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

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

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