Merge remote-tracking branch 'op-public/next' into revo-next

Conflicts:
	ground/openpilotgcs/src/libs/utils/homelocationutil.cpp
	ground/openpilotgcs/src/libs/utils/homelocationutil.h
	ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
	shared/uavobjectdefinition/taskinfo.xml

flight/PiOS/Common/pios_mpu6000.c

@@ -439,9 +439,6 @@ void PIOS_MPU6000_IRQHandler(void)
 		if(PIOS_MPU6000_ClaimBus() != 0)
 			return;		
 		
-		uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
-		uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
-		
 		if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
 			PIOS_MPU6000_ReleaseBus();
 			mpu6000_fails++;

flight/PiOS/STM32F10x/pios_usb_cdc.c

@@ -321,7 +321,10 @@ RESULT PIOS_USB_CDC_SetControlLineState(void)
 	struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
 
 	bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
-	PIOS_Assert(valid);
+	if (!valid) {
+		/* No CDC interface is configured */
+		return USB_UNSUPPORT;
+	}
 
 	uint8_t wValue0 = pInformation->USBwValue0;
 	uint8_t wValue1 = pInformation->USBwValue1;
@@ -338,14 +341,25 @@ static struct usb_cdc_line_coding line_coding = {
 	.bDataBits   = 8,
 };
 
-RESULT PIOS_USB_CDC_SetLineCoding(void)
+uint8_t *PIOS_USB_CDC_SetLineCoding(uint16_t Length)
 {
 	struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
 
 	bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
-	PIOS_Assert(valid);
+	if (!valid) {
+		/* No CDC interface is configured */
+		return NULL;
+	}
 
-	return USB_SUCCESS;
+	if (Length == 0) {
+		/* Report the number of bytes we're prepared to consume */
+		pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding);
+		pInformation->Ctrl_Info.Usb_rLength = sizeof(line_coding);
+		return NULL;
+	} else {
+		/* Give out a pointer to the data struct */
+		return ((uint8_t *) &line_coding);
+	}
 }
 
 const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length)
@@ -353,7 +367,10 @@ const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length)
 	struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
 
 	bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
-	PIOS_Assert(valid);
+	if (!valid) {
+		/* No CDC interface is configured */
+		return NULL;
+	}
 
 	if (Length == 0) {
 		pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding);

flight/PiOS/STM32F10x/pios_usbhook.c

@@ -293,13 +293,16 @@ static void PIOS_USBHOOK_Status_Out(void)
 * Output         : None.
 * Return         : USB_UNSUPPORT or USB_SUCCESS.
 *******************************************************************************/
+extern uint8_t *PIOS_USB_CDC_SetLineCoding(uint16_t Length);
 extern const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length);
 
 static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
 {
-	const uint8_t *(*CopyRoutine) (uint16_t);
+	uint8_t *(*CopyOutRoutine) (uint16_t);
+	const uint8_t *(*CopyInRoutine) (uint16_t);
 
-	CopyRoutine = NULL;
+	CopyInRoutine = NULL;
+	CopyOutRoutine = NULL;
 
 	switch (Type_Recipient) {
 	case (STANDARD_REQUEST | INTERFACE_RECIPIENT):
@@ -313,10 +316,10 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
 			case GET_DESCRIPTOR:
 				switch (pInformation->USBwValue1) {
 				case USB_DESC_TYPE_REPORT:
-					CopyRoutine = PIOS_USBHOOK_GetReportDescriptor;
+					CopyInRoutine = PIOS_USBHOOK_GetReportDescriptor;
 					break;
 				case USB_DESC_TYPE_HID:
-					CopyRoutine = PIOS_USBHOOK_GetHIDDescriptor;
+					CopyInRoutine = PIOS_USBHOOK_GetHIDDescriptor;
 					break;
 				}
 			}
@@ -332,7 +335,7 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
 #endif
 			switch (RequestNo) {
 			case USB_HID_REQ_GET_PROTOCOL:
-				CopyRoutine = PIOS_USBHOOK_GetProtocolValue;
+				CopyInRoutine = PIOS_USBHOOK_GetProtocolValue;
 				break;
 			}
 
@@ -340,8 +343,11 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
 #if defined(PIOS_INCLUDE_USB_CDC)
 		case 0:		/* CDC Call Control Interface */
 			switch (RequestNo) {
+			case USB_CDC_REQ_SET_LINE_CODING:
+				CopyOutRoutine = PIOS_USB_CDC_SetLineCoding;
+				break;
 			case USB_CDC_REQ_GET_LINE_CODING:
-				//CopyRoutine = PIOS_USB_CDC_GetLineCoding;
+				CopyInRoutine = PIOS_USB_CDC_GetLineCoding;
 				break;
 			}
 
@@ -359,13 +365,27 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
 		break;
 	}
 
-	if (CopyRoutine == NULL) {
+	/* No registered copy routine */
+	if ((CopyInRoutine == NULL) && (CopyOutRoutine == NULL)) {
 		return USB_UNSUPPORT;
 	}
 
-	pInformation->Ctrl_Info.CopyDataIn = CopyRoutine;
+	/* Registered copy in AND copy out routine */
+	if ((CopyInRoutine != NULL) && (CopyOutRoutine != NULL)) {
+		/* This should never happen */
+		return USB_UNSUPPORT;
+	}
+
+	if (CopyInRoutine != NULL) {
+		pInformation->Ctrl_Info.CopyDataIn = CopyInRoutine;
 		pInformation->Ctrl_Info.Usb_wOffset = 0;
-	(*CopyRoutine) (0);
+		(*CopyInRoutine) (0);
+	} else if (CopyOutRoutine != NULL) {
+		pInformation->Ctrl_Info.CopyDataOut = CopyOutRoutine;
+		pInformation->Ctrl_Info.Usb_rOffset = 0;
+		(*CopyOutRoutine) (0);
+	}
+
 	return USB_SUCCESS;
 }
 
@@ -377,7 +397,6 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
 * Return         : USB_UNSUPPORT or USB_SUCCESS.
 *******************************************************************************/
 extern RESULT PIOS_USB_CDC_SetControlLineState(void);
-extern RESULT PIOS_USB_CDC_SetLineCoding(void);
 
 static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo)
 {
@@ -400,9 +419,6 @@ static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo)
 #if defined(PIOS_INCLUDE_USB_CDC)
 		case 0:		/* CDC Call Control Interface */
 			switch (RequestNo) {
-			case USB_CDC_REQ_SET_LINE_CODING:
-				return PIOS_USB_CDC_SetLineCoding();
-				break;
 			case USB_CDC_REQ_SET_CONTROL_LINE_STATE:
 				return PIOS_USB_CDC_SetControlLineState();
 				break;

flight/PiOS/inc/pios_usb_defs.h

@@ -267,7 +267,7 @@ enum usb_cdc_requests {
 	USB_CDC_REQ_SET_LINE_CODING        = 0x20,
 	USB_CDC_REQ_GET_LINE_CODING        = 0x21,
 
-	USB_CDC_REQ_SET_CONTROL_LINE_STATE = 0x23,
+	USB_CDC_REQ_SET_CONTROL_LINE_STATE = 0x22,
 };
 
 struct usb_cdc_header_func_desc {

flight/Project/gdb/bu_coptercontrol

@@ -0,0 +1,38 @@
+define connect
+	target remote localhost:3333
+	monitor cortex_m3 vector_catch all
+	file ./build/bu_coptercontrol/bu_coptercontrol.elf
+end
+#monitor reset halt
+
+define hook-step
+	monitor cortex_m3 maskisr on
+end
+define hookpost-step
+	monitor cortex_m3 maskisr off
+end
+
+define hook-stepi
+	monitor cortex_m3 maskisr on
+end
+
+define hookpost-stepi
+	monitor cortex_m3 maskisr off
+end
+
+define hook-next
+	monitor cortex_m3 maskisr on
+end
+
+define hookpost-next
+	monitor cortex_m3 maskisr off
+end
+
+define hook-finish
+	monitor cortex_m3 maskisr on
+end
+
+define hookpost-finish
+	monitor cortex_m3 maskisr off
+end
+

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

@@ -1455,6 +1455,17 @@
           <enableVbo>false</enableVbo>
         </data>
       </CopterControl>
+      <CC3D>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/boards/CC3D/CC3D.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </CC3D>
       <Easyquad__PCT__20X>
         <configInfo>
           <locked>false</locked>
@@ -1609,6 +1620,17 @@
           <enableVbo>false</enableVbo>
         </data>
       </Scorpion__PCT__20Tricopter>
+      <MattL__PCT__27s__PCT__20Y6>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/mattL_Y6/mattL_Y6.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </MattL__PCT__27s__PCT__20Y6>
       <Test__PCT__20Quad__PCT__20__PCT__2B>
         <configInfo>
           <locked>false</locked>
@@ -1631,6 +1653,17 @@
           <enableVbo>false</enableVbo>
         </data>
       </Test__PCT__20Quad__PCT__20X>
+      <Danker__PCT__27s__PCT__20Quad>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/dankers_quad/dankers_quad.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Danker__PCT__27s__PCT__20Quad>
     </ModelViewGadget>
     <OPMapGadget>
       <Google__PCT__20Sat>
@@ -2459,17 +2492,17 @@
                   <type>uavGadget</type>
                 </side1>
                 <splitterOrientation>1</splitterOrientation>
-                <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAsQAAAAIAAAEV)</splitterSizes>
+                <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAYwAAAAIAAAB7)</splitterSizes>
                 <type>splitter</type>
               </side1>
               <splitterOrientation>1</splitterOrientation>
-              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAArgAAAAIAAAHH)</splitterSizes>
+              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAZgAAAAIAAADf)</splitterSizes>
               <type>splitter</type>
             </side0>
             <side1>
-              <classId>PFDGadget</classId>
+              <classId>PfdQmlGadget</classId>
               <gadget>
-                <activeConfiguration>raw</activeConfiguration>
+                <activeConfiguration>NoTerrain</activeConfiguration>
               </gadget>
               <type>uavGadget</type>
             </side1>

ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml

@@ -2494,9 +2494,9 @@
               <type>splitter</type>
             </side0>
             <side1>
-              <classId>PFDGadget</classId>
+              <classId>PfdQmlGadget</classId>
               <gadget>
-                <activeConfiguration>raw</activeConfiguration>
+                <activeConfiguration>NoTerrain</activeConfiguration>
               </gadget>
               <type>uavGadget</type>
             </side1>

ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml

@@ -2,26 +2,24 @@ import Qt 4.7
 
 Item {
     id: sceneItem
-    property variant sourceSize
+    property variant sceneSize
 
-    Image {
+    SvgElementImage {
         id: altitude_bg
-        source: "image://svg/pfd.svg!altitude-bg"
-        sourceSize: sceneItem.sourceSize
+        elementName: "altitude-bg"
+        sceneSize: sceneItem.sceneSize
         clip: true
 
         property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "altitude-bg")
 
-        x: scaledBounds.x * sceneItem.width
-        y: scaledBounds.y * sceneItem.height
-        width: scaledBounds.width * sceneItem.width
-        height: scaledBounds.height * sceneItem.height
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
 
-        Image {
+        SvgElementImage {
             id: altitude_scale
 
-            source: "image://svg/pfd.svg!altitude-scale"
-            sourceSize: sceneItem.sourceSize
+            elementName: "altitude-scale"
+            sceneSize: sceneItem.sceneSize
 
             anchors.verticalCenter: parent.verticalCenter
             // The altitude scale represents 30 meters,
@@ -55,12 +53,12 @@ Item {
     }
 
 
-    Image {
+    SvgElementImage {
         id: altitude_window
         clip: true
 
-        source: "image://svg/pfd.svg!altitude-window"
-        sourceSize: sceneItem.sourceSize
+        elementName: "altitude-window"
+        sceneSize: sceneItem.sceneSize
 
         property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "altitude-window")
 

ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml

@@ -0,0 +1,37 @@
+import Qt 4.7
+import "."
+
+Item {
+    id: sceneItem
+    property variant sceneSize
+
+    SvgElementImage {
+        id: compass
+        elementName: "compass"
+        sceneSize: sceneItem.sceneSize
+
+        clip: true
+
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+        //anchors.horizontalCenter: parent.horizontalCenter
+
+        //split compass band to 8 parts to ensure it doesn't exceed the max texture size
+        Row {
+            anchors.centerIn: parent
+            //the band is 540 degrees wide, AttitudeActual.Yaw is converted to -180..180 range
+            anchors.horizontalCenterOffset: -1*((AttitudeActual.Yaw+180+720) % 360 - 180)/540*width
+
+            Repeater {
+                model: 5
+                SvgElementImage {
+                    id: compass_band
+                    elementName: "compass-band"
+                    sceneSize: background.sceneSize
+                    hSliceCount: 5
+                    hSlice: index
+                }
+            }
+        }
+    }
+}

ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml

@@ -4,15 +4,13 @@ import "."
 Rectangle {
     color: "#666666"
 
-    Image {
+    SvgElementImage {
         id: background
-        source: "image://svg/pfd.svg!background"
-
+        elementName: "background"
         fillMode: Image.PreserveAspectFit
         anchors.fill: parent
 
-        sourceSize.width: width
-        sourceSize.height: height
+        sceneSize: Qt.size(width, height)
 
         Item {
             id: sceneItem
@@ -27,10 +25,11 @@ Rectangle {
                 source: qmlWidget.terrainEnabled ? "PfdTerrainView.qml" : "PfdWorldView.qml"
             }
 
-            Image {
+            SvgElementImage {
                 id: rollscale
-                source: "image://svg/pfd.svg!rollscale"
-                sourceSize: background.sourceSize
+                elementName: "rollscale"
+                sceneSize: background.sceneSize
+
                 smooth: true
                 anchors.centerIn: parent
                 //rotate it around the center of scene
@@ -41,46 +40,59 @@ Rectangle {
                 }
             }
 
-            Image {
+            SvgElementImage {
                 id: foreground
-                source: "image://svg/pfd.svg!foreground"
-                sourceSize: background.sourceSize
+                elementName: "foreground"
+                sceneSize: background.sceneSize
+
                 anchors.centerIn: parent
             }
 
-            Image {
-                id: compass
-                source: "image://svg/pfd.svg!compass"
-                sourceSize: background.sourceSize
-                clip: true
+            SvgElementImage {
+                id: side_slip
+                elementName: "sideslip"
+                sceneSize: background.sceneSize
+                smooth: true
 
-                y: 12
-                anchors.horizontalCenter: parent.horizontalCenter
-
-                Image {
-                    id: compass_band
-                    source: "image://svg/pfd.svg!compass-band"
-                    sourceSize: background.sourceSize
-
-                    anchors.centerIn: parent
-                    //the band is 540 degrees wide
-                    anchors.horizontalCenterOffset: -1*AttitudeActual.Yaw/540*width
+                property real sideSlip: Accels.y
+                //smooth side slip changes, a low pass filter replacement
+                //accels are updated once per second
+                Behavior on sideSlip {
+                    SmoothedAnimation {
+                        duration: 1000
+                        velocity: -1
                     }
                 }
 
+                anchors.horizontalCenter: foreground.horizontalCenter
+                //0.5 coefficient is empirical to limit indicator movement
+                anchors.horizontalCenterOffset: -sideSlip*width*0.5
+                y: scaledBounds.y * sceneItem.height
+            }
+
+            Compass {
+                anchors.fill: parent
+                sceneSize: background.sceneSize
+            }
+
             SpeedScale {
                 anchors.fill: parent
-                sourceSize: background.sourceSize
+                sceneSize: background.sceneSize
             }
 
             AltitudeScale {
                 anchors.fill: parent
-                sourceSize: background.sourceSize
+                sceneSize: background.sourceSize
+            }
+
+            VsiScale {
+                anchors.fill: parent
+                sceneSize: background.sourceSize
             }
 
             PfdIndicators {
                 anchors.fill: parent
-                sourceSize: background.sourceSize
+                sceneSize: background.sourceSize
             }
         }
     }

ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml

@@ -2,21 +2,19 @@ import Qt 4.7
 
 Item {
     id: sceneItem
-    property variant sourceSize
+    property variant sceneSize
 
     //telemetry status arrow
-    Image {
+    SvgElementImage {
         id: telemetry_status
-        source: "image://svg/pfd.svg!gcstelemetry-"+statusName
-        sourceSize: sceneItem.sourceSize
+        elementName: "gcstelemetry-"+statusName
+        sceneSize: sceneItem.sceneSize
 
         property string statusName : ["Disconnected","HandshakeReq","HandshakeAck","Connected"][GCSTelemetryStats.Status]
 
-        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gcstelemetry-Disconnected")
-        x: scaledBounds.x * sceneItem.width
-        y: scaledBounds.y * sceneItem.height
-        width: scaledBounds.width * sceneItem.width
-        height: scaledBounds.height * sceneItem.height
+        scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gcstelemetry-Disconnected")
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
     }
 
     //telemetry rate text
@@ -41,8 +39,8 @@ Item {
         visible: GPSPosition.Satellites > 0
 
         property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gps-txt")
-        x: scaledBounds.x * sceneItem.width
-        y: scaledBounds.y * sceneItem.height
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
     }
 
     Text {
@@ -63,8 +61,7 @@ Item {
         visible: FlightBatteryState.Voltage > 0 || FlightBatteryState.Current > 0
 
         property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "battery-txt")
-        x: scaledBounds.x * sceneItem.width
-        y: scaledBounds.y * sceneItem.height
-
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
     }
 }

ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml

@@ -1,23 +1,29 @@
 import Qt 4.7
 
 Item {
-    //worldView should fill the source size of svg document
     id: worldView
 
-    Image {
+    Rectangle {
         id: world
-        source: "image://svg/pfd.svg!world"
-
-        sourceSize.width: worldView.width
-        sourceSize.height: worldView.height
-
         smooth: true
 
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "world")
+        width: Math.round(sceneItem.width*scaledBounds.width/2)*2
+        height: Math.round(sceneItem.height*scaledBounds.height/2)*2
+
+        gradient: Gradient {
+            GradientStop { position: 0.3;    color: "#6589E2" }
+            GradientStop { position: 0.4999; color: "#AFC2F0" }
+            GradientStop { position: 0.5;    color: "#A46933" }
+            GradientStop { position: 0.8;    color: "black" }
+        }
+
         transform: [
             Translate {
                 id: pitchTranslate
-                x: (world.parent.width - world.width)/2
-                y: (world.parent.height - world.height)/2 + AttitudeActual.Pitch*world.parent.height/94
+                x: Math.round((world.parent.width - world.width)/2)
+                y: Math.round((world.parent.height - world.height)/2 +
+                              AttitudeActual.Pitch*world.parent.height/94)
             },
             Rotation {
                 angle: -AttitudeActual.Roll
@@ -25,5 +31,26 @@ Item {
                 origin.y : world.parent.height/2
             }
         ]
+
+        SvgElementImage {
+            id: pitch_scale
+            elementName: "pitch_scale"
+            //worldView is loaded with Loader, so background element is visible
+            sceneSize: background.sceneSize
+            anchors.centerIn: parent
+            border: 64 //sometimes numbers are excluded from bounding rect
+
+            smooth: true
+        }
+
+        SvgElementImage {
+            id: horizont_line
+            elementName: "world-centerline"
+            //worldView is loaded with Loader, so background element is visible
+            sceneSize: background.sceneSize
+            anchors.centerIn: parent
+            border: 1
+            smooth: true
+        }
     }
 }

ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml

@@ -2,28 +2,24 @@ import Qt 4.7
 
 Item {
     id: sceneItem
-    property variant sourceSize
+    property variant sceneSize
     property real groundSpeed : 3.6 * Math.sqrt(Math.pow(VelocityActual.North,2)+
                                                 Math.pow(VelocityActual.East,2))
 
-    Image {
+    SvgElementImage {
         id: speed_bg
-        source: "image://svg/pfd.svg!speed-bg"
-        sourceSize: sceneItem.sourceSize
+        elementName: "speed-bg"
+        sceneSize: sceneItem.sceneSize
         clip: true
 
-        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "speed-bg")
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
 
-        x: scaledBounds.x * sceneItem.width
-        y: scaledBounds.y * sceneItem.height
-        width: scaledBounds.width * sceneItem.width
-        height: scaledBounds.height * sceneItem.height
-
-        Image {
+        SvgElementImage {
             id: speed_scale
 
-            source: "image://svg/pfd.svg!speed-scale"
-            sourceSize: sceneItem.sourceSize
+            elementName: "speed-scale"
+            sceneSize: sceneItem.sceneSize
 
             anchors.verticalCenter: parent.verticalCenter
             // The speed scale represents 30 meters,
@@ -63,14 +59,12 @@ Item {
     }
 
 
-    Image {
+    SvgElementImage {
         id: speed_window
         clip: true
 
-        source: "image://svg/pfd.svg!speed-window"
-        sourceSize: sceneItem.sourceSize
-
-        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "speed-window")
+        elementName: "speed-window"
+        sceneSize: sceneItem.sceneSize
 
         x: scaledBounds.x * sceneItem.width
         y: scaledBounds.y * sceneItem.height

ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml

@@ -0,0 +1,34 @@
+import Qt 4.7
+
+Image {
+    id: sceneItem
+    property variant sceneSize
+    property string elementName
+    property string svgFileName: "pfd.svg"
+    property int vSlice: 0
+    property int vSliceCount: 0
+    property int hSlice: 0
+    property int hSliceCount: 0
+    //border property is useful to extent the area of image e bit,
+    //so it looks well antialiased when rotated
+    property int border: 0
+    property variant scaledBounds: svgRenderer.scaledElementBounds(svgFileName, elementName)
+
+    sourceSize.width: Math.round(sceneSize.width*scaledBounds.width)
+    sourceSize.height: Math.round(sceneSize.height*scaledBounds.height)
+
+    Component.onCompleted: {
+        var params = ""
+        if (hSliceCount > 1)
+            params += "hslice="+hSlice+":"+hSliceCount+";"
+        if (vSliceCount > 1)
+            params += "vslice="+vSlice+":"+vSliceCount+";"
+        if (border > 0)
+            params += "border="+border+";"
+
+        if (params != "")
+            params = "?" + params
+
+        source = "image://svg/"+svgFileName+"!"+elementName+params
+    }
+}

ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml

@@ -0,0 +1,77 @@
+import Qt 4.7
+
+Item {
+    id: sceneItem
+    property variant sceneSize
+
+    SvgElementImage {
+        id: vsi_bg
+        elementName: "vsi-bg"
+        sceneSize: sceneItem.sceneSize
+        clip: true
+
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+
+        SvgElementImage {
+            id: vsi_bar
+
+            elementName: "vsi-bar"
+            sceneSize: sceneItem.sceneSize
+
+            //the scale in 1000 ft/min with height == 5200 ft/min
+            height: (-VelocityActual.Down*3.28*60/1000)*(vsi_scale.height/5.2)
+
+
+            anchors.bottom: parent.verticalCenter
+            anchors.left: parent.left
+        }
+
+        SvgElementImage {
+            id: vsi_scale
+
+            elementName: "vsi-scale"
+            sceneSize: sceneItem.sceneSize
+
+            anchors.verticalCenter: parent.verticalCenter
+            anchors.left: parent.left
+
+            //Text labels
+            Column {
+                anchors.verticalCenter: parent.verticalCenter
+                anchors.left: parent.right
+
+                Repeater {
+                    model: [2, 1, 0, 1, 2]
+                    Item {
+                        height: vsi_scale.height / 5.2 //the scale height is 5200
+                        width: vsi_bg.width - vsi_scale.width //fill area right to scale
+
+                        Text {
+                            text: modelData
+                            visible: modelData !== 0 //hide "0" label
+                            color: "white"
+                            font.pixelSize: parent.height / 4
+                            font.family: "Arial"
+
+                            anchors.centerIn: parent
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+
+    SvgElementImage {
+        id: vsi_window
+        clip: true
+        smooth: true
+
+        elementName: "vsi-window"
+        sceneSize: sceneItem.sceneSize
+
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height)
+    }
+}

ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg

@@ -15,11 +15,11 @@
    id="svg2"
    version="1.1"
    inkscape:version="0.48.3.1 r9886"
-   sodipodi:docname="pfd.svg"
+   sodipodi:docname="pfd-6.svg"
    style="display:inline"
-   inkscape:export-filename="H:\Documents\Hobbies\OpenPilot\SVN\artwork\PFD-2.png"
-   inkscape:export-xdpi="269.53"
-   inkscape:export-ydpi="269.53">
+   inkscape:export-filename="C:\Users\Nuno\Desktop\OpenPilot\PFD\PFD-4.png"
+   inkscape:export-xdpi="71.993568"
+   inkscape:export-ydpi="71.993568">
   <defs
      id="defs4">
     <marker
@@ -1615,18 +1615,18 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="0.73067675"
-     inkscape:cx="431.15187"
-     inkscape:cy="372.16908"
+     inkscape:zoom="1"
+     inkscape:cx="568.94653"
+     inkscape:cy="247.78161"
      inkscape:document-units="px"
-     inkscape:current-layer="layer3"
+     inkscape:current-layer="layer41"
      showgrid="false"
-     inkscape:window-width="1440"
-     inkscape:window-height="838"
-     inkscape:window-x="-8"
-     inkscape:window-y="-8"
+     inkscape:window-width="1680"
+     inkscape:window-height="987"
+     inkscape:window-x="-4"
+     inkscape:window-y="-4"
      inkscape:window-maximized="1"
-     showguides="true"
+     showguides="false"
      inkscape:guide-bbox="true"
      inkscape:snap-grids="false"
      inkscape:snap-to-guides="true"
@@ -1680,6 +1680,38 @@
        orientation="0,1"
        position="-378.30213,170.71578"
        id="guide5917" />
+    <sodipodi:guide
+       orientation="0,1"
+       position="481.5,752.75"
+       id="guide7197" />
+    <sodipodi:guide
+       position="669.44526,613.50294"
+       orientation="519.61524,-300"
+       id="guide5032" />
+    <sodipodi:guide
+       position="779.25288,503.69532"
+       orientation="300,-519.61524"
+       id="guide5034" />
+    <sodipodi:guide
+       position="622.0513,635.6031"
+       orientation="563.81557,-205.21208"
+       id="guide5036" />
+    <sodipodi:guide
+       position="571.53971,649.13764"
+       orientation="590.88465,-104.1889"
+       id="guide5038" />
+    <sodipodi:guide
+       orientation="1,0"
+       position="450.8125,483.4375"
+       id="guide4007" />
+    <sodipodi:guide
+       orientation="1,0"
+       position="589,485.5"
+       id="guide4009" />
+    <sodipodi:guide
+       orientation="0,1"
+       position="-504.5,799.5"
+       id="guide5119" />
   </sodipodi:namedview>
   <metadata
      id="metadata7">
@@ -1689,14 +1721,14 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title />
+        <dc:title></dc:title>
       </cc:Work>
     </rdf:RDF>
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   <g
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      id="layer7"
-     inkscape:label="Background"
+     inkscape:label="background"
      style="display:none"
      transform="translate(230.4171,-2.5493479)"
      sodipodi:insensitive="true">
@@ -1711,301 +1743,218 @@
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   </g>
   <g
-     inkscape:label="World"
+     inkscape:label="world"
      inkscape:groupmode="layer"
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      transform="translate(230.4171,-254.91153)"
-     style="display:none"
+     style="display:inline"
      sodipodi:insensitive="true">
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        inkscape:label="#g3042">
       <g
-         transform="matrix(4.6362185,0,0,1.5267412,-1475.4746,-169.05952)"
-         id="g4280">
+         transform="matrix(4.6362185,0,0,1.9084264,-1475.4746,-363.49767)"
+         id="world-bg"
+         inkscape:label="#g4280">
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            height="654.98987"
            width="305.71429"
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-           style="fill:url(#linearGradient5597);fill-opacity:1;stroke:none" />
+           id="ground"
+           style="fill:url(#linearGradient5597);fill-opacity:1;stroke:none"
+           inkscape:label="#rect3724" />
         <rect
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+           id="sky"
            width="305.71429"
            height="654.98987"
            x="227.8495"
            y="-145.56979"
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-           rx="2.7755576e-017" />
+           rx="2.7755576e-017"
+           inkscape:label="#rect2942" />
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-         style="fill:none;stroke:#1c5313;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-         inkscape:connector-curvature="0" />
-    </g>
-    <g
-       id="nextwaypoint"
-       transform="translate(18.571429,60)"
-       inkscape:label="#g5040">
-      <path
-         sodipodi:type="arc"
-         style="fill:#ff251b;fill-opacity:0.59607843;stroke:#1c870b;stroke-width:0;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
-         id="path5042"
-         sodipodi:cx="408.10162"
-         sodipodi:cy="306.0354"
-         sodipodi:rx="7.0710678"
-         sodipodi:ry="7.0710678"
-         d="m 415.17269,306.0354 c 0,3.90524 -3.16582,7.07107 -7.07107,7.07107 -3.90524,0 -7.07106,-3.16583 -7.07106,-7.07107 0,-3.90524 3.16582,-7.07107 7.07106,-7.07107 3.90525,0 7.07107,3.16583 7.07107,7.07107 z"
-         transform="translate(0.06314146,9.609375e-6)" />
-      <path
-         style="fill:none;stroke:#ff251b;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-         d="m 408.10162,299.09061 0,13.8896"
-         id="path5044"
-         inkscape:connector-curvature="0" />
-      <path
-         style="fill:none;stroke:#ff251b;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-         d="m 401.40937,306.03541 13.51079,0"
-         id="path5046"
-         inkscape:connector-curvature="0" />
     </g>
   </g>
   <g
      inkscape:groupmode="layer"
      id="layer5"
-     inkscape:label="Speed"
+     inkscape:label="vertical scales"
      style="display:none"
      transform="translate(230.4171,-2.5493479)"
      sodipodi:insensitive="true">
@@ -4374,9 +4254,15 @@
          x="-91.428574"
          y="355.71429" /></text>
     <g
+       inkscape:groupmode="layer"
+       id="layer10"
+       inkscape:label="speed-scale"
+       style="display:inline">
+      <g
+         style="display:inline"
          id="speed-scale"
          inkscape:label="#g4182"
-       transform="translate(-231.32493,10.101525)">
+         transform="translate(-231.32493,10.101522)">
         <g
            id="speed-scale1"
            inkscape:label="#g5644">
@@ -4537,8 +4423,15 @@
              inkscape:connector-curvature="0" />
         </g>
       </g>
+    </g>
     <g
-       transform="matrix(-1,0,0,1,-318.58209,10.101525)"
+       inkscape:groupmode="layer"
+       id="layer11"
+       inkscape:label="altitude-scale"
+       style="display:inline">
+      <g
+         style="display:inline"
+         transform="matrix(-1,0,0,1,-318.58209,10.101522)"
          inkscape:label="#g4182"
          id="altitude-scale">
         <g
@@ -4702,18 +4595,24 @@
         </g>
       </g>
     </g>
+  </g>
   <g
      inkscape:groupmode="layer"
      id="layer2"
-     inkscape:label="Foreground"
+     inkscape:label="frame1"
      style="display:none"
      transform="translate(230.4171,-2.5493479)"
      sodipodi:insensitive="true">
+    <g
+       inkscape:groupmode="layer"
+       id="layer24"
+       inkscape:label="rect2816">
       <path
-       style="fill:#453e3e;fill-opacity:1;stroke:#000000;stroke-width:4.08031273;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none"
-       d="m -115.54603,-47.690059 c -2.50791,0 -4.54785,1.99743 -4.54785,4.50534 l 0,807.009359 c 0,2.5079 2.03994,4.54785 4.54785,4.54785 l 807.00936,0 c 2.5079,0 4.50534,-2.03995 4.50534,-4.54785 l 0,-807.009359 c 0,-2.50791 -1.99744,-4.50534 -4.50534,-4.50534 l -807.00936,0 z M 289.34,11.395534 c 150.15374,0 271.88009,59.618647 272.02085,133.162706 l 0.21252,48.57516 -0.38253,374.99409 C 556.30557,639.62843 436.47945,673.69951 289.34,673.69951 c -147.13944,0 -266.965544,-34.07108 -271.850832,-105.57202 l -0.212516,0 0,-374.99409 0.0425,-48.58122 C 17.459912,71.008115 139.18627,11.395534 289.34,11.395534 z"
+         style="fill:#453e3e;fill-opacity:1;stroke:#000000;stroke-width:4.08031273;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline"
+         d="m -115.54603,-47.690063 c -2.50791,0 -4.54785,1.99743 -4.54785,4.50534 l 0,807.009363 c 0,2.5079 2.03994,4.54785 4.54785,4.54785 l 807.00936,0 c 2.5079,0 4.50534,-2.03995 4.50534,-4.54785 l 0,-807.009363 c 0,-2.50791 -1.99744,-4.50534 -4.50534,-4.50534 l -807.00936,0 z M 289.34,11.395529 c 150.15374,0 271.88009,59.618653 272.02085,133.162711 l 0.21252,48.57516 -0.38253,374.99409 C 556.30557,639.62843 436.47945,673.69951 289.34,673.69951 c -147.13944,0 -266.965554,-34.07108 -271.850844,-105.57202 l -0.21251,0 0,-374.99409 0.0425,-48.58122 C 17.459906,71.008112 139.18627,11.395529 289.34,11.395529 z"
          id="rect2816"
          sodipodi:nodetypes="cccccccccccccsccccc"
          inkscape:connector-curvature="0" />
     </g>
+  </g>
 </svg>

ground/openpilotgcs/share/openpilotgcs/pfd/default/readymap.earth

@@ -0,0 +1,35 @@
+<!--
+osgEarth Sample - ReadyMap.ORG Server - http://readymap.org
+
+ReadyMap.ORG provides free global base map data for osgEarth developers!
+This tiled, worldwide dataset of imagery, elevation, and street map data
+is a great base map that provides global context for your own local datasets.
+It works "out of the box" with osgEarth applications.
+
+**** NOTICE ****
+YOU ARE RESPONSIBLE for abiding by the TERMS AND CONDITIONS outlined at:
+http://readymap.org
+
+-->
+<map name="readymap.org" type="geocentric" version="2">
+
+    <image name="ReadyMap.org - Imagery" driver="tms">
+        <url>http://readymap.org/readymap/tiles/1.0.0/7/</url>
+    </image>
+
+    <image name="ReadyMap.org - Street Map" driver="tms">
+        <url>http://readymap.org/readymap/tiles/1.0.0/35/</url>
+    </image>
+        
+    <elevation name="ReadyMap.org - Elevation" driver="tms">
+        <url>http://readymap.org/readymap/tiles/1.0.0/9/</url>
+    </elevation>
+    
+    <options>
+        <terrain>
+            <lighting>false</lighting>
+            <lod_fall_off>6.0</lod_fall_off>
+        </terrain>
+    </options>
+    
+</map>

ground/openpilotgcs/share/openpilotgcs/pfd/default/yahoo_readymap.earth

@@ -0,0 +1,25 @@
+<!--
+osgEarth Sample - SRTM global elevation
+
+This sample demonstrates the use of a global SRTM TMS data source for world-wide elevation.
+The heightfield is draped with the NASA Blue Marble imagery.
+-->
+
+<map name="srtm sample" type="globe" version="2">
+
+  <image name="yahoo aerial" driver="yahoo">
+          <dataset>satellite</dataset>
+  </image>
+  
+
+  <elevation name="ReadyMap.org - Elevation" driver="tms">
+        <url>http://readymap.org/readymap/tiles/1.0.0/9/</url>
+  </elevation>
+    
+  <options>
+        <terrain>
+            <lighting>false</lighting>
+            <lod_fall_off>6.0</lod_fall_off>
+        </terrain>
+   </options>
+</map>

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

@@ -40,12 +40,15 @@ namespace Utils {
 
 HomeLocationUtil::HomeLocationUtil()
 {
-//        Initialize();
 }
 
-	// input params: LLA
-	//
-	// output params: ECEF, RNE and Be
+/*
+    /**
+     * @brief Get local magnetic field
+     * @param[in] LLA The longitude-latitude-altitude coordinate to compute the magnetic field at
+     * @param[out] Be The resulting magnetic field at that location and time in [mGau](?)
+     * @returns 0 if successful, -1 otherwise.
+     */
     int HomeLocationUtil::getDetails(double LLA[3], double Be[3])
     {
         // *************
@@ -66,6 +69,7 @@ namespace Utils {
 
         QDateTime dt = QDateTime::currentDateTime().toUTC();
 
+        //Fetch world magnetic model
         Q_ASSERT(WorldMagModel().GetMagVector(LLA, dt.date().month(), dt.date().day(), dt.date().year(), Be) >= 0);
 
         return 0;	// OK

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

@@ -67,12 +67,24 @@ QSvgRenderer *SvgImageProvider::loadRenderer(const QString &svgFile)
 }
 
 /**
-  requestedSize is realted to the whole svg file, not to specific element
+   Supported id format: fileName[!elementName[?parameters]]
+   where parameters may be:
+   vslice=1:2;hslice=2:4 - use the 3rd horizontal slice of total 4 slices, slice numbering starts from 0
+   borders=1 - 1 pixel wide transparent border
+
+   requestedSize is related to the whole element size, even if slice is requested.
+
+   usage:
+
+   Image {
+       source: "image://svg/pfd.svg!world"
+   }
 */
 QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSize &requestedSize)
 {
     QString svgFile = id;
     QString element;
+    QString parameters;
 
     int separatorPos = id.indexOf('!');
     if (separatorPos != -1) {
@@ -80,6 +92,34 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
         element = id.mid(separatorPos+1);
     }
 
+    int parametersPos = element.indexOf('?');
+    if (parametersPos != -1) {
+        parameters = element.mid(parametersPos+1);
+        element = element.left(parametersPos);
+    }
+
+    int hSlicesCount = 0;
+    int hSlice = 0;
+    int vSlicesCount = 0;
+    int vSlice = 0;
+    int border = 0;
+    if (!parameters.isEmpty()) {
+        QRegExp hSliceRx("hslice=(\\d+):(\\d+)");
+        if (hSliceRx.indexIn(parameters) != -1) {
+            hSlice = hSliceRx.cap(1).toInt();
+            hSlicesCount = hSliceRx.cap(2).toInt();
+        }
+        QRegExp vSliceRx("vslice=(\\d+):(\\d+)");
+        if (vSliceRx.indexIn(parameters) != -1) {
+            vSlice = vSliceRx.cap(1).toInt();
+            vSlicesCount = vSliceRx.cap(2).toInt();
+        }
+        QRegExp borderRx("border=(\\d+)");
+        if (borderRx.indexIn(parameters) != -1) {
+            border = borderRx.cap(1).toInt();
+        }
+    }
+
     if (size)
         *size = QSize();
 
@@ -92,10 +132,16 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
 
     QSize docSize = renderer->defaultSize();
 
-    if (!requestedSize.isEmpty() && !docSize.isEmpty()) {
+    if (!requestedSize.isEmpty()) {
+        if (!element.isEmpty()) {
+            QRectF elementBounds = renderer->boundsOnElement(element);
+            xScale = qreal(requestedSize.width())/elementBounds.width();
+            yScale = qreal(requestedSize.height())/elementBounds.height();
+        } else if (!docSize.isEmpty()) {
             xScale = qreal(requestedSize.width())/docSize.width();
             yScale = qreal(requestedSize.height())/docSize.height();
         }
+    }
 
     //keep the aspect ratio
     //TODO: how to configure it? as a part of image path?
@@ -108,16 +154,37 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
         }
 
         QRectF elementBounds = renderer->boundsOnElement(element);
-        int w = qRound(elementBounds.width() * xScale);
-        int h = qRound(elementBounds.height() * yScale);
+        int elementWidth = qRound(elementBounds.width() * xScale);
+        int elementHeigh = qRound(elementBounds.height() * yScale);
+        int w = elementWidth;
+        int h = elementHeigh;
+        int x = 0;
+        int y = 0;
 
-        QImage img(w, h, QImage::Format_ARGB32_Premultiplied);
+        if (hSlicesCount > 1) {
+            x = (w*hSlice)/hSlicesCount;
+            w = (w*(hSlice+1))/hSlicesCount - x;
+        }
+
+        if (vSlicesCount > 1) {
+            y = (h*(vSlice))/vSlicesCount;
+            h = (h*(vSlice+1))/vSlicesCount - y;
+        }
+
+        QImage img(w+border*2, h+border*2, QImage::Format_ARGB32_Premultiplied);
         img.fill(0);
         QPainter p(&img);
-        renderer->render(&p, element);
+        p.setRenderHints(QPainter::TextAntialiasing |
+                         QPainter::Antialiasing |
+                         QPainter::SmoothPixmapTransform);
+
+        p.translate(-x+border,-y+border);
+        renderer->render(&p, element, QRectF(0, 0, elementWidth, elementHeigh));
 
         if (size)
             *size = QSize(w, h);
+
+        //img.save(element+parameters+".png");
         return img;
     } else {
         //render the whole svg file
@@ -127,7 +194,12 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
         QImage img(w, h, QImage::Format_ARGB32_Premultiplied);
         img.fill(0);
         QPainter p(&img);
-        renderer->render(&p);
+        p.setRenderHints(QPainter::TextAntialiasing |
+                         QPainter::Antialiasing |
+                         QPainter::SmoothPixmapTransform);
+
+        p.scale(xScale, yScale);
+        renderer->render(&p, QRectF(QPointF(), QSizeF(docSize)));
 
         if (size)
             *size = QSize(w, h);

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

@@ -1001,7 +1001,7 @@ border-radius: 4;
     <rect>
      <x>30</x>
      <y>440</y>
-     <width>371</width>
+     <width>401</width>
      <height>31</height>
     </rect>
    </property>

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

@@ -296,7 +296,7 @@ void ConfigInputWidget::goToWizard()
 {
     QMessageBox msgBox;
     msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
-    msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards."));
+    msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually when the wizard is finished."));
     msgBox.setStandardButtons(QMessageBox::Ok);
     msgBox.setDefaultButton(QMessageBox::Ok);
     msgBox.exec();
@@ -428,7 +428,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
                                      "Please follow the instructions on the screen and only move your controls when asked to.\n"
                                      "Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
-                                     "At any time you can press 'back' to return to the previous screeen or 'Cancel' to cancel the wizard.\n"));
+                                     "You can press 'back' at any time to return to the previous screeen or press 'Cancel' to quit the wizard.\n"));
         m_config->stackedWidget->setCurrentIndex(1);
         m_config->wzBack->setEnabled(false);
         break;
@@ -437,9 +437,9 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         m_config->graphicsView->setVisible(true);
         m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
         setTxMovement(nothing);
-        m_config->wzText->setText(tr("Please choose your transmiter type.\n"
-                                     "Mode 1 means your throttle stick is on the right\n"
-                                     "Mode 2 means your throttle stick is on the left\n"));
+        m_config->wzText->setText(tr("Please choose your transmitter type.\n"
+                                     "Mode 1 means your throttle stick is on the right.\n"
+                                     "Mode 2 means your throttle stick is on the left.\n"));
         m_config->wzBack->setEnabled(true);
         QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
         QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
@@ -453,10 +453,10 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         break;
     case wizardChooseType:
     {
-        m_config->wzText->setText(tr("Please choose your transmiter mode.\n"
-                                     "Acro means normal transmitter\n"
-                                     "Heli means there is a collective pitch and throttle input\n"
-                                     "If you are using a heli transmitter please engage throttle hold now please.\n"));
+        m_config->wzText->setText(tr("Please choose your transmitter mode.\n"
+                                     "Acro means normal transmitter.\n"
+                                     "Heli means there is a collective pitch and throttle input.\n"
+                                     "If you are using a heli transmitter please engage throttle hold now.\n"));
         m_config->wzBack->setEnabled(true);
         QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
         QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
@@ -480,7 +480,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         break;
     case wizardIdentifyCenter:
         setTxMovement(centerAll);
-        m_config->wzText->setText(QString(tr("Please center all control controls and press next when ready (if your FlightMode switch has only two positions, leave it on either position)")));
+        m_config->wzText->setText(QString(tr("Please center all controls and press next when ready (if your FlightMode switch has only two positions, leave it in either position).")));
         break;
     case wizardIdentifyLimits:
     {
@@ -488,7 +488,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(),1);
         accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(),2);
         setTxMovement(nothing);
-        m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready")));
+        m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready.")));
         fastMdata();
         manualSettingsData=manualSettingsObj->getData();
         for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
@@ -530,7 +530,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
             }
         }
         connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        m_config->wzText->setText(QString(tr("Please check the picture below and check all the sticks which show an inverted movement and press next when ready")));
+        m_config->wzText->setText(QString(tr("Please check the picture below and correct all the sticks which show an inverted movement, press next when ready.")));
         fastMdata();
         break;
     case wizardFinish:
@@ -538,8 +538,8 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
         connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
         connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
         connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
-        m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture below mimics your sticks movement.\n"
-                                             "This new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can do that.")));
+        m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture mimics your sticks movement.\n"
+                                             "These new settings aren't saved to the board yet, after pressing next you will go to the initial screen where you can save the configuration.")));
         fastMdata();
 
         manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
@@ -665,11 +665,11 @@ void ConfigInputWidget::restoreMdata()
 void ConfigInputWidget::setChannel(int newChan)
 {
     if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
-        m_config->wzText->setText(QString(tr("Please enable throttle hold mode and move the collective pitch stick")));
+        m_config->wzText->setText(QString(tr("Please enable the throttle hold mode and move the collective pitch stick.")));
     else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE)
-        m_config->wzText->setText(QString(tr("Please flick the flight mode switch.  For switches you may have to repeat this rapidly.")));
+        m_config->wzText->setText(QString(tr("Please toggle the flight mode switch. For switches you may have to repeat this rapidly.")));
     else if((transmitterType == heli) && (newChan == ManualControlSettings::CHANNELGROUPS_THROTTLE))
-        m_config->wzText->setText(QString(tr("Please disable throttle hold mode and move the throttle stick")));
+        m_config->wzText->setText(QString(tr("Please disable throttle hold mode and move the throttle stick.")));
     else
         m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
                                  "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
@@ -1299,7 +1299,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
 
         QMessageBox msgBox;
         msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
-        msgBox.setDetailedText(tr("You will have to reconfigure arming settings yourself afterwards."));
+        msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually when the wizard is finished."));
         msgBox.setStandardButtons(QMessageBox::Ok);
         msgBox.setDefaultButton(QMessageBox::Ok);
         msgBox.exec();

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

@@ -471,11 +471,10 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
 {
     Q_UNUSED(o);
 
-    //if(!allObjectsUpdated())
-      //  return;
+    if(!allObjectsUpdated())
+        return;
 	
-	//WHAT DOES THIS DO?
-    bool dirty=isDirty(); //WHY IS THIS CALLED HERE AND THEN AGAIN SEVERAL LINES LATER IN setupAirframeUI()
+    bool dirty=isDirty();
 	
     // Get the Airframe type from the system settings:
     UAVDataObject* system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));

ground/openpilotgcs/src/plugins/config/images/curve-bg.svg

@@ -7,16 +7,28 @@
    xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
    xmlns:svg="http://www.w3.org/2000/svg"
    xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
    xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
    xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
    width="253"
    height="253"
    id="svg2"
    version="1.1"
-   inkscape:version="0.47 r22583"
+   inkscape:version="0.48.2 r9819"
    sodipodi:docname="curve-bg.svg">
   <defs
      id="defs4">
+    <linearGradient
+       id="linearGradient3774">
+      <stop
+         style="stop-color:#ffffff;stop-opacity:1;"
+         offset="0"
+         id="stop3776" />
+      <stop
+         style="stop-color:#f0f6e9;stop-opacity:0.98290598;"
+         offset="1"
+         id="stop3778" />
+    </linearGradient>
     <inkscape:perspective
        sodipodi:type="inkscape:persp3d"
        inkscape:vp_x="0 : 526.18109 : 1"
@@ -24,6 +36,16 @@
        inkscape:vp_z="744.09448 : 526.18109 : 1"
        inkscape:persp3d-origin="372.04724 : 350.78739 : 1"
        id="perspective10" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3774"
+       id="radialGradient3780"
+       cx="300.41299"
+       cy="379.09206"
+       fx="300.41299"
+       fy="379.09206"
+       r="126.5"
+       gradientUnits="userSpaceOnUse" />
   </defs>
   <sodipodi:namedview
      id="base"
@@ -32,17 +54,17 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="1.4"
-     inkscape:cx="96.087002"
-     inkscape:cy="157.47786"
+     inkscape:zoom="1.9966906"
+     inkscape:cx="181.06787"
+     inkscape:cy="89.329853"
      inkscape:document-units="px"
      inkscape:current-layer="layer1"
      showgrid="false"
-     inkscape:window-width="1280"
-     inkscape:window-height="744"
-     inkscape:window-x="-4"
-     inkscape:window-y="1020"
-     inkscape:window-maximized="1" />
+     inkscape:window-width="1440"
+     inkscape:window-height="878"
+     inkscape:window-x="1695"
+     inkscape:window-y="97"
+     inkscape:window-maximized="0" />
   <metadata
      id="metadata7">
     <rdf:RDF>
@@ -51,7 +73,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
+        <dc:title />
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -61,7 +83,7 @@
      id="layer1"
      transform="translate(-173.91299,-252.59206)">
     <rect
-       style="opacity:0.98000004;fill:#eeeeee;fill-opacity:1;stroke:#000000;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
+       style="opacity:0.98000003999999996;fill:url(#radialGradient3780);fill-opacity:1;stroke:#000000;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:0.44888889999999998;stroke-dasharray:none;stroke-dashoffset:0"
        id="rect2816"
        width="250"
        height="250"
@@ -69,59 +91,59 @@
        y="254.09206"
        ry="10" />
     <path
-       style="fill:none;stroke:#000000;stroke-width:1.0199573px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       style="fill:none;stroke:#242c00;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.49333334;stroke-miterlimit:4;stroke-dasharray:none"
        d="m 175.95412,379.09206 248.91774,0"
        id="path3590" />
     <path
        id="path3592"
        d="m 300.41299,254.63319 0,248.91774"
-       style="fill:none;stroke:#000000;stroke-width:1.0199573px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
+       style="fill:none;stroke:#242c00;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.49333334;stroke-miterlimit:4;stroke-dasharray:none" />
     <path
        id="path3594"
        d="m 175.95412,348.09206 248.91774,0"
-       style="fill:none;stroke:#000000;stroke-width:1.01999998;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:1.01999998, 4.07999992;stroke-dashoffset:0" />
+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:5.30000019;stroke-opacity:0.28888890000000000;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7" />
     <path
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+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:5.30000019;stroke-opacity:0.28888890000000000;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7"
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        id="path3596" />
     <path
        id="path3598"
        d="m 175.95412,286.09206 248.91774,0"
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+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:5.30000019;stroke-opacity:0.28888890000000000;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7" />
     <path
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+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:5.30000019;stroke-opacity:0.28888890000000000;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7;marker-start:none"
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     <path
        id="path3602"
        d="m 175.95412,441.09206 248.91774,0"
-       style="fill:none;stroke:#000000;stroke-width:1.01999998;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:1.01999998,4.07999992;stroke-dashoffset:0;marker-start:none" />
+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:5.30000019;stroke-opacity:0.28888890000000000;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7;marker-start:none" />
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+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:5.30000019;stroke-opacity:0.28888890000000000;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7;marker-start:none"
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     <path
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+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.28888890000000000;stroke-miterlimit:5.30000019;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7"
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     <path
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+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.28888890000000000;stroke-miterlimit:5.30000019;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7" />
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+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.28888890000000000;stroke-miterlimit:5.30000019;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7"
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+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.28888890000000000;stroke-miterlimit:5.30000019;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7"
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+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.28888890000000000;stroke-miterlimit:5.30000019;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7" />
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+       style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:0.28888890000000000;stroke-miterlimit:5.30000019;stroke-dasharray:0.5,0.5;stroke-dashoffset:3.7"
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        id="path3804" />
   </g>

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

@@ -52,8 +52,10 @@ const char * const GCS_YEAR              = "2012";
 const char * const GCS_HELP              = "http://wiki.openpilot.org";
 #ifdef GCS_REVISION
 const char * const GCS_REVISION_STR      = STRINGIFY(GCS_REVISION);
+const char * const UAVOSHA1_STR          = STRINGIFY(UAVO_HASH);
 #else
 const char * const GCS_REVISION_STR      = "";
+const char * const UAVOSHA1_STR          = "";
 #endif
 
 #undef GCS_VERSION

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

@@ -12,12 +12,14 @@
     VERSION_INFO_SCRIPT   = $$ROOT_DIR/make/scripts/version-info.py
     VERSION_INFO_TEMPLATE = $$ROOT_DIR/make/templates/gcsversioninfotemplate.h
     VERSION_INFO_COMMAND  = python \"$$VERSION_INFO_SCRIPT\"
+    UAVO_DEF_PATH         = $$ROOT_DIR/shared/uavobjectdefinition
 
     # Create custom version_info target which generates a header
     version_info.target   = $$VERSION_INFO_HEADER
     version_info.commands = $$VERSION_INFO_COMMAND \
                                     --path=\"$$GCS_SOURCE_TREE\" \
                                     --template=\"$$VERSION_INFO_TEMPLATE\" \
+                                    --uavodir=\"$$UAVO_DEF_PATH\" \
                                     --outfile=\"$$VERSION_INFO_HEADER\"
     version_info.depends = FORCE
     QMAKE_EXTRA_TARGETS += version_info

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

@@ -67,6 +67,26 @@ VersionDialog::VersionDialog(QWidget *parent)
      //: This gets conditionally inserted as argument %8 into the description string.
      ideRev = tr("From revision %1<br/>").arg(QString::fromLatin1(GCS_REVISION_STR).left(60));
 #endif
+     QString uavoHashStr;
+ #ifdef UAVO_HASH
+      //: This gets conditionally inserted as argument %11 into the description string.
+     QByteArray uavoHashArray;
+     QString uavoHash = QString::fromLatin1(Core::Constants::UAVOSHA1_STR);
+     uavoHash.chop(2);
+     uavoHash.remove(0,2);
+     uavoHash=uavoHash.trimmed();
+     bool ok;
+     foreach(QString str,uavoHash.split(","))
+     {
+         uavoHashArray.append(str.toInt(&ok,16));
+     }
+     QString gcsUavoHashStr;
+     foreach(char i, uavoHashArray)
+     {
+         gcsUavoHashStr.append(QString::number(i,16).right(2));
+     }
+     uavoHashStr = tr("UAVO hash %1<br/>").arg(gcsUavoHashStr);
+ #endif
 
      const QString description = tr(
         "<h3>OpenPilot GCS %1 %9 (%10)</h3>"
@@ -76,6 +96,8 @@ VersionDialog::VersionDialog(QWidget *parent)
         "<br/>"
         "%8"
         "<br/>"
+        "%11"
+        "<br/>"
         "Copyright 2010-%6 %7. All rights reserved.<br/>"
         "<br/>"
          "<small>This program is free software; you can redistribute it and/or modify<br/>"
@@ -87,7 +109,7 @@ VersionDialog::VersionDialog(QWidget *parent)
         "PARTICULAR PURPOSE.</small><br/>")
         .arg(version, QLatin1String(QT_VERSION_STR), QString::number(QSysInfo::WordSize),
              QLatin1String(__DATE__), QLatin1String(__TIME__), QLatin1String(GCS_YEAR), 
-             (QLatin1String(GCS_AUTHOR)), ideRev).arg(QLatin1String(GCS_VERSION_TYPE), QLatin1String(GCS_VERSION_CODENAME));
+             (QLatin1String(GCS_AUTHOR)), ideRev).arg(QLatin1String(GCS_VERSION_TYPE), QLatin1String(GCS_VERSION_CODENAME), uavoHashStr);
 
     QLabel *copyRightLabel = new QLabel(description);
     copyRightLabel->setWordWrap(true);

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

@@ -46,7 +46,6 @@
 
 #include "uavtalk/telemetrymanager.h"
 #include "uavobject.h"
-#include "uavobjectmanager.h"
 
 #include "positionactual.h"
 #include "homelocation.h"
@@ -590,6 +589,7 @@ void OPMapGadgetWidget::updatePosition()
     VelocityActual *velocityActualObj = VelocityActual::GetInstance(obm);
     Gyros *gyrosObj = Gyros::GetInstance(obm);
 
+    Q_ASSERT(attitudeActualObj);
     Q_ASSERT(positionActualObj);
     Q_ASSERT(velocityActualObj);
     Q_ASSERT(gyrosObj);
@@ -941,11 +941,11 @@ void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon,double altitu
     if (longitude >  180) longitude =  180;
     else
     if (longitude < -180) longitude = -180;
-    else if(altitude != altitude) altitude=0;
 
     // *********
 
     m_home_position.coord = internals::PointLatLng(latitude, longitude);
+    m_home_position.altitude = altitude;
 
     m_map->Home->SetCoord(m_home_position.coord);
     m_map->Home->SetAltitude(altitude);
@@ -1659,7 +1659,15 @@ void OPMapGadgetWidget::onSetHomeAct_triggered()
 	if (!m_widget || !m_map)
 		return;
 
-    setHome(m_context_menu_lat_lon,0);
+    float altitude=0;
+    bool ok;
+
+    //Get desired HomeLocation altitude from dialog box.
+    //TODO: Populate box with altitude already in HomeLocation UAVO
+    altitude = QInputDialog::getDouble(this, tr("Set home altitude"),
+                                      tr("In [m], referenced to WGS84:"), altitude, -100, 100000, 2, &ok);
+
+    setHome(m_context_menu_lat_lon, altitude);
 
     setHomeLocationObject();  // update the HomeLocation UAVObject
 }

ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp

@@ -281,15 +281,7 @@ void OsgEarthItemRenderer::initScene()
 
     //setup caching
     osgEarth::MapNode *mapNode = osgEarth::MapNode::findMapNode(m_model.get());
-    if (mapNode) {
-        osgEarth::TMSCacheOptions cacheOptions;
-        //cacheOptions.cacheOnly() = true;
-        QString cacheDir = Utils::PathUtils().GetStoragePath()+QLatin1String("osgEarth_cache");
-        cacheOptions.setPath(cacheDir.toStdString());
-        osgEarth::Cache *cache= new osgEarth::TMSCache(cacheOptions);
-
-        mapNode->getMap()->setCache(cache);
-    } else {
+    if (!mapNode) {
         qWarning() << Q_FUNC_INFO << sceneFile << " doesn't look like an osgEarth file";
     }
 

ground/openpilotgcs/src/plugins/pfdqml/osgearth.h

@@ -126,9 +126,6 @@ public slots:
 signals:
     void frameReady();
 
-private slots:
-    void updateFBO();
-
 private:
     enum { FboCount = 3 };
     OsgEarthItem *m_item;

ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp

@@ -38,6 +38,7 @@ PfdQmlGadget::~PfdQmlGadget()
 void PfdQmlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
 {
     PfdQmlGadgetConfiguration *m = qobject_cast<PfdQmlGadgetConfiguration*>(config);
+    m_widget->setOpenGLEnabled(m->openGLEnabled());
     m_widget->setQmlFile(m->qmlFile());
     m_widget->setEarthFile(m->earthFile());
     m_widget->setTerrainEnabled(m->terrainEnabled());
@@ -51,8 +52,10 @@ void PfdQmlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
     if (m->cacheOnly()) {
         qputenv("OSGEARTH_CACHE_ONLY", "true");
     } else {
-        //how portable it is?
-        //unsetenv("OSGEARTH_CACHE_ONLY");
-        qputenv("OSGEARTH_CACHE_ONLY", "false");
+#ifdef Q_OS_WIN32
+        qputenv("OSGEARTH_CACHE_ONLY", "");
+#else
+        unsetenv("OSGEARTH_CACHE_ONLY");
+#endif
     }
 }

ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp

@@ -25,7 +25,8 @@ PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(QString classId, QSettings
     IUAVGadgetConfiguration(classId, parent),
     m_qmlFile("Unknown"),
     m_earthFile("Unknown"),
-    m_terrainEnabled(true),
+    m_openGLEnabled(true),
+    m_terrainEnabled(false),
     m_actualPositionUsed(false),
     m_latitude(0),
     m_longitude(0),
@@ -40,6 +41,7 @@ PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(QString classId, QSettings
         m_earthFile = qSettings->value("earthFile").toString();
         m_earthFile=Utils::PathUtils().InsertDataPath(m_earthFile);
 
+        m_openGLEnabled = qSettings->value("openGLEnabled", true).toBool();
         m_terrainEnabled = qSettings->value("terrainEnabled").toBool();
         m_actualPositionUsed = qSettings->value("actualPositionUsed").toBool();
         m_latitude = qSettings->value("latitude").toDouble();
@@ -57,6 +59,7 @@ IUAVGadgetConfiguration *PfdQmlGadgetConfiguration::clone()
 {
     PfdQmlGadgetConfiguration *m = new PfdQmlGadgetConfiguration(this->classId());
     m->m_qmlFile = m_qmlFile;
+    m->m_openGLEnabled = m_openGLEnabled;
     m->m_earthFile = m_earthFile;
     m->m_terrainEnabled = m_terrainEnabled;
     m->m_actualPositionUsed = m_actualPositionUsed;
@@ -78,6 +81,7 @@ void PfdQmlGadgetConfiguration::saveConfig(QSettings* qSettings) const {
     QString earthFile = Utils::PathUtils().RemoveDataPath(m_earthFile);
     qSettings->setValue("earthFile", earthFile);
 
+    qSettings->setValue("openGLEnabled", m_openGLEnabled);
     qSettings->setValue("terrainEnabled", m_terrainEnabled);
     qSettings->setValue("actualPositionUsed", m_actualPositionUsed);
     qSettings->setValue("latitude", m_latitude);

ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h

@@ -29,6 +29,7 @@ public:
 
     void setQmlFile(const QString &fileName) { m_qmlFile=fileName; }
     void setEarthFile(const QString &fileName) { m_earthFile=fileName; }
+    void setOpenGLEnabled(bool flag) { m_openGLEnabled = flag; }
     void setTerrainEnabled(bool flag) { m_terrainEnabled = flag; }
     void setActualPositionUsed(bool flag) { m_actualPositionUsed = flag; }
     void setLatitude(double value) { m_latitude = value; }
@@ -38,6 +39,7 @@ public:
 
     QString qmlFile() const { return m_qmlFile; }
     QString earthFile() const { return m_earthFile; }
+    bool openGLEnabled() const { return m_openGLEnabled; }
     bool terrainEnabled() const { return m_terrainEnabled; }
     bool actualPositionUsed() const { return m_actualPositionUsed; }
     double latitude() const { return m_latitude; }
@@ -51,6 +53,7 @@ public:
 private:
     QString m_qmlFile; // The name of the dial's SVG source file
     QString m_earthFile; // The name of osgearth terrain file
+    bool m_openGLEnabled;
     bool m_terrainEnabled;
     bool m_actualPositionUsed;
     double m_latitude;

ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp

@@ -53,6 +53,7 @@ QWidget *PfdQmlGadgetOptionsPage::createPage(QWidget *parent)
     options_page->earthFile->setPromptDialogTitle(tr("Choose OsgEarth terrain file"));
     options_page->earthFile->setPath(m_config->earthFile());
 
+    options_page->useOpenGL->setChecked(m_config->openGLEnabled());
     options_page->showTerrain->setChecked(m_config->terrainEnabled());
 
     options_page->useActualLocation->setChecked(m_config->actualPositionUsed());
@@ -80,7 +81,13 @@ void PfdQmlGadgetOptionsPage::apply()
 {
     m_config->setQmlFile(options_page->qmlSourceFile->path());
     m_config->setEarthFile(options_page->earthFile->path());
+    m_config->setOpenGLEnabled(options_page->useOpenGL->isChecked());
+
+#ifdef USE_OSG
     m_config->setTerrainEnabled(options_page->showTerrain->isChecked());
+#else
+    m_config->setTerrainEnabled(false);
+#endif
 
     m_config->setActualPositionUsed(options_page->useActualLocation->isChecked());
     m_config->setLatitude(options_page->latitude->text().toDouble());

ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui

@@ -20,12 +20,6 @@
    <string>Form</string>
   </property>
   <layout class="QGridLayout" name="gridLayout_4">
-   <property name="margin">
-    <number>0</number>
-   </property>
-   <property name="spacing">
-    <number>0</number>
-   </property>
    <item row="0" column="0">
     <widget class="QScrollArea" name="scrollArea">
      <property name="frameShape">
@@ -42,8 +36,8 @@
        <rect>
         <x>0</x>
         <y>0</y>
-        <width>457</width>
-        <height>436</height>
+        <width>439</width>
+        <height>418</height>
        </rect>
       </property>
       <layout class="QGridLayout" name="gridLayout_3">
@@ -78,6 +72,16 @@
         </layout>
        </item>
        <item row="1" column="0" colspan="2">
+        <widget class="QCheckBox" name="useOpenGL">
+         <property name="text">
+          <string>Use OpenGL</string>
+         </property>
+         <property name="checked">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0" colspan="2">
         <widget class="QGroupBox" name="showTerrain">
          <property name="title">
           <string>Show Terrain:</string>
@@ -213,7 +217,7 @@
          </layout>
         </widget>
        </item>
-       <item row="2" column="1">
+       <item row="3" column="1">
         <spacer name="verticalSpacer">
          <property name="orientation">
           <enum>Qt::Vertical</enum>
@@ -249,12 +253,12 @@
    <slot>setEnabled(bool)</slot>
    <hints>
     <hint type="sourcelabel">
-     <x>150</x>
-     <y>138</y>
+     <x>167</x>
+     <y>188</y>
     </hint>
     <hint type="destinationlabel">
-     <x>142</x>
-     <y>172</y>
+     <x>260</x>
+     <y>222</y>
     </hint>
    </hints>
   </connection>
@@ -265,12 +269,12 @@
    <slot>setEnabled(bool)</slot>
    <hints>
     <hint type="sourcelabel">
-     <x>164</x>
-     <y>141</y>
+     <x>181</x>
+     <y>188</y>
     </hint>
     <hint type="destinationlabel">
-     <x>164</x>
-     <y>202</y>
+     <x>282</x>
+     <y>255</y>
     </hint>
    </hints>
   </connection>
@@ -281,12 +285,28 @@
    <slot>setEnabled(bool)</slot>
    <hints>
     <hint type="sourcelabel">
-     <x>190</x>
-     <y>141</y>
+     <x>207</x>
+     <y>188</y>
     </hint>
     <hint type="destinationlabel">
-     <x>190</x>
-     <y>237</y>
+     <x>308</x>
+     <y>288</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>useOpenGL</sender>
+   <signal>toggled(bool)</signal>
+   <receiver>showTerrain</receiver>
+   <slot>setEnabled(bool)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>99</x>
+     <y>57</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>99</x>
+     <y>89</y>
     </hint>
    </hints>
   </connection>

ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp

@@ -34,6 +34,7 @@
 
 PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWidget *parent) :
     QDeclarativeView(parent),
+    m_openGLEnabled(false),
     m_terrainEnabled(false),
     m_actualPositionUsed(false),
     m_latitude(46.671478),
@@ -44,12 +45,16 @@ PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWidget *parent) :
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
     setResizeMode(SizeRootObjectToView);
 
-    setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
+    //setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
 
     QStringList objectsToExport;
     objectsToExport << "VelocityActual" <<
                        "PositionActual" <<
                        "AttitudeActual" <<
+                       "Accels" <<
+                       "VelocityDesired" <<
+                       "PositionDesired" <<
+                       "AttitudeHoldDesired" <<
                        "GPSPosition" <<
                        "GCSTelemetryStats" <<
                        "FlightBatteryState";
@@ -106,9 +111,26 @@ void PfdQmlGadgetWidget::setEarthFile(QString arg)
 
 void PfdQmlGadgetWidget::setTerrainEnabled(bool arg)
 {
-    if (m_terrainEnabled != arg) {
+    bool wasEnabled = terrainEnabled();
     m_terrainEnabled = arg;
-        emit terrainEnabledChanged(arg);
+
+    if (wasEnabled != terrainEnabled())
+        emit terrainEnabledChanged(terrainEnabled());
+}
+
+void PfdQmlGadgetWidget::setOpenGLEnabled(bool arg)
+{
+    if (m_openGLEnabled != arg) {
+        m_openGLEnabled = arg;
+
+        qDebug() << Q_FUNC_INFO << "Set OPENGL" << m_openGLEnabled;
+        if (m_openGLEnabled)
+            setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
+        else
+            setViewport(new QWidget);
+
+        //update terrainEnabled status with opengl status chaged
+        setTerrainEnabled(m_terrainEnabled);
     }
 }
 

ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h

@@ -39,7 +39,7 @@ public:
     void setQmlFile(QString fn);
 
     QString earthFile() const { return m_earthFile; }
-    bool terrainEnabled() const { return m_terrainEnabled; }
+    bool terrainEnabled() const { return m_terrainEnabled && m_openGLEnabled; }
 
     bool actualPositionUsed() const { return m_actualPositionUsed; }
     double latitude() const { return m_latitude; }
@@ -49,6 +49,7 @@ public:
 public slots:
     void setEarthFile(QString arg);
     void setTerrainEnabled(bool arg);
+    void setOpenGLEnabled(bool arg);
 
     void setLatitude(double arg);
     void setLongitude(double arg);
@@ -68,6 +69,7 @@ signals:
 private:
     QString m_qmlFileName;
     QString m_earthFile;
+    bool m_openGLEnabled;
     bool m_terrainEnabled;
 
     bool m_actualPositionUsed;

ground/openpilotgcs/src/plugins/plugins.pro

@@ -92,6 +92,7 @@ plugin_uploader.subdir = uploader
 plugin_uploader.depends = plugin_coreplugin
 plugin_uploader.depends += plugin_uavobjects
 plugin_uploader.depends += plugin_rawhid
+plugin_uploader.depends += plugin_uavobjectutil
 SUBDIRS += plugin_uploader
 
 #Dial gadget
@@ -186,6 +187,7 @@ plugin_logging.subdir = logging
 plugin_logging.depends = plugin_coreplugin
 plugin_logging.depends += plugin_uavobjects
 plugin_logging.depends += plugin_uavtalk
+plugin_logging.depends += plugin_scope
 SUBDIRS += plugin_logging
 
 #GCS Control of UAV gadget
@@ -238,6 +240,7 @@ SUBDIRS += plugin_uavsettingsimportexport
 plugin_uavobjectwidgetutils.subdir = uavobjectwidgetutils
 plugin_uavobjectwidgetutils.depends = plugin_coreplugin
 plugin_uavobjectwidgetutils.depends += plugin_uavobjects
+plugin_uavobjectwidgetutils.depends += plugin_uavobjectutil
 plugin_uavobjectwidgetutils.depends += plugin_uavsettingsimportexport
 SUBDIRS += plugin_uavobjectwidgetutils
 

ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui

@@ -85,26 +85,6 @@
        </property>
       </widget>
      </item>
-     <item>
-      <widget class="QToolButton" name="saveSDButton">
-       <property name="toolTip">
-        <string>Save</string>
-       </property>
-       <property name="text">
-        <string>...</string>
-       </property>
-       <property name="icon">
-        <iconset resource="uavobjectbrowser.qrc">
-         <normaloff>:/uavobjectbrowser/images/remove.png</normaloff>:/uavobjectbrowser/images/remove.png</iconset>
-       </property>
-       <property name="iconSize">
-        <size>
-         <width>32</width>
-         <height>32</height>
-        </size>
-       </property>
-      </widget>
-     </item>
      <item>
       <widget class="QToolButton" name="readSDButton">
        <property name="toolTip">
@@ -125,6 +105,26 @@
        </property>
       </widget>
      </item>
+     <item>
+      <widget class="QToolButton" name="saveSDButton">
+       <property name="toolTip">
+        <string>Save</string>
+       </property>
+       <property name="text">
+        <string>...</string>
+       </property>
+       <property name="icon">
+        <iconset resource="uavobjectbrowser.qrc">
+         <normaloff>:/uavobjectbrowser/images/remove.png</normaloff>:/uavobjectbrowser/images/remove.png</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
+       </property>
+      </widget>
+     </item>
      <item>
       <widget class="QToolButton" name="eraseSDButton">
        <property name="toolTip">

ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m

@@ -126,7 +126,7 @@ $(SWITCHCODE)
 			if msgBytesLeft > 255
 				msgBytesLeft = 0;
 			end
-			bufferIdx=bufferIdx+msgBytesLeft;
+			bufferIdx=bufferIdx+double(msgBytesLeft);
 	end
 	catch
 		% One of the reads failed - indicates EOF

ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h

@@ -8,6 +8,8 @@ public:
        QString gitHash;
        QString gitDate;
        QString gitTag;
+       QByteArray fwHash;
+       QByteArray uavoHash;
        int boardType;
        int boardRevision;
        static QString idToBoardName(int id)

ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp

@@ -29,13 +29,16 @@
 #include "uavobjectutilmanager.h"
 
 #include "utils/homelocationutil.h"
-#include "homelocation.h"
+
 #include <QMutexLocker>
 #include <QDebug>
 #include <QEventLoop>
 #include <QTimer>
 #include <objectpersistence.h>
-#include <firmwareiapobj.h>
+
+#include "firmwareiapobj.h"
+#include "homelocation.h"
+#include "gpsposition.h"
 
 // ******************************
 // constructor/destructor
@@ -48,6 +51,18 @@ UAVObjectUtilManager::UAVObjectUtilManager()
     failureTimer.setSingleShot(true);
     failureTimer.setInterval(1000);
     connect(&failureTimer, SIGNAL(timeout()),this,SLOT(objectPersistenceOperationFailed()));
+
+    pm = NULL;
+    obm = NULL;
+    obum = NULL;
+
+    pm = ExtensionSystem::PluginManager::instance();
+    if (pm)
+    {
+        obm = pm->getObject<UAVObjectManager>();
+        obum = pm->getObject<UAVObjectUtilManager>();
+    }
+
 }
 
 UAVObjectUtilManager::~UAVObjectUtilManager()
@@ -67,10 +82,8 @@ UAVObjectUtilManager::~UAVObjectUtilManager()
 
 
 UAVObjectManager* UAVObjectUtilManager::getObjectManager() {
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
-    Q_ASSERT(objMngr);
-    return objMngr;
+    Q_ASSERT(obm);
+    return obm;
 }
 
 
@@ -107,7 +120,7 @@ void UAVObjectUtilManager::saveNextObject()
 
     // Get next object from the queue
     UAVObject* obj = queue.head();
-    qDebug() << "Request board to save object " << obj->getName();
+    qDebug() << "Send save object request to board " << obj->getName();
 
     ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( getObjectManager()->getObject(ObjectPersistence::NAME) );
     connect(objper, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(objectPersistenceTransactionCompleted(UAVObject*,bool)));
@@ -233,16 +246,7 @@ FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
 {
     FirmwareIAPObj::DataFields dummy;
 
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    Q_ASSERT(pm);
-    if (!pm)
-        return dummy;
-    UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-    Q_ASSERT(om);
-    if (!om)
-        return dummy;
-
-    FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(om);
+    FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(obm);
     Q_ASSERT(firmwareIap);
     if (!firmwareIap)
         return dummy;
@@ -257,7 +261,12 @@ FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
 int UAVObjectUtilManager::getBoardModel()
 {
     FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
-    return (firmwareIapData.BoardType << 8) + firmwareIapData.BoardRevision;
+    qDebug()<<"Board type="<<firmwareIapData.BoardType;
+    qDebug()<<"Board revision="<<firmwareIapData.BoardRevision;
+    int ret=firmwareIapData.BoardType <<8;
+    ret = ret + firmwareIapData.BoardRevision;
+    qDebug()<<"Board info="<<ret;
+    return ret;
 }
 
 /**
@@ -303,26 +312,18 @@ int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
 {
     double Be[3];
 
-	QMutexLocker locker(mutex);
-
     Q_ASSERT (Utils::HomeLocationUtil().getDetails(LLA, Be) >= 0);
 
     // ******************
     // save the new settings
 
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -2;
-
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -3;
-
-        HomeLocation *homeLocation = HomeLocation::GetInstance(om);
+    HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
     Q_ASSERT(homeLocation != NULL);
 
     HomeLocation::DataFields homeLocationData = homeLocation->getData();
-        homeLocationData.Latitude = LLA[0] * 10e6;
-        homeLocationData.Longitude = LLA[1] * 10e6;
-        homeLocationData.Altitude = LLA[2] * 10e6;
+    homeLocationData.Latitude = LLA[0] * 1e7;
+    homeLocationData.Longitude = LLA[1] * 1e7;
+    homeLocationData.Altitude = LLA[2];
 
     homeLocationData.Be[0] = Be[0];
     homeLocationData.Be[1] = Be[1];
@@ -331,7 +332,6 @@ int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
     homeLocationData.Set = HomeLocation::SET_TRUE;
 
     homeLocation->setData(homeLocationData);
-        homeLocation->updated();
 
     if (save_to_sdcard)
         saveObjectToSD(homeLocation);
@@ -341,36 +341,16 @@ int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
 
 int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
 {
-	UAVObjectField *field;
+    HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
+    Q_ASSERT(homeLocation != NULL);
 
-	QMutexLocker locker(mutex);
+    HomeLocation::DataFields homeLocationData = homeLocation->getData();
 
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -1;
+    set = homeLocationData.Set;
 
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -2;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
-	if (!obj) return -3;
-
-//	obj->requestUpdate();
-
-	field = obj->getField("Set");
-	if (!field) return -4;
-	set = field->getValue().toBool();
-
-	field = obj->getField("Latitude");
-	if (!field) return -5;
-	LLA[0] = field->getDouble() * 1e-7;
-
-	field = obj->getField("Longitude");
-	if (!field) return -6;
-	LLA[1] = field->getDouble() * 1e-7;
-
-	field = obj->getField("Altitude");
-	if (!field) return -7;
-	LLA[2] = field->getDouble();
+    LLA[0] = homeLocationData.Latitude*1e-7;
+    LLA[1] = homeLocationData.Longitude*1e-7;
+    LLA[2] = homeLocationData.Altitude;
 
 	if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
 	else
@@ -389,88 +369,20 @@ int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
 	return 0;	// OK
 }
 
-int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3])
-{
-	UAVObjectField *field;
-
-	QMutexLocker locker(mutex);
-
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -1;
-
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -2;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
-	if (!obj) return -3;
-
-//	obj->requestUpdate();
-
-	field = obj->getField("Set");
-	if (!field) return -4;
-	set = field->getValue().toBool();
-
-	field = obj->getField("Latitude");
-	if (!field) return -5;
-	LLA[0] = field->getDouble() * 1e-7;
-
-	field = obj->getField("Longitude");
-	if (!field) return -6;
-	LLA[1] = field->getDouble() * 1e-7;
-
-	field = obj->getField("Altitude");
-	if (!field) return -7;
-	LLA[2] = field->getDouble();
-
-	field = obj->getField(QString("ECEF"));
-	if (!field) return -8;
-	for (int i = 0; i < 3; i++)
-		ECEF[i] = field->getDouble(i);
-
-	field = obj->getField(QString("RNE"));
-	if (!field) return -9;
-	for (int i = 0; i < 9; i++)
-		RNE[i] = field->getDouble(i);
-
-	field = obj->getField(QString("Be"));
-	if (!field) return -10;
-	for (int i = 0; i < 3; i++)
-		Be[i] = field->getDouble(i);
-
-	return 0;	// OK
-}
 
 // ******************************
 // GPS
 
 int UAVObjectUtilManager::getGPSPosition(double LLA[3])
 {
-	UAVObjectField *field;
+    GPSPosition *gpsPosition = GPSPosition::GetInstance(obm);
+    Q_ASSERT(gpsPosition != NULL);
 
-	QMutexLocker locker(mutex);
+    GPSPosition::DataFields gpsPositionData = gpsPosition->getData();
 
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -1;
-
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -2;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("GPSPosition")));
-	if (!obj) return -3;
-
-//	obj->requestUpdate();
-
-	field = obj->getField(QString("Latitude"));
-	if (!field) return -4;
-	LLA[0] = field->getDouble() * 1e-7;
-
-	field = obj->getField(QString("Longitude"));
-	if (!field) return -5;
-	LLA[1] = field->getDouble() * 1e-7;
-
-	field = obj->getField(QString("Altitude"));
-	if (!field) return -6;
-	LLA[2] = field->getDouble();
+    LLA[0] = gpsPositionData.Latitude;
+    LLA[1] = gpsPositionData.Longitude;
+    LLA[2] = gpsPositionData.Altitude;
 
 	if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
 	else
@@ -489,102 +401,14 @@ int UAVObjectUtilManager::getGPSPosition(double LLA[3])
 	return 0;	// OK
 }
 
-// ******************************
-// telemetry port
-
-int UAVObjectUtilManager::setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard)
-{
-	UAVObjectField *field;
-
-	QMutexLocker locker(mutex);
-
-	// ******************
-	// save the new settings
-
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -1;
-
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -2;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("/*TelemetrySettings*/")));
-	if (!obj) return -3;
-
-	field = obj->getField(QString("Speed"));
-	if (!field) return -4;
-	field->setValue(speed);
-
-	obj->updated();
-
-	// ******************
-	// save the new setting to SD card
-
-	if (save_to_sdcard)
-		saveObjectToSD(obj);
-
-	// ******************
-
-	return 0;	// OK
-}
-
-int UAVObjectUtilManager::getTelemetrySerialPortSpeed(QString &speed)
-{
-	UAVObjectField *field;
-
-	QMutexLocker locker(mutex);
-
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -1;
-
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -2;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
-	if (!obj) return -3;
-
-//	obj->requestUpdate();
-
-	field = obj->getField(QString("Speed"));
-	if (!field) return -4;
-	speed = field->getValue().toString();
-
-	return 0;	// OK
-}
-
-int UAVObjectUtilManager::getTelemetrySerialPortSpeeds(QComboBox *comboBox)
-{
-	UAVObjectField *field;
-
-	QMutexLocker locker(mutex);
-
-	if (!comboBox) return -1;
-
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -2;
-
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -3;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
-	if (!obj) return -4;
-
-//	obj->requestUpdate();
-
-	field = obj->getField(QString("Speed"));
-	if (!field) return -5;
-	comboBox->addItems(field->getOptions());
-
-	return 0;	// OK
-}
-
 deviceDescriptorStruct UAVObjectUtilManager::getBoardDescriptionStruct()
 {
     deviceDescriptorStruct ret;
-    descriptionToStructure(getBoardDescription(),&ret);
+    descriptionToStructure(getBoardDescription(),ret);
     return ret;
 }
 
-bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescriptorStruct *struc)
+bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescriptorStruct & struc)
 {
    if (desc.startsWith("OpFw")) {
        /*
@@ -594,9 +418,9 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
         *  4 bytes: Unix timestamp of last git commit
         *  2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
         *  26 bytes: commit tag if it is there, otherwise "Unreleased". Zero-padded
-        *   ---- 40 bytes limit ---
         *  20 bytes: SHA1 sum of the firmware.
-        *  40 bytes: free for now.
+        *  20 bytes: SHA1 sum of the UAVO definition files.
+        *  20 bytes: free for now.
         */
 
        // Note: the ARM binary is big-endian:
@@ -605,23 +429,26 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
            gitCommitHash = gitCommitHash << 8;
            gitCommitHash += desc.at(7-i) & 0xFF;
        }
-       struc->gitHash = QString::number(gitCommitHash, 16);
+       struc.gitHash = QString("%1").arg(gitCommitHash, 8, 16, QChar('0'));
 
        quint32 gitDate = desc.at(11) & 0xFF;
        for (int i = 1; i < 4; i++) {
            gitDate = gitDate << 8;
            gitDate += desc.at(11-i) & 0xFF;
        }
-       struc->gitDate = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyyMMdd HH:mm");
+       struc.gitDate = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyyMMdd HH:mm");
 
        QString gitTag = QString(desc.mid(14,26));
-       struc->gitTag = gitTag;
+       struc.gitTag = gitTag;
 
        // TODO: check platform compatibility
        QByteArray targetPlatform = desc.mid(12,2);
-       struc->boardType = (int)targetPlatform.at(0);
-       struc->boardRevision = (int)targetPlatform.at(1);
-
+       struc.boardType = (int)targetPlatform.at(0);
+       struc.boardRevision = (int)targetPlatform.at(1);
+       struc.fwHash.clear();
+       struc.fwHash=desc.mid(40,20);
+       struc.uavoHash.clear();
+       struc.uavoHash=desc.mid(60,20);
        return true;
    }
    return false;

ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h

@@ -55,20 +55,15 @@ public:
 
 	int setHomeLocation(double LLA[3], bool save_to_sdcard);
 	int getHomeLocation(bool &set, double LLA[3]);
-	int getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3]);
 
 	int getGPSPosition(double LLA[3]);
 
-	int setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard);
-	int getTelemetrySerialPortSpeed(QString &speed);
-	int getTelemetrySerialPortSpeeds(QComboBox *comboBox);
-
         int getBoardModel();
         QByteArray getBoardCPUSerial();
         quint32 getFirmwareCRC();
         QByteArray getBoardDescription();
         deviceDescriptorStruct getBoardDescriptionStruct();
-        static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct * struc);
+        static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct & struc);
         UAVObjectManager* getObjectManager();
         void saveObjectToSD(UAVObject *obj);
 protected:
@@ -84,6 +79,10 @@ private:
     void saveNextObject();
     QTimer failureTimer;
 
+    ExtensionSystem::PluginManager *pm;
+    UAVObjectManager *obm;
+    UAVObjectUtilManager *obum;
+
 private slots:
         //void transactionCompleted(UAVObject *obj, bool success);
         void objectPersistenceTransactionCompleted(UAVObject* obj, bool success);

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp

@@ -553,11 +553,13 @@ void ConfigTaskWidget::objectUpdated(UAVObject *obj)
  */
 bool ConfigTaskWidget::allObjectsUpdated()
 {
+    qDebug()<<"ConfigTaskWidge:allObjectsUpdated called";
     bool ret=true;
     foreach(UAVObject *obj, objectUpdates.keys())
     {
         ret=ret & objectUpdates[obj];
     }
+    qDebug()<<"Returned:"<<ret;
     return ret;
 }
 /**

ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.h

@@ -60,7 +60,7 @@ public slots:
 
 private:
     static const int STATS_UPDATE_PERIOD_MS = 4000;
-    static const int STATS_CONNECT_PERIOD_MS = 1000;
+    static const int STATS_CONNECT_PERIOD_MS = 2000;
     static const int CONNECTION_TIMEOUT_MS = 8000;
 
     UAVObjectManager* objMngr;

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

@@ -154,7 +154,7 @@ void deviceWidget::freeze()
   */
 bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
 {
-    if(UAVObjectUtilManager::descriptionToStructure(desc,&onBoardDescription))
+    if(UAVObjectUtilManager::descriptionToStructure(desc,onBoardDescription))
     {
         myDevice->lblGitTag->setText(onBoardDescription.gitHash);
         myDevice->lblBuildDate->setText(onBoardDescription.gitDate.insert(4,"-").insert(7,"-"));
@@ -184,7 +184,7 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
 }
 bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
 {
-    if(UAVObjectUtilManager::descriptionToStructure(desc,&LoadedDescription))
+    if(UAVObjectUtilManager::descriptionToStructure(desc,LoadedDescription))
     {
         myDevice->lblGitTagL->setText(LoadedDescription.gitHash);
         myDevice->lblBuildDateL->setText( LoadedDescription.gitDate.insert(4,"-").insert(7,"-"));

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

@@ -101,7 +101,7 @@ void runningDeviceWidget::populate()
 
     QByteArray description = utilMngr->getBoardDescription();
     deviceDescriptorStruct devDesc;
-    if(UAVObjectUtilManager::descriptionToStructure(description,&devDesc))
+    if(UAVObjectUtilManager::descriptionToStructure(description,devDesc))
     {
         if(devDesc.gitTag.startsWith("release",Qt::CaseInsensitive))
         {

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

@@ -650,18 +650,41 @@ void UploaderGadgetWidget::versionMatchCheck()
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
     deviceDescriptorStruct boardDescription = utilMngr->getBoardDescriptionStruct();
+    QByteArray uavoHashArray;
+    QString uavoHash = QString::fromLatin1(Core::Constants::UAVOSHA1_STR);
+    uavoHash.chop(2);
+    uavoHash.remove(0,2);
+    uavoHash=uavoHash.trimmed();
+    bool ok;
+    foreach(QString str,uavoHash.split(","))
+    {
+        uavoHashArray.append(str.toInt(&ok,16));
+    }
+
+    QByteArray fwVersion=boardDescription.uavoHash;
+    if (fwVersion != uavoHashArray) {
 
         QString gcsDescription = QString::fromLatin1(Core::Constants::GCS_REVISION_STR);
         QString gcsGitHash = gcsDescription.mid(gcsDescription.indexOf(":")+1, 8);
         gcsGitHash.remove( QRegExp("^[0]*") );
         QString gcsGitDate = gcsDescription.mid(gcsDescription.indexOf(" ")+1, 14);
-    QString gcsVersion = gcsGitDate + " (" + gcsGitHash + ")";
-    QString fwVersion = boardDescription.gitDate + " (" + boardDescription.gitHash + ")";
 
-    if (boardDescription.gitHash != gcsGitHash) {
+        QString gcsUavoHashStr;
+        QString fwUavoHashStr;
+        foreach(char i, fwVersion)
+        {
+            fwUavoHashStr.append(QString::number(i,16).right(2));
+        }
+        foreach(char i, uavoHashArray)
+        {
+            gcsUavoHashStr.append(QString::number(i,16).right(2));
+        }
+        QString gcsVersion = gcsGitDate + " (" + gcsGitHash + "-"+ gcsUavoHashStr.right(8) + ")";
+        QString fwVersion = boardDescription.gitDate + " (" + boardDescription.gitHash + "-" + fwUavoHashStr.right(8) + ")";
+
         QString warning = QString(tr(
-            "GCS and firmware versions do not match which can cause configuration problems. "
-            "GCS version: %1. Firmware version: %2.")).arg(gcsVersion).arg(fwVersion);
+            "GCS and firmware versions of the UAV objects set do not match which can cause configuration problems. "
+            "GCS version: %1 Firmware version: %2.")).arg(gcsVersion).arg(fwVersion);
         msg->showMessage(warning);
     }
   }

ground/uavobjgenerator/main.cpp

@@ -161,6 +161,9 @@ int main(int argc, char *argv[])
         QString res = parser->parseXML(xmlstr, filename);
 
         if (!res.isNull()) {
+	    if (!verbose) {
+               cout << "Error in XML file: " << fileinfo.fileName().toStdString() << endl;
+            }
             cout << "Error parsing " << res.toStdString() << endl;
             return RETURN_ERR_XML;
         }

ground/uavobjgenerator/uavobjectparser.cpp

@@ -213,6 +213,9 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
         qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
 
         // Make sure that required elements were found
+        if ( !fieldFound )
+            return QString("Object::field element is missing");
+
         if ( !accessFound )
             return QString("Object::access element is missing");
 
@@ -381,11 +384,38 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
     // Get name attribute
     QDomNamedNodeMap elemAttributes = childNode.attributes();
     QDomNode elemAttr = elemAttributes.namedItem("name");
-    if ( elemAttr.isNull() )
+    if (elemAttr.isNull()) {
         return QString("Object:field:name attribute is missing");
+    }
+    QString name = elemAttr.nodeValue();
 
-    field->name = elemAttr.nodeValue();
-
+    // Check to see is this field is a clone of another
+    // field that has already been declared
+    elemAttr = elemAttributes.namedItem("cloneof");
+    if (!elemAttr.isNull()) {
+        QString parentName = elemAttr.nodeValue(); 
+        if (!parentName.isEmpty()) {
+	    foreach(FieldInfo * parent, info->fields) {
+                if (parent->name == parentName) {
+                    // clone from this parent
+                    *field = *parent;   // safe shallow copy, no ptrs in struct
+                    field->name = name; // set our name
+                    // Add field to object
+                    info->fields.append(field);
+                    // Done
+                    return QString();
+                }
+            }
+            return QString("Object:field::cloneof parent unknown");
+        }
+        else {
+            return QString("Object:field:cloneof attribute is empty");
+        }
+    }
+    else {
+        // this field is not a clone, so remember its name
+        field->name = name;
+    }
 
     // Get units attribute
     elemAttr = elemAttributes.namedItem("units");
@@ -410,6 +440,8 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
     }
 
     // Get numelements or elementnames attribute
+    field->numElements = 0;
+    // Look for element names as an attribute first
     elemAttr = elemAttributes.namedItem("elementnames");
     if ( !elemAttr.isNull() ) {
         // Get element names
@@ -422,9 +454,26 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
         field->defaultElementNames = false;
     }
     else {
+        // Look for a list of child elementname nodes
+        QDomNode listNode = childNode.firstChildElement("elementnames");
+        if (!listNode.isNull()) {
+            for (QDomElement node = listNode.firstChildElement("elementname");
+                 !node.isNull(); node = node.nextSiblingElement("elementname")) {
+		QDomNode name = node.firstChild();
+                if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
+                    field->elementNames.append(name.nodeValue());
+                }
+            }
+	    field->numElements = field->elementNames.length();
+            field->defaultElementNames = false;
+        }
+    }
+    // If no element names were found, then fall back to looking
+    // for the number of elements in the 'elements' attribute
+    if (field->numElements == 0) {
         elemAttr = elemAttributes.namedItem("elements");
         if ( elemAttr.isNull() ) {
-            return QString("Object:field:elements and Object:field:elementnames attribute is missing");
+            return QString("Object:field:elements and Object:field:elementnames attribute/element is missing");
         }
         else {
             field->numElements = elemAttr.nodeValue().toInt();
@@ -434,20 +483,35 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
             field->defaultElementNames = true;
         }
     }
-    // Get options attribute (only if an enum type)
+    // Get options attribute or child elements (only if an enum type)
     if (field->type == FIELDTYPE_ENUM) {
 
-        // Get options attribute
+        // Look for options attribute
         elemAttr = elemAttributes.namedItem("options");
-        if ( elemAttr.isNull() )
-            return QString("Object:field:options attribute is missing");
-
+        if (!elemAttr.isNull()) {
             QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
-        for (int n = 0; n < options.length(); ++n)
+            for (int n = 0; n < options.length(); ++n) {
                 options[n] = options[n].trimmed();
-
+            }
             field->options = options;
         }
+	else {
+	    // Look for a list of child 'option' nodes
+	    QDomNode listNode = childNode.firstChildElement("options");
+	    if (!listNode.isNull()) {
+	        for (QDomElement node = listNode.firstChildElement("option");
+	             !node.isNull(); node = node.nextSiblingElement("option")) {
+		    QDomNode name = node.firstChild();
+                    if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
+	                field->options.append(name.nodeValue());
+	            }
+	        }
+	    }
+        }
+        if (field->options.length() == 0) {
+            return QString("Object:field:options attribute/element is missing");
+        }
+    }
 
     // Get the default value attribute (required for settings objects, optional for the rest)
     elemAttr = elemAttributes.namedItem("defaultvalue");
@@ -466,12 +530,14 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
 				return QString("Object:field:incorrect number of default values");
 
 			/*support legacy single default for multiple elements
-			We sould really issue a warning*/
+			We should really issue a warning*/
 			for(int ct=1; ct< field->numElements; ct++)
 				defaults.append(defaults[0]);
 		}
 		field->defaultValues = defaults;
     }
+
+    // Limits attribute
     elemAttr = elemAttributes.namedItem("limits");
     if ( elemAttr.isNull() ) {
         field->limitValues=QString();

make/firmware-defs.mk

@@ -131,7 +131,8 @@ $(1).firmwareinfo.c: $(1) $(TOP)/make/templates/firmwareinfotemplate.c FORCE
 		--outfile=$$@ \
 		--image=$(1) \
 		--type=$(2) \
-		--revision=$(3)
+		--revision=$(3) \
+		--uavodir=$(TOP)/shared/uavobjectdefinition
 
 $(eval $(call COMPILE_C_TEMPLATE, $(1).firmwareinfo.c))
 

make/scripts/version-info.py

@@ -250,6 +250,57 @@ def xtrim(string, suffix, length):
         assert n > 0, "length of truncated string+suffix exceeds maximum length"
         return ''.join([string[:n], '+', suffix])
 
+def GetHashofDirs(directory, verbose=0):
+  import hashlib, os
+  SHAhash = hashlib.sha1()
+  if not os.path.exists (directory):
+    return -1
+    
+  try:
+    for root, dirs, files in os.walk(directory):
+      # os.walk() is unsorted.  Must make sure we process files in sorted order so
+      # that the hash is stable across invocations and across OSes.
+      if files:
+          files.sort()
+
+      for names in files:
+        if verbose == 1:
+          print 'Hashing', names
+        filepath = os.path.join(root,names)
+        try:
+          f1 = open(filepath, 'rb')
+        except:
+          # You can't open the file for some reason
+          f1.close()
+          continue
+
+        # Compute file hash.  Same as running "sha1sum <file>".
+        f1hash = hashlib.sha1()
+        while 1:
+          # Read file in as little chunks
+          buf = f1.read(4096)
+          if not buf : break
+          f1hash.update(buf)
+        f1.close()
+
+        if verbose == 1:
+          print 'Hash is', f1hash.hexdigest()
+
+        # Append the hex representation of the current file's hash into the cumulative hash
+        SHAhash.update(f1hash.hexdigest())
+
+  except:
+    import traceback
+    # Print the stack traceback
+    traceback.print_exc()
+    return -2
+
+  if verbose == 1:
+      print 'Final hash is', SHAhash.hexdigest()
+
+  hex_stream = lambda s:",".join(['0x'+hex(ord(c))[2:].zfill(2) for c in s])
+  return hex_stream(SHAhash.digest())
+
 def main():
     """This utility uses git repository in the current working directory
 or from the given path to extract some info about it and HEAD commit.
@@ -302,7 +353,8 @@ dependent targets.
                         help='board type, for example, 0x04 for CopterControl');
     parser.add_option('--revision', default = "",
                         help='board revision, for example, 0x01');
-
+    parser.add_option('--uavodir', default = "",
+                        help='uav object definition directory');
     (args, positional_args) = parser.parse_args()
     if len(positional_args) != 0:
         parser.error("incorrect number of arguments, try --help for help")
@@ -328,6 +380,7 @@ dependent targets.
         BOARD_TYPE = args.type,
         BOARD_REVISION = args.revision,
         SHA1 = sha1(args.image),
+	UAVOSHA1= GetHashofDirs(args.uavodir,0),
     )
 
     if args.info:

make/templates/firmwareinfotemplate.c

@@ -30,8 +30,6 @@
 /**
  * We have 100 bytes for the whole description.
  *
- * Only the first 40 are visible on the FirmwareIAP uavobject, the remaining
- * 60 are ok to use for packaging and will be saved in the flash.
  *
  * Structure is:
  *   4 bytes: header: "OpFw".
@@ -39,9 +37,9 @@
  *   4 bytes: Unix timestamp of compile time.
  *   2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
  *  26 bytes: commit tag if it is there, otherwise branch name. '-dirty' may be added if needed. Zero-padded.
- *  ---- 40 bytes limit ---
  *  20 bytes: SHA1 sum of the firmware.
- *  40 bytes: free for now.
+ *  20 bytes: SHA1 sum of the uavo definitions.
+ *  20 bytes: free for now.
  *
  */
 
@@ -53,7 +51,8 @@ struct __attribute__((packed)) fw_version_info {
 	uint8_t board_revision;
 	uint8_t commit_tag_name[26];
 	uint8_t sha1sum[20];
-	uint8_t pad[40];
+	uint8_t uavosha1[20];
+	uint8_t pad[20];
 };
 
 const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__((__section__(".fw_version_blob"))) = {
@@ -64,6 +63,7 @@ const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__
 	.board_revision = ${BOARD_REVISION},
 	.commit_tag_name = "${FWTAG}",
 	.sha1sum = { ${SHA1} },
+	.uavosha1 = { ${UAVOSHA1} },
 }; 
 
 /**

make/templates/gcsversioninfotemplate.h

@@ -26,7 +26,7 @@
  */
 
 #define GCS_REVISION ${TAG_OR_BRANCH}:${HASH8}${DIRTY} ${DATETIME}
-
+#define UAVO_HASH "{ ${UAVOSHA1} }"
 /**
  * @}
  */

shared/uavobjectdefinition/firmwareiapobj.xml

@@ -2,7 +2,7 @@
     <object name="FirmwareIAPObj" singleinstance="true" settings="false"> 
         <description>Queries board for SN, model, revision, and sends reset command</description> 
         <field name="Command" units="" type="uint16" elements="1"/> 
-        <field name="Description" units="" type="uint8" elements="40"/> 
+        <field name="Description" units="" type="uint8" elements="100"/> 
         <field name="CPUSerial" units="" type="uint8" elements="12" /> 
         <field name="BoardRevision" units="" type="uint16" elements="1"/> 
         <field name="BoardType" units="" type="uint8" elements="1"/> 

shared/uavobjectdefinition/mixersettings.xml

@@ -5,29 +5,76 @@
         <field name="FeedForward" units="" type="float" elements="1" defaultvalue="0"/>
         <field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
         <field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
-	<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
-        <field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Collective,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
-        <field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
-        <field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
-        <field name="Mixer1Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer2Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
-        <field name="Mixer2Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer3Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
-        <field name="Mixer3Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer4Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
-        <field name="Mixer4Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer5Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
-        <field name="Mixer5Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer6Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
-        <field name="Mixer6Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer7Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
-        <field name="Mixer7Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer8Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
-        <field name="Mixer8Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer9Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
-        <field name="Mixer9Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer10Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
-        <field name="Mixer10Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
+	<field name="ThrottleCurve1" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
+        <field name="Curve2Source" units="" type="enum" elements="1" defaultvalue="Throttle">
+		<options>
+			<option>Throttle</option>
+		        <option>Roll</option>
+		        <option>Pitch</option>
+		        <option>Yaw</option>
+		        <option>Collective</option>
+		        <option>Accessory0</option>
+		        <option>Accessory1</option>
+		        <option>Accessory2</option>
+		        <option>Accessory3</option>
+		        <option>Accessory4</option>
+		        <option>Accessory5</option>
+		</options>
+	</field>
+        <field name="ThrottleCurve2" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
+	<field name="Mixer1Type" units="" type="enum" elements="1" defaultvalue="Disabled">
+		<options>
+			<option>Disabled</option>
+			<option>Motor</option>
+			<option>Servo</option>
+			<option>CameraRoll</option>
+			<option>CameraPitch</option>
+			<option>CameraYaw</option>
+			<option>Accessory0</option>
+			<option>Accessory1</option>
+			<option>Accessory2</option>
+			<option>Accessory3</option>
+			<option>Accessory4</option>
+			<option>Accessory5</option>
+		</options>
+	</field>
+	<field name="Mixer1Vector" units="" type="int8" defaultvalue="0">
+		<elementnames>
+			<elementname>ThrottleCurve1</elementname>
+			<elementname>ThrottleCurve2</elementname>
+			<elementname>Roll</elementname>
+			<elementname>Pitch</elementname>
+			<elementname>Yaw</elementname>
+		</elementnames>
+	</field>
+
+	<field name="Mixer2Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer2Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer3Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer3Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer4Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer4Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer5Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer5Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer6Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer6Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer7Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer7Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer8Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer8Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer9Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer9Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer10Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer10Vector" cloneof="Mixer1Vector"/>
+
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>

shared/uavobjectdefinition/relaytuning.xml

@@ -3,7 +3,7 @@
         <description>The input to the relay tuning.</description>
 	<field name="Period" units="ms" type="float" elementnames="Roll,Pitch,Yaw"/>
 	<field name="Gain" units="(deg/s)/output" type="float" elementnames="Roll,Pitch,Yaw"/>
-        <access gcs="readwrite" flight="readwrite"/>
+        <access gcs="readonly" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>
         <logging updatemode="manual" period="0"/>

shared/uavobjectdefinition/taskinfo.xml

@@ -1,9 +1,85 @@
 <xml>
     <object name="TaskInfo" singleinstance="true" settings="false">
         <description>Task information</description>
-	<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathPlanner,PathFollower,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
-	<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathPlanner,PathFollower,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
-	<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathPlanner,PathFollower,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
+        <field name="StackRemaining" units="bytes" type="uint16">
+		<elementnames>
+			<elementname>System</elementname>
+			<elementname>Actuator</elementname>
+			<elementname>Attitude</elementname>
+			<elementname>Sensors</elementname>
+			<elementname>TelemetryTx</elementname>
+			<elementname>TelemetryTxPri</elementname>
+			<elementname>TelemetryRx</elementname>
+			<elementname>GPS</elementname>
+			<elementname>ManualControl</elementname>
+			<elementname>Altitude</elementname>
+			<elementname>Airspeed</elementname>
+			<elementname>Stabilization</elementname>
+			<elementname>AltitudeHold</elementname>
+			<elementname>PathPlanner</elementname>
+			<elementname>PathFollower</elementname>
+			<elementname>FlightPlan</elementname>
+			<elementname>Com2UsbBridge</elementname>
+			<elementname>Usb2ComBridge</elementname>
+			<elementname>OveroSync</elementname>
+			<elementname>Autotune</elementname>
+			<elementname>EventDispatcher</elementname>
+		</elementnames>
+	</field> 
+	<field name="Running" units="bool" type="enum">
+		<elementnames>
+			<elementname>System</elementname>
+			<elementname>Actuator</elementname>
+			<elementname>Attitude</elementname>
+			<elementname>Sensors</elementname>
+			<elementname>TelemetryTx</elementname>
+			<elementname>TelemetryTxPri</elementname>
+			<elementname>TelemetryRx</elementname>
+			<elementname>GPS</elementname>
+			<elementname>ManualControl</elementname>
+			<elementname>Altitude</elementname>
+			<elementname>Airspeed</elementname>
+			<elementname>Stabilization</elementname>
+			<elementname>AltitudeHold</elementname>
+			<elementname>PathPlanner</elementname>
+			<elementname>PathFollower</elementname>
+			<elementname>FlightPlan</elementname>
+			<elementname>Com2UsbBridge</elementname>
+			<elementname>Usb2ComBridge</elementname>
+			<elementname>OveroSync</elementname>
+			<elementname>Autotune</elementname>
+			<elementname>EventDispatcher</elementname>
+		</elementnames>
+		<options>
+			<option>False</option>
+			<option>True</option>
+		</options>
+	</field>
+	<field name="RunningTime" units="%" type="uint8">
+		<elementnames>
+			<elementname>System</elementname>
+			<elementname>Actuator</elementname>
+			<elementname>Attitude</elementname>
+			<elementname>Sensors</elementname>
+			<elementname>TelemetryTx</elementname>
+			<elementname>TelemetryTxPri</elementname>
+			<elementname>TelemetryRx</elementname>
+			<elementname>GPS</elementname>
+			<elementname>ManualControl</elementname>
+			<elementname>Altitude</elementname>
+			<elementname>Airspeed</elementname>
+			<elementname>Stabilization</elementname>
+			<elementname>AltitudeHold</elementname>
+			<elementname>PathPlanner</elementname>
+			<elementname>PathFollower</elementname>
+			<elementname>FlightPlan</elementname>
+			<elementname>Com2UsbBridge</elementname>
+			<elementname>Usb2ComBridge</elementname>
+			<elementname>OveroSync</elementname>
+			<elementname>Autotune</elementname>
+			<elementname>EventDispatcher</elementname>
+		</elementnames>
+	</field> 
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="periodic" period="10000"/>