diff --git a/flight/OpenPilot/Modules/Telemetry/telemetry.c b/flight/OpenPilot/Modules/Telemetry/telemetry.c
index 949429a80..1ffac86d6 100644
--- a/flight/OpenPilot/Modules/Telemetry/telemetry.c
+++ b/flight/OpenPilot/Modules/Telemetry/telemetry.c
@@ -170,7 +170,7 @@ static void telemetryTask(void* parameters)
 				retries = 0;
 				while(retries < MAX_RETRIES && success == -1)
 				{
-					success = UAVTalkSendObject(ev.obj, ev.instId, metadata.ackRequired, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
+					success = UAVTalkSendObject(ev.obj, ev.instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
 					++retries;
 				}
 			}
diff --git a/flight/OpenPilot/UAVObjects/exampleobject.c b/flight/OpenPilot/UAVObjects/exampleobject.c
new file mode 100644
index 000000000..7b9fdb098
--- /dev/null
+++ b/flight/OpenPilot/UAVObjects/exampleobject.c
@@ -0,0 +1,73 @@
+/**
+ ******************************************************************************
+ *
+ * @file       exampleobject.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ExampleObject object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: exampleobject.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "exampleobject.h"
+
+// Private variables
+UAVObjHandle handle;
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t ExampleObjectInitialize()
+{
+	UAVObjMetadata metadata;
+
+	// Register object with the object manager
+	handle = UAVObjRegister(EXAMPLEOBJECT_OBJID, EXAMPLEOBJECT_NAME, 0, EXAMPLEOBJECT_SINGLEINST, EXAMPLEOBJECT_NUMBYTES);
+	if (handle == 0) return -1;
+
+	// Initialize metadata
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.telemetryUpdatePeriod = 0;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.gcsTelemetryUpdatePeriod = 100;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(handle, &metadata);
+
+	// Done
+	return 0;
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle ExampleObjectGetHandle()
+{
+	return handle;
+}
+
+
diff --git a/flight/OpenPilot/UAVObjects/inc/exampleobject.h b/flight/OpenPilot/UAVObjects/inc/exampleobject.h
new file mode 100644
index 000000000..232ef3e89
--- /dev/null
+++ b/flight/OpenPilot/UAVObjects/inc/exampleobject.h
@@ -0,0 +1,60 @@
+/**
+ ******************************************************************************
+ *
+ * @file       exampleobject.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ExampleObject object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: exampleobject.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef EXAMPLEOBJECT_H
+#define EXAMPLEOBJECT_H
+
+#include "openpilot.h"
+
+// Object constants
+#define EXAMPLEOBJECT_OBJID 3048370380U
+#define EXAMPLEOBJECT_NAME "ExampleObject"
+#define EXAMPLEOBJECT_SINGLEINST 0
+#define EXAMPLEOBJECT_NUMBYTES sizeof(ExampleObjectData)
+
+// Data access macros
+#define ExampleObjectGet(dataOut) UAVObjGetData(ExampleObjectGetHandle(), dataOut)
+#define ExampleObjectSet(dataIn) UAVObjSetData(ExampleObjectGetHandle(), dataIn)
+
+// Object data
+typedef struct {
+    int8_t field1;
+    int16_t field2;
+    float field3[4];
+    int32_t field4;
+
+} __attribute__((packed)) ExampleObjectData;
+
+// Generic interface functions
+int32_t ExampleObjectInitialize();
+UAVObjHandle ExampleObjectGetHandle();
+
+#endif // EXAMPLEOBJECT_H
diff --git a/flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h b/flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h
index 8772f4ff6..a8e983163 100644
--- a/flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h
+++ b/flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h
@@ -46,9 +46,10 @@ typedef enum {
  * properties for each object and can be used by multiple modules (e.g. telemetry and logger)
  */
 typedef struct {
-	int8_t ackRequired; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
+	int8_t telemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
 	int8_t telemetryUpdateMode; /** Update mode used by the telemetry module (UAVObjUpdateMode) */
 	int32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
+	int8_t gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
 	int8_t gcsTelemetryUpdateMode; /** Update mode used by the GCS (UAVObjUpdateMode) */
 	int32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
 	int8_t loggingUpdateMode; /** Update mode used by the logging module (UAVObjUpdateMode) */
diff --git a/flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h b/flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h
index f62a68a6a..49558b96b 100644
--- a/flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h
+++ b/flight/OpenPilot/UAVObjects/inc/uavobjecttemplate.h
@@ -1,13 +1,14 @@
 /**
  ******************************************************************************
  *
- * @file       uavobjecttemplate.h
+ * @file       $(NAMELC).h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Template file for all objects. This file will not compile, it is used
- * 	       by the parser as a template to generate all other objects. All $(x) fields
- * 	       will be replaced by the parser with the actual object information.
- * 	       Each object has an meta object associated with it. The meta object
- *             contains information such as the telemetry and logging properties.
+ * @brief      Implementation of the $(NAME) object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: $(XMLFILE). 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
  *
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -31,8 +32,10 @@
 #ifndef $(NAMEUC)_H
 #define $(NAMEUC)_H
 
+#include "openpilot.h"
+
 // Object constants
-#define $(NAMEUC)_OBJID $(OBJID)
+#define $(NAMEUC)_OBJID $(OBJID)U
 #define $(NAMEUC)_NAME "$(NAME)"
 #define $(NAMEUC)_SINGLEINST $(SINGLEINST)
 #define $(NAMEUC)_NUMBYTES sizeof($(NAME)Data)
@@ -43,11 +46,11 @@
 
 // Object data
 typedef struct {
-	$(DATAFIELDS)
+$(DATAFIELDS)
 } __attribute__((packed)) $(NAME)Data;
 
 // Generic interface functions
 int32_t $(NAME)Initialize();
 UAVObjHandle $(NAME)GetHandle();
 
-#endif // $(NAME)_H
+#endif // $(NAMEUC)_H
diff --git a/flight/OpenPilot/UAVObjects/uavobjectmanager.c b/flight/OpenPilot/UAVObjects/uavobjectmanager.c
index b5f14d541..e25d19ca7 100644
--- a/flight/OpenPilot/UAVObjects/uavobjectmanager.c
+++ b/flight/OpenPilot/UAVObjects/uavobjectmanager.c
@@ -102,9 +102,10 @@ int32_t UAVObjInitialize()
 		return -1;
 
 	// Initialize default metadata structure (metadata of metaobjects)
-	defMetadata.ackRequired = 1;
+	defMetadata.telemetryAcked = 1;
 	defMetadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
 	defMetadata.telemetryUpdatePeriod = 0;
+	defMetadata.gcsTelemetryAcked = 1;
 	defMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
 	defMetadata.gcsTelemetryUpdatePeriod = 0;
 	defMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
diff --git a/flight/OpenPilot/UAVObjects/uavobjectsinit.c b/flight/OpenPilot/UAVObjects/uavobjectsinit.c
index 7a0623df5..feba850d2 100644
--- a/flight/OpenPilot/UAVObjects/uavobjectsinit.c
+++ b/flight/OpenPilot/UAVObjects/uavobjectsinit.c
@@ -4,7 +4,10 @@
  * @file       uavobjectsinit.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Initialize all objects.
- * 	       This file is automatically updated by the parser.
+ *             Automatically generated by the UAVObjectGenerator.
+ *   
+ * @note       This is an automatically generated file.
+ *             DO NOT modify manually.
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
@@ -25,12 +28,15 @@
  */
 
 #include "openpilot.h"
+#include "exampleobject.h"
+
 
 /**
- * Initialize all objects.
- * This function is updated by the parser each time a new object is created.
+ * Function used to initialize the first instance of each object.
+ * This file is automatically updated by the UAVObjectGenerator.
  */
 void UAVObjectsInitializeAll()
 {
+    ExampleObjectInitialize();
 
 }
diff --git a/flight/OpenPilot/UAVObjects/uavobjectsinittemplate.c b/flight/OpenPilot/UAVObjects/uavobjectsinittemplate.c
new file mode 100644
index 000000000..75a104d18
--- /dev/null
+++ b/flight/OpenPilot/UAVObjects/uavobjectsinittemplate.c
@@ -0,0 +1,40 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjectsinit.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Initialize all objects.
+ *             Automatically generated by the UAVObjectGenerator.
+ *   
+ * @note       This is an automatically generated file.
+ *             DO NOT modify manually.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+$(OBJINC)
+
+/**
+ * Function used to initialize the first instance of each object.
+ * This file is automatically updated by the UAVObjectGenerator.
+ */
+void UAVObjectsInitializeAll()
+{
+$(OBJINIT)
+}
diff --git a/flight/OpenPilot/UAVObjects/uavobjecttemplate.c b/flight/OpenPilot/UAVObjects/uavobjecttemplate.c
index 3d1af28d1..5d58abb23 100644
--- a/flight/OpenPilot/UAVObjects/uavobjecttemplate.c
+++ b/flight/OpenPilot/UAVObjects/uavobjecttemplate.c
@@ -1,13 +1,14 @@
 /**
  ******************************************************************************
  *
- * @file       uavobjecttemplate.c
+ * @file       $(NAMELC).c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Template file for all objects. This file will not compile, it is used
- * 	       by the parser as a template to generate all other objects. All $(x) fields
- * 	       will be replaced by the parser with the actual object information.
- * 	       Each object has a meta object associated with it. The meta object
- *             contains information such as the telemetry and logging properties.
+ * @brief      Implementation of the $(NAME) object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: $(XMLFILE). 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
  *
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -28,11 +29,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "openpilot.h"
 #include "$(NAMELC).h"
 
-
-
 // Private variables
 UAVObjHandle handle;
 
@@ -49,12 +47,13 @@ int32_t $(NAME)Initialize()
 	handle = UAVObjRegister($(NAMEUC)_OBJID, $(NAMEUC)_NAME, 0, $(NAMEUC)_SINGLEINST, $(NAMEUC)_NUMBYTES);
 	if (handle == 0) return -1;
 
-	// Initialize meta data
-	metadata.ackRequired = $(ACK);
-	metadata.gcsTelemetryUpdateMode = $(GCSTELEM_UPDATEMODE);
-	metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
+	// Initialize metadata
+	metadata.telemetryAcked = $(FLIGHTTELEM_ACKED);
 	metadata.telemetryUpdateMode = $(FLIGHTTELEM_UPDATEMODE);
 	metadata.telemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
+	metadata.gcsTelemetryAcked = $(GCSTELEM_ACKED);
+	metadata.gcsTelemetryUpdateMode = $(GCSTELEM_UPDATEMODE);
+	metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
 	metadata.loggingUpdateMode = $(LOGGING_UPDATEMODE);
 	metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
 	UAVObjSetMetadata(handle, &metadata);
@@ -63,6 +62,9 @@ int32_t $(NAME)Initialize()
 	return 0;
 }
 
+/**
+ * Get object handle
+ */
 UAVObjHandle $(NAME)GetHandle()
 {
 	return handle;