHandle();
+UAVObjHandle ExampleSettingsHandle();
 
 #endif // EXAMPLESETTINGS_H

flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h

@@ -42,8 +42,10 @@
 #define $(NAMEUC)_NUMBYTES sizeof($(NAME)Data)
 
 // Data access macros
-#define $(NAME)Get(dataOut) UAVObjGetData($(NAME)GetHandle(), dataOut)
+#define $(NAME)Get(dataOut) UAVObjGetData($(NAME)Handle(), dataOut)
-#define $(NAME)Set(dataIn) UAVObjSetData($(NAME)GetHandle(), dataIn)
+#define $(NAME)Set(dataIn) UAVObjSetData($(NAME)Handle(), dataIn)
+#define $(NAME)ConnectQueue(queue) UAVObjConnectQueue($(NAME)Handle(), queue, EV_MASK_ALL_UPDATES)
+#define $(NAME)ConnectCallback(cb) UAVObjConnectCallback($(NAME)Handle(), cb, EV_MASK_ALL_UPDATES)
 
 // Object data
 typedef struct {
@@ -55,6 +57,6 @@ $(DATAENUM)
 
 // Generic interface functions
 int32_t $(NAME)Initialize();
-UAVObjHandle $(NAME)GetHandle();
+UAVObjHandle $(NAME)Handle();
 
 #endif // $(NAMEUC)_H

flight/OpenPilot/UAVObjects/uavobjectsinit.c

@@ -28,7 +28,8 @@
  */
 
 #include "openpilot.h"
-#include "exampleobject.h"
+#include "exampleobject1.h"
+#include "exampleobject2.h"
 #include "examplesettings.h"
 
 
@@ -38,7 +39,8 @@
  */
 void UAVObjectsInitializeAll()
 {
-    ExampleObjectInitialize();
+    ExampleObject1Initialize();
+    ExampleObject2Initialize();
     ExampleSettingsInitialize();
 
 }

flight/OpenPilot/UAVObjects/uavobjecttemplate.c

@@ -65,7 +65,7 @@ int32_t $(NAME)Initialize()
 /**
  * Get object handle
  */
-UAVObjHandle $(NAME)GetHandle()
+UAVObjHandle $(NAME)Handle()
 {
 	return handle;
 }