Merge remote-tracking branch 'origin/next' into samguns/zh_CN_GCS

Makefile

@@ -135,6 +135,9 @@ all_clean:
 	@$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR))"
 	$(V1) [ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
 
+.PONY: clean
+clean: all_clean
+
 $(DL_DIR):
 	$(MKDIR) -p $@
 
@@ -144,6 +147,12 @@ $(TOOLS_DIR):
 $(BUILD_DIR):
 	$(MKDIR) -p $@
 
+$(PACKAGE_DIR):
+	$(MKDIR) -p $@
+
+$(DIST_DIR):
+	$(MKDIR) -p $@
+
 ##############################
 #
 # UAVObjects
@@ -243,8 +252,8 @@ EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
 # When building any of the "all_*" targets, tell all sub makefiles to display
 # additional details on each line of output to describe which build and target
 # that each line applies to. The same applies also to all, opfw_resource,
-# package and clean_package targets
+# package targets
-ifneq ($(strip $(filter all_% all opfw_resource package clean_package,$(MAKECMDGOALS))),)
+ifneq ($(strip $(filter all_% all opfw_resource package,$(MAKECMDGOALS))),)
     export ENABLE_MSG_EXTRA := yes
 endif
 
@@ -766,51 +775,29 @@ $(OPFW_RESOURCE): $(FW_TARGETS)
 	$(V1) $(ECHO) $(QUOTE)$(OPFW_CONTENTS)$(QUOTE) > $@
 
 # If opfw_resource or all firmware are requested, GCS should depend on the resource
-ifneq ($(strip $(filter opfw_resource all all_fw all_flight,$(MAKECMDGOALS))),)
+ifneq ($(strip $(filter opfw_resource all all_fw all_flight package,$(MAKECMDGOALS))),)
     $(eval openpilotgcs_qmake: $(OPFW_RESOURCE))
 endif
 
-# Packaging targets: package, clean_package
+# Packaging targets: package
-#  - removes build directory (clean_package only)
 #  - builds all firmware, opfw_resource, gcs
 #  - copies firmware into a package directory
 #  - calls paltform-specific packaging script
 
-# Do some checks and define some values if package is requested
+# Define some variables
-ifneq ($(strip $(filter package clean_package,$(MAKECMDGOALS))),)
+export PACKAGE_LBL  := $(shell $(VERSION_INFO) --format=\$${LABEL})
-    # Define some variables
+export PACKAGE_NAME := OpenPilot
-    export PACKAGE_LBL  := $(shell $(VERSION_INFO) --format=\$${LABEL})
+export PACKAGE_SEP  := -
-    export PACKAGE_NAME := OpenPilot
-    export PACKAGE_SEP  := -
-
-    # We can only package release builds
-    ifneq ($(GCS_BUILD_CONF),release)
-        $(error Packaging is currently supported for release builds only)
-    endif
-
-    # Packaged GCS should depend on opfw_resource
-    ifneq ($(strip $(filter package clean_package,$(MAKECMDGOALS))),)
-        $(eval openpilotgcs_qmake: $(OPFW_RESOURCE))
-    endif
-
-    # Clean the build directory if clean_package is requested
-    ifneq ($(strip $(filter clean_package,$(MAKECMDGOALS))),)
-        $(info Cleaning build directory before packaging...)
-        ifneq ($(shell $(MAKE) all_clean >/dev/null 2>&1 && $(ECHO) "clean"), clean)
-            $(error Cannot clean build directory)
-        endif
-
-        .PHONY: clean_package
-        clean_package: package
-    endif
-endif
 
 .PHONY: package
-package: all_fw all_ground uavobjects_matlab
+
-	@$(ECHO) "Packaging for $(UNAME) $(ARCH) into $(call toprel, $(PACKAGE_DIR)) directory"
+include $(ROOT_DIR)/package/$(UNAME).mk
-	$(V1) [ ! -d "$(PACKAGE_DIR)" ] || $(RM) -rf "$(PACKAGE_DIR)"
+
-	$(V1) $(MKDIR) -p "$(PACKAGE_DIR)"
+package: all_fw all_ground uavobjects_matlab $(PACKAGE_DIR)
-	$(MAKE) --no-print-directory -C $(ROOT_DIR)/package --file=$(UNAME).mk $@
+ifneq ($(GCS_BUILD_CONF),release)
+	# We can only package release builds
+	$(error Packaging is currently supported for release builds only)
+endif
 
 ##############################
 #
@@ -893,60 +880,23 @@ build-info:
 #
 ##############################
 
+DIST_VER_INFO := $(DIST_DIR)/version-info.json
+
+.PHONY: $(DIST_VER_INFO) # Because to many deps to list
+$(DIST_VER_INFO): $(DIST_DIR)
+	$(V1) $(VERSION_INFO) --jsonpath="$(DIST_DIR)"
+
 .PHONY: dist
-dist:
+dist: $(DIST_DIR) $(DIST_VER_INFO)
 	@$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_DIR))"
-	$(V1) $(MKDIR) -p "$(DIST_DIR)"
-	$(V1) $(VERSION_INFO) \
-		--jsonpath="$(DIST_DIR)"
 	$(eval DIST_NAME := $(call toprel, "$(DIST_DIR)/OpenPilot-$(shell git describe).tar"))
 	$(V1) git archive --prefix="OpenPilot/" -o "$(DIST_NAME)" HEAD
 	$(V1) tar --append --file="$(DIST_NAME)" \
 		--transform='s,.*version-info.json,OpenPilot/version-info.json,' \
-		$(call toprel, "$(DIST_DIR)/version-info.json")
+		$(call toprel, "$(DIST_VER_INFO)")
 	$(V1) gzip -f "$(DIST_NAME)"
 
 
-
-##############################
-#
-# Install OpenPilot
-#
-##############################
-prefix  := /usr/local
-bindir  := $(prefix)/bin
-libdir  := $(prefix)/lib
-datadir := $(prefix)/share
-
-INSTALL = cp -a --no-preserve=ownership
-LN = ln
-LN_S = ln -s
-
-ifeq ($(MAKECMDGOALS), install)
-        ifneq ($(UNAME), Linux)
-            $(error install only supported for Linux)
-        endif
-endif
-
-
-.PHONY: install
-install:
-	@$(ECHO) " INSTALLING GCS TO $(DESTDIR)/)"
-	$(V1) $(MKDIR) -p $(DESTDIR)$(bindir)
-	$(V1) $(MKDIR) -p $(DESTDIR)$(libdir)
-	$(V1) $(MKDIR) -p $(DESTDIR)$(datadir)
-	$(V1) $(MKDIR) -p $(DESTDIR)$(datadir)/applications
-	$(V1) $(MKDIR) -p $(DESTDIR)$(datadir)/pixmaps
-	$(V1) $(MKDIR) -p $(DESTDIR)$(udevdir)
-	$(V1) $(INSTALL) $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)/bin/openpilotgcs $(DESTDIR)$(bindir)
-	$(V1) $(INSTALL) $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)/bin/udp_test $(DESTDIR)$(bindir)
-	$(V1) $(INSTALL) $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)/lib/openpilotgcs $(DESTDIR)$(libdir)
-	$(V1) $(INSTALL) $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)/share/openpilotgcs $(DESTDIR)$(datadir)
-	$(V1) $(INSTALL) $(ROOT_DIR)/package/linux/openpilot.desktop $(DESTDIR)$(datadir)/applications
-	$(V1) $(INSTALL) $(ROOT_DIR)/package/linux/openpilot.png $(DESTDIR)$(datadir)/pixmaps
-	$(V1) rm $(DESTDIR)/$(datadir)/openpilotgcs/translations/Makefile
-
-
 ##############################
 #
 # Help message, the default Makefile goal
@@ -1079,7 +1029,6 @@ help:
 	@$(ECHO) "                            Supported groups are ($(UAVOBJ_TARGETS))"
 	@$(ECHO)
 	@$(ECHO) "   [Packaging]"
-	@$(ECHO) "     clean_package        - Clean, build and package the OpenPilot platform-dependent package"
 	@$(ECHO) "     package              - Build and package the OpenPilot platform-dependent package (no clean)"
 	@$(ECHO) "     opfw_resource        - Generate resources to embed firmware binaries into the GCS"
 	@$(ECHO) "     dist                 - Generate source archive for distribution"

flight/libraries/inc/sanitycheck.h

@@ -32,6 +32,9 @@
 
 #include <systemalarms.h>
 
+#include <stdint.h>
+#include <utlist.h>
+
 typedef enum {
     FRAME_TYPE_MULTIROTOR,
     FRAME_TYPE_HELI,
@@ -40,6 +43,8 @@ typedef enum {
     FRAME_TYPE_CUSTOM,
 } FrameType_t;
 
+typedef SystemAlarmsExtendedAlarmStatusOptions (SANITYCHECK_CustomHook_function)();
+
 #define SANITYCHECK_STATUS_ERROR_NONE         SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE
 #define SANITYCHECK_STATUS_ERROR_FLIGHTMODE   SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE
 
@@ -55,4 +60,16 @@ extern int32_t configuration_check();
 
 extern FrameType_t GetCurrentFrameType();
 
+/**
+ * Attach a custom hook to the sanity check process
+ * @param hook a custom hook function
+ */
+extern void SANITYCHECK_AttachHook(SANITYCHECK_CustomHook_function *hook);
+
+/**
+ * Detach a custom hook to the sanity check process
+ * @param hook a custom hook function
+ */
+extern void SANITYCHECK_DetachHook(SANITYCHECK_CustomHook_function *hook);
+
 #endif /* SANITYCHECK_H */

flight/libraries/inc/sha1.h

@@ -0,0 +1,37 @@
+/*	$NetBSD: sha1.h,v 1.14 2009/11/06 20:31:19 joerg Exp $	*/
+
+/*
+ * SHA-1 in C
+ * By Steve Reid <steve@edmweb.com>
+ * 100% Public Domain
+ */
+
+#ifndef _SYS_SHA1_H_
+#define _SYS_SHA1_H_
+
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+#define SHA1_DIGEST_LENGTH        20
+#define SHA1_DIGEST_STRING_LENGTH 41
+
+typedef struct {
+    uint32_t state[5];
+    uint32_t count[2];
+    uint8_t  buffer[64];
+} SHA1_CTX;
+
+__BEGIN_DECLS
+void SHA1Transform(uint32_t[5], const uint8_t[64]);
+void    SHA1Init(SHA1_CTX *);
+void    SHA1Update(SHA1_CTX *, const uint8_t *, unsigned int);
+void SHA1Final(uint8_t[SHA1_DIGEST_LENGTH], SHA1_CTX *);
+#ifndef _KERNEL
+char *SHA1End(SHA1_CTX *, char *);
+char *SHA1FileChunk(const char *, char *, off_t, off_t);
+char *SHA1File(const char *, char *);
+char *SHA1Data(const uint8_t *, size_t, char *);
+#endif /* _KERNEL */
+__END_DECLS
+
+#endif /* _SYS_SHA1_H_ */

flight/libraries/sanitycheck.c

@@ -45,10 +45,18 @@
 // a number of useful macros
 #define ADDSEVERITY(check) severity = (severity != SYSTEMALARMS_ALARM_OK ? severity : ((check) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_CRITICAL))
 
+// private types
+typedef struct SANITYCHECK_CustomHookInstance {
+    SANITYCHECK_CustomHook_function *hook;
+    struct SANITYCHECK_CustomHookInstance *next;
+    bool enabled;
+} SANITYCHECK_CustomHookInstance;
 
 // ! Check a stabilization mode switch position for safety
 static bool check_stabilization_settings(int index, bool multirotor, bool coptercontrol, bool gpsassisted);
 
+SANITYCHECK_CustomHookInstance *hooks = 0;
+
 /**
  * Run a preflight check over the hardware configuration
  * and currently active modules
@@ -176,6 +184,20 @@ int32_t configuration_check()
         severity = SYSTEMALARMS_ALARM_WARNING;
     }
 
+    // query sanity check hooks
+    if (severity == SYSTEMALARMS_ALARM_OK) {
+        SANITYCHECK_CustomHookInstance *instance = NULL;
+        LL_FOREACH(hooks, instance) {
+            if (instance->enabled) {
+                alarmstatus = instance->hook();
+                if (alarmstatus != SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE) {
+                    severity = SYSTEMALARMS_ALARM_WARNING;
+                    break;
+                }
+            }
+        }
+    }
+
     if (severity != SYSTEMALARMS_ALARM_OK) {
         ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus);
     } else {
@@ -270,6 +292,7 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
     // and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL
     // (this is checked at compile time by static constraint manualcontrol.h)
 
+
     return true;
 }
 
@@ -314,3 +337,39 @@ FrameType_t GetCurrentFrameType()
     // anyway it should not reach here
     return FRAME_TYPE_CUSTOM;
 }
+
+void SANITYCHECK_AttachHook(SANITYCHECK_CustomHook_function *hook)
+{
+    PIOS_Assert(hook);
+    SANITYCHECK_CustomHookInstance *instance = NULL;
+
+    // Check whether there is an existing instance and enable it
+    LL_FOREACH(hooks, instance) {
+        if (instance->hook == hook) {
+            instance->enabled = true;
+            return;
+        }
+    }
+
+    // No existing instance found, attach this new one
+    instance = (SANITYCHECK_CustomHookInstance *)pios_malloc(sizeof(SANITYCHECK_CustomHookInstance));
+    PIOS_Assert(instance);
+    instance->hook    = hook;
+    instance->next    = NULL;
+    instance->enabled = true;
+    LL_APPEND(hooks, instance);
+}
+
+void SANITYCHECK_DetachHook(SANITYCHECK_CustomHook_function *hook)
+{
+    if (!hooks) {
+        return;
+    }
+    SANITYCHECK_CustomHookInstance *instance = NULL;
+    LL_FOREACH(hooks, instance) {
+        if (instance->hook == hook) {
+            instance->enabled = false;
+            return;
+        }
+    }
+}

flight/libraries/sha1.c

@@ -0,0 +1,279 @@
+/*	$NetBSD: sha1.c,v 1.6 2009/11/06 20:31:18 joerg Exp $	*/
+/*	$OpenBSD: sha1.c,v 1.9 1997/07/23 21:12:32 kstailey Exp $	*/
+
+/*
+ * SHA-1 in C
+ * By Steve Reid <steve@edmweb.com>
+ * 100% Public Domain
+ *
+ * Test Vectors (from FIPS PUB 180-1)
+ * "abc"
+ *   A9993E36 4706816A BA3E2571 7850C26C 9CD0D89D
+ * "abcdbcdecdefdefgefghfghighijhijkijkljklmklmnlmnomnopnopq"
+ *   84983E44 1C3BD26E BAAE4AA1 F95129E5 E54670F1
+ * A million repetitions of "a"
+ *   34AA973C D4C4DAA4 F61EEB2B DBAD2731 6534016F
+ */
+
+#define SHA1HANDSOFF /* Copies data before messing with it. */
+
+#include <sys/cdefs.h>
+
+#if defined(_KERNEL) || defined(_STANDALONE)
+__KERNEL_RCSID(0, "$NetBSD: sha1.c,v 1.6 2009/11/06 20:31:18 joerg Exp $");
+
+#include <lib/libkern/libkern.h>
+
+#else
+
+#if defined(LIBC_SCCS) && !defined(lint)
+__RCSID("$NetBSD: sha1.c,v 1.6 2009/11/06 20:31:18 joerg Exp $");
+#endif /* LIBC_SCCS and not lint */
+
+// #include "namespace.h"
+#include <assert.h>
+#include <string.h>
+
+#endif
+
+#include <stdint.h>
+#include <sha1.h>
+
+
+#if HAVE_NBTOOL_CONFIG_H
+#include "nbtool_config.h"
+#endif
+
+#if !HAVE_SHA1_H
+
+#define rol(value, bits) (((value) << (bits)) | ((value) >> (32 - (bits))))
+
+/*
+ * blk0() and blk() perform the initial expand.
+ * I got the idea of expanding during the round function from SSLeay
+ */
+#if BYTE_ORDER == LITTLE_ENDIAN
+# define blk0(i) \
+    (block->l[i] = (rol(block->l[i], 24) & 0xFF00FF00) \
+                   | (rol(block->l[i], 8) & 0x00FF00FF))
+#else
+# define blk0(i)             block->l[i]
+#endif
+#define blk(i) \
+    (block->l[i & 15] = rol(block->l[(i + 13) & 15] ^ block->l[(i + 8) & 15] \
+                            ^ block->l[(i + 2) & 15] ^ block->l[i & 15], 1))
+
+/*
+ * (R0+R1), R2, R3, R4 are the different operations (rounds) used in SHA1
+ */
+#define R0(v, w, x, y, z, i) z += ((w & (x ^ y)) ^ y) + blk0(i) + 0x5A827999 + rol(v, 5); w = rol(w, 30);
+#define R1(v, w, x, y, z, i) z += ((w & (x ^ y)) ^ y) + blk(i) + 0x5A827999 + rol(v, 5); w = rol(w, 30);
+#define R2(v, w, x, y, z, i) z += (w ^ x ^ y) + blk(i) + 0x6ED9EBA1 + rol(v, 5); w = rol(w, 30);
+#define R3(v, w, x, y, z, i) z += (((w | x) & y) | (w & x)) + blk(i) + 0x8F1BBCDC + rol(v, 5); w = rol(w, 30);
+#define R4(v, w, x, y, z, i) z += (w ^ x ^ y) + blk(i) + 0xCA62C1D6 + rol(v, 5); w = rol(w, 30);
+
+
+#if !defined(_KERNEL) && !defined(_STANDALONE)
+#if defined(__weak_alias)
+__weak_alias(SHA1Transform, _SHA1Transform)
+__weak_alias(SHA1Init, _SHA1Init)
+__weak_alias(SHA1Update, _SHA1Update)
+__weak_alias(SHA1Final, _SHA1Final)
+#endif
+#endif
+
+typedef union {
+    uint8_t  c[64];
+    uint32_t l[16];
+} CHAR64LONG16;
+
+/* old sparc64 gcc could not compile this */
+#undef SPARC64_GCC_WORKAROUND
+#if defined(__sparc64__) && defined(__GNUC__) && __GNUC__ < 3
+#define SPARC64_GCC_WORKAROUND
+#endif
+
+#ifdef SPARC64_GCC_WORKAROUND
+void do_R01(uint32_t *a, uint32_t *b, uint32_t *c, uint32_t *d, uint32_t *e, CHAR64LONG16 *);
+void do_R2(uint32_t *a, uint32_t *b, uint32_t *c, uint32_t *d, uint32_t *e, CHAR64LONG16 *);
+void do_R3(uint32_t *a, uint32_t *b, uint32_t *c, uint32_t *d, uint32_t *e, CHAR64LONG16 *);
+void do_R4(uint32_t *a, uint32_t *b, uint32_t *c, uint32_t *d, uint32_t *e, CHAR64LONG16 *);
+
+#define nR0(v, w, x, y, z, i) R0(*v, *w, *x, *y, *z, i)
+#define nR1(v, w, x, y, z, i) R1(*v, *w, *x, *y, *z, i)
+#define nR2(v, w, x, y, z, i) R2(*v, *w, *x, *y, *z, i)
+#define nR3(v, w, x, y, z, i) R3(*v, *w, *x, *y, *z, i)
+#define nR4(v, w, x, y, z, i) R4(*v, *w, *x, *y, *z, i)
+
+void do_R01(uint32_t *a, uint32_t *b, uint32_t *c, uint32_t *d, uint32_t *e, CHAR64LONG16 *block)
+{
+    nR0(a, b, c, d, e, 0); nR0(e, a, b, c, d, 1); nR0(d, e, a, b, c, 2); nR0(c, d, e, a, b, 3);
+    nR0(b, c, d, e, a, 4); nR0(a, b, c, d, e, 5); nR0(e, a, b, c, d, 6); nR0(d, e, a, b, c, 7);
+    nR0(c, d, e, a, b, 8); nR0(b, c, d, e, a, 9); nR0(a, b, c, d, e, 10); nR0(e, a, b, c, d, 11);
+    nR0(d, e, a, b, c, 12); nR0(c, d, e, a, b, 13); nR0(b, c, d, e, a, 14); nR0(a, b, c, d, e, 15);
+    nR1(e, a, b, c, d, 16); nR1(d, e, a, b, c, 17); nR1(c, d, e, a, b, 18); nR1(b, c, d, e, a, 19);
+}
+
+void do_R2(uint32_t *a, uint32_t *b, uint32_t *c, uint32_t *d, uint32_t *e, CHAR64LONG16 *block)
+{
+    nR2(a, b, c, d, e, 20); nR2(e, a, b, c, d, 21); nR2(d, e, a, b, c, 22); nR2(c, d, e, a, b, 23);
+    nR2(b, c, d, e, a, 24); nR2(a, b, c, d, e, 25); nR2(e, a, b, c, d, 26); nR2(d, e, a, b, c, 27);
+    nR2(c, d, e, a, b, 28); nR2(b, c, d, e, a, 29); nR2(a, b, c, d, e, 30); nR2(e, a, b, c, d, 31);
+    nR2(d, e, a, b, c, 32); nR2(c, d, e, a, b, 33); nR2(b, c, d, e, a, 34); nR2(a, b, c, d, e, 35);
+    nR2(e, a, b, c, d, 36); nR2(d, e, a, b, c, 37); nR2(c, d, e, a, b, 38); nR2(b, c, d, e, a, 39);
+}
+
+void do_R3(uint32_t *a, uint32_t *b, uint32_t *c, uint32_t *d, uint32_t *e, CHAR64LONG16 *block)
+{
+    nR3(a, b, c, d, e, 40); nR3(e, a, b, c, d, 41); nR3(d, e, a, b, c, 42); nR3(c, d, e, a, b, 43);
+    nR3(b, c, d, e, a, 44); nR3(a, b, c, d, e, 45); nR3(e, a, b, c, d, 46); nR3(d, e, a, b, c, 47);
+    nR3(c, d, e, a, b, 48); nR3(b, c, d, e, a, 49); nR3(a, b, c, d, e, 50); nR3(e, a, b, c, d, 51);
+    nR3(d, e, a, b, c, 52); nR3(c, d, e, a, b, 53); nR3(b, c, d, e, a, 54); nR3(a, b, c, d, e, 55);
+    nR3(e, a, b, c, d, 56); nR3(d, e, a, b, c, 57); nR3(c, d, e, a, b, 58); nR3(b, c, d, e, a, 59);
+}
+
+void do_R4(uint32_t *a, uint32_t *b, uint32_t *c, uint32_t *d, uint32_t *e, CHAR64LONG16 *block)
+{
+    nR4(a, b, c, d, e, 60); nR4(e, a, b, c, d, 61); nR4(d, e, a, b, c, 62); nR4(c, d, e, a, b, 63);
+    nR4(b, c, d, e, a, 64); nR4(a, b, c, d, e, 65); nR4(e, a, b, c, d, 66); nR4(d, e, a, b, c, 67);
+    nR4(c, d, e, a, b, 68); nR4(b, c, d, e, a, 69); nR4(a, b, c, d, e, 70); nR4(e, a, b, c, d, 71);
+    nR4(d, e, a, b, c, 72); nR4(c, d, e, a, b, 73); nR4(b, c, d, e, a, 74); nR4(a, b, c, d, e, 75);
+    nR4(e, a, b, c, d, 76); nR4(d, e, a, b, c, 77); nR4(c, d, e, a, b, 78); nR4(b, c, d, e, a, 79);
+}
+#endif /* ifdef SPARC64_GCC_WORKAROUND */
+
+/*
+ * Hash a single 512-bit block. This is the core of the algorithm.
+ */
+void SHA1Transform(uint32_t state[5], const uint8_t buffer[64])
+{
+    uint32_t a, b, c, d, e;
+    CHAR64LONG16 *block;
+
+#ifdef SHA1HANDSOFF
+    CHAR64LONG16 workspace;
+#endif
+
+#ifdef SHA1HANDSOFF
+    block = &workspace;
+    (void)memcpy(block, buffer, 64);
+#else
+    block = (CHAR64LONG16 *)(void *)buffer;
+#endif
+
+    /* Copy context->state[] to working vars */
+    a = state[0];
+    b = state[1];
+    c = state[2];
+    d = state[3];
+    e = state[4];
+
+#ifdef SPARC64_GCC_WORKAROUND
+    do_R01(&a, &b, &c, &d, &e, block);
+    do_R2(&a, &b, &c, &d, &e, block);
+    do_R3(&a, &b, &c, &d, &e, block);
+    do_R4(&a, &b, &c, &d, &e, block);
+#else
+    /* 4 rounds of 20 operations each. Loop unrolled. */
+    R0(a, b, c, d, e, 0); R0(e, a, b, c, d, 1); R0(d, e, a, b, c, 2); R0(c, d, e, a, b, 3);
+    R0(b, c, d, e, a, 4); R0(a, b, c, d, e, 5); R0(e, a, b, c, d, 6); R0(d, e, a, b, c, 7);
+    R0(c, d, e, a, b, 8); R0(b, c, d, e, a, 9); R0(a, b, c, d, e, 10); R0(e, a, b, c, d, 11);
+    R0(d, e, a, b, c, 12); R0(c, d, e, a, b, 13); R0(b, c, d, e, a, 14); R0(a, b, c, d, e, 15);
+    R1(e, a, b, c, d, 16); R1(d, e, a, b, c, 17); R1(c, d, e, a, b, 18); R1(b, c, d, e, a, 19);
+    R2(a, b, c, d, e, 20); R2(e, a, b, c, d, 21); R2(d, e, a, b, c, 22); R2(c, d, e, a, b, 23);
+    R2(b, c, d, e, a, 24); R2(a, b, c, d, e, 25); R2(e, a, b, c, d, 26); R2(d, e, a, b, c, 27);
+    R2(c, d, e, a, b, 28); R2(b, c, d, e, a, 29); R2(a, b, c, d, e, 30); R2(e, a, b, c, d, 31);
+    R2(d, e, a, b, c, 32); R2(c, d, e, a, b, 33); R2(b, c, d, e, a, 34); R2(a, b, c, d, e, 35);
+    R2(e, a, b, c, d, 36); R2(d, e, a, b, c, 37); R2(c, d, e, a, b, 38); R2(b, c, d, e, a, 39);
+    R3(a, b, c, d, e, 40); R3(e, a, b, c, d, 41); R3(d, e, a, b, c, 42); R3(c, d, e, a, b, 43);
+    R3(b, c, d, e, a, 44); R3(a, b, c, d, e, 45); R3(e, a, b, c, d, 46); R3(d, e, a, b, c, 47);
+    R3(c, d, e, a, b, 48); R3(b, c, d, e, a, 49); R3(a, b, c, d, e, 50); R3(e, a, b, c, d, 51);
+    R3(d, e, a, b, c, 52); R3(c, d, e, a, b, 53); R3(b, c, d, e, a, 54); R3(a, b, c, d, e, 55);
+    R3(e, a, b, c, d, 56); R3(d, e, a, b, c, 57); R3(c, d, e, a, b, 58); R3(b, c, d, e, a, 59);
+    R4(a, b, c, d, e, 60); R4(e, a, b, c, d, 61); R4(d, e, a, b, c, 62); R4(c, d, e, a, b, 63);
+    R4(b, c, d, e, a, 64); R4(a, b, c, d, e, 65); R4(e, a, b, c, d, 66); R4(d, e, a, b, c, 67);
+    R4(c, d, e, a, b, 68); R4(b, c, d, e, a, 69); R4(a, b, c, d, e, 70); R4(e, a, b, c, d, 71);
+    R4(d, e, a, b, c, 72); R4(c, d, e, a, b, 73); R4(b, c, d, e, a, 74); R4(a, b, c, d, e, 75);
+    R4(e, a, b, c, d, 76); R4(d, e, a, b, c, 77); R4(c, d, e, a, b, 78); R4(b, c, d, e, a, 79);
+#endif /* ifdef SPARC64_GCC_WORKAROUND */
+
+    /* Add the working vars back into context.state[] */
+    state[0] += a;
+    state[1] += b;
+    state[2] += c;
+    state[3] += d;
+    state[4] += e;
+
+    /* Wipe variables */
+    a = b = c = d = e = 0;
+}
+
+
+/*
+ * SHA1Init - Initialize new context
+ */
+void SHA1Init(SHA1_CTX *context)
+{
+    /* SHA1 initialization constants */
+    context->state[0] = 0x67452301;
+    context->state[1] = 0xEFCDAB89;
+    context->state[2] = 0x98BADCFE;
+    context->state[3] = 0x10325476;
+    context->state[4] = 0xC3D2E1F0;
+    context->count[0] = context->count[1] = 0;
+}
+
+
+/*
+ * Run your data through this.
+ */
+void SHA1Update(SHA1_CTX *context, const uint8_t *data, unsigned int len)
+{
+    unsigned int i, j;
+
+    j = context->count[0];
+    if ((context->count[0] += len << 3) < j) {
+        context->count[1] += (len >> 29) + 1;
+    }
+    j = (j >> 3) & 63;
+    if ((j + len) > 63) {
+        (void)memcpy(&context->buffer[j], data, (i = 64 - j));
+        SHA1Transform(context->state, context->buffer);
+        for (; i + 63 < len; i += 64) {
+            SHA1Transform(context->state, &data[i]);
+        }
+        j = 0;
+    } else {
+        i = 0;
+    }
+    (void)memcpy(&context->buffer[j], &data[i], len - i);
+}
+
+
+/*
+ * Add padding and return the message digest.
+ */
+void SHA1Final(uint8_t digest[20], SHA1_CTX *context)
+{
+    unsigned int i;
+    uint8_t finalcount[8];
+
+    for (i = 0; i < 8; i++) {
+        finalcount[i] = (uint8_t)((context->count[(i >= 4 ? 0 : 1)]
+                                   >> ((3 - (i & 3)) * 8)) & 255); /* Endian independent */
+    }
+    SHA1Update(context, (const uint8_t *)"\200", 1);
+    while ((context->count[0] & 504) != 448) {
+        SHA1Update(context, (const uint8_t *)"\0", 1);
+    }
+    SHA1Update(context, finalcount, 8); /* Should cause a SHA1Transform() */
+
+    if (digest) {
+        for (i = 0; i < 20; i++) {
+            digest[i] = (uint8_t)
+                        ((context->state[i >> 2] >> ((3 - (i & 3)) * 8)) & 255);
+        }
+    }
+}
+
+#endif /* HAVE_SHA1_H */

flight/modules/Actuator/actuator.c

@@ -53,20 +53,23 @@ static int8_t counter;
 #endif
 
 // Private constants
-#define MAX_QUEUE_SIZE       2
+#define MAX_QUEUE_SIZE                  2
 
 #if defined(PIOS_ACTUATOR_STACK_SIZE)
-#define STACK_SIZE_BYTES     PIOS_ACTUATOR_STACK_SIZE
+#define STACK_SIZE_BYTES                PIOS_ACTUATOR_STACK_SIZE
 #else
-#define STACK_SIZE_BYTES     1312
+#define STACK_SIZE_BYTES                1312
 #endif
 
-#define TASK_PRIORITY        (tskIDLE_PRIORITY + 4) // device driver
+#define TASK_PRIORITY                   (tskIDLE_PRIORITY + 4) // device driver
-#define FAILSAFE_TIMEOUT_MS  100
+#define FAILSAFE_TIMEOUT_MS             100
-#define MAX_MIX_ACTUATORS    ACTUATORCOMMAND_CHANNEL_NUMELEM
+#define MAX_MIX_ACTUATORS               ACTUATORCOMMAND_CHANNEL_NUMELEM
 
-#define CAMERA_BOOT_DELAY_MS 7000
+#define CAMERA_BOOT_DELAY_MS            7000
 
+#define ACTUATOR_ONESHOT125_CLOCK       2000000
+#define ACTUATOR_ONESHOT125_PULSE_SCALE 4
+#define ACTUATOR_PWM_CLOCK              1000000
 // Private types
 
 
@@ -74,8 +77,9 @@ static int8_t counter;
 static xQueueHandle queue;
 static xTaskHandle taskHandle;
 
-static float lastResult[MAX_MIX_ACTUATORS] = { 0, 0, 0, 0, 0, 0, 0, 0 };
+static float lastResult[MAX_MIX_ACTUATORS] = { 0 };
-static float filterAccumulator[MAX_MIX_ACTUATORS] = { 0, 0, 0, 0, 0, 0, 0, 0 };
+static float filterAccumulator[MAX_MIX_ACTUATORS] = { 0 };
+static uint8_t pinsMode[MAX_MIX_ACTUATORS];
 // used to inform the actuator thread that actuator update rate is changed
 static volatile bool actuator_settings_updated;
 // used to inform the actuator thread that mixer settings are changed
@@ -436,7 +440,6 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
         if (command.UpdateTime > command.MaxUpdateTime) {
             command.MaxUpdateTime = command.UpdateTime;
         }
-
         // Update output object
         ActuatorCommandSet(&command);
         // Update in case read only (eg. during servo configuration)
@@ -454,6 +457,8 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
             success &= set_channel(n, command.Channel[n], &actuatorSettings);
         }
 
+        PIOS_Servo_Update();
+
         if (!success) {
             command.NumFailedUpdates++;
             ActuatorCommandSet(&command);
@@ -476,11 +481,11 @@ float ProcessMixer(const int index, const float curve1, const float curve2,
     const Mixer_t *mixers = (Mixer_t *)&mixerSettings->Mixer1Type; // pointer to array of mixers in UAVObjects
     const Mixer_t *mixer  = &mixers[index];
 
-    float result = (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE1] / 128.0f) * curve1) +
+    float result = ((((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE1]) * curve1) +
-                   (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE2] / 128.0f) * curve2) +
+                    (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE2]) * curve2) +
-                   (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL] / 128.0f) * desired->Roll) +
+                    (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL]) * desired->Roll) +
-                   (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_PITCH] / 128.0f) * desired->Pitch) +
+                    (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_PITCH]) * desired->Pitch) +
-                   (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_YAW] / 128.0f) * desired->Yaw);
+                    (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_YAW]) * desired->Yaw)) / 128.0f;
 
     // note: no feedforward for reversable motors yet for safety reasons
     if (mixer->type == MIXERSETTINGS_MIXER1TYPE_MOTOR) {
@@ -615,6 +620,8 @@ static void setFailsafe(const ActuatorSettingsData *actuatorSettings, const Mixe
     for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n) {
         set_channel(n, Channel[n], actuatorSettings);
     }
+    // Send the updated command
+    PIOS_Servo_Update();
 
     // Update output object's parts that we changed
     ActuatorCommandChannelSet(Channel);
@@ -730,8 +737,19 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSet
         return true;
 
     case ACTUATORSETTINGS_CHANNELTYPE_PWM:
-        PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel], value);
+    {
+        uint8_t mode = pinsMode[actuatorSettings->ChannelAddr[mixer_channel]];
+        switch (mode) {
+        case ACTUATORSETTINGS_BANKMODE_ONESHOT125:
+            // Remap 1000-2000 range to 125-250
+            PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel], value / ACTUATOR_ONESHOT125_PULSE_SCALE);
+            break;
+        default:
+            PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel], value);
+            break;
+        }
         return true;
+    }
 
 #if defined(PIOS_INCLUDE_I2C_ESC)
     case ACTUATORSETTINGS_CHANNELTYPE_MK:
@@ -754,18 +772,57 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSet
  */
 static void actuator_update_rate_if_changed(const ActuatorSettingsData *actuatorSettings, bool force_update)
 {
-    static uint16_t prevChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
+    static uint16_t prevBankUpdateFreq[ACTUATORSETTINGS_BANKUPDATEFREQ_NUMELEM];
+    static uint8_t prevBankMode[ACTUATORSETTINGS_BANKMODE_NUMELEM];
 
     // check if the any rate setting is changed
     if (force_update ||
-        memcmp(prevChannelUpdateFreq,
+        (memcmp(prevBankUpdateFreq,
-               actuatorSettings->ChannelUpdateFreq,
+                actuatorSettings->BankUpdateFreq,
-               sizeof(prevChannelUpdateFreq)) != 0) {
+                sizeof(prevBankUpdateFreq)) != 0) ||
+        (memcmp(prevBankUpdateFreq,
+                actuatorSettings->BankMode,
+                sizeof(prevBankMode)) != 0)
+        ) {
         /* Something has changed, apply the settings to HW */
-        memcpy(prevChannelUpdateFreq,
+        memcpy(prevBankUpdateFreq,
-               actuatorSettings->ChannelUpdateFreq,
+               actuatorSettings->BankUpdateFreq,
-               sizeof(prevChannelUpdateFreq));
+               sizeof(prevBankUpdateFreq));
-        PIOS_Servo_SetHz(actuatorSettings->ChannelUpdateFreq, ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
+        memcpy(prevBankMode,
+               actuatorSettings->BankMode,
+               sizeof(prevBankMode));
+
+        uint16_t freq[ACTUATORSETTINGS_BANKUPDATEFREQ_NUMELEM];
+        uint32_t clock[ACTUATORSETTINGS_BANKUPDATEFREQ_NUMELEM] = { 0 };
+        for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
+            PIOS_Servo_SetBankMode(i,
+                                   actuatorSettings->BankMode[i] ==
+                                   ACTUATORSETTINGS_BANKMODE_PWM ?
+                                   PIOS_SERVO_BANK_MODE_PWM :
+                                   PIOS_SERVO_BANK_MODE_SINGLE_PULSE
+                                   );
+            switch (actuatorSettings->BankMode[i]) {
+            case ACTUATORSETTINGS_BANKMODE_ONESHOT125:
+                freq[i]  = 100; // Value must be small enough so CCr isn't update until the PIOS_Servo_Update is triggered
+                clock[i] = ACTUATOR_ONESHOT125_CLOCK; // Setup an 8MHz timer clock
+                break;
+            case ACTUATORSETTINGS_BANKMODE_ONESHOT:
+                freq[i]  = 100;
+                clock[i] = ACTUATOR_PWM_CLOCK;
+                break;
+            default: // PWM
+                freq[i]  = actuatorSettings->BankUpdateFreq[i];
+                clock[i] = ACTUATOR_PWM_CLOCK;
+                break;
+            }
+        }
+        PIOS_Servo_SetHz(freq, clock, ACTUATORSETTINGS_BANKUPDATEFREQ_NUMELEM);
+
+        // retrieve mode from related bank
+        for (uint8_t i = 0; i < MAX_MIX_ACTUATORS; i++) {
+            uint8_t bank = PIOS_Servo_GetPinBank(i);
+            pinsMode[i] = actuatorSettings->BankMode[bank];
+        }
     }
 }
 

flight/modules/OPLink/oplinkmod.c

@@ -158,7 +158,6 @@ static void systemTask(__attribute__((unused)) void *parameters)
             oplinkStatus.RxMissed = radio_stats.rx_missed;
             oplinkStatus.RxFailure     = radio_stats.rx_failure;
             oplinkStatus.TxDropped     = radio_stats.tx_dropped;
-            oplinkStatus.TxResent = radio_stats.tx_resent;
             oplinkStatus.TxFailure     = radio_stats.tx_failure;
             oplinkStatus.Resets      = radio_stats.resets;
             oplinkStatus.Timeouts    = radio_stats.timeouts;

flight/modules/System/systemmod.c

@@ -267,7 +267,6 @@ static void systemTask(__attribute__((unused)) void *parameters)
             oplinkStatus.RxMissed = radio_stats.rx_missed;
             oplinkStatus.RxFailure     = radio_stats.rx_failure;
             oplinkStatus.TxDropped     = radio_stats.tx_dropped;
-            oplinkStatus.TxResent = radio_stats.tx_resent;
             oplinkStatus.TxFailure     = radio_stats.tx_failure;
             oplinkStatus.Resets      = radio_stats.resets;
             oplinkStatus.Timeouts    = radio_stats.timeouts;

flight/pios/common/pios_rfm22b.c

@@ -47,8 +47,8 @@
 // 6-byte (32-bit) preamble .. alternating 0's & 1's
 // 4-byte (32-bit) sync
 // 1-byte packet length (number of data bytes to follow)
-// 1 byte valid bitmask
+// 1 byte PPM values LSB (bit 0)
-// 8 PPM values (0-255)
+// 8 bytes PPM values MSBs (bit 8:1)
 // 1 byte CRC
 //
 // *****************************************************************
@@ -61,6 +61,7 @@
 #include <pios_rfm22b_priv.h>
 #include <pios_ppm_out.h>
 #include <ecc.h>
+#include <sha1.h>
 
 /* Local Defines */
 #define STACK_SIZE_BYTES                 200
@@ -73,9 +74,16 @@
 #define RFM22B_LINK_QUALITY_THRESHOLD    20
 #define RFM22B_DEFAULT_MIN_CHANNEL       0
 #define RFM22B_DEFAULT_MAX_CHANNEL       250
-#define RFM22B_DEFAULT_CHANNEL_SET       24
 #define RFM22B_PPM_ONLY_DATARATE         RFM22_datarate_9600
 
+// PPM encoding limits
+#define RFM22B_PPM_MIN                   1
+#define RFM22B_PPM_MAX                   511
+#define RFM22B_PPM_INVALID               0
+#define RFM22B_PPM_SCALE                 2
+#define RFM22B_PPM_MIN_US                990
+#define RFM22B_PPM_MAX_US                (RFM22B_PPM_MIN_US + (RFM22B_PPM_MAX - RFM22B_PPM_MIN) * RFM22B_PPM_SCALE)
+
 // The maximum amount of time without activity before initiating a reset.
 #define PIOS_RFM22B_SUPERVISOR_TIMEOUT   150  // ms
 
@@ -116,6 +124,9 @@
 #define USB_LED_OFF
 #endif
 
+#define CONNECTED_TIMEOUT (250 / portTICK_RATE_MS) /* ms */
+#define MAX_CHANNELS      32
+
 /* Local type definitions */
 
 struct pios_rfm22b_transition {
@@ -155,21 +166,6 @@ static const uint8_t OUT_FF[64] = {
     0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
 };
 
-// The randomized channel list.
-static const uint8_t channel_list[] = {
-    68,  34,  2,   184, 166, 94,  204, 18,  47,  118, 239, 176, 5,   213, 218, 186, 104, 160, 199, 209, 231, 197, 92,
-    191, 88,  129, 40,  19,  93,  200, 156, 14,  247, 182, 193, 194, 208, 210, 248, 76,  244, 48,  179, 105, 25,  74,
-    155, 203, 39,  97,  195, 81,  83,  180, 134, 172, 235, 132, 198, 119, 207, 154, 0,   61,  140, 171, 245, 26,  95,
-    3,   22,  62,  169, 55,  127, 144, 45,  33,  170, 91,  158, 167, 63,  201, 41,  21,  190, 51,  103, 49,  189, 205,
-    240, 89,  181, 149, 6,   157, 249, 230, 115, 72,  163, 17,  29,  99,  28,  117, 219, 73,  78,  53,  69,  216, 161,
-    124, 110, 242, 214, 145, 13,  11,  220, 113, 138, 58,  54,  162, 237, 37,  152, 187, 232, 77,  126, 85,  38,  238,
-    173, 23,  188, 100, 131, 226, 31,  9,   114, 106, 221, 42,  233, 139, 4,   241, 96,  211, 8,   98,  121, 147, 24,
-    217, 27,  87,  122, 125, 135, 148, 178, 71,  206, 57,  141, 35,  30,  246, 159, 16,  32,  15,  229, 20,  12,  223,
-    150, 101, 79,  56,  102, 111, 174, 236, 137, 143, 52,  225, 64,  224, 112, 168, 243, 130, 108, 202, 123, 146, 228,
-    75,  46,  153, 7,   192, 175, 151, 222, 59,  82,  90,  1,   65,  109, 44,  165, 84,  43,  36,  128, 196, 67,  80,
-    136, 86,  70,  234, 66,  185, 10,  164, 177, 116, 50,  107, 183, 215, 212, 60,  227, 133, 120, 14
-};
-
 /* Local function forwared declarations */
 static void pios_rfm22_task(void *parameters);
 static bool pios_rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev);
@@ -207,6 +203,10 @@ static void rfm22_clearLEDs();
 // Utility functions.
 static uint32_t pios_rfm22_time_difference_ms(portTickType start_time, portTickType end_time);
 static struct pios_rfm22b_dev *pios_rfm22_alloc(void);
+static void rfm22_hmac_sha1(const uint8_t *data, size_t len, uint8_t key[SHA1_DIGEST_LENGTH],
+                            uint8_t digest[SHA1_DIGEST_LENGTH]);
+static bool rfm22_gen_channels(uint32_t coordid, enum rfm22b_datarate datarate, uint8_t min,
+                               uint8_t max, uint8_t channels[MAX_CHANNELS], uint8_t *clen);
 
 // SPI read/write functions
 static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev);
@@ -331,6 +331,18 @@ static const uint32_t data_rate[] = {
     256000, // 256 kbps, 433 MHz, 150 khz freq dev
 };
 
+static const uint8_t channel_spacing[] = {
+    1, /* 9.6kbps */
+    2, /* 19.2kps */
+    2, /* 32kps */
+    2, /* 57.6kps */
+    2, /* 64kps */
+    3, /* 100kps */
+    4, /* 128kps */
+    4, /* 192kps */
+    4 /* 256kps */
+};
+
 static const uint8_t reg_1C[] = { 0x01, 0x05, 0x06, 0x95, 0x95, 0x81, 0x88, 0x8B, 0x8D }; // rfm22_if_filter_bandwidth
 
 static const uint8_t reg_1D[] = { 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40 }; // rfm22_afc_loop_gearshift_override
@@ -358,7 +370,7 @@ static const uint8_t reg_72[] = { 0x30, 0x48, 0x48, 0x48, 0x48, 0x60, 0x90, 0xCD
 
 static const uint8_t packet_time[] = { 80, 40, 25, 15, 13, 10, 8, 6, 5 };
 static const uint8_t packet_time_ppm[] = { 26, 25, 25, 15, 13, 10, 8, 6, 5 };
-static const uint8_t num_channels[] = { 4, 4, 4, 6, 8, 8, 10, 12, 16 };
+static const uint8_t num_channels[] = { 32, 32, 32, 32, 32, 32, 32, 32, 32 };
 
 static struct pios_rfm22b_dev *g_rfm22b_dev = NULL;
 
@@ -412,7 +424,6 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
     rfm22b_dev->stats.rx_error     = 0;
     rfm22b_dev->stats.rx_missed    = 0;
     rfm22b_dev->stats.tx_dropped   = 0;
-    rfm22b_dev->stats.tx_resent    = 0;
     rfm22b_dev->stats.resets       = 0;
     rfm22b_dev->stats.timeouts     = 0;
     rfm22b_dev->stats.link_quality = 0;
@@ -423,7 +434,7 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
 
     // Initialize the channels.
     PIOS_RFM22B_SetChannelConfig(*rfm22b_id, RFM22B_DEFAULT_RX_DATARATE, RFM22B_DEFAULT_MIN_CHANNEL,
-                                 RFM22B_DEFAULT_MAX_CHANNEL, RFM22B_DEFAULT_CHANNEL_SET, false, false, false, false);
+                                 RFM22B_DEFAULT_MAX_CHANNEL, false, false, false, false);
 
     // Create the event queue
     rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_radio_event));
@@ -566,12 +577,12 @@ void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, enum rfm22b_tx_power tx_pwr)
  * @param[in] datarate  The desired datarate.
  * @param[in] min_chan  The minimum channel.
  * @param[in] max_chan  The maximum channel.
- * @param[in] chan_set  The "seed" for selecting a channel sequence.
  * @param[in] coordinator Is this modem an coordinator.
  * @param[in] ppm_mode Should this modem send/receive ppm packets?
  * @param[in] oneway Only the coordinator can send packets if true.
+ * @param[in] ppm_only Should this modem run in ppm only mode?
  */
-void PIOS_RFM22B_SetChannelConfig(uint32_t rfm22b_id, enum rfm22b_datarate datarate, uint8_t min_chan, uint8_t max_chan, uint8_t chan_set, bool coordinator, bool oneway, bool ppm_mode, bool ppm_only)
+void PIOS_RFM22B_SetChannelConfig(uint32_t rfm22b_id, enum rfm22b_datarate datarate, uint8_t min_chan, uint8_t max_chan, bool coordinator, bool oneway, bool ppm_mode, bool ppm_only)
 {
     struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
 
@@ -596,15 +607,11 @@ void PIOS_RFM22B_SetChannelConfig(uint32_t rfm22b_id, enum rfm22b_datarate datar
     }
     rfm22b_dev->packet_time = (ppm_mode ? packet_time_ppm[datarate] : packet_time[datarate]);
 
-    // Find the first N channels that meet the min/max criteria out of the random channel list.
     uint8_t num_found = 0;
-    for (uint16_t i = 0; (i < RFM22B_NUM_CHANNELS) && (num_found < num_channels[datarate]); ++i) {
+    rfm22_gen_channels(rfm22_destinationID(rfm22b_dev), datarate, min_chan, max_chan,
-        uint8_t idx  = (i + chan_set) % RFM22B_NUM_CHANNELS;
+                       rfm22b_dev->channels, &num_found);
-        uint8_t chan = channel_list[idx];
+
-        if ((chan >= min_chan) && (chan <= max_chan)) {
+    rfm22b_dev->num_channels = num_found;
-            rfm22b_dev->channels[num_found++] = chan;
-        }
-    }
 
     // Calculate the maximum packet length from the datarate.
     float bytes_per_period = (float)data_rate[datarate] * (float)(rfm22b_dev->packet_time - 2) / 9000;
@@ -1354,7 +1361,7 @@ static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
     rfm22b_dev->packet_start_ticks = 0;
     rfm22b_dev->tx_complete_ticks  = 0;
     rfm22b_dev->rfm22b_state       = RFM22B_STATE_INITIALIZING;
-    rfm22b_dev->on_sync_channel    = false;
+    rfm22b_dev->last_contact       = 0;
 
     // software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
     rfm22_write_claim(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
@@ -1725,7 +1732,7 @@ static bool pios_rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev)
  */
 static void rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev)
 {
-    rfm22b_dev->stats.rx_failure++;
+    rfm22b_add_rx_status(rfm22b_dev, RADIO_FAILURE_RX_PACKET);
     rfm22b_dev->rx_buffer_wr = 0;
     rfm22b_dev->packet_start_ticks = 0;
     rfm22b_dev->rfm22b_state = RFM22B_STATE_TRANSITION;
@@ -1767,18 +1774,31 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
             return RADIO_EVENT_RX_MODE;
         }
 
-        // The first byte is a bitmask of valid channels.
+        // The first byte stores the LSB of each channel
         p[0] = 0;
 
         // Read the PPM input.
         for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
             int32_t val = radio_dev->ppm[i];
+
+            // Clamp and translate value, or transmit as reserved "invalid" constant
             if ((val == PIOS_RCVR_INVALID) || (val == PIOS_RCVR_TIMEOUT)) {
-                p[i + 1] = 0;
+                val = RFM22B_PPM_INVALID;
+            } else if (val > RFM22B_PPM_MAX_US) {
+                val = RFM22B_PPM_MAX;
+            } else if (val < RFM22B_PPM_MIN_US) {
+                val = RFM22B_PPM_MIN;
             } else {
-                p[0]    |= 1 << i;
+                val = (val - RFM22B_PPM_MIN_US) / RFM22B_PPM_SCALE + RFM22B_PPM_MIN;
-                p[i + 1] = (val < 1000) ? 0 : ((val >= 1900) ? 255 : (uint8_t)(256 * (val - 1000) / 900));
             }
+
+            // Store LSB
+            if (val & 1) {
+                p[0] |= (1 << i);
+            }
+
+            // Store upper 8 bits in array
+            p[i + 1] = val >> 1;
         }
 
         // The last byte is a CRC.
@@ -1798,8 +1818,8 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
         len += (radio_dev->tx_out_cb)(radio_dev->tx_out_context, p + len, max_data_len - len, NULL, &need_yield);
     }
 
-    // Always send a packet on the sync channel if this modem is a coordinator.
+    // Always send a packet if this modem is a coordinator.
-    if ((len == 0) && ((radio_dev->channel_index != 0) || !rfm22_isCoordinator(radio_dev))) {
+    if ((len == 0) && !rfm22_isCoordinator(radio_dev)) {
         return RADIO_EVENT_RX_MODE;
     }
 
@@ -1921,10 +1941,11 @@ static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *radio_d
 
         if (good_packet || corrected_packet) {
             for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
+                // Calculate 9-bit value taking the LSB from byte 0
+                uint32_t val = (p[i + 1] << 1) + ((p[0] >> i) & 1);
                 // Is this a valid channel?
-                if (p[0] & (1 << i)) {
+                if (val != RFM22B_PPM_INVALID) {
-                    uint32_t val = p[i + 1];
+                    radio_dev->ppm[i] = (uint16_t)(RFM22B_PPM_MIN_US + (val - RFM22B_PPM_MIN) * RFM22B_PPM_SCALE);
-                    radio_dev->ppm[i] = (uint16_t)(1000 + val * 900 / 256);
                 } else {
                     radio_dev->ppm[i] = PIOS_RCVR_INVALID;
                 }
@@ -1959,12 +1980,16 @@ static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *radio_d
             (radio_dev->rx_in_cb)(radio_dev->rx_in_context, p, data_len, NULL, &rx_need_yield);
         }
 
-        // We only synchronize the clock on packets from our coordinator on the sync channel.
+        /*
-        if (!rfm22_isCoordinator(radio_dev) && (radio_dev->rx_destination_id == rfm22_destinationID(radio_dev)) && (radio_dev->channel_index == 0)) {
+         * If the packet is valid and destined for us we synchronize the clock.
+         */
+        if (!rfm22_isCoordinator(radio_dev) &&
+            radio_dev->rx_destination_id == rfm22_destinationID(radio_dev)) {
             rfm22_synchronizeClock(radio_dev);
             radio_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
-            radio_dev->on_sync_channel  = false;
         }
+
+        radio_dev->last_contact = xTaskGetTickCount();
     } else {
         ret_event = RADIO_EVENT_RX_COMPLETE;
     }
@@ -2069,7 +2094,7 @@ static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev)
     rfm22b_dev->stats.rx_good      = 0;
     rfm22b_dev->stats.rx_corrected = 0;
     rfm22b_dev->stats.rx_error     = 0;
-    rfm22b_dev->stats.tx_resent    = 0;
+    rfm22b_dev->stats.rx_failure   = 0;
     for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i) {
         uint32_t val = rfm22b_dev->rx_packet_stats[i];
         for (uint8_t j = 0; j < 16; ++j) {
@@ -2083,8 +2108,8 @@ static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev)
             case RADIO_ERROR_RX_PACKET:
                 rfm22b_dev->stats.rx_error++;
                 break;
-            case RADIO_RESENT_TX_PACKET:
+            case RADIO_FAILURE_RX_PACKET:
-                rfm22b_dev->stats.tx_resent++;
+                rfm22b_dev->stats.rx_failure++;
                 break;
             }
         }
@@ -2094,7 +2119,7 @@ static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev)
     // Note: This assumes that the number of packets sampled for the stats is 64.
     // Using this equation, error and resent packets are counted as -2, and corrected packets are counted as -1.
     // The range is 0 (all error or resent packets) to 128 (all good packets).
-    rfm22b_dev->stats.link_quality = 64 + rfm22b_dev->stats.rx_good - rfm22b_dev->stats.rx_error - rfm22b_dev->stats.tx_resent;
+    rfm22b_dev->stats.link_quality = 64 + rfm22b_dev->stats.rx_good - rfm22b_dev->stats.rx_error - rfm22b_dev->stats.rx_failure;
 }
 
 /**
@@ -2160,14 +2185,14 @@ static void rfm22_synchronizeClock(struct pios_rfm22b_dev *rfm22b_dev)
     portTickType start_time = rfm22b_dev->packet_start_ticks;
 
     // This packet was transmitted on channel 0, calculate the time delta that will force us to transmit on channel 0 at the time this packet started.
-    uint8_t num_chan    = num_channels[rfm22b_dev->datarate];
+    uint16_t frequency_hop_cycle_time = rfm22b_dev->packet_time * rfm22b_dev->num_channels;
-    uint16_t frequency_hop_cycle_time = rfm22b_dev->packet_time * num_chan;
     uint16_t time_delta = start_time % frequency_hop_cycle_time;
 
     // Calculate the adjustment for the preamble
     uint8_t offset = (uint8_t)ceil(35000.0F / data_rate[rfm22b_dev->datarate]);
 
-    rfm22b_dev->time_delta = frequency_hop_cycle_time - time_delta + offset;
+    rfm22b_dev->time_delta = frequency_hop_cycle_time - time_delta + offset +
+                             rfm22b_dev->packet_time * rfm22b_dev->channel_index;
 }
 
 /**
@@ -2222,15 +2247,13 @@ static bool rfm22_timeToSend(struct pios_rfm22b_dev *rfm22b_dev)
 static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t index)
 {
     // Make sure we don't index outside of the range.
-    uint8_t num_chan = num_channels[rfm22b_dev->datarate];
+    uint8_t idx = index % rfm22b_dev->num_channels;
-    uint8_t idx = index % num_chan;
 
     // Are we switching to a new channel?
     if (idx != rfm22b_dev->channel_index) {
-        // If the on_sync_channel flag is set, it means that we were on the sync channel, but no packet was received, so transition to a non-connected state.
+        if (!rfm22_isCoordinator(rfm22b_dev) &&
-        if (!rfm22_isCoordinator(rfm22b_dev) && (rfm22b_dev->channel_index == 0) && rfm22b_dev->on_sync_channel) {
+            pios_rfm22_time_difference_ms(rfm22b_dev->last_contact, xTaskGetTickCount()) >=
-            rfm22b_dev->on_sync_channel = false;
+            CONNECTED_TIMEOUT) {
-
             // Set the link state to disconnected.
             if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) {
                 rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
@@ -2240,11 +2263,8 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t ind
                 }
             }
 
-            // Stay on the sync channel.
+            // Stay on first channel.
             idx = 0;
-        } else if (idx == 0) {
-            // If we're switching to the sync channel, set a flag that can be used to detect if a packet was received.
-            rfm22b_dev->on_sync_channel = true;
         }
 
         rfm22b_dev->channel_index = idx;
@@ -2263,8 +2283,7 @@ static uint8_t rfm22_calcChannelFromClock(struct pios_rfm22b_dev *rfm22b_dev)
     portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
     // Divide time into 8ms blocks.  Coordinator sends in first 2 ms, and remote send in 5th and 6th ms.
     // Channel changes occur in the last 2 ms.
-    uint8_t num_chan  = num_channels[rfm22b_dev->datarate];
+    uint8_t n = (time / rfm22b_dev->packet_time) % rfm22b_dev->num_channels;
-    uint8_t n = (time / rfm22b_dev->packet_time) % num_chan;
 
     return rfm22_calcChannel(rfm22b_dev, n);
 }
@@ -2553,6 +2572,86 @@ static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
     return in[1];
 }
 
+
+static void rfm22_hmac_sha1(const uint8_t *data, size_t len,
+                            uint8_t key[SHA1_DIGEST_LENGTH],
+                            uint8_t digest[SHA1_DIGEST_LENGTH])
+{
+    uint8_t ipad[64] = { 0 };
+    uint8_t opad[64] = { 0 };
+    static SHA1_CTX *ctx;
+
+    ctx = pios_malloc(sizeof(SHA1_CTX));
+
+    memcpy(ipad, key, SHA1_DIGEST_LENGTH);
+    memcpy(opad, key, SHA1_DIGEST_LENGTH);
+
+    for (int i = 0; i < 64; i++) {
+        ipad[i] ^= 0x36;
+        opad[i] ^= 0x5c;
+    }
+
+    SHA1Init(ctx);
+    SHA1Update(ctx, ipad, sizeof(ipad));
+    SHA1Update(ctx, data, len);
+    SHA1Final(digest, ctx);
+
+    SHA1Init(ctx);
+    SHA1Update(ctx, opad, sizeof(opad));
+    SHA1Update(ctx, digest, SHA1_DIGEST_LENGTH);
+    SHA1Final(digest, ctx);
+
+    pios_free(ctx);
+}
+
+static bool rfm22_gen_channels(uint32_t coordid, enum rfm22b_datarate rate, uint8_t min,
+                               uint8_t max, uint8_t channels[MAX_CHANNELS], uint8_t *clen)
+{
+    uint32_t data = 0;
+    uint8_t cpos  = 0;
+    uint8_t chan_range = (max / channel_spacing[rate] - min / channel_spacing[rate]) + 1;
+    uint8_t key[SHA1_DIGEST_LENGTH] = { 0 };
+    uint8_t digest[SHA1_DIGEST_LENGTH];
+    uint8_t *all_channels;
+
+    all_channels = pios_malloc(RFM22B_NUM_CHANNELS);
+
+    memcpy(key, &coordid, sizeof(coordid));
+
+    for (int i = 0; i < chan_range; i++) {
+        all_channels[i] = min / channel_spacing[rate] + i;
+    }
+
+    int j = SHA1_DIGEST_LENGTH;
+    for (int i = 0; i < chan_range && i < MAX_CHANNELS; i++) {
+        uint8_t rnd;
+        uint8_t r;
+        uint8_t tmp;
+
+        if (j == SHA1_DIGEST_LENGTH) {
+            rfm22_hmac_sha1((uint8_t *)&data, sizeof(data), key, digest);
+            j = 0;
+            data++;
+        }
+        rnd = digest[j];
+        j++;
+        r   = rnd % (chan_range - i) + i;
+        tmp = all_channels[i];
+        all_channels[i] = all_channels[r];
+        all_channels[r] = tmp;
+    }
+
+    for (int i = 0; i < chan_range && cpos < MAX_CHANNELS; i++, cpos++) {
+        channels[cpos] = all_channels[i] * channel_spacing[rate];
+    }
+
+    *clen = cpos & 0xfe;
+
+    pios_free(all_channels);
+
+    return *clen > 0;
+}
+
 #endif /* PIOS_INCLUDE_RFM22B */
 
 /**

flight/pios/inc/pios_pwm.h

@@ -30,4 +30,6 @@
 #ifndef PIOS_PWM_H
 #define PIOS_PWM_H
 
+#define PIOS_PWM_VALID_RANGE_MAX 2250
+#define PIOS_PWM_VALID_RANGE_MIN 750
 #endif /* PIOS_PWM_H */

flight/pios/inc/pios_rfm22b.h

@@ -90,7 +90,6 @@ struct rfm22b_stats {
     uint8_t  rx_missed;
     uint8_t  rx_failure;
     uint8_t  tx_dropped;
-    uint8_t  tx_resent;
     uint8_t  tx_failure;
     uint8_t  resets;
     uint8_t  timeouts;
@@ -104,7 +103,7 @@ struct rfm22b_stats {
 extern int32_t PIOS_RFM22B_Init(uint32_t *rfb22b_id, uint32_t spi_id, uint32_t slave_num, const struct pios_rfm22b_cfg *cfg);
 extern void PIOS_RFM22B_Reinit(uint32_t rfb22b_id);
 extern void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, enum rfm22b_tx_power tx_pwr);
-extern void PIOS_RFM22B_SetChannelConfig(uint32_t rfm22b_id, enum rfm22b_datarate datarate, uint8_t min_chan, uint8_t max_chan, uint8_t chan_set, bool coordinator, bool oneway, bool ppm_mode, bool ppm_only);
+extern void PIOS_RFM22B_SetChannelConfig(uint32_t rfm22b_id, enum rfm22b_datarate datarate, uint8_t min_chan, uint8_t max_chan, bool coordinator, bool oneway, bool ppm_mode, bool ppm_only);
 extern void PIOS_RFM22B_SetCoordinatorID(uint32_t rfm22b_id, uint32_t coord_id);
 extern uint32_t PIOS_RFM22B_DeviceID(uint32_t rfb22b_id);
 extern void PIOS_RFM22B_GetStats(uint32_t rfm22b_id, struct rfm22b_stats *stats);

flight/pios/inc/pios_rfm22b_priv.h

@@ -40,7 +40,7 @@
 // ************************************
 
 #define RFM22B_MAX_PACKET_LEN                     64
-#define RFM22B_NUM_CHANNELS                       250
+#define RFM22B_NUM_CHANNELS                       251
 
 // ************************************
 
@@ -578,7 +578,7 @@ enum pios_rfm22b_rx_packet_status {
     RADIO_GOOD_RX_PACKET      = 0x00,
     RADIO_CORRECTED_RX_PACKET = 0x01,
     RADIO_ERROR_RX_PACKET     = 0x2,
-    RADIO_RESENT_TX_PACKET    = 0x3
+    RADIO_FAILURE_RX_PACKET   = 0x3
 };
 
 typedef struct {
@@ -780,7 +780,7 @@ struct pios_rfm22b_dev {
     portTickType packet_start_ticks;
     portTickType tx_complete_ticks;
     portTickType time_delta;
-    bool         on_sync_channel;
+    portTickType last_contact;
 };
 
 

flight/pios/inc/pios_servo.h

@@ -30,9 +30,17 @@
 #ifndef PIOS_SERVO_H
 #define PIOS_SERVO_H
 
+/* Global types */
+enum pios_servo_bank_mode {
+    PIOS_SERVO_BANK_MODE_PWM = 0,
+    PIOS_SERVO_BANK_MODE_SINGLE_PULSE = 1
+};
 /* Public Functions */
-extern void PIOS_Servo_SetHz(const uint16_t *update_rates, uint8_t banks);
+extern void PIOS_Servo_SetHz(const uint16_t *speeds, const uint32_t *clock, uint8_t banks);
 extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);
+extern void PIOS_Servo_Update();
+extern void PIOS_Servo_SetBankMode(uint8_t bank, uint8_t mode);
+extern uint8_t PIOS_Servo_GetPinBank(uint8_t pin);
 
 #endif /* PIOS_SERVO_H */
 

flight/pios/posix/pios_servo.c

@@ -43,13 +43,13 @@ static volatile uint16_t ServoPosition[PIOS_SERVO_NUM_TIMERS];
  */
 void PIOS_Servo_Init(void)
 {}
-
 /**
  * Set the servo update rate (Max 500Hz)
- * \param[in] onetofour Rate for outputs 1 to 4 (Hz)
+ * \param[in] array of rates in Hz
- * \param[in] fivetoeight Rate for outputs 5 to 8 (Hz)
+ * \param[in] array of timer clocks in Hz
+ * \param[in] maximum number of banks
  */
-void PIOS_Servo_SetHz(const uint16_t *banks, uint8_t num_banks)
+void PIOS_Servo_SetHz(const uint16_t *speeds, const uint32_t *clock, uint8_t banks)
 {}
 
 /**

flight/pios/stm32f10x/pios_pwm.c

@@ -209,7 +209,9 @@ static void PIOS_PWM_tim_overflow_cb(__attribute__((unused)) uint32_t tim_id, ui
         /* Channel out of range */
         return;
     }
-
+    if (!pwm_dev->CaptureState[channel]) {
+        return;
+    }
     pwm_dev->us_since_update[channel] += count;
     if (pwm_dev->us_since_update[channel] >= PWM_SUPERVISOR_TIMEOUT) {
         pwm_dev->CaptureState[channel]    = 0;
@@ -256,16 +258,19 @@ static void PIOS_PWM_tim_edge_cb(__attribute__((unused)) uint32_t tim_id, uint32
         TIM_ICInitStructure.TIM_Channel    = chan->timer_chan;
         TIM_ICInit(chan->timer, &TIM_ICInitStructure);
     } else {
+        uint32_t value = 0;
         /* Capture computation */
-        if (pwm_dev->FallValue[chan_idx] > pwm_dev->RiseValue[chan_idx]) {
+        value = pwm_dev->us_since_update[chan_idx] + (pwm_dev->FallValue[chan_idx] - pwm_dev->RiseValue[chan_idx]);
-            pwm_dev->CaptureValue[chan_idx] = (pwm_dev->FallValue[chan_idx] - pwm_dev->RiseValue[chan_idx]);
+
-        } else {
+        // From time to time glitches happens. Most of the observed case are related to missing or spurious overflows
-            pwm_dev->CaptureValue[chan_idx] = ((chan->timer->ARR - pwm_dev->RiseValue[chan_idx]) + pwm_dev->FallValue[chan_idx]);
+        // happening when they are triggered very close each other.
+        // The following workaround prevents them to cause troubles by filtering unacceptable values
+        if (PIOS_PWM_VALID_RANGE_MAX > value && PIOS_PWM_VALID_RANGE_MIN < value) {
+            pwm_dev->CaptureValue[chan_idx] = value;
         }
-
         /* Switch states */
-        pwm_dev->CaptureState[chan_idx] = 0;
+        pwm_dev->CaptureState[chan_idx]    = 0;
-
+        pwm_dev->us_since_update[chan_idx] = 0;
         /* Increase supervisor counter */
         pwm_dev->CapCounter[chan_idx]++;
 

flight/pios/stm32f10x/pios_servo.c

@@ -39,6 +39,17 @@
 
 static const struct pios_servo_cfg *servo_cfg;
 
+// determine if the related timer will work in synchronous (or OneShot/OneShot125) One Pulse mode.
+// static uint8_t pios_servo_bank_mode[PIOS_SERVO_BANKS] = { 0 };
+
+// timer associated to each bank
+static TIM_TypeDef *pios_servo_bank_timer[PIOS_SERVO_BANKS] = { 0 };
+
+// index of bank used for each pin
+static uint8_t *pios_servo_pin_bank;
+
+#define PIOS_SERVO_TIMER_CLOCK 1000000
+
 /**
  * Initialise Servos
  */
@@ -52,10 +63,36 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg)
 
     /* Store away the requested configuration */
     servo_cfg = cfg;
+    pios_servo_pin_bank = pios_malloc(sizeof(uint8_t) * cfg->num_channels);
 
+    uint8_t bank = 0;
     /* Configure the channels to be in output compare mode */
     for (uint8_t i = 0; i < cfg->num_channels; i++) {
-        const struct pios_tim_channel *chan = &cfg->channels[i];
+        const struct pios_tim_channel *chan = &servo_cfg->channels[i];
+        bool new = true;
+        /* See if any previous channels use that same timer */
+        for (uint8_t j = 0; (j < i) && new; j++) {
+            new &= chan->timer != servo_cfg->channels[j].timer;
+        }
+
+        if (new) {
+            PIOS_Assert(bank < PIOS_SERVO_BANKS);
+            for (uint8_t j = i; j < servo_cfg->num_channels; j++) {
+                if (servo_cfg->channels[j].timer == chan->timer) {
+                    pios_servo_pin_bank[j] = bank;
+                }
+            }
+            pios_servo_bank_timer[bank] = chan->timer;
+
+            PIOS_Assert(bank < PIOS_SERVO_BANKS);
+
+            for (uint8_t j = i; j < servo_cfg->num_channels; j++) {
+                if (servo_cfg->channels[j].timer == chan->timer) {
+                    pios_servo_pin_bank[j] = bank;
+                }
+            }
+            bank++;
+        }
 
         /* Set up for output compare function */
         switch (chan->timer_chan) {
@@ -88,10 +125,12 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg)
 /**
  * Set the servo update rate (Max 500Hz)
  * \param[in] array of rates in Hz
+ * \param[in] array of timer clocks in Hz
  * \param[in] maximum number of banks
  */
-void PIOS_Servo_SetHz(const uint16_t *speeds, uint8_t banks)
+void PIOS_Servo_SetHz(const uint16_t *speeds, const uint32_t *clock, uint8_t banks)
 {
+    PIOS_Assert(banks <= PIOS_SERVO_BANKS);
     if (!servo_cfg) {
         return;
     }
@@ -99,23 +138,18 @@ void PIOS_Servo_SetHz(const uint16_t *speeds, uint8_t banks)
     TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = servo_cfg->tim_base_init;
     TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
     TIM_TimeBaseStructure.TIM_CounterMode   = TIM_CounterMode_Up;
-    TIM_TimeBaseStructure.TIM_Prescaler     = (PIOS_MASTER_CLOCK / 1000000) - 1;
 
-    uint8_t set = 0;
+    for (uint8_t i = 0; i < banks && i < PIOS_SERVO_BANKS; i++) {
+        const TIM_TypeDef *timer = pios_servo_bank_timer[i];
+        if (timer) {
+            uint32_t new_clock = PIOS_SERVO_TIMER_CLOCK;
+            if (clock[i]) {
+                new_clock = clock[i];
+            }
+            TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / new_clock) - 1;
+            TIM_TimeBaseStructure.TIM_Period    = ((new_clock / speeds[i]) - 1);
 
-    for (uint8_t i = 0; (i < servo_cfg->num_channels) && (set < banks); i++) {
+            TIM_TimeBaseInit((TIM_TypeDef *)timer, &TIM_TimeBaseStructure);
-        bool new = true;
-        const struct pios_tim_channel *chan = &servo_cfg->channels[i];
-
-        /* See if any previous channels use that same timer */
-        for (uint8_t j = 0; (j < i) && new; j++) {
-            new &= chan->timer != servo_cfg->channels[j].timer;
-        }
-
-        if (new) {
-            TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1);
-            TIM_TimeBaseInit(chan->timer, &TIM_TimeBaseStructure);
-            set++;
         }
     }
 }
@@ -150,4 +184,27 @@ void PIOS_Servo_Set(uint8_t servo, uint16_t position)
     }
 }
 
+void PIOS_Servo_Update()
+{
+    /*
+       for (uint8_t i = 0; (i < PIOS_SERVO_BANKS); i++) {
+        const TIM_TypeDef *timer = pios_servo_bank_timer[i];
+        if (timer) {
+            TIM_Cmd((TIM_TypeDef *)timer, ENABLE);
+        }
+       }
+     */
+}
+
+void PIOS_Servo_SetBankMode(__attribute__((unused)) uint8_t bank, __attribute__((unused)) uint8_t mode) {}
+
+uint8_t PIOS_Servo_GetPinBank(uint8_t pin)
+{
+    if (pin < servo_cfg->num_channels) {
+        return pios_servo_pin_bank[pin];
+    } else {
+        return 0;
+    }
+}
+
 #endif /* PIOS_INCLUDE_SERVO */

flight/pios/stm32f10x/pios_tim.c

@@ -159,6 +159,16 @@ out_fail:
 
 static void PIOS_TIM_generic_irq_handler(TIM_TypeDef *timer)
 {
+    /* Check for an overflow event on this timer */
+    bool overflow_event     = 0;
+    uint16_t overflow_count = false;
+
+    if (TIM_GetITStatus(timer, TIM_IT_Update) == SET) {
+        TIM_ClearITPendingBit(timer, TIM_IT_Update);
+        overflow_count = timer->ARR;
+        overflow_event = true;
+    }
+
     /* Iterate over all registered clients of the TIM layer to find channels on this timer */
     for (uint8_t i = 0; i < pios_tim_num_devs; i++) {
         const struct pios_tim_dev *tim_dev = &pios_tim_devs[i];
@@ -168,18 +178,6 @@ static void PIOS_TIM_generic_irq_handler(TIM_TypeDef *timer)
             continue;
         }
 
-        /* Check for an overflow event on this timer */
-        bool overflow_event;
-        uint16_t overflow_count;
-        if (TIM_GetITStatus(timer, TIM_IT_Update) == SET) {
-            TIM_ClearITPendingBit(timer, TIM_IT_Update);
-            overflow_count = timer->ARR;
-            overflow_event = true;
-        } else {
-            overflow_count = 0;
-            overflow_event = false;
-        }
-
         for (uint8_t j = 0; j < tim_dev->num_channels; j++) {
             const struct pios_tim_channel *chan = &tim_dev->channels[j];
 
@@ -251,11 +249,11 @@ static void PIOS_TIM_generic_irq_handler(TIM_TypeDef *timer)
                  * get the order wrong, our pulse width calculations could be off by up
                  * to ARR ticks.  That could be bad.
                  *
-                 * Heuristic: If the edge_count is < 16 ticks above zero then we assume the
+                 * Heuristic: If the edge_count is < 32 ticks above zero then we assume the
                  *            edge happened just after the overflow.
                  */
 
-                if (edge_count < 16) {
+                if (edge_count < 32) {
                     /* Call the overflow callback first */
                     if (tim_dev->callbacks->overflow) {
                         (*tim_dev->callbacks->overflow)((uint32_t)tim_dev,
@@ -300,67 +298,6 @@ static void PIOS_TIM_generic_irq_handler(TIM_TypeDef *timer)
         }
     }
 }
-#if 0
-uint16_t val = 0;
-for (uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) {
-    struct pios_pwm_channel channel = pios_pwm_cfg.channels[i];
-    if ((channel.timer == timer) && (TIM_GetITStatus(channel.timer, channel.ccr) == SET)) {
-        TIM_ClearITPendingBit(channel.timer, channel.ccr);
-
-        switch (channel.channel) {
-        case TIM_Channel_1:
-            val = TIM_GetCapture1(channel.timer);
-            break;
-        case TIM_Channel_2:
-            val = TIM_GetCapture2(channel.timer);
-            break;
-        case TIM_Channel_3:
-            val = TIM_GetCapture3(channel.timer);
-            break;
-        case TIM_Channel_4:
-            val = TIM_GetCapture4(channel.timer);
-            break;
-        }
-
-        if (CaptureState[i] == 0) {
-            RiseValue[i] = val;
-        } else {
-            FallValue[i] = val;
-        }
-
-        // flip state machine and capture value here
-        /* Simple rise or fall state machine */
-        TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init;
-        if (CaptureState[i] == 0) {
-            /* Switch states */
-            CaptureState[i] = 1;
-
-            /* Switch polarity of input capture */
-            TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
-            TIM_ICInitStructure.TIM_Channel    = channel.channel;
-            TIM_ICInit(channel.timer, &TIM_ICInitStructure);
-        } else {
-            /* Capture computation */
-            if (FallValue[i] > RiseValue[i]) {
-                CaptureValue[i] = (FallValue[i] - RiseValue[i]);
-            } else {
-                CaptureValue[i] = ((channel.timer->ARR - RiseValue[i]) + FallValue[i]);
-            }
-
-            /* Switch states */
-            CaptureState[i] = 0;
-
-            /* Increase supervisor counter */
-            CapCounter[i]++;
-
-            /* Switch polarity of input capture */
-            TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
-            TIM_ICInitStructure.TIM_Channel    = channel.channel;
-            TIM_ICInit(channel.timer, &TIM_ICInitStructure);
-        }
-    }
-}
-#endif /* if 0 */
 
 /* Bind Interrupt Handlers
  *

flight/pios/stm32f4xx/pios_servo.c

@@ -39,6 +39,19 @@
 
 static const struct pios_servo_cfg *servo_cfg;
 
+// determine if the related timer will work in synchronous (or OneShot/OneShot125) One Pulse mode.
+static uint8_t pios_servo_bank_mode[PIOS_SERVO_BANKS] = { 0 };
+// used to skip updates when pulse length is higher than update cycle
+static uint16_t pios_servo_bank_next_update[PIOS_SERVO_BANKS] = { 0 };
+static uint16_t pios_servo_bank_max_pulse[PIOS_SERVO_BANKS] = { 0 };
+// timer associated to each bank
+static TIM_TypeDef *pios_servo_bank_timer[PIOS_SERVO_BANKS] = { 0 };
+
+// index of bank used for each pin
+static uint8_t *pios_servo_pin_bank;
+
+#define PIOS_SERVO_TIMER_CLOCK 1000000
+#define PIOS_SERVO_SAFE_MARGIN 50
 /**
  * Initialise Servos
  */
@@ -52,46 +65,141 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg)
 
     /* Store away the requested configuration */
     servo_cfg = cfg;
+    pios_servo_pin_bank = pios_malloc(sizeof(uint8_t) * cfg->num_channels);
 
-    /* Configure the channels to be in output compare mode */
+    uint8_t bank = 0;
-    for (uint8_t i = 0; i < cfg->num_channels; i++) {
+    for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
-        const struct pios_tim_channel *chan = &cfg->channels[i];
+        const struct pios_tim_channel *chan = &servo_cfg->channels[i];
+        bool new = true;
+        /* See if any previous channels use that same timer */
+        for (uint8_t j = 0; (j < i) && new; j++) {
+            new &= chan->timer != servo_cfg->channels[j].timer;
+        }
+
+        if (new) {
+            PIOS_Assert(bank < PIOS_SERVO_BANKS);
+            for (uint8_t j = i; j < servo_cfg->num_channels; j++) {
+                if (servo_cfg->channels[j].timer == chan->timer) {
+                    pios_servo_pin_bank[j] = bank;
+                }
+            }
+            pios_servo_bank_timer[bank] = chan->timer;
+
+            TIM_ARRPreloadConfig(chan->timer, ENABLE);
+            TIM_CtrlPWMOutputs(chan->timer, ENABLE);
+            TIM_Cmd(chan->timer, DISABLE);
+
+            bank++;
+        }
 
         /* Set up for output compare function */
         switch (chan->timer_chan) {
         case TIM_Channel_1:
-            TIM_OC1Init(chan->timer, &cfg->tim_oc_init);
+            TIM_OC1Init(chan->timer, &servo_cfg->tim_oc_init);
             TIM_OC1PreloadConfig(chan->timer, TIM_OCPreload_Enable);
             break;
         case TIM_Channel_2:
-            TIM_OC2Init(chan->timer, &cfg->tim_oc_init);
+            TIM_OC2Init(chan->timer, &servo_cfg->tim_oc_init);
             TIM_OC2PreloadConfig(chan->timer, TIM_OCPreload_Enable);
             break;
         case TIM_Channel_3:
-            TIM_OC3Init(chan->timer, &cfg->tim_oc_init);
+            TIM_OC3Init(chan->timer, &servo_cfg->tim_oc_init);
             TIM_OC3PreloadConfig(chan->timer, TIM_OCPreload_Enable);
             break;
         case TIM_Channel_4:
-            TIM_OC4Init(chan->timer, &cfg->tim_oc_init);
+            TIM_OC4Init(chan->timer, &servo_cfg->tim_oc_init);
             TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable);
             break;
         }
-
-        TIM_ARRPreloadConfig(chan->timer, ENABLE);
-        TIM_CtrlPWMOutputs(chan->timer, ENABLE);
-        TIM_Cmd(chan->timer, ENABLE);
     }
 
     return 0;
 }
 
+void PIOS_Servo_SetBankMode(uint8_t bank, uint8_t mode)
+{
+    PIOS_Assert(bank < PIOS_SERVO_BANKS);
+    pios_servo_bank_mode[bank] = mode;
+
+    if (pios_servo_bank_timer[bank]) {
+        for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
+            if (pios_servo_pin_bank[i] == bank) {
+                const struct pios_tim_channel *chan = &servo_cfg->channels[i];
+                /* Set up for output compare function */
+                switch (chan->timer_chan) {
+                case TIM_Channel_1:
+                    TIM_OC1PolarityConfig(chan->timer, TIM_OCPolarity_High);
+                    break;
+                case TIM_Channel_2:
+                    TIM_OC2PolarityConfig(chan->timer, TIM_OCPolarity_High);
+                    break;
+                case TIM_Channel_3:
+                    TIM_OC3PolarityConfig(chan->timer, TIM_OCPolarity_High);
+                    break;
+                case TIM_Channel_4:
+                    TIM_OC4PolarityConfig(chan->timer, TIM_OCPolarity_High);
+                    break;
+                }
+            }
+        }
+        if (mode != PIOS_SERVO_BANK_MODE_PWM) {
+            // TIM_UpdateDisableConfig(pios_servo_bank_timer[bank], ENABLE);
+        } else {
+            // TIM_UpdateDisableConfig(pios_servo_bank_timer[bank], DISABLE);
+        }
+        // Setup the timer accordingly
+        TIM_SelectOnePulseMode(pios_servo_bank_timer[bank], TIM_OPMode_Repetitive);
+        TIM_Cmd(pios_servo_bank_timer[bank], ENABLE);
+    }
+}
+
+
+void PIOS_Servo_Update()
+{
+    for (uint8_t i = 0; (i < PIOS_SERVO_BANKS); i++) {
+        const TIM_TypeDef *timer = pios_servo_bank_timer[i];
+        if (timer && pios_servo_bank_mode[i] == PIOS_SERVO_BANK_MODE_SINGLE_PULSE) {
+            // a pulse to be generated is longer than cycle period. skip this update.
+            if (TIM_GetCounter((TIM_TypeDef *)timer) > (uint32_t)(pios_servo_bank_next_update[i] + PIOS_SERVO_SAFE_MARGIN)) {
+                TIM_GenerateEvent((TIM_TypeDef *)timer, TIM_EventSource_Update);
+                pios_servo_bank_next_update[i] = pios_servo_bank_max_pulse[i];
+            }
+        }
+        pios_servo_bank_max_pulse[i] = 0;
+    }
+    for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
+        uint8_t bank = pios_servo_pin_bank[i];
+        uint8_t mode = pios_servo_bank_mode[bank];
+        if (mode == PIOS_SERVO_BANK_MODE_SINGLE_PULSE) {
+            /* Update the position */
+            const struct pios_tim_channel *chan = &servo_cfg->channels[i];
+
+            switch (chan->timer_chan) {
+            case TIM_Channel_1:
+                TIM_SetCompare1(chan->timer, 0);
+                break;
+            case TIM_Channel_2:
+                TIM_SetCompare2(chan->timer, 0);
+                break;
+            case TIM_Channel_3:
+                TIM_SetCompare3(chan->timer, 0);
+                break;
+            case TIM_Channel_4:
+                TIM_SetCompare4(chan->timer, 0);
+                break;
+            }
+        }
+    }
+}
 /**
  * Set the servo update rate (Max 500Hz)
  * \param[in] array of rates in Hz
+ * \param[in] array of timer clocks in Hz
  * \param[in] maximum number of banks
  */
-void PIOS_Servo_SetHz(const uint16_t *speeds, uint8_t banks)
+void PIOS_Servo_SetHz(const uint16_t *speeds, const uint32_t *clock, uint8_t banks)
 {
+    PIOS_Assert(banks <= PIOS_SERVO_BANKS);
     if (!servo_cfg) {
         return;
     }
@@ -99,30 +207,22 @@ void PIOS_Servo_SetHz(const uint16_t *speeds, uint8_t banks)
     TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = servo_cfg->tim_base_init;
     TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
     TIM_TimeBaseStructure.TIM_CounterMode   = TIM_CounterMode_Up;
-    //
 
-    uint8_t set = 0;
+    for (uint8_t i = 0; i < banks && i < PIOS_SERVO_BANKS; i++) {
-
+        const TIM_TypeDef *timer = pios_servo_bank_timer[i];
-    for (uint8_t i = 0; (i < servo_cfg->num_channels) && (set < banks); i++) {
+        if (timer) {
-        bool new = true;
+            uint32_t new_clock = PIOS_SERVO_TIMER_CLOCK;
-        const struct pios_tim_channel *chan = &servo_cfg->channels[i];
+            if (clock[i]) {
-
+                new_clock = clock[i];
-        /* See if any previous channels use that same timer */
-        for (uint8_t j = 0; (j < i) && new; j++) {
-            new &= chan->timer != servo_cfg->channels[j].timer;
-        }
-
-        if (new) {
-            // Choose the correct prescaler value for the APB the timer is attached
-            if (chan->timer == TIM1 || chan->timer == TIM8 || chan->timer == TIM9 || chan->timer == TIM10 || chan->timer == TIM11) {
-                TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1;
-            } else {
-                TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1;
             }
-
+            // Choose the correct prescaler value for the APB the timer is attached
-            TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[set]) - 1);
+            if (timer == TIM1 || timer == TIM8 || timer == TIM9 || timer == TIM10 || timer == TIM11) {
-            TIM_TimeBaseInit(chan->timer, &TIM_TimeBaseStructure);
+                TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / new_clock) - 1;
-            set++;
+            } else {
+                TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / new_clock) - 1;
+            }
+            TIM_TimeBaseStructure.TIM_Period = ((new_clock / speeds[i]) - 1);
+            TIM_TimeBaseInit((TIM_TypeDef *)timer, &TIM_TimeBaseStructure);
         }
     }
 }
@@ -139,22 +239,42 @@ void PIOS_Servo_Set(uint8_t servo, uint16_t position)
         return;
     }
 
+
     /* Update the position */
     const struct pios_tim_channel *chan = &servo_cfg->channels[servo];
+    uint16_t val    = position;
+    uint16_t margin = chan->timer->ARR / 50; // Leave 2% of period as margin to prevent overlaps
+    if (val > (chan->timer->ARR - margin)) {
+        val = chan->timer->ARR - margin;
+    }
+
+    uint8_t bank = pios_servo_pin_bank[servo];
+    if (pios_servo_bank_max_pulse[bank] < val) {
+        pios_servo_bank_max_pulse[bank] = val;
+    }
     switch (chan->timer_chan) {
     case TIM_Channel_1:
-        TIM_SetCompare1(chan->timer, position);
+        TIM_SetCompare1(chan->timer, val);
         break;
     case TIM_Channel_2:
-        TIM_SetCompare2(chan->timer, position);
+        TIM_SetCompare2(chan->timer, val);
         break;
     case TIM_Channel_3:
-        TIM_SetCompare3(chan->timer, position);
+        TIM_SetCompare3(chan->timer, val);
         break;
     case TIM_Channel_4:
-        TIM_SetCompare4(chan->timer, position);
+        TIM_SetCompare4(chan->timer, val);
         break;
     }
 }
 
+uint8_t PIOS_Servo_GetPinBank(uint8_t pin)
+{
+    if (pin < servo_cfg->num_channels) {
+        return pios_servo_pin_bank[pin];
+    } else {
+        return 0;
+    }
+}
+
 #endif /* PIOS_INCLUDE_SERVO */

flight/targets/boards/coptercontrol/pios_board.h

@@ -251,6 +251,7 @@ extern uint32_t pios_com_hkosd_id;
 // -------------------------
 #define PIOS_SERVO_UPDATE_HZ         50
 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
+#define PIOS_SERVO_BANKS             6
 
 // --------------------------
 // Timer controller settings

flight/targets/boards/discoveryf4bare/firmware/pios_board.c

@@ -747,11 +747,11 @@ void PIOS_Board_Init(void)
         }
 
         /* Set the radio configuration parameters. */
-        PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, oplinkSettings.ChannelSet, is_coordinator, is_oneway, ppm_mode, ppm_only);
+        PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, is_oneway, ppm_mode, ppm_only);
         PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
 
         /* Set the PPM callback if we should be receiving PPM. */
-        if (ppm_mode) {
+        if (ppm_mode || (ppm_only && !is_coordinator)) {
             PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
         }
 

flight/targets/boards/discoveryf4bare/pios_board.h

@@ -248,6 +248,7 @@ extern uint32_t pios_packet_handler;
 // -------------------------
 #define PIOS_SERVO_UPDATE_HZ         50
 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
+#define PIOS_SERVO_BANKS             6
 
 // --------------------------
 // Timer controller settings

flight/targets/boards/oplinkmini/firmware/Makefile

@@ -48,6 +48,9 @@ ifndef TESTAPP
     SRC += $(OPUAVOBJ)/uavobjectpersistence.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c
 
+    ## Misc library functions
+    SRC += $(FLIGHTLIB)/sha1.c
+
     ## UAVObjects
     SRC += $(OPUAVSYNTHDIR)/oplinkstatus.c
     SRC += $(OPUAVSYNTHDIR)/oplinksettings.c

flight/targets/boards/oplinkmini/firmware/pios_board.c

@@ -438,11 +438,11 @@ void PIOS_Board_Init(void)
         }
 
         // Set the radio configuration parameters.
-        PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, oplinkSettings.ChannelSet, is_coordinator, is_oneway, ppm_mode, ppm_only);
         PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
+        PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, is_oneway, ppm_mode, ppm_only);
 
         /* Set the PPM callback if we should be receiving PPM. */
-        if (ppm_mode) {
+        if (ppm_mode || (ppm_only && !is_coordinator)) {
             PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
         }
 

flight/targets/boards/oplinkmini/pios_board.h

@@ -260,6 +260,7 @@ extern uint32_t pios_ppm_out_id;
 // -------------------------
 #define PIOS_SERVO_UPDATE_HZ         50
 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
+#define PIOS_SERVO_BANKS             6
 
 // --------------------------
 // Timer controller settings

flight/targets/boards/osd/pios_board.h

@@ -247,6 +247,8 @@ extern uint32_t pios_com_telem_usb_id;
 // --------------------------
 #define PIOS_TIM_MAX_DEVS     6
 
+#define PIOS_SERVO_BANKS      6
+
 // -------------------------
 // USB
 // -------------------------

flight/targets/boards/revolution/firmware/Makefile

@@ -91,6 +91,7 @@ ifndef TESTAPP
     SRC += $(FLIGHTLIB)/insgps13state.c
     SRC += $(FLIGHTLIB)/auxmagsupport.c
     SRC += $(FLIGHTLIB)/lednotification.c    
+    SRC += $(FLIGHTLIB)/sha1.c
 
     ## UAVObjects
     include ./UAVObjects.inc

flight/targets/boards/revolution/firmware/pios_board.c

@@ -770,11 +770,11 @@ void PIOS_Board_Init(void)
         }
 
         /* Set the radio configuration parameters. */
-        PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, oplinkSettings.ChannelSet, is_coordinator, is_oneway, ppm_mode, ppm_only);
         PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
+        PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, is_oneway, ppm_mode, ppm_only);
 
         /* Set the PPM callback if we should be receiving PPM. */
-        if (ppm_mode) {
+        if (ppm_mode || (ppm_only && !is_coordinator)) {
             PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
         }
 

flight/targets/boards/revolution/pios_board.h

@@ -268,7 +268,7 @@ extern uint32_t pios_packet_handler;
 // -------------------------
 #define PIOS_SERVO_UPDATE_HZ         50
 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
-
+#define PIOS_SERVO_BANKS             6
 // --------------------------
 // Timer controller settings
 // --------------------------

flight/targets/boards/revoproto/pios_board.h

@@ -225,6 +225,7 @@ extern uint32_t pios_com_hkosd_id;
 // -------------------------
 #define PIOS_SERVO_UPDATE_HZ         50
 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
+#define PIOS_SERVO_BANKS             6
 
 // --------------------------
 // Timer controller settings

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

@@ -1551,6 +1551,17 @@
           <enableVbo>false</enableVbo>
         </data>
       </Revolution>
+      <Blackout_MiniH>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/blackout/BlackoutMiniHQuad.3DS</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Blackout_MiniH>
       <Zagi>
         <configInfo>
           <locked>false</locked>
@@ -2530,7 +2541,7 @@
             <side0>
               <classId>ModelViewGadget</classId>
               <gadget>
-                <activeConfiguration>Test Quad X</activeConfiguration>
+                <activeConfiguration>Blackout_MiniH</activeConfiguration>
               </gadget>
               <type>uavGadget</type>
             </side0>

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp

@@ -100,40 +100,40 @@ void OPMapWidget::SetUavPic(QString UAVPic)
     }
 }
 
-WayPointLine *OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to, QColor color)
+WayPointLine *OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to, QColor color, bool dashed, int width)
 {
     if (!from | !to) {
         return NULL;
     }
-    WayPointLine *ret = new WayPointLine(from, to, map, color);
+    WayPointLine *ret = new WayPointLine(from, to, map, color, dashed, width);
     ret->setOpacity(overlayOpacity);
     return ret;
 }
-WayPointLine *OPMapWidget::WPLineCreate(HomeItem *from, WayPointItem *to, QColor color)
+WayPointLine *OPMapWidget::WPLineCreate(HomeItem *from, WayPointItem *to, QColor color, bool dashed, int width)
 {
     if (!from | !to) {
         return NULL;
     }
-    WayPointLine *ret = new WayPointLine(from, to, map, color);
+    WayPointLine *ret = new WayPointLine(from, to, map, color, dashed, width);
     ret->setOpacity(overlayOpacity);
     return ret;
 }
-WayPointCircle *OPMapWidget::WPCircleCreate(WayPointItem *center, WayPointItem *radius, bool clockwise, QColor color)
+WayPointCircle *OPMapWidget::WPCircleCreate(WayPointItem *center, WayPointItem *radius, bool clockwise, QColor color, bool dashed, int width)
 {
     if (!center | !radius) {
         return NULL;
     }
-    WayPointCircle *ret = new WayPointCircle(center, radius, clockwise, map, color);
+    WayPointCircle *ret = new WayPointCircle(center, radius, clockwise, map, color, dashed, width);
     ret->setOpacity(overlayOpacity);
     return ret;
 }
 
-WayPointCircle *OPMapWidget::WPCircleCreate(HomeItem *center, WayPointItem *radius, bool clockwise, QColor color)
+WayPointCircle *OPMapWidget::WPCircleCreate(HomeItem *center, WayPointItem *radius, bool clockwise, QColor color, bool dashed, int width)
 {
     if (!center | !radius) {
         return NULL;
     }
-    WayPointCircle *ret = new WayPointCircle(center, radius, clockwise, map, color);
+    WayPointCircle *ret = new WayPointCircle(center, radius, clockwise, map, color, dashed, width);
     ret->setOpacity(overlayOpacity);
     return ret;
 }

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.h

@@ -511,10 +511,10 @@ public:
     }
     void SetShowDiagnostics(bool const & value);
     void SetUavPic(QString UAVPic);
-    WayPointLine *WPLineCreate(WayPointItem *from, WayPointItem *to, QColor color);
+    WayPointLine *WPLineCreate(WayPointItem *from, WayPointItem *to, QColor color, bool dashed = false, int width = -1);
-    WayPointLine *WPLineCreate(HomeItem *from, WayPointItem *to, QColor color);
+    WayPointLine *WPLineCreate(HomeItem *from, WayPointItem *to, QColor color, bool dashed = false, int width = -1);
-    WayPointCircle *WPCircleCreate(WayPointItem *center, WayPointItem *radius, bool clockwise, QColor color);
+    WayPointCircle *WPCircleCreate(WayPointItem *center, WayPointItem *radius, bool clockwise, QColor color, bool dashed = false, int width = -1);
-    WayPointCircle *WPCircleCreate(HomeItem *center, WayPointItem *radius, bool clockwise, QColor color);
+    WayPointCircle *WPCircleCreate(HomeItem *center, WayPointItem *radius, bool clockwise, QColor color, bool dashed = false, int width = -1);
     void deleteAllOverlays();
     void WPSetVisibleAll(bool value);
     WayPointItem *magicWPCreate();

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.cpp

@@ -29,8 +29,8 @@
 #include "homeitem.h"
 
 namespace mapcontrol {
-WayPointCircle::WayPointCircle(WayPointItem *center, WayPointItem *radius, bool clockwise, MapGraphicItem *map, QColor color) : QGraphicsEllipseItem(map),
+WayPointCircle::WayPointCircle(WayPointItem *center, WayPointItem *radius, bool clockwise, MapGraphicItem *map, QColor color, bool dashed, int width) : QGraphicsEllipseItem(map),
-    my_center(center), my_radius(radius), my_map(map), myColor(color), myClockWise(clockwise)
+    my_center(center), my_radius(radius), my_map(map), myColor(color), myClockWise(clockwise), dashed(dashed), width(width)
 {
     connect(center, SIGNAL(localPositionChanged(QPointF, WayPointItem *)), this, SLOT(refreshLocations()));
     connect(radius, SIGNAL(localPositionChanged(QPointF, WayPointItem *)), this, SLOT(refreshLocations()));
@@ -40,8 +40,8 @@ WayPointCircle::WayPointCircle(WayPointItem *center, WayPointItem *radius, bool
     connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
 }
 
-WayPointCircle::WayPointCircle(HomeItem *radius, WayPointItem *center, bool clockwise, MapGraphicItem *map, QColor color) : QGraphicsEllipseItem(map),
+WayPointCircle::WayPointCircle(HomeItem *radius, WayPointItem *center, bool clockwise, MapGraphicItem *map, QColor color, bool dashed, int width) : QGraphicsEllipseItem(map),
-    my_center(center), my_radius(radius), my_map(map), myColor(color), myClockWise(clockwise)
+    my_center(center), my_radius(radius), my_map(map), myColor(color), myClockWise(clockwise), dashed(dashed), width(width)
 {
     connect(radius, SIGNAL(homePositionChanged(internals::PointLatLng, float)), this, SLOT(refreshLocations()));
     connect(center, SIGNAL(localPositionChanged(QPointF)), this, SLOT(refreshLocations()));
@@ -67,6 +67,14 @@ void WayPointCircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
     p2 = QPointF(line.p1().x(), line.p1().y() - line.length());
     QPen myPen = pen();
     myPen.setColor(myColor);
+    if (width > 0) {
+        myPen.setWidth(width);
+    }
+    if (dashed) {
+        QVector<qreal> dashes;
+        dashes << 4 << 8;
+        myPen.setDashPattern(dashes);
+    }
     qreal arrowSize = 10;
     painter->setPen(myPen);
     QBrush brush    = painter->brush();

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.h

@@ -40,8 +40,8 @@ class WayPointCircle : public QObject, public QGraphicsEllipseItem {
     Q_OBJECT Q_INTERFACES(QGraphicsItem)
 public:
     enum { Type = UserType + 9 };
-    WayPointCircle(WayPointItem *center, WayPointItem *radius, bool clockwise, MapGraphicItem *map, QColor color = Qt::green);
+    WayPointCircle(WayPointItem *center, WayPointItem *radius, bool clockwise, MapGraphicItem *map, QColor color = Qt::green, bool dashed = false, int width = -1);
-    WayPointCircle(HomeItem *center, WayPointItem *radius, bool clockwise, MapGraphicItem *map, QColor color = Qt::green);
+    WayPointCircle(HomeItem *center, WayPointItem *radius, bool clockwise, MapGraphicItem *map, QColor color = Qt::green, bool dashed = false, int width = -1);
     int type() const;
     void setColor(const QColor &color)
     {
@@ -55,6 +55,8 @@ private:
     QColor myColor;
     bool myClockWise;
     QLineF line;
+    bool dashed;
+    int width;
 protected:
     void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
 public slots:

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointline.cpp

@@ -29,8 +29,8 @@
 #include "homeitem.h"
 
 namespace mapcontrol {
-WayPointLine::WayPointLine(WayPointItem *from, WayPointItem *to, MapGraphicItem *map, QColor color) : QGraphicsLineItem(map),
+WayPointLine::WayPointLine(WayPointItem *from, WayPointItem *to, MapGraphicItem *map, QColor color, bool dashed, int width) : QGraphicsLineItem(map),
-    source(from), destination(to), my_map(map), myColor(color)
+    source(from), destination(to), my_map(map), myColor(color), dashed(dashed), lineWidth(width)
 {
     this->setLine(to->pos().x(), to->pos().y(), from->pos().x(), from->pos().y());
     connect(from, SIGNAL(localPositionChanged(QPointF, WayPointItem *)), this, SLOT(refreshLocations()));
@@ -47,8 +47,8 @@ WayPointLine::WayPointLine(WayPointItem *from, WayPointItem *to, MapGraphicItem
     connect(map, SIGNAL(childSetOpacity(qreal)), this, SLOT(setOpacitySlot(qreal)));
 }
 
-WayPointLine::WayPointLine(HomeItem *from, WayPointItem *to, MapGraphicItem *map, QColor color) : QGraphicsLineItem(map),
+WayPointLine::WayPointLine(HomeItem *from, WayPointItem *to, MapGraphicItem *map, QColor color, bool dashed, int width) : QGraphicsLineItem(map),
-    source(from), destination(to), my_map(map), myColor(color)
+    source(from), destination(to), my_map(map), myColor(color), dashed(dashed), lineWidth(width)
 {
     this->setLine(to->pos().x(), to->pos().y(), from->pos().x(), from->pos().y());
     connect(from, SIGNAL(homePositionChanged(internals::PointLatLng, float)), this, SLOT(refreshLocations()));
@@ -98,12 +98,23 @@ void WayPointLine::paint(QPainter *painter, const QStyleOptionGraphicsItem *opti
     arrowHead.clear();
     arrowHead << line().pointAt(0.5) << arrowP1 << arrowP2;
     painter->drawPolygon(arrowHead);
-    if (myColor == Qt::red) {
+
-        myPen.setWidth(3);
+    if (dashed) {
-    } else if (myColor == Qt::yellow) {
+        QVector<qreal> dashes;
-        myPen.setWidth(2);
+        dashes << 4 << 8;
-    } else if (myColor == Qt::green) {
+        myPen.setDashPattern(dashes);
-        myPen.setWidth(1);
+    }
+
+    if (lineWidth == -1) {
+        if (myColor == Qt::red) {
+            myPen.setWidth(3);
+        } else if (myColor == Qt::yellow) {
+            myPen.setWidth(2);
+        } else if (myColor == Qt::green) {
+            myPen.setWidth(1);
+        }
+    } else {
+        myPen.setWidth(lineWidth);
     }
     painter->setPen(myPen);
     painter->drawLine(line());

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointline.h

@@ -40,8 +40,8 @@ class WayPointLine : public QObject, public QGraphicsLineItem {
     Q_OBJECT Q_INTERFACES(QGraphicsItem)
 public:
     enum { Type = UserType + 8 };
-    WayPointLine(WayPointItem *from, WayPointItem *to, MapGraphicItem *map, QColor color = Qt::green);
+    WayPointLine(WayPointItem *from, WayPointItem *to, MapGraphicItem *map, QColor color = Qt::green, bool dashed = false, int width = -1);
-    WayPointLine(HomeItem *from, WayPointItem *to, MapGraphicItem *map, QColor color = Qt::green);
+    WayPointLine(HomeItem *from, WayPointItem *to, MapGraphicItem *map, QColor color = Qt::green, bool dashed = false, int width = -1);
     int type() const;
     QPainterPath shape() const;
     void setColor(const QColor &color)
@@ -54,6 +54,8 @@ private:
     MapGraphicItem *my_map;
     QPolygonF arrowHead;
     QColor myColor;
+    bool dashed;
+    int lineWidth;
 protected:
     void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
 public slots:

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

@@ -511,7 +511,7 @@ Typical value is 50% for + or X configuration on quads.</string>
      <property name="title">
       <string>Motor output channels</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_7" columnstretch="1,1,0,0,1">
+     <layout class="QGridLayout" name="gridLayout_7" columnstretch="1,1,0,0,1,0,0">
       <property name="leftMargin">
        <number>9</number>
       </property>
@@ -524,61 +524,41 @@ Typical value is 50% for + or X configuration on quads.</string>
       <property name="bottomMargin">
        <number>9</number>
       </property>
-      <item row="0" column="0" rowspan="5">
+      <item row="0" column="6" rowspan="5">
-       <layout class="QFormLayout" name="formLayout_3">
+       <layout class="QGridLayout" name="gridLayout_3">
         <property name="sizeConstraint">
          <enum>QLayout::SetMaximumSize</enum>
         </property>
-        <property name="fieldGrowthPolicy">
+        <property name="leftMargin">
-         <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+         <number>0</number>
         </property>
-        <property name="verticalSpacing">
-         <number>6</number>
-        </property>
-        <item row="0" column="0">
-         <widget class="QLabel" name="MotorOutputLabel1_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>1</string>
-          </property>
-         </widget>
-        </item>
-        <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="1" column="0">
-         <widget class="QLabel" name="label_13">
-          <property name="styleSheet">
-           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, 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="1" column="1">
-         <widget class="QComboBox" name="multiMotorChannelBox2">
+         <widget class="QComboBox" name="rcOutputChannelBox1">
+          <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="toolTip">
-           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+           <string>Select output channel for Accessory0 RcInput</string>
           </property>
          </widget>
         </item>
         <item row="2" column="0">
-         <widget class="QLabel" name="label_14">
+         <widget class="QLabel" name="label_8">
+          <property name="minimumSize">
+           <size>
+            <width>90</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);
@@ -587,19 +567,30 @@ font: bold 12px;
 margin:1px;</string>
           </property>
           <property name="text">
-           <string>3</string>
+           <string>Accessory1</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
           </property>
          </widget>
         </item>
-        <item row="2" column="1">
+        <item row="0" column="1">
-         <widget class="QComboBox" name="multiMotorChannelBox3">
+         <widget class="QLabel" name="label_3">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>120</width>
+            <height>0</height>
+           </size>
+          </property>
           <property name="toolTip">
-           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+           <string>RcOutput channels</string>
           </property>
-         </widget>
-        </item>
-        <item row="3" column="0">
-         <widget class="QLabel" name="label_15">
           <property name="styleSheet">
            <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, 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);
@@ -608,19 +599,204 @@ font: bold 12px;
 margin:1px;</string>
           </property>
           <property name="text">
-           <string>4</string>
+           <string>RC Output</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="0">
+         <widget class="QLabel" name="label_7">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>90</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>Accessory0</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="0">
+         <widget class="QLabel" name="label_2">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>90</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>RC Input</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
           </property>
          </widget>
         </item>
         <item row="3" column="1">
-         <widget class="QComboBox" name="multiMotorChannelBox4">
+         <widget class="QComboBox" name="rcOutputChannelBox3">
+          <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="toolTip">
-           <string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
+           <string>Select output channel for Accessory2 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="1">
+         <widget class="QComboBox" name="rcOutputChannelBox2">
+          <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="toolTip">
+           <string>Select output channel for Accessory1 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="3" column="0">
+         <widget class="QLabel" name="label_9">
+          <property name="minimumSize">
+           <size>
+            <width>90</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>Accessory2</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="2">
+         <widget class="QLabel" name="label_10">
+          <property name="toolTip">
+           <string>RcOutput curve</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;
+font: bold 12px;
+margin:1px;</string>
+          </property>
+          <property name="text">
+           <string>Curve</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="2">
+         <widget class="QComboBox" name="rcOutputCurveBox1">
+          <property name="toolTip">
+           <string>Select output curve for Accessory0 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="2">
+         <widget class="QComboBox" name="rcOutputCurveBox2">
+          <property name="toolTip">
+           <string>Select output curve for Accessory1 RcInput</string>
+          </property>
+         </widget>
+        </item>
+        <item row="3" column="2">
+         <widget class="QComboBox" name="rcOutputCurveBox3">
+          <property name="toolTip">
+           <string>Select output curve for Accessory2 RcInput</string>
           </property>
          </widget>
         </item>
        </layout>
       </item>
+      <item row="0" column="4">
+       <widget class="QLabel" name="label_5">
+        <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="styleSheet">
+         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, 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 Servo channel</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
       <item row="0" column="1" rowspan="5">
        <layout class="QFormLayout" name="formLayout_5">
         <property name="sizeConstraint">
@@ -749,7 +925,143 @@ margin:1px;</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="4">
+      <item row="1" column="4">
+       <widget class="QComboBox" name="triYawChannelBox">
+        <property name="enabled">
+         <bool>true</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>20</height>
+         </size>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0" rowspan="5">
+       <layout class="QFormLayout" name="formLayout_3">
+        <property name="sizeConstraint">
+         <enum>QLayout::SetMaximumSize</enum>
+        </property>
+        <property name="fieldGrowthPolicy">
+         <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+        </property>
+        <property name="verticalSpacing">
+         <number>6</number>
+        </property>
+        <item row="0" column="0">
+         <widget class="QLabel" name="MotorOutputLabel1_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>1</string>
+          </property>
+         </widget>
+        </item>
+        <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="1" column="0">
+         <widget class="QLabel" name="label_13">
+          <property name="styleSheet">
+           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, 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="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="2" column="0">
+         <widget class="QLabel" name="label_14">
+          <property name="styleSheet">
+           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, 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="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="3" column="0">
+         <widget class="QLabel" name="label_15">
+          <property name="styleSheet">
+           <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, 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="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>
+       </layout>
+      </item>
+      <item row="0" column="5" rowspan="5">
+       <widget class="Line" name="line">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="4">
+       <widget class="QCheckBox" name="MultirotorRevMixerCheckBox">
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>20</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>Reverse all motors</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="4">
        <widget class="QLabel" name="label_4">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -778,61 +1090,6 @@ margin:1px;</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="4">
-       <widget class="QComboBox" name="triYawChannelBox">
-        <property name="enabled">
-         <bool>true</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 row="0" column="4">
-       <widget class="QLabel" name="label_5">
-        <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="styleSheet">
-         <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, 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 Servo channel</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="4">
-       <widget class="QCheckBox" name="MultirotorRevMixerCheckBox">
-        <property name="text">
-         <string>Reverse all motors</string>
-        </property>
-       </widget>
-      </item>
      </layout>
     </widget>
    </item>

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp

@@ -110,6 +110,17 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
     if (multi.TRIYaw > 0 && multi.TRIYaw <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
         channelDesc[multi.TRIYaw - 1] = QString("Tri-Yaw");
     }
+
+    if (multi.Accessory0 > 0 && multi.Accessory0 <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
+        channelDesc[multi.Accessory0 - 1] = QString("Accessory0");
+    }
+    if (multi.Accessory1 > 0 && multi.Accessory1 <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
+        channelDesc[multi.Accessory1 - 1] = QString("Accessory1");
+    }
+    if (multi.Accessory2 > 0 && multi.Accessory2 <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
+        channelDesc[multi.Accessory2 - 1] = QString("Accessory2");
+    }
+
     return channelDesc;
 }
 
@@ -120,6 +131,12 @@ ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
 
     populateChannelComboBoxes();
 
+    QStringList mixerCurveList;
+    mixerCurveList << "Curve1" << "Curve2";
+    m_aircraft->rcOutputCurveBox1->addItems(mixerCurveList);
+    m_aircraft->rcOutputCurveBox2->addItems(mixerCurveList);
+    m_aircraft->rcOutputCurveBox3->addItems(mixerCurveList);
+
     // Setup the Multirotor picture in the Quad settings interface
     m_aircraft->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     m_aircraft->quadShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
@@ -151,6 +168,7 @@ ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
 
     m_aircraft->multiThrottleCurve->setXAxisLabel(tr("Input"));
     m_aircraft->multiThrottleCurve->setYAxisLabel(tr("Output"));
+
     updateEnableControls();
 }
 
@@ -319,6 +337,12 @@ void ConfigMultiRotorWidget::registerWidgets(ConfigTaskWidget &parent)
     parent.addWidget(m_aircraft->mrYawMixLevel);
     parent.addWidget(m_aircraft->triYawChannelBox);
     parent.addWidget(m_aircraft->MultirotorRevMixerCheckBox);
+    parent.addWidget(m_aircraft->rcOutputChannelBox1);
+    parent.addWidget(m_aircraft->rcOutputChannelBox2);
+    parent.addWidget(m_aircraft->rcOutputChannelBox3);
+    parent.addWidget(m_aircraft->rcOutputCurveBox1);
+    parent.addWidget(m_aircraft->rcOutputCurveBox2);
+    parent.addWidget(m_aircraft->rcOutputCurveBox3);
 }
 
 void ConfigMultiRotorWidget::resetActuators(GUIConfigDataUnion *configData)
@@ -342,6 +366,46 @@ void ConfigMultiRotorWidget::resetActuators(GUIConfigDataUnion *configData)
     configData->multi.VTOLMotorNNW = 0;
 }
 
+void ConfigMultiRotorWidget::resetRcOutputs(GUIConfigDataUnion *configData)
+{
+    configData->multi.Accessory0 = 0;
+    configData->multi.Accessory1 = 0;
+    configData->multi.Accessory2 = 0;
+}
+
+void ConfigMultiRotorWidget::resetMixers()
+{
+    UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
+
+    Q_ASSERT(mixer);
+
+    for (int channel = 0; channel < (int)ConfigMultiRotorWidget::CHANNEL_NUMELEM; channel++) {
+        resetMixerVector(mixer, channel);
+    }
+}
+
+void ConfigMultiRotorWidget::updateRcCurvesUsed()
+{
+    UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
+
+    Q_ASSERT(mixer);
+
+    setComboCurrentIndex(m_aircraft->rcOutputCurveBox1, VehicleConfig::MIXER_THROTTLECURVE1);
+    setComboCurrentIndex(m_aircraft->rcOutputCurveBox2, VehicleConfig::MIXER_THROTTLECURVE1);
+    setComboCurrentIndex(m_aircraft->rcOutputCurveBox3, VehicleConfig::MIXER_THROTTLECURVE1);
+
+    for (int channel = 0; channel < (int)ConfigMultiRotorWidget::CHANNEL_NUMELEM; channel++) {
+        QString mixerType = getMixerType(mixer, channel);
+        if (mixerType == "Accessory0" && getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2)) {
+            setComboCurrentIndex(m_aircraft->rcOutputCurveBox1, VehicleConfig::MIXER_THROTTLECURVE2);
+        } else if (mixerType == "Accessory1" && getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2)) {
+            setComboCurrentIndex(m_aircraft->rcOutputCurveBox2, VehicleConfig::MIXER_THROTTLECURVE2);
+        } else if (mixerType == "Accessory2" && getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2)) {
+            setComboCurrentIndex(m_aircraft->rcOutputCurveBox3, VehicleConfig::MIXER_THROTTLECURVE2);
+        }
+    }
+}
+
 /**
    Helper function to refresh the UI widget values
  */
@@ -457,6 +521,12 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
         setComboCurrentIndex(m_aircraft->triYawChannelBox, multi.TRIYaw);
     }
 
+    setComboCurrentIndex(m_aircraft->rcOutputChannelBox1, multi.Accessory0);
+    setComboCurrentIndex(m_aircraft->rcOutputChannelBox2, multi.Accessory1);
+    setComboCurrentIndex(m_aircraft->rcOutputChannelBox3, multi.Accessory2);
+
+    updateRcCurvesUsed();
+
     // Now, read mixing values stored on board and applies values on sliders.
     m_aircraft->mrPitchMixLevel->setValue(getMixerValue(mixer, "MixerValuePitch"));
     m_aircraft->mrRollMixLevel->setValue(getMixerValue(mixer, "MixerValueRoll"));
@@ -476,6 +546,13 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
 
     Q_ASSERT(mixer);
 
+    // Reset all Mixers
+    resetMixers();
+
+    QList<QString> rcOutputList;
+    rcOutputList << "Accessory0" << "Accessory1" << "Accessory2";
+    setupRcOutputs(rcOutputList);
+
     // Curve is also common to all quads:
     setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve());
 
@@ -731,7 +808,6 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
 
         m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
     }
-
     return airframeType;
 }
 
@@ -816,6 +892,62 @@ void ConfigMultiRotorWidget::setupQuadMotor(int channel, double pitch, double ro
     setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, yaw * 127);
 }
 
+/**
+   Helper function: setup rc outputs. Takes a list of channel names in input.
+ */
+void ConfigMultiRotorWidget::setupRcOutputs(QList<QString> rcOutputList)
+{
+    QList<QComboBox *> rcList;
+    rcList << m_aircraft->rcOutputChannelBox1 << m_aircraft->rcOutputChannelBox2 << m_aircraft->rcOutputChannelBox3;
+
+    GUIConfigDataUnion configData = getConfigData();
+    resetRcOutputs(&configData);
+
+    UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
+    Q_ASSERT(mixer);
+
+    int curveAccessory0  = m_aircraft->rcOutputCurveBox1->currentIndex();
+    int curveAccessory1  = m_aircraft->rcOutputCurveBox2->currentIndex();
+    int curveAccessory2  = m_aircraft->rcOutputCurveBox3->currentIndex();
+
+    foreach(QString rc_output, rcOutputList) {
+        int index = rcList.takeFirst()->currentIndex();
+
+        if (rc_output == QString("Accessory0")) {
+            configData.multi.Accessory0 = index;
+            if (index) {
+                setMixerType(mixer, index - 1, VehicleConfig::MIXERTYPE_ACCESSORY0);
+                if (curveAccessory0) {
+                    setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
+                } else {
+                    setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
+                }
+            }
+        } else if (rc_output == QString("Accessory1")) {
+            configData.multi.Accessory1 = index;
+            if (index) {
+                setMixerType(mixer, index - 1, VehicleConfig::MIXERTYPE_ACCESSORY1);
+                if (curveAccessory1) {
+                    setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
+                } else {
+                    setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
+                }
+            }
+        } else if (rc_output == QString("Accessory2")) {
+            configData.multi.Accessory2 = index;
+            if (index) {
+                setMixerType(mixer, index - 1, VehicleConfig::MIXERTYPE_ACCESSORY2);
+                if (curveAccessory2) {
+                    setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
+                } else {
+                    setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
+                }
+            }
+        }
+    }
+    setConfigData(configData);
+}
+
 /**
    Helper function: setup motors. Takes a list of channel names in input.
  */
@@ -1052,10 +1184,11 @@ bool ConfigMultiRotorWidget::throwConfigError(int numMotors)
 {
     // Initialize configuration error flag
     bool error = false;
+    QString channelNames = "";
 
     // Iterate through all instances of multiMotorChannelBox
     for (int i = 0; i < numMotors; i++) {
-        // Fine widgets with text "multiMotorChannelBox.x", where x is an integer
+        // Find widgets with his name "multiMotorChannelBox.x", where x is an integer
         QComboBox *combobox = this->findChild<QComboBox *>("multiMotorChannelBox" + QString::number(i + 1));
         if (combobox) {
             if (combobox->currentText() == "None") {
@@ -1064,9 +1197,40 @@ bool ConfigMultiRotorWidget::throwConfigError(int numMotors)
                 pixmap.fill(QColor("red"));
                 combobox->setItemData(0, pixmap, Qt::DecorationRole); // Set color palettes
                 error = true;
+            } else if (channelNames.contains(combobox->currentText(), Qt::CaseInsensitive)) {
+                int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);
+                QPixmap pixmap(size, size);
+                pixmap.fill(QColor("orange"));
+                combobox->setItemData(combobox->currentIndex(), pixmap, Qt::DecorationRole); // Set color palettes
+                combobox->setToolTip(tr("Duplicate channel in motor outputs"));
             } else {
-                combobox->setItemData(0, 0, Qt::DecorationRole); // Reset color palettes
+                for (int index = 0; index < (int)ConfigMultiRotorWidget::CHANNEL_NUMELEM; index++) {
+                    combobox->setItemData(index, 0, Qt::DecorationRole); // Reset all color palettes
+                    combobox->setToolTip("");
+                }
             }
+            channelNames += (combobox->currentText() == "None") ? "" : combobox->currentText();
+        }
+    }
+
+    // Iterate through all instances of rcOutputChannelBox
+    for (int i = 0; i < 3; i++) {
+        // Find widgets with his name "rcOutputChannelBox.x", where x is an integer
+        QComboBox *combobox = this->findChild<QComboBox *>("rcOutputChannelBox" + QString::number(i + 1));
+        if (combobox) {
+            if (channelNames.contains(combobox->currentText(), Qt::CaseInsensitive)) {
+                int size = combobox->style()->pixelMetric(QStyle::PM_SmallIconSize);
+                QPixmap pixmap(size, size);
+                pixmap.fill(QColor("orange"));
+                combobox->setItemData(combobox->currentIndex(), pixmap, Qt::DecorationRole); // Set color palettes
+                combobox->setToolTip(tr("Channel already used"));
+            } else {
+                for (int index = 0; index < (int)ConfigMultiRotorWidget::CHANNEL_NUMELEM; index++) {
+                    combobox->setItemData(index, 0, Qt::DecorationRole); // Reset all color palettes
+                    combobox->setToolTip(tr("Select output channel for Accessory%1 RcInput").arg(i));
+                }
+            }
+            channelNames += (combobox->currentText() == "None") ? "" : combobox->currentText();
         }
     }
 

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h

@@ -65,16 +65,19 @@ private:
 
     virtual void registerWidgets(ConfigTaskWidget &parent);
     virtual void resetActuators(GUIConfigDataUnion *configData);
+    virtual void resetRcOutputs(GUIConfigDataUnion *configData);
 
     bool setupQuad(bool pLayout);
     bool setupHexa(bool pLayout);
     bool setupOcto();
     bool setupMultiRotorMixer(double mixerFactors[8][3]);
     void setupMotors(QList<QString> motorList);
+    void setupRcOutputs(QList<QString> rcOutputList);
+    void resetMixers();
     void setupQuadMotor(int channel, double roll, double pitch, double yaw);
 
     void setYawMixLevel(int);
-
+    void updateRcCurvesUsed();
     void updateAirframe(QString multiRotorType);
     void setupEnabledControls(QString multiRotorType);
 

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h

@@ -52,7 +52,10 @@ typedef struct {
     uint    VTOLMotorWNW : 4;
     uint    VTOLMotorNNW : 4; // 64 bits
     uint    TRIYaw : 4;
-    quint32 padding : 28; // 96 bits
+    uint    Accessory0 : 4;
+    uint    Accessory1 : 4;
+    uint    Accessory2 : 4;
+    quint32 padding : 16; // 96 bits
     quint32 padding1; // 128 bits
 } __attribute__((packed))  multiGUISettingsStruct;
 

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

@@ -23,7 +23,6 @@ HEADERS += \
     configvehicletypewidget.h \
     config_cc_hw_widget.h \
     configccattitudewidget.h \
-    configpipxtremewidget.h \
     configstabilizationwidget.h \
     assertions.h \
     defaultattitudewidget.h \
@@ -57,7 +56,8 @@ HEADERS += \
     calibration/sixpointcalibrationmodel.h \
     calibration/levelcalibrationmodel.h \
     calibration/gyrobiascalibrationmodel.h \
-    calibration/calibrationuiutils.h
+    calibration/calibrationuiutils.h \
+    configoplinkwidget.h
 
 SOURCES += \
     configplugin.cpp \
@@ -71,7 +71,6 @@ SOURCES += \
     config_cc_hw_widget.cpp \
     configccattitudewidget.cpp \
     configstabilizationwidget.cpp \
-    configpipxtremewidget.cpp \
     defaultattitudewidget.cpp \
     defaulthwsettingswidget.cpp \
     channelform.cpp \
@@ -97,7 +96,8 @@ SOURCES += \
     calibration/thermal/thermalcalibrationmodel.cpp \
     calibration/sixpointcalibrationmodel.cpp \
     calibration/levelcalibrationmodel.cpp \
-    calibration/gyrobiascalibrationmodel.cpp
+    calibration/gyrobiascalibrationmodel.cpp \
+    configoplinkwidget.cpp
 
 FORMS += \
     airframe.ui \
@@ -118,8 +118,8 @@ FORMS += \
     outputchannelform.ui \
     revosensors.ui \
     txpid.ui \
-    pipxtreme.ui \
     mixercurve.ui \
-    configrevohwwidget.ui
+    configrevohwwidget.ui \
+    oplink.ui
 
 RESOURCES += configgadget.qrc

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

@@ -36,7 +36,7 @@
 #include "configtxpidwidget.h"
 #include "configrevohwwidget.h"
 #include "config_cc_hw_widget.h"
-#include "configpipxtremewidget.h"
+#include "configoplinkwidget.h"
 #include "configrevowidget.h"
 #include "defaultattitudewidget.h"
 #include "defaulthwsettingswidget.h"
@@ -240,7 +240,7 @@ void ConfigGadgetWidget::updateOPLinkStatus(UAVObject *)
         icon->addFile(":/configgadget/images/pipx-normal.png", QSize(), QIcon::Normal, QIcon::Off);
         icon->addFile(":/configgadget/images/pipx-selected.png", QSize(), QIcon::Selected, QIcon::Off);
 
-        QWidget *qwd = new ConfigPipXtremeWidget(this);
+        QWidget *qwd = new ConfigOPLinkWidget(this);
         stackWidget->insertTab(ConfigGadgetWidget::oplink, qwd, *icon, QString("OPLink"));
         oplinkConnected = true;
     }

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

@@ -544,22 +544,9 @@ void ConfigInputWidget::wzNext()
         // Load actuator settings back from beginning of wizard
         actuatorSettingsObj->setData(previousActuatorSettingsData);
 
-        // Leave setting the throttle neutral until the final Next press,
+        // Force flight mode neutral to middle and Throttle neutral at 4%
-        // else the throttle scaling causes the graphical stick movement to not
+        adjustSpecialNeutrals();
-        // match the tx stick
+
-        manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE] =
-            manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE] +
-            ((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE] -
-              manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]) * 0.04);
-        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);
         // move to Arming Settings tab
         ui->stackedWidget->setCurrentIndex(0);
@@ -1595,7 +1582,7 @@ void ConfigInputWidget::updateCalibration()
             (reverse[i] && manualSettingsData.ChannelMax[i] > manualCommandData.Channel[i])) {
             manualSettingsData.ChannelMax[i] = manualCommandData.Channel[i];
         }
-        if (i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE || i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE) {
+        if ((i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE) || (i == ManualControlSettings::CHANNELNUMBER_THROTTLE)) {
             adjustSpecialNeutrals();
         } else {
             manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
@@ -1659,7 +1646,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
         restoreMdataSingle(manualCommandObj, &manualControlMdata);
 
         for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
-            if (i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE || i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE) {
+            if ((i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE) || (i == ManualControlSettings::CHANNELNUMBER_THROTTLE)) {
                 adjustSpecialNeutrals();
             } else {
                 manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
@@ -1680,9 +1667,9 @@ void ConfigInputWidget::adjustSpecialNeutrals()
     // FlightMode and Throttle need special neutral settings
     //
     // Force flight mode neutral to middle
-    manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] =
+    manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE] =
-        (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE] +
+        (manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE] +
-         manualSettingsData.ChannelMin[ManualControlSettings::CHANNELNUMBER_FLIGHTMODE]) / 2;
+         manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]) / 2;
 
     // Force throttle to be near min, add 4% from total range to avoid arming issues
     manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE] =

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

@@ -25,7 +25,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "configpipxtremewidget.h"
+#include "configoplinkwidget.h"
 
 #include <coreplugin/generalsettings.h>
 #include <oplinksettings.h>
@@ -38,7 +38,7 @@ static const int MIN_CHANNEL_RANGE = 10;
 static const float FIRST_FREQUENCY = 430.000;
 static const float FREQUENCY_STEP  = 0.040;
 
-ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget(parent)
+ConfigOPLinkWidget::ConfigOPLinkWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
     m_oplink = new Ui_OPLinkWidget();
     m_oplink->setupUi(this);
@@ -67,7 +67,6 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
     addWidgetBinding("OPLinkSettings", "MaxRFPower", m_oplink->MaxRFTxPower);
     addWidgetBinding("OPLinkSettings", "MinChannel", m_oplink->MinimumChannel);
     addWidgetBinding("OPLinkSettings", "MaxChannel", m_oplink->MaximumChannel);
-    addWidgetBinding("OPLinkSettings", "ChannelSet", m_oplink->ChannelSet);
     addWidgetBinding("OPLinkSettings", "CoordID", m_oplink->CoordID);
     addWidgetBinding("OPLinkSettings", "Coordinator", m_oplink->Coordinator);
     addWidgetBinding("OPLinkSettings", "OneWay", m_oplink->OneWayLink);
@@ -83,7 +82,6 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
     addWidgetBinding("OPLinkStatus", "RxFailure", m_oplink->RxFailure);
     addWidgetBinding("OPLinkStatus", "UAVTalkErrors", m_oplink->UAVTalkErrors);
     addWidgetBinding("OPLinkStatus", "TxDropped", m_oplink->Dropped);
-    addWidgetBinding("OPLinkStatus", "TxResent", m_oplink->Resent);
     addWidgetBinding("OPLinkStatus", "TxFailure", m_oplink->TxFailure);
     addWidgetBinding("OPLinkStatus", "Resets", m_oplink->Resets);
     addWidgetBinding("OPLinkStatus", "Timeouts", m_oplink->Timeouts);
@@ -119,13 +117,13 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
     updateEnableControls();
 }
 
-ConfigPipXtremeWidget::~ConfigPipXtremeWidget()
+ConfigOPLinkWidget::~ConfigOPLinkWidget()
 {}
 
 /*!
    \brief Called by updates to @OPLinkStatus
  */
-void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
+void ConfigOPLinkWidget::updateStatus(UAVObject *object)
 {
     // Request and update of the setting object if we haven't received it yet.
     if (!settingsUpdated) {
@@ -233,7 +231,7 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
 /*!
    \brief Called by updates to @OPLinkSettings
  */
-void ConfigPipXtremeWidget::updateSettings(UAVObject *object)
+void ConfigOPLinkWidget::updateSettings(UAVObject *object)
 {
     Q_UNUSED(object);
 
@@ -284,20 +282,20 @@ void ConfigPipXtremeWidget::updateSettings(UAVObject *object)
     }
 }
 
-void ConfigPipXtremeWidget::updateEnableControls()
+void ConfigOPLinkWidget::updateEnableControls()
 {
     enableControls(true);
     ppmOnlyChanged();
 }
 
-void ConfigPipXtremeWidget::disconnected()
+void ConfigOPLinkWidget::disconnected()
 {
     if (settingsUpdated) {
         settingsUpdated = false;
     }
 }
 
-void ConfigPipXtremeWidget::bind()
+void ConfigOPLinkWidget::bind()
 {
     QPushButton *bindButton = qobject_cast<QPushButton *>(sender());
 
@@ -323,7 +321,7 @@ void ConfigPipXtremeWidget::bind()
     }
 }
 
-void ConfigPipXtremeWidget::ppmOnlyChanged()
+void ConfigOPLinkWidget::ppmOnlyChanged()
 {
     bool is_ppm_only = m_oplink->PPMOnly->isChecked();
 
@@ -332,17 +330,17 @@ void ConfigPipXtremeWidget::ppmOnlyChanged()
     m_oplink->ComSpeed->setEnabled(!is_ppm_only);
 }
 
-void ConfigPipXtremeWidget::minChannelChanged()
+void ConfigOPLinkWidget::minChannelChanged()
 {
     channelChanged(false);
 }
 
-void ConfigPipXtremeWidget::maxChannelChanged()
+void ConfigOPLinkWidget::maxChannelChanged()
 {
     channelChanged(true);
 }
 
-void ConfigPipXtremeWidget::channelChanged(bool isMax)
+void ConfigOPLinkWidget::channelChanged(bool isMax)
 {
     int minChannel = m_oplink->MinimumChannel->value();
     int maxChannel = m_oplink->MaximumChannel->value();

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

@@ -29,15 +29,15 @@
 
 #include <oplinksettings.h>
 
-#include "ui_pipxtreme.h"
+#include "ui_oplink.h"
 #include "configtaskwidget.h"
 
-class ConfigPipXtremeWidget : public ConfigTaskWidget {
+class ConfigOPLinkWidget : public ConfigTaskWidget {
     Q_OBJECT
 
 public:
-    ConfigPipXtremeWidget(QWidget *parent = 0);
+    ConfigOPLinkWidget(QWidget *parent = 0);
-    ~ConfigPipXtremeWidget();
+    ~ConfigOPLinkWidget();
 
 public slots:
     void updateStatus(UAVObject *object1);

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

@@ -98,9 +98,18 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
     addWidget(ui->cb_outputRate1);
     addWidget(ui->spinningArmed);
 
+    addWidgetBinding("ActuatorSettings", "BankMode", ui->cb_outputMode1, 0, 0, true);
+    addWidgetBinding("ActuatorSettings", "BankMode", ui->cb_outputMode2, 1, 0, true);
+    addWidgetBinding("ActuatorSettings", "BankMode", ui->cb_outputMode3, 2, 0, true);
+    addWidgetBinding("ActuatorSettings", "BankMode", ui->cb_outputMode4, 3, 0, true);
+    addWidgetBinding("ActuatorSettings", "BankMode", ui->cb_outputMode5, 4, 0, true);
+    addWidgetBinding("ActuatorSettings", "BankMode", ui->cb_outputMode6, 5, 0, true);
+
     disconnect(this, SLOT(refreshWidgetsValues(UAVObject *)));
 
+    populateWidgets();
     refreshWidgetsValues();
+
     updateEnableControls();
 }
 
@@ -240,6 +249,17 @@ void ConfigOutputWidget::sendChannelTest(int index, int value)
     actuatorCommand->setData(actuatorCommandFields);
 }
 
+void ConfigOutputWidget::setColor(QWidget *widget, const QColor color)
+{
+    QPalette p(palette());
+
+    p.setColor(QPalette::Background, color);
+    p.setColor(QPalette::Base, color);
+    p.setColor(QPalette::Active, QPalette::Button, color);
+    p.setColor(QPalette::Inactive, QPalette::Button, color);
+    widget->setAutoFillBackground(true);
+    widget->setPalette(p);
+}
 
 /********************************
  *  Output settings
@@ -250,22 +270,33 @@ void ConfigOutputWidget::sendChannelTest(int index, int value)
  */
 void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
 {
-    Q_UNUSED(obj);
-
     bool dirty = isDirty();
 
+    ConfigTaskWidget::refreshWidgetsValues(obj);
+
     // Get Actuator Settings
     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
+
     Q_ASSERT(actuatorSettings);
     ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 
     // Get channel descriptions
-    QStringList ChannelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
+    QStringList channelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
+
+    QList<int> channelBanks;
+    QList<QColor> bankColors;
+    bankColors
+        << QColor("#C6ECAE")
+        << QColor("#91E5D3")
+        << QColor("#FCEC52")
+        << QColor("#C3A8FF")
+        << QColor("#F7F7F2")
+        << QColor("#FF9F51");
 
     // Initialize output forms
     QList<OutputChannelForm *> outputChannelForms = findChildren<OutputChannelForm *>();
     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
-        outputChannelForm->setName(ChannelDesc[outputChannelForm->index()]);
+        outputChannelForm->setName(channelDesc[outputChannelForm->index()]);
 
         // init min,max,neutral
         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
@@ -279,89 +310,78 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
     // Get the SpinWhileArmed setting
     ui->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
 
-    // Setup output rates for all banks
+    QList<QLabel *> bank;
-    if (ui->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0])) == -1) {
+    bank << ui->chBank1 << ui->chBank2 << ui->chBank3 << ui->chBank4 << ui->chBank5 << ui->chBank6;
-        ui->cb_outputRate1->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[0]));
-    }
-    if (ui->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1])) == -1) {
-        ui->cb_outputRate2->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[1]));
-    }
-    if (ui->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2])) == -1) {
-        ui->cb_outputRate3->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]));
-    }
-    if (ui->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])) == -1) {
-        ui->cb_outputRate4->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]));
-    }
-    if (ui->cb_outputRate5->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[4])) == -1) {
-        ui->cb_outputRate5->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[4]));
-    }
-    if (ui->cb_outputRate6->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[5])) == -1) {
-        ui->cb_outputRate6->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[5]));
-    }
-    ui->cb_outputRate1->setCurrentIndex(ui->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0])));
-    ui->cb_outputRate2->setCurrentIndex(ui->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1])));
-    ui->cb_outputRate3->setCurrentIndex(ui->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2])));
-    ui->cb_outputRate4->setCurrentIndex(ui->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])));
-    ui->cb_outputRate5->setCurrentIndex(ui->cb_outputRate5->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[4])));
-    ui->cb_outputRate6->setCurrentIndex(ui->cb_outputRate6->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[5])));
 
-    // Reset to all disabled
+    QList<QComboBox *> outputRateCombos;
-    ui->chBank1->setText("-");
+    outputRateCombos << ui->cb_outputRate1 << ui->cb_outputRate2 << ui->cb_outputRate3 <<
-    ui->chBank2->setText("-");
+        ui->cb_outputRate4 << ui->cb_outputRate5 << ui->cb_outputRate6;
-    ui->chBank3->setText("-");
+
-    ui->chBank4->setText("-");
+    QList<QComboBox *> outputModeCombos;
-    ui->chBank5->setText("-");
+    outputModeCombos << ui->cb_outputMode1 << ui->cb_outputMode2 << ui->cb_outputMode3 <<
-    ui->chBank6->setText("-");
+        ui->cb_outputMode4 << ui->cb_outputMode5 << ui->cb_outputMode6;
-    ui->cb_outputRate1->setEnabled(false);
+
-    ui->cb_outputRate2->setEnabled(false);
+    Q_ASSERT(outputModeCombos.count() == outputRateCombos.count());
-    ui->cb_outputRate3->setEnabled(false);
+    Q_ASSERT(outputRateCombos.count() == bank.count());
-    ui->cb_outputRate4->setEnabled(false);
+
-    ui->cb_outputRate5->setEnabled(false);
+    for (int i = 0; i < outputModeCombos.count(); i++) {
-    ui->cb_outputRate6->setEnabled(false);
+        // Setup output rates for all banks
+        if (outputRateCombos.at(i)->findText(QString::number(actuatorSettingsData.BankUpdateFreq[i])) == -1) {
+            outputRateCombos.at(i)->addItem(QString::number(actuatorSettingsData.BankUpdateFreq[i]));
+        }
+        outputRateCombos.at(i)->setCurrentIndex(outputRateCombos.at(i)->findText(QString::number(actuatorSettingsData.BankUpdateFreq[i])));
+
+        // Reset to all disabled
+        bank.at(i)->setText("-");
+
+        outputRateCombos.at(i)->setEnabled(false);
+        setColor(outputRateCombos.at(i), palette().color(QPalette::Background));
+
+        outputModeCombos.at(i)->setEnabled(false);
+        setColor(outputModeCombos.at(i), palette().color(QPalette::Background));
+    }
 
     // Get connected board model
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     Q_ASSERT(pm);
     UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
     Q_ASSERT(utilMngr);
+    QStringList bankLabels;
 
     if (utilMngr) {
         int board = utilMngr->getBoardModel();
         // Setup labels and combos for banks according to board type
         if ((board & 0xff00) == 0x0400) {
             // Coptercontrol family of boards 4 timer banks
-            ui->chBank1->setText("1-3");
+            bankLabels << "1 (1-3)" << "2 (4)" << "3 (5,7-8)" << "4 (6,9-10)";
-            ui->chBank2->setText("4");
+            channelBanks << 1 << 1 << 1 << 2 << 3 << 4 << 3 << 3 << 4 << 4;
-            ui->chBank3->setText("5,7-8");
-            ui->chBank4->setText("6,9-10");
-            ui->cb_outputRate1->setEnabled(true);
-            ui->cb_outputRate2->setEnabled(true);
-            ui->cb_outputRate3->setEnabled(true);
-            ui->cb_outputRate4->setEnabled(true);
         } else if ((board & 0xff00) == 0x0900) {
             // Revolution family of boards 6 timer banks
-            ui->chBank1->setText("1-2");
+            bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7-8)" << "6 (9-10)";
-            ui->chBank2->setText("3");
+            channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 5 << 6 << 6;
-            ui->chBank3->setText("4");
-            ui->chBank4->setText("5-6");
-            ui->chBank5->setText("7-8");
-            ui->chBank6->setText("9-10");
-            ui->cb_outputRate1->setEnabled(true);
-            ui->cb_outputRate2->setEnabled(true);
-            ui->cb_outputRate3->setEnabled(true);
-            ui->cb_outputRate4->setEnabled(true);
-            ui->cb_outputRate5->setEnabled(true);
-            ui->cb_outputRate6->setEnabled(true);
         }
     }
 
+    int i = 0;
+    foreach(QString banklabel, bankLabels) {
+        bank[i]->setText(banklabel);
+        outputRateCombos[i]->setEnabled(true);
+        setColor(outputRateCombos[i], bankColors[i]);
+        outputModeCombos[i]->setEnabled(true);
+        setColor(outputModeCombos[i], bankColors[i]);
+        i++;
+    }
     // Get Channel ranges:
+    i = 0;
     foreach(OutputChannelForm * outputChannelForm, outputChannelForms) {
         int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
         int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
 
         outputChannelForm->setRange(minValue, maxValue);
-
+        if (channelBanks.count() > i) {
+            outputChannelForm->setBank(QString("%1").arg(channelBanks.at(i)));
+            outputChannelForm->setColor(bankColors[channelBanks.at(i++) - 1]);
+        }
         int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
         outputChannelForm->setNeutral(neutral);
     }
@@ -374,7 +394,7 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
  */
 void ConfigOutputWidget::updateObjectsFromWidgets()
 {
-    emit updateObjectsFromWidgetsRequested();
+    ConfigTaskWidget::updateObjectsFromWidgets();
 
     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
 
@@ -391,12 +411,12 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
         }
 
         // Set update rates
-        actuatorSettingsData.ChannelUpdateFreq[0] = ui->cb_outputRate1->currentText().toUInt();
+        actuatorSettingsData.BankUpdateFreq[0]    = ui->cb_outputRate1->currentText().toUInt();
-        actuatorSettingsData.ChannelUpdateFreq[1] = ui->cb_outputRate2->currentText().toUInt();
+        actuatorSettingsData.BankUpdateFreq[1]    = ui->cb_outputRate2->currentText().toUInt();
-        actuatorSettingsData.ChannelUpdateFreq[2] = ui->cb_outputRate3->currentText().toUInt();
+        actuatorSettingsData.BankUpdateFreq[2]    = ui->cb_outputRate3->currentText().toUInt();
-        actuatorSettingsData.ChannelUpdateFreq[3] = ui->cb_outputRate4->currentText().toUInt();
+        actuatorSettingsData.BankUpdateFreq[3]    = ui->cb_outputRate4->currentText().toUInt();
-        actuatorSettingsData.ChannelUpdateFreq[4] = ui->cb_outputRate5->currentText().toUInt();
+        actuatorSettingsData.BankUpdateFreq[4]    = ui->cb_outputRate5->currentText().toUInt();
-        actuatorSettingsData.ChannelUpdateFreq[5] = ui->cb_outputRate6->currentText().toUInt();
+        actuatorSettingsData.BankUpdateFreq[5]    = ui->cb_outputRate6->currentText().toUInt();
 
         actuatorSettingsData.MotorsSpinWhileArmed = ui->spinningArmed->isChecked() ?
                                                     ActuatorSettings::MOTORSSPINWHILEARMED_TRUE :

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

@@ -59,6 +59,8 @@ private:
 
     void assignOutputChannel(UAVDataObject *obj, QString &str);
 
+    void setColor(QWidget *widget, const QColor color);
+
     OutputChannelForm *getOutputChannelForm(const int index) const;
 
     void sendAllChannelTests();

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

@@ -94,6 +94,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
     case SystemSettings::AIRFRAMETYPE_HEXAX:
     case SystemSettings::AIRFRAMETYPE_HEXACOAX:
     case SystemSettings::AIRFRAMETYPE_HEXA:
+    case SystemSettings::AIRFRAMETYPE_HEXAH:
         // multirotor
         channelDesc = ConfigMultiRotorWidget::getChannelDescriptions();
         break;

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

@@ -49,8 +49,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>949</width>
+            <width>812</width>
-            <height>558</height>
+            <height>566</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_5">
@@ -312,44 +312,6 @@
                 </property>
                </widget>
               </item>
-              <item row="9" column="0">
-               <widget class="QLabel" name="ChannelSetLabel">
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Channel Set</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="9" column="1">
-               <widget class="QSpinBox" name="ChannelSet">
-                <property name="maximumSize">
-                 <size>
-                  <width>60</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="toolTip">
-                 <string>Sets the random sequence of channels to use for frequency hopping.</string>
-                </property>
-                <property name="maximum">
-                 <number>250</number>
-                </property>
-               </widget>
-              </item>
               <item row="10" column="0" colspan="2">
                <widget class="QCheckBox" name="Coordinator">
                 <property name="font">
@@ -911,6 +873,374 @@
                 </property>
                </widget>
               </item>
+              <item row="3" column="0">
+               <widget class="QLabel" name="CorrectedLabel">
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>RX Corrected</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="4">
+               <widget class="QLabel" name="RXSeqLabel">
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>RX Seq. No.</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="7">
+               <widget class="QLineEdit" name="TXRate">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>101</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="frame">
+                 <bool>false</bool>
+                </property>
+                <property name="readOnly">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="6">
+               <widget class="QLabel" name="RXRateLabel">
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>RX Rate (B/s)</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="5">
+               <widget class="QLineEdit" name="RXSeq">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>101</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="frame">
+                 <bool>false</bool>
+                </property>
+                <property name="readOnly">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="7">
+               <widget class="QLineEdit" name="RXRate">
+                <property name="maximumSize">
+                 <size>
+                  <width>101</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="frame">
+                 <bool>false</bool>
+                </property>
+                <property name="readOnly">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="GoodLabel">
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>RX Good</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QLineEdit" name="Good">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" 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>101</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="toolTip">
+                 <string>The percentage of packets that were corrected with error correction</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                </property>
+                <property name="readOnly">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="0">
+               <widget class="QLabel" name="ErrorsLabel">
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>RX Errors</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="1">
+               <widget class="QLineEdit" name="Corrected">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" 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>101</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="toolTip">
+                 <string>The percentage of packets that were corrected with error correction</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                </property>
+                <property name="readOnly">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="0">
+               <widget class="QLabel" name="MissedPacketsLabel">
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>RX Missed</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="6">
+               <widget class="QLabel" name="UAVTalkErrorsLabel">
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>UAVTalk Errors</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="5" column="7">
+               <widget class="QLineEdit" name="UAVTalkErrors">
+                <property name="maximumSize">
+                 <size>
+                  <width>101</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="frame">
+                 <bool>false</bool>
+                </property>
+                <property name="readOnly">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="7">
+               <widget class="QLineEdit" name="Resets">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>101</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="frame">
+                 <bool>false</bool>
+                </property>
+                <property name="readOnly">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="6">
+               <widget class="QLabel" name="ResetsLabel">
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>Resets</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="5">
+               <widget class="QLineEdit" name="Timeouts">
+                <property name="maximumSize">
+                 <size>
+                  <width>101</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="frame">
+                 <bool>false</bool>
+                </property>
+                <property name="readOnly">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="4">
+               <widget class="QLabel" name="TimeoutsLabel">
+                <property name="font">
+                 <font>
+                  <weight>50</weight>
+                  <bold>false</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>Timeouts</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
               <item row="1" column="7">
                <widget class="QLineEdit" name="RSSI">
                 <property name="minimumSize">
@@ -1066,34 +1396,19 @@
                 </property>
                </widget>
               </item>
-              <item row="3" column="3">
+              <item row="2" column="6">
-               <widget class="QLineEdit" name="Resent">
+               <widget class="QLabel" name="TXRateLabel">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>101</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
                 <property name="font">
                  <font>
                   <weight>50</weight>
                   <bold>false</bold>
                  </font>
                 </property>
-                <property name="toolTip">
+                <property name="text">
-                 <string>The number of packets that were unable to be transmitted</string>
+                 <string>TX Rate (B/s)</string>
                 </property>
                 <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
                 </property>
                </widget>
               </item>
@@ -1141,254 +1456,6 @@
                 </property>
                </widget>
               </item>
-              <item row="2" column="6">
-               <widget class="QLabel" name="TXRateLabel">
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>TX Rate (B/s)</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="7">
-               <widget class="QLineEdit" name="TXRate">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>101</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="frame">
-                 <bool>false</bool>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="4">
-               <widget class="QLabel" name="RXSeqLabel">
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>RX Seq. No.</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="5">
-               <widget class="QLineEdit" name="RXSeq">
-                <property name="minimumSize">
-                 <size>
-                  <width>0</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>101</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="frame">
-                 <bool>false</bool>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="6">
-               <widget class="QLabel" name="RXRateLabel">
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>RX Rate (B/s)</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="7">
-               <widget class="QLineEdit" name="RXRate">
-                <property name="maximumSize">
-                 <size>
-                  <width>101</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="frame">
-                 <bool>false</bool>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="GoodLabel">
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>RX Good</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QLineEdit" name="Good">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" 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>101</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="toolTip">
-                 <string>The percentage of packets that were corrected with error correction</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="0">
-               <widget class="QLabel" name="CorrectedLabel">
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>RX Corrected</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="1">
-               <widget class="QLineEdit" name="Corrected">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" 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>101</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="toolTip">
-                 <string>The percentage of packets that were corrected with error correction</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="5" column="0">
-               <widget class="QLabel" name="ErrorsLabel">
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>RX Errors</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
               <item row="5" column="1">
                <widget class="QLineEdit" name="Errors">
                 <property name="sizePolicy">
@@ -1420,22 +1487,6 @@
                 </property>
                </widget>
               </item>
-              <item row="6" column="0">
-               <widget class="QLabel" name="MissedPacketsLabel">
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>RX Missed</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
               <item row="6" column="1">
                <widget class="QLineEdit" name="Missed">
                 <property name="sizePolicy">
@@ -1473,107 +1524,6 @@
                 </property>
                </widget>
               </item>
-              <item row="2" column="2">
-               <widget class="QLabel" name="DroppedLabel">
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>TX Dropped</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="3">
-               <widget class="QLineEdit" name="Dropped">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="maximumSize">
-                 <size>
-                  <width>101</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="toolTip">
-                 <string>The number of packets that were unable to be transmitted</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="2">
-               <widget class="QLabel" name="ResentLabel">
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>TX Resent</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="5" column="2">
-               <widget class="QLabel" name="TxFailureLabel">
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Tx Failure</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="5" column="3">
-               <widget class="QLineEdit" name="TxFailure">
-                <property name="maximumSize">
-                 <size>
-                  <width>101</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="frame">
-                 <bool>false</bool>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
               <item row="5" column="4">
                <widget class="QLabel" name="FreeHeapLabel">
                 <property name="font">
@@ -1609,24 +1559,8 @@
                 </property>
                </widget>
               </item>
-              <item row="5" column="6">
+              <item row="3" column="3">
-               <widget class="QLabel" name="UAVTalkErrorsLabel">
+               <widget class="QLineEdit" name="TxFailure">
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>UAVTalk Errors</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="5" column="7">
-               <widget class="QLineEdit" name="UAVTalkErrors">
                 <property name="maximumSize">
                  <size>
                   <width>101</width>
@@ -1647,13 +1581,29 @@
                 </property>
                </widget>
               </item>
-              <item row="6" column="7">
+              <item row="3" column="2">
-               <widget class="QLineEdit" name="Resets">
+               <widget class="QLabel" name="TxFailureLabel">
-                <property name="minimumSize">
+                <property name="font">
-                 <size>
+                 <font>
-                  <width>0</width>
+                  <weight>50</weight>
-                  <height>0</height>
+                  <bold>false</bold>
-                 </size>
+                 </font>
+                </property>
+                <property name="text">
+                 <string>Tx Failure</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="3">
+               <widget class="QLineEdit" name="Dropped">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
                 </property>
                 <property name="maximumSize">
                  <size>
@@ -1667,16 +1617,19 @@
                   <bold>false</bold>
                  </font>
                 </property>
-                <property name="frame">
+                <property name="toolTip">
-                 <bool>false</bool>
+                 <string>The number of packets that were unable to be transmitted</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
                 </property>
                 <property name="readOnly">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
-              <item row="6" column="6">
+              <item row="2" column="2">
-               <widget class="QLabel" name="ResetsLabel">
+               <widget class="QLabel" name="ResentLabel">
                 <property name="font">
                  <font>
                   <weight>50</weight>
@@ -1684,52 +1637,14 @@
                  </font>
                 </property>
                 <property name="text">
-                 <string>Resets</string>
+                 <string>TX Dropped</string>
                 </property>
                 <property name="alignment">
                  <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
                 </property>
                </widget>
               </item>
-              <item row="6" column="5">
+              <item row="7" column="0">
-               <widget class="QLineEdit" name="Timeouts">
-                <property name="maximumSize">
-                 <size>
-                  <width>101</width>
-                  <height>16777215</height>
-                 </size>
-                </property>
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="frame">
-                 <bool>false</bool>
-                </property>
-                <property name="readOnly">
-                 <bool>true</bool>
-                </property>
-               </widget>
-              </item>
-              <item row="6" column="4">
-               <widget class="QLabel" name="TimeoutsLabel">
-                <property name="font">
-                 <font>
-                  <weight>50</weight>
-                  <bold>false</bold>
-                 </font>
-                </property>
-                <property name="text">
-                 <string>Timeouts</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="6" column="2">
                <widget class="QLabel" name="RxFailureLabel">
                 <property name="font">
                  <font>
@@ -1745,7 +1660,7 @@
                 </property>
                </widget>
               </item>
-              <item row="6" column="3">
+              <item row="7" column="1">
                <widget class="QLineEdit" name="RxFailure">
                 <property name="sizePolicy">
                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">

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

@@ -122,8 +122,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>674</width>
+            <width>680</width>
-            <height>677</height>
+            <height>672</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
@@ -157,7 +157,7 @@
               </size>
              </property>
              <property name="title">
-              <string>Output Update Speed</string>
+              <string>Output configuration</string>
              </property>
              <layout class="QGridLayout" name="gridLayout">
               <item row="0" column="6">
@@ -183,7 +183,7 @@
               <item row="0" column="1">
                <widget class="QLabel" name="label_9">
                 <property name="text">
-                 <string>Channel:</string>
+                 <string>Bank(Channels):</string>
                 </property>
                 <property name="alignment">
                  <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -282,9 +282,15 @@
                  </size>
                 </property>
                 <property name="toolTip">
-                 <string>Setup &quot;RapidESC&quot; here: usual value is 490 Hz for multirotor airframes.
+                 <string>Setup PWM rate here: usual value is 490 Hz for multirotor airframes. OneShot and OneShot125 does not use this value
 </string>
                 </property>
+                <property name="autoFillBackground">
+                 <bool>false</bool>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
                 <item>
                  <property name="text">
                   <string>50</string>
@@ -345,8 +351,10 @@
                  </size>
                 </property>
                 <property name="toolTip">
-                 <string>Setup &quot;RapidESC&quot; here: usual value is 490 Hz for multirotor airframes.
+                 <string>Setup PWM rate here: usual value is 490 Hz for multirotor airframes. OneShot and OneShot125 does not use this value</string>
-</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
                 </property>
                 <item>
                  <property name="text">
@@ -430,8 +438,10 @@
                  </size>
                 </property>
                 <property name="toolTip">
-                 <string>Setup &quot;RapidESC&quot; here: usual value is 490 Hz for multirotor airframes.
+                 <string>Setup PWM rate here: usual value is 490 Hz for multirotor airframes. OneShot and OneShot125 does not use this value</string>
-</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
                 </property>
                 <item>
                  <property name="text">
@@ -493,8 +503,10 @@
                  </size>
                 </property>
                 <property name="toolTip">
-                 <string>Setup &quot;RapidESC&quot; here: usual value is 490 Hz for multirotor airframes.
+                 <string>Setup PWM rate here: usual value is 490 Hz for multirotor airframes. OneShot and OneShot125 does not use this value</string>
-</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
                 </property>
                 <item>
                  <property name="text">
@@ -566,8 +578,10 @@
                  </size>
                 </property>
                 <property name="toolTip">
-                 <string>Setup &quot;RapidESC&quot; here: usual value is 490 Hz for multirotor airframes.
+                 <string>Setup PWM rate here: usual value is 490 Hz for multirotor airframes. OneShot and OneShot125 does not use this value</string>
-</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
                 </property>
                 <item>
                  <property name="text">
@@ -629,8 +643,10 @@
                  </size>
                 </property>
                 <property name="toolTip">
-                 <string>Setup &quot;RapidESC&quot; here: usual value is 490 Hz for multirotor airframes.
+                 <string>Setup PWM rate here: usual value is 490 Hz for multirotor airframes. OneShot and OneShot125 does not use this value</string>
-</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
                 </property>
                 <item>
                  <property name="text">
@@ -674,6 +690,190 @@
                 </item>
                </widget>
               </item>
+              <item row="2" 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>5</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="2" column="1">
+               <widget class="QLabel" name="label">
+                <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="text">
+                 <string>Mode:</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="2">
+               <widget class="QComboBox" name="cb_outputMode1">
+                <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 output mode. Use PWM or OneShot with Standard ESCs.
+Several other ESCs like BLHeli 13+ can use the more advanced OneShot125.
+When using OneShot125 all values set in min/max and idle are divided by eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="3">
+               <widget class="QComboBox" name="cb_outputMode2">
+                <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 output mode. Use PWM or OneShot with Standard ESCs.\nSeveral other ESCs like BLHeli 13+ can use the more advanced OneShot125.\nWhen using OneShot125 all values set in min/max and idle are divided by eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="4">
+               <widget class="QComboBox" name="cb_outputMode3">
+                <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 output mode. Use PWM or OneShot with Standard ESCs.\nSeveral other ESCs like BLHeli 13+ can use the more advanced OneShot125.\nWhen using OneShot125 all values set in min/max and idle are divided by eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="5">
+               <widget class="QComboBox" name="cb_outputMode4">
+                <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 output mode. Use PWM or OneShot with Standard ESCs.\nSeveral other ESCs like BLHeli 13+ can use the more advanced OneShot125.\nWhen using OneShot125 all values set in min/max and idle are divided by eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="6">
+               <widget class="QComboBox" name="cb_outputMode5">
+                <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 output mode. Use PWM or OneShot with Standard ESCs.\nSeveral other ESCs like BLHeli 13+ can use the more advanced OneShot125.\nWhen using OneShot125 all values set in min/max and idle are divided by eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="7">
+               <widget class="QComboBox" name="cb_outputMode6">
+                <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 output mode. Use PWM or OneShot with Standard ESCs.\nSeveral other ESCs like BLHeli 13+ can use the more advanced OneShot125.\nWhen using OneShot125 all values set in min/max and idle are divided by eight before being sent to esc (i.e. 1000 = 125, 2000 = 250).</string>
+                </property>
+               </widget>
+              </item>
              </layout>
             </widget>
            </item>

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

@@ -33,8 +33,8 @@ OutputChannelForm::OutputChannelForm(const int index, QWidget *parent) :
     ui.setupUi(this);
 
     // The convention for OP is Channel 1 to Channel 10.
-    ui.actuatorNumber->setText(QString("%1:").arg(index + 1));
+    ui.actuatorNumber->setText(QString("%1").arg(index + 1));
-
+    setBank("-");
     // Register for ActuatorSettings changes:
     connect(ui.actuatorMin, SIGNAL(editingFinished()), this, SLOT(setChannelRange()));
     connect(ui.actuatorMax, SIGNAL(editingFinished()), this, SLOT(setChannelRange()));
@@ -58,6 +58,11 @@ QString OutputChannelForm::name()
     return ui.actuatorName->text();
 }
 
+QString OutputChannelForm::bank()
+{
+    return ui.actuatorBankNumber->text();
+}
+
 /**
  * Set the channel assignment label.
  */
@@ -66,6 +71,25 @@ void OutputChannelForm::setName(const QString &name)
     ui.actuatorName->setText(name);
 }
 
+void OutputChannelForm::setColor(const QColor &color)
+{
+    QString stylesheet = ui.actuatorNumberFrame->styleSheet();
+
+    stylesheet = stylesheet.split("background-color").first();
+    stylesheet.append(
+        QString("background-color: rgb(%1, %2, %3)")
+        .arg(color.red()).arg(color.green()).arg(color.blue()));
+    ui.actuatorNumberFrame->setStyleSheet(stylesheet);
+}
+
+/**
+ * Set the channel bank label.
+ */
+void OutputChannelForm::setBank(const QString &bank)
+{
+    ui.actuatorBankNumber->setText(bank);
+}
+
 /**
  * Restrict UI to protect users from accidental misuse.
  */

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

@@ -43,8 +43,12 @@ public:
     friend class ConfigOutputWidget;
 
     virtual QString name();
-    virtual void setName(const QString &name);
+    virtual QString bank();
 
+    virtual void setName(const QString &name);
+    virtual void setBank(const QString &bank);
+
+    virtual void setColor(const QColor &color);
 public slots:
     int min() const;
     void setMin(int minimum);

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

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>768</width>
-    <height>51</height>
+    <height>54</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -29,7 +29,7 @@
    <property name="horizontalSpacing">
     <number>12</number>
    </property>
-   <item row="0" column="1">
+   <item row="0" column="2">
     <widget class="QLabel" name="legend0">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -72,7 +72,7 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="2">
+   <item row="0" column="3">
     <widget class="QLabel" name="legend1">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -115,7 +115,7 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="4">
+   <item row="0" column="5">
     <widget class="QLabel" name="legend2">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
@@ -152,7 +152,7 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="5">
+   <item row="0" column="6">
     <spacer name="horizontalSpacer_4">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -168,7 +168,7 @@ margin:1px;</string>
      </property>
     </spacer>
    </item>
-   <item row="0" column="0">
+   <item row="0" column="0" colspan="2">
     <widget class="QLabel" name="legend6">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -207,7 +207,7 @@ font: bold 12px;
 margin:1px;</string>
      </property>
      <property name="text">
-      <string>#</string>
+      <string> # - Bank</string>
      </property>
      <property name="alignment">
       <set>Qt::AlignCenter</set>
@@ -217,7 +217,7 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="3">
+   <item row="0" column="4">
     <spacer name="horizontalSpacer_3">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -233,7 +233,7 @@ margin:1px;</string>
      </property>
     </spacer>
    </item>
-   <item row="1" column="5">
+   <item row="1" column="6">
     <spacer name="horizontalSpacer_2">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -249,7 +249,7 @@ margin:1px;</string>
      </property>
     </spacer>
    </item>
-   <item row="1" column="3">
+   <item row="1" column="4">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -265,7 +265,7 @@ margin:1px;</string>
      </property>
     </spacer>
    </item>
-   <item row="1" column="2">
+   <item row="1" column="3">
     <widget class="QSpinBox" name="actuatorMin">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -289,7 +289,8 @@ margin:1px;</string>
       <enum>Qt::StrongFocus</enum>
      </property>
      <property name="toolTip">
-      <string>Minimum PWM value, beware of not overdriving your servo.</string>
+      <string>Minimum PWM value, beware of not overdriving your servo.
+Using OneShot125 a value of 1000(uS) here will produce a pulse of 125(uS).</string>
      </property>
      <property name="alignment">
       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -302,38 +303,151 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="0">
+   <item row="1" column="0" colspan="2">
-    <widget class="QLabel" name="actuatorNumber">
+    <widget class="QFrame" name="actuatorNumberFrame">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
-     <property name="minimumSize">
-      <size>
-       <width>20</width>
-       <height>0</height>
-      </size>
-     </property>
      <property name="maximumSize">
       <size>
-       <width>16777215</width>
+       <width>100</width>
-       <height>16777215</height>
+       <height>22</height>
       </size>
      </property>
-     <property name="toolTip">
+     <property name="styleSheet">
-      <string>Channel Number</string>
+      <string notr="true">border-radius: 5; margin:1px;</string>
      </property>
-     <property name="text">
+     <property name="frameShape">
-      <string>0:</string>
+      <enum>QFrame::NoFrame</enum>
      </property>
-     <property name="alignment">
+     <property name="frameShadow">
-      <set>Qt::AlignCenter</set>
+      <enum>QFrame::Raised</enum>
      </property>
+     <layout class="QHBoxLayout">
+      <property name="leftMargin">
+       <number>2</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="rightMargin">
+       <number>2</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <item>
+       <widget class="QLabel" name="actuatorNumber">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>20</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="font">
+         <font>
+          <weight>75</weight>
+          <bold>true</bold>
+         </font>
+        </property>
+        <property name="toolTip">
+         <string>Channel Number</string>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">border-radius: 5;\nfont: bold 12px;\nmargin:1px;</string>
+        </property>
+        <property name="text">
+         <string>0</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label">
+        <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>16777215</height>
+         </size>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">border-radius: 5;\nfont: 12px;\nmargin:1px;</string>
+        </property>
+        <property name="text">
+         <string/>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="actuatorBankNumber">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>20</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="toolTip">
+         <string>Bank number</string>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">border-radius: 5;\nfont: 12px;\nmargin:1px;</string>
+        </property>
+        <property name="text">
+         <string> 0</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+     </layout>
     </widget>
    </item>
-   <item row="0" column="6">
+   <item row="0" column="7">
     <widget class="QLabel" name="legend3">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -376,7 +490,7 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="7">
+   <item row="0" column="8">
     <widget class="QLabel" name="legend4">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -419,7 +533,7 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="8">
+   <item row="0" column="9">
     <widget class="QLabel" name="legend5">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -462,7 +576,7 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="1">
+   <item row="1" column="2">
     <widget class="QLabel" name="actuatorName">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@@ -490,7 +604,7 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="6">
+   <item row="1" column="7">
     <widget class="QSpinBox" name="actuatorMax">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -514,7 +628,8 @@ margin:1px;</string>
       <enum>Qt::StrongFocus</enum>
      </property>
      <property name="toolTip">
-      <string>Maximum PWM value, beware of not overdriving your servo.</string>
+      <string>Maximum value, beware of not overdriving your servo.
+Using OneShot125 a value of 2000(uS) here will produce a pulse of 250(uS).</string>
      </property>
      <property name="alignment">
       <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -524,8 +639,8 @@ margin:1px;</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="4">
+   <item row="1" column="5">
-    <widget class="QFrame" name="frame">
+    <widget class="QFrame" name="barFrame">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
        <horstretch>0</horstretch>
@@ -607,7 +722,7 @@ margin:1px;</string>
      </layout>
     </widget>
    </item>
-   <item row="1" column="7">
+   <item row="1" column="8">
     <widget class="QFrame" name="frame_1">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
@@ -665,7 +780,7 @@ margin:1px;</string>
      </layout>
     </widget>
    </item>
-   <item row="1" column="8">
+   <item row="1" column="9">
     <widget class="QFrame" name="frame_2">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Minimum" vsizetype="Preferred">

ground/openpilotgcs/src/plugins/ophid/inc/ophid_hidapi.h

@@ -33,9 +33,6 @@
 #include <QDebug>
 #include <QString>
 #include <QMutex>
-#if defined(Q_OS_LINUX)
-#include <usb.h>
-#endif
 #include "../hidapi/hidapi.h"
 #include "ophid_const.h"
 #include "ophid_global.h"

ground/openpilotgcs/src/plugins/ophid/ophid.pro

@@ -38,38 +38,20 @@ macx {
             -framework IOKit
 }
 
-linux-g++ {
+linux {
     SOURCES += src/ophid_usbmon_linux.cpp
-    LIBS += -lusb -ludev
+    LIBS += -ludev -lrt -lpthread
 
     # hidapi library
     ## rawhid
     #  SOURCES += hidapi/linux/hid.c
     ## libusb
     SOURCES += hidapi/libusb/hid.c
-    LIBS += `pkg-config libusb-1.0 --libs` -lrt -lpthread
+
-    INCLUDEPATH += /usr/include/libusb-1.0 
+    CONFIG += link_pkgconfig
-#   INCLUDEPATH += `pkg-config libusb-1.0 --cflags`
+    PKGCONFIG += libusb-1.0
 
     !exists(/usr/include/libusb-1.0) {
-        error(Install libusb-1.0.0-dev using your package manager.)
+        error(Install libusb-1.0-0-dev using your package manager.)
     }
 }
-
-linux-g++-64 {
-    SOURCES += src/ophid_usbmon_linux.cpp
-    LIBS += -lusb -ludev
-
-    # hidapi library
-    ## rawhid
-    #  SOURCES += hidapi/linux/hid.c
-    ## libusb
-    SOURCES += hidapi/libusb/hid.c
-    LIBS += `pkg-config libusb-1.0 --libs` -lrt -lpthread
-    INCLUDEPATH += /usr/include/libusb-1.0
-#   INCLUDEPATH += `pkg-config libusb-1.0 --cflags`
-    !exists(/usr/include/libusb-1.0) {
-        error(Install libusb-1.0.0-dev using your package manager.)
-    }
-}
-

ground/openpilotgcs/src/plugins/opmap/modelmapproxy.cpp

@@ -103,39 +103,39 @@ modelMapProxy::overlayType modelMapProxy::overlayTranslate(int type)
     }
 }
 
-void modelMapProxy::createOverlay(WayPointItem *from, WayPointItem *to, modelMapProxy::overlayType type, QColor color)
+void modelMapProxy::createOverlay(WayPointItem *from, WayPointItem *to, modelMapProxy::overlayType type, QColor color, bool dashed, int width)
 {
     if (from == NULL || to == NULL || from == to) {
         return;
     }
     switch (type) {
     case OVERLAY_LINE:
-        myMap->WPLineCreate(from, to, color);
+        myMap->WPLineCreate(from, to, color, dashed, width);
         break;
     case OVERLAY_CIRCLE_RIGHT:
-        myMap->WPCircleCreate(to, from, true, color);
+        myMap->WPCircleCreate(to, from, true, color, dashed, width);
         break;
     case OVERLAY_CIRCLE_LEFT:
-        myMap->WPCircleCreate(to, from, false, color);
+        myMap->WPCircleCreate(to, from, false, color, dashed, width);
         break;
     default:
         break;
     }
 }
-void modelMapProxy::createOverlay(WayPointItem *from, HomeItem *to, modelMapProxy::overlayType type, QColor color)
+void modelMapProxy::createOverlay(WayPointItem *from, HomeItem *to, modelMapProxy::overlayType type, QColor color, bool dashed, int width)
 {
     if (from == NULL || to == NULL) {
         return;
     }
     switch (type) {
     case OVERLAY_LINE:
-        myMap->WPLineCreate(to, from, color);
+        myMap->WPLineCreate(to, from, color, dashed, width);
         break;
     case OVERLAY_CIRCLE_RIGHT:
-        myMap->WPCircleCreate(to, from, true, color);
+        myMap->WPCircleCreate(to, from, true, color, dashed, width);
         break;
     case OVERLAY_CIRCLE_LEFT:
-        myMap->WPCircleCreate(to, from, false, color);
+        myMap->WPCircleCreate(to, from, false, color, dashed, width);
         break;
     default:
         break;
@@ -164,7 +164,7 @@ void modelMapProxy::refreshOverlays()
         wp_next_overlay  = overlayTranslate(model->data(model->index(x + 1, flightDataModel::MODE)).toInt());
         wp_jump_overlay  = overlayTranslate(model->data(model->index(wp_jump, flightDataModel::MODE)).toInt());
         wp_error_overlay = overlayTranslate(model->data(model->index(wp_error, flightDataModel::MODE)).toInt());
-        createOverlay(wp_current, findWayPointNumber(wp_error), wp_error_overlay, Qt::red);
+        createOverlay(wp_current, findWayPointNumber(wp_error), wp_error_overlay, Qt::red, true, 1);
         switch (model->data(model->index(x, flightDataModel::COMMAND)).toInt()) {
         case MapDataDelegate::COMMAND_ONCONDITIONNEXTWAYPOINT:
             wp_next = findWayPointNumber(x + 1);

ground/openpilotgcs/src/plugins/opmap/modelmapproxy.h

@@ -56,8 +56,8 @@ private slots:
     void selectedWPChanged(QList<WayPointItem *>);
 private:
     overlayType overlayTranslate(int type);
-    void createOverlay(WayPointItem *from, WayPointItem *to, overlayType type, QColor color);
+    void createOverlay(WayPointItem *from, WayPointItem *to, overlayType type, QColor color, bool dashed = false, int width = -1);
-    void createOverlay(WayPointItem *from, HomeItem *to, modelMapProxy::overlayType type, QColor color);
+    void createOverlay(WayPointItem *from, HomeItem *to, modelMapProxy::overlayType type, QColor color, bool dashed = false, int width = -1);
     OPMapWidget *myMap;
     flightDataModel *model;
     void refreshOverlays();

ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp

@@ -404,32 +404,32 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
 
         data.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
 
-        for (quint16 i = 0; i < ActuatorSettings::CHANNELUPDATEFREQ_NUMELEM; i++) {
+        for (quint16 i = 0; i < ActuatorSettings::BANKUPDATEFREQ_NUMELEM; i++) {
-            data.ChannelUpdateFreq[i] = LEGACY_ESC_FREQUENCY;
+            data.BankUpdateFreq[i] = LEGACY_ESC_FREQUENCY;
         }
 
         switch (m_configSource->getVehicleSubType()) {
         case VehicleConfigurationSource::MULTI_ROTOR_TRI_Y:
             // Servo always on channel 4
-            data.ChannelUpdateFreq[0] = escFrequence;
+            data.BankUpdateFreq[0] = escFrequence;
             if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_CC ||
                 m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_CC3D) {
-                data.ChannelUpdateFreq[1] = servoFrequence;
+                data.BankUpdateFreq[1] = servoFrequence;
             } else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
-                data.ChannelUpdateFreq[1] = escFrequence;
+                data.BankUpdateFreq[1] = escFrequence;
-                data.ChannelUpdateFreq[2] = servoFrequence;
+                data.BankUpdateFreq[2] = servoFrequence;
             } else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
-                data.ChannelUpdateFreq[1] = escFrequence;
+                data.BankUpdateFreq[1] = escFrequence;
-                data.ChannelUpdateFreq[2] = escFrequence;
+                data.BankUpdateFreq[2] = escFrequence;
-                data.ChannelUpdateFreq[3] = servoFrequence;
+                data.BankUpdateFreq[3] = servoFrequence;
             }
             break;
         case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X:
         case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS:
-            data.ChannelUpdateFreq[0] = escFrequence;
+            data.BankUpdateFreq[0] = escFrequence;
-            data.ChannelUpdateFreq[1] = escFrequence;
+            data.BankUpdateFreq[1] = escFrequence;
             if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
-                data.ChannelUpdateFreq[2] = escFrequence;
+                data.BankUpdateFreq[2] = escFrequence;
             }
             break;
         case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
@@ -441,10 +441,10 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
         case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X:
         case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS:
         case VehicleConfigurationSource::MULTI_ROTOR_OCTO_V:
-            data.ChannelUpdateFreq[0] = escFrequence;
+            data.BankUpdateFreq[0] = escFrequence;
-            data.ChannelUpdateFreq[1] = escFrequence;
+            data.BankUpdateFreq[1] = escFrequence;
-            data.ChannelUpdateFreq[2] = escFrequence;
+            data.BankUpdateFreq[2] = escFrequence;
-            data.ChannelUpdateFreq[3] = escFrequence;
+            data.BankUpdateFreq[3] = escFrequence;
             break;
         default:
             break;
@@ -467,15 +467,15 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
             data.ChannelMax[i]     = actuatorSettings[i].channelMax;
         }
 
-        for (quint16 i = 0; i < ActuatorSettings::CHANNELUPDATEFREQ_NUMELEM; i++) {
+        for (quint16 i = 0; i < ActuatorSettings::BANKUPDATEFREQ_NUMELEM; i++) {
-            data.ChannelUpdateFreq[i] = servoFrequence;
+            data.BankUpdateFreq[i] = servoFrequence;
             if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
                 if (i == 1) {
-                    data.ChannelUpdateFreq[i] = escFrequence;
+                    data.BankUpdateFreq[i] = escFrequence;
                 }
             } else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
                 if (i == 2) {
-                    data.ChannelUpdateFreq[i] = escFrequence;
+                    data.BankUpdateFreq[i] = escFrequence;
                 }
             }
         }
@@ -503,15 +503,15 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
             data.ChannelMax[i]     = actuatorSettings[i].channelMax;
         }
 
-        for (quint16 i = 0; i < ActuatorSettings::CHANNELUPDATEFREQ_NUMELEM; i++) {
+        for (quint16 i = 0; i < ActuatorSettings::BANKUPDATEFREQ_NUMELEM; i++) {
-            data.ChannelUpdateFreq[i] = servoFrequence;
+            data.BankUpdateFreq[i] = servoFrequence;
             if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
                 if (i == 1) {
-                    data.ChannelUpdateFreq[i] = escFrequence;
+                    data.BankUpdateFreq[i] = escFrequence;
                 }
             } else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
                 if (i == 2) {
-                    data.ChannelUpdateFreq[i] = escFrequence;
+                    data.BankUpdateFreq[i] = escFrequence;
                 }
             }
         }

package/Linux.mk

@@ -20,8 +20,41 @@ DEB_PACKAGE_NAME	:= openpilot_$(DEB_VER)_$(DEB_ARCH)
 package:
 	$(V1) echo "Building Linux package, please wait..."
 	$(V1) cp -rL $(DEB_DIR) $(DEB_BUILD_DIR)
-	$(V1)sed -i -e "$(SED_SCRIPT)" $(DEB_BUILD_DIR)/changelog
+	$(V1) sed -i -e "$(SED_SCRIPT)" $(DEB_BUILD_DIR)/changelog
-	$(V1) cd .. && dpkg-buildpackage -b -us -uc
+	$(V1) dpkg-buildpackage -b -us -uc
 	$(V1) mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).deb $(BUILD_DIR)/$(DEB_PACKAGE_NAME).deb
 	$(V1) mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).changes $(BUILD_DIR)/$(DEB_PACKAGE_NAME).changes
 	$(V1) rm -rf $(DEB_BUILD_DIR)
+
+##############################
+#
+# Install OpenPilot
+#
+##############################
+prefix  := /usr/local
+bindir  := $(prefix)/bin
+libdir  := $(prefix)/lib
+datadir := $(prefix)/share
+
+INSTALL = cp -a --no-preserve=ownership
+LN = ln
+LN_S = ln -s
+
+.PHONY: install
+install:
+	@$(ECHO) " INSTALLING GCS TO $(DESTDIR)/)"
+	$(V1) $(MKDIR) -p $(DESTDIR)$(bindir)
+	$(V1) $(MKDIR) -p $(DESTDIR)$(libdir)
+	$(V1) $(MKDIR) -p $(DESTDIR)$(datadir)
+	$(V1) $(MKDIR) -p $(DESTDIR)$(datadir)/applications
+	$(V1) $(MKDIR) -p $(DESTDIR)$(datadir)/pixmaps
+	$(V1) $(MKDIR) -p $(DESTDIR)$(udevdir)
+	$(V1) $(INSTALL) $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)/bin/openpilotgcs $(DESTDIR)$(bindir)
+	$(V1) $(INSTALL) $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)/bin/udp_test $(DESTDIR)$(bindir)
+	$(V1) $(INSTALL) $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)/lib/openpilotgcs $(DESTDIR)$(libdir)
+	$(V1) $(INSTALL) $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)/share/openpilotgcs $(DESTDIR)$(datadir)
+	$(V1) $(INSTALL) $(ROOT_DIR)/package/linux/openpilot.desktop $(DESTDIR)$(datadir)/applications
+	$(V1) $(INSTALL) $(ROOT_DIR)/package/linux/openpilot.png $(DESTDIR)$(datadir)/pixmaps
+	$(V1) rm $(DESTDIR)/$(datadir)/openpilotgcs/translations/Makefile
+
+

package/linux/debian/rules

@@ -13,7 +13,7 @@ export DH_OPTIONS
 
 # Disabled because OpenPilot makefile cleans and builds.
 override_dh_auto_clean:
-	#$(MAKE) all_clean
+	#
 
 override_dh_auto_build:
 	#dh_auto_build -- all

shared/uavobjectdefinition/actuatorsettings.xml

@@ -1,7 +1,15 @@
 <xml>
     <object name="ActuatorSettings" singleinstance="true" settings="true" category="Control">
         <description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
-        <field name="ChannelUpdateFreq" units="Hz" type="uint16" elements="6" defaultvalue="50"/>
+        <field name="BankUpdateFreq" units="Hz" type="uint16" elements="6" defaultvalue="50"/>
+        <field name="BankMode" type="enum" units="" elements="6" options="PWM,OneShot,OneShot125" defaultvalue="PWM"
+        limits="%0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
+        %0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
+        %0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
+        %0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
+        %0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
+        %0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125;"
+        />
         <field name="ChannelMax" units="us" type="int16" elements="12" defaultvalue="1000"/>
         <field name="ChannelNeutral" units="us" type="int16" elements="12" defaultvalue="1000"/>
         <field name="ChannelMin" units="us" type="int16" elements="12" defaultvalue="1000"/>

shared/uavobjectdefinition/oplinkreceiver.xml

@@ -3,8 +3,8 @@
         <description>A receiver channel group carried over the OPLink radio.</description>
         <field name="Channel" units="us" type="int16" elements="8"/>
         <access gcs="readonly" flight="readwrite"/>
-        <telemetrygcs acked="false" updatemode="onchange" period="0"/>
+        <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="onchange" period="0"/>
+        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
         <logging updatemode="manual" period="0"/>
     </object>
 </xml>

shared/uavobjectdefinition/oplinksettings.xml

@@ -13,7 +13,6 @@
 		<field name="MaxRFPower" units="mW" type="enum" elements="1" options="0,1.25,1.6,3.16,6.3,12.6,25,50,100" defaultvalue="0"/>
 		<field name="MinChannel" units="" type="uint8" elements="1" defaultvalue="0"/>
 		<field name="MaxChannel" units="" type="uint8" elements="1" defaultvalue="250"/>
-		<field name="ChannelSet" units="" type="uint8" elements="1" defaultvalue="39"/>
 
 		<access gcs="readwrite" flight="readwrite"/>
 		<telemetrygcs acked="true" updatemode="onchange" period="0"/>

shared/uavobjectdefinition/oplinkstatus.xml

@@ -13,7 +13,6 @@
 		<field name="RxMissed" units="%" type="uint8" elements="1" defaultvalue="0"/>
 		<field name="RxFailure" units="%" type="uint8" elements="1" defaultvalue="0"/>
 		<field name="UAVTalkErrors" units="" type="uint16" elements="1" defaultvalue="0"/>
-		<field name="TxResent" units="%" type="uint8" elements="1" defaultvalue="0"/>
 		<field name="TxDropped" units="%" type="uint8" elements="1" defaultvalue="0"/>
 		<field name="TxFailure" units="%" type="uint8" elements="1" defaultvalue="0"/>
 		<field name="Resets" units="" type="uint8" elements="1" defaultvalue="0"/>