Merge branch 'rel-15.09'

.gitignore

@@ -4,6 +4,10 @@
 /build
 /3rdparty
 
+# Ignore user config
+config
+
+
 # Exclude temporary and system files
 Thumbs.db
 .DS_Store
@@ -12,7 +16,7 @@ GRTAGS
 GSYMS
 GTAGS
 core
-*~
+*~
 
 # flight
 /flight/*.pnproj
@@ -25,29 +29,24 @@ core
 /flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/*.pbxuser
 
 # ground
-openpilotgcs-build-desktop
-ground/openpilotgcs/.cproject
-ground/openpilotgcs/.project
-ground/openpilotgcs/.settings
+gcs-build-desktop
+ground/gcs/.cproject
+ground/gcs/.project
+ground/gcs/.settings
 
-# Ignore some of the .pro.user files
+# Ignore .pro.user files
 *.pro.user
-/ground/openpilotgcs/openpilotgcs.pro.user
-/ground/uavobjgenerator/uavobjgenerator.pro.user
-/ground/uavobjects/uavobjects.pro.user
-/ground/ground.pro.user
-/ground/openpilotgcs/src/libs/sdlgamepad.pro.user
+
 
 # Misc artifacts
-/ground/openpilotgcs/share/openpilotgcs/sounds/normalize.exe
-/ground/openpilotgcs/share/openpilotgcs/sounds/default/normalize.exe
-/ground/openpilotgcs/share/openpilotgcs/translations/extract-mimetypes.xq
-/ground/openpilotgcs/src/experimental/tools/DocumentationHelper/ui_mainwindow.h
-/ground/openpilotgcs/src/libs/qextserialport/.hg
-/ground/openpilotgcs/src/libs/qextserialport/.hgtags
-/ground/openpilotgcs/src/libs/qwt/qwt.prf
-/ground/openpilotgcs/src/libs/qwt/designer
-/ground/openpilotgcs/src/plugins/ipconnection/ui_ipconnectionoptionspage.h
+*.exe
+/ground/gcs/share/translations/extract-mimetypes.xq
+/ground/gcs/src/experimental/tools/DocumentationHelper/ui_mainwindow.h
+/ground/gcs/src/libs/qextserialport/.hg
+/ground/gcs/src/libs/qextserialport/.hgtags
+/ground/gcs/src/libs/qwt/qwt.prf
+/ground/gcs/src/libs/qwt/designer
+/ground/gcs/src/plugins/ipconnection/ui_ipconnectionoptionspage.h
 
 # Ignore intermediate files generated by command-line android builds
 # Couldn't figure out how to force these files into the ./build directory
@@ -65,6 +64,7 @@ ground/openpilotgcs/.settings
 /.metadata
 /.settings
 /.pydevproject
+/workspace
 
 # Ignore Eclipse temp folder, git plugin based?
 RemoteSystemsTempFiles
@@ -73,3 +73,6 @@ RemoteSystemsTempFiles
 *.rej
 *.orig
 *.diff~
+
+# ignore ccache storage
+.ccache

CONTRIBUTING.md

@@ -0,0 +1,40 @@
+How to build from source?
+=========================
+
+Both development environment and GCS are supported on Windows, Linux and Mac OS X
+
+The first step is to Install all OS specific prerequisites.
+###Mac OS X
+Install XCode and its relatated command line tools (follow Apple documentation).
+Install git, curl and p7zip. You can use brew `brew install git curl p7zip` or macport: `sudo port install git curl p7zip`
+###Ubuntu
+
+    sudo apt-get install git build-essential curl gdb wget debhelper p7zip-full unzip flex bison libsdl1.2-dev  libudev-dev  libusb-1.0-0-dev libc6-i386 mesa-common-dev
+
+
+###Windows
+Install [msysGIT](https://msysgit.github.io/) under `C:\git`
+
+Clone LibrePilot Git repository.
+Open Git Bash and run
+
+    cd /path/to/LibrePilot_root
+    ./make/scripts/win_sdk_install.sh
+
+You can build using the `/path/to/LibrePilot_root/make/winx86/bin/make` wrapper to call `mingw32-make.exe` as:
+
+    ./make/winx86/bin/make  all_sdk_install
+or call `mingw32-make` directly
+
+    mingw32-make  all_sdk_install
+
+##Setup the build environment and build
+The `all_sdk_install` target will automatically retrieve and install all needed tools (qt, arm gcc etc.) in a local folder `/path/to/LibrePilot_root/tools`
+
+
+    make all_sdk_install
+    make package
+
+The `package` target will build the complete installable package for the current platform.
+
+Run make with no arguments to show the complete list of supported targets.

CREDITS.txt

@@ -1,4 +1,4 @@
-Connor Abbott
+Connor Abbott
 Sergiy Anikeyev
 David Ankers
 Fredrik Arvidsson
@@ -6,13 +6,14 @@ Pedro Assuncao
 Werner Backes
 Jose Barros
 Alex Beck
+Roy Bekken
 Andre Bernet
 Mikael Blomqvist
 Pete Boehl
 Berkely Brown
 Joel Brueziere
-Thierry Bugeat
 Samuel Brugger
+Thierry Bugeat
 Glenn Campigli
 David Carlson
 Mike Carr
@@ -47,6 +48,7 @@ Andy Honecker
 Patrick Huebner
 Ryan Hunt
 Mark James
+Paul Jewell
 Michael Johnston
 Stefan Karlsson
 Ricky King
@@ -61,12 +63,13 @@ Edouard Lafargue
 Laurent Lalanne
 Fredrik Larsson
 Xavier Lecluse
+Richard Von Lehe
 Pablo Lema
 Matt Lipski
 David Llama
+Jasper Van Loenen
 Ben Matthews
 Greg Matthews
-Greg Matthews
 Guy McCaldin
 Alessio Morale
 Gary Mortimer
@@ -107,11 +110,9 @@ Rowan Taubitz
 Jim Allen Thibodaux
 Andrew Thoms
 Vladimir Timofeev
-Jasper Van Loenen
 Philippe Vanhaesendonck
 Vassilis Varveropoulos
 Kevin Vertucio
-Richard Von Lehe
 Alex Vrubel
 Mike Walters
 Sam Wang

LICENSE.txt

@@ -1,64 +1,6 @@
-The OpenPilot code is licensed under the GPLv3. There are a few minor exceptions to this so please see
+The LibrePilot code is licensed under the GPLv3. There are a few minor exceptions to this so please see
 the headers of all source code for copyright and license information. The full text of the GPLv3 can be
 read here: http://www.gnu.org/licenses/gpl-3.0.txt
 
 Artwork is licensed under the Creative Commons BY-SA v3 license.
-
-Documentation including translations is also licensed under the Creative Commons BY-SA v3 license.
 For details please see: http://creativecommons.org/licenses/by-sa/3.0/
-
-Licenses for the hardware files are included in the directories that contain the hardware, not all items
-are under the same license and you must check the files for each individual hardware design. Please note
-that some of the hardware files are licensed under the Creative Commons BY-NC-SA v3 license, this is a
-non-commercial license. OpenPilot is purely a non-profit hobby project with zero commercial intent. If you
-just want people to work for free or do your R&D for zero cost, please find a project that allows this as
-that not what OpenPilot is about. We are hobbyists and we want to share our work with fellow hobbyists,
-additionally we need to ensure the future of the project and make sure it is sustainable.
-
-If you wish to sell/distribute OpenPilot hardware or derivatives of OpenPilot hardware that are under a
-non-commercial license, please get in touch with one of the members of OpenPilot Foundation's
-administration committee. We can then negotiate a license waiver where a portion of the profits are donated
-to the OpenPilot Project to ensure its survival and future progression. Please note that this is in
-reference to PCB and Schematic designs. For people wishing to combine OpenPilot in to a Ready to Fly
-solution, this is perfectly fine as long as OpenPilot PCBs are bought from the OpenPilot project or one
-of the approved distributors.
-
-For details the non-commercial license please see: http://creativecommons.org/licenses/by-nc-sa/3.0/
-A quick summary of what this license talk means, firstly using any work that is licensed under a form of
-the Creative Commons BY license, requires that credit is to be given. The SA or Share Alike part of the
-license means that you must also use the same license in any work derived from the work under this license.
-
-Hardware
-The items under the non-commercial license means exactly that: they are for non-commercial use only and
-any derivatives that are made are also covered by the same non-commercial license. The hardware files
-under a non-commercial license are for reference and for fellow hobbyists; they are not to be used to
-generate profit of any kind. Please note that even the OpenPilot project its self is a non-profit project.
-
-For all items both non-commercial and items that allows commercial use, the OP logo must be placed on any
-work or derivative work and be clearly visible. If any web addresses are present on the hardware, these
-are also required to remain on any replications or any derivative work.
-
-Documentation
-In documentation, authors names must be kept along with any logos. If documentation is for a physical
-product such as a schematic, the OpenPilot logo should be shown and any web addresses also displayed on
-the final physical hardware it was derived from.
-
-Artwork
-If artwork is to be reused, the OpenPilot project should be credited. If for example this is a software
-application, credit should be given on the application splash screen or in a separate part of the
-application that is visible to users. For example the Help/About screen.
-
-Contact Us
-If you are unsure, please contact one of the OpenPilot Foundation's administrators. Additionally, if you
-plan to use parts of the OpenPilot project in your own work, we would appreciate it if you get in touch
-with us anyway, it is possible we could combine efforts or have some work already in progress that might
-be helpful. This of course is our baby and we want to see what great things people do with it as well.
-
-A final note, OpenPilot is a non-profit for fun project and we have only volunteers. A great deal of time,
-money and effort has been donated to this project; please respect the people that are part of it and their
-generosity. OpenPilot is funded entirely by the generous people who donate money and time to the community
-and help it grow. Giving full and proper credit is not only a legal requirement of the CC-BY-SA license,
-it is also the right thing to do.
-
-Buying hardware from the OpenPilot project is very important to the survival and continuing progress of
-the project, a project like OpenPilot is extremely expensive to produce.

Makefile

@@ -1,5 +1,6 @@
 #
-# Top level Makefile for the OpenPilot project build system.
+# Top level Makefile for the LibrePilot Project build system.
+# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
 # Copyright (c) 2010-2013, The OpenPilot Team, http://www.openpilot.org
 # Use 'make help' for instructions.
 #
@@ -23,33 +24,63 @@
 # Lower level makefiles assume that these variables are defined. To ensure
 # that a special magic variable is exported here. It must be checked for
 # existance by each sub-make.
-export OPENPILOT_IS_COOL := Fuck Yeah!
+export TOP_LEVEL_MAKEFILE := TRUE
 
-# It is possible to set OPENPILOT_DL_DIR and/or OPENPILOT_TOOLS_DIR environment
+# The root directory that this makefile resides in
+export ROOT_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
+
+# Include some helper functions
+include $(ROOT_DIR)/make/functions.mk
+
+# This file can be used to override default options using the "override" keyword
+CONFIG_FILE := config
+-include $(CONFIG_FILE)
+
+##############################
+# It is possible to set DL_DIR and/or TOOLS_DIR environment
 # variables to override local tools download and installation directorys. So the
 # same toolchains can be used for all working copies. Particularly useful for CI
 # server build agents, but also for local installations.
-#
-# If no OPENPILOT_* variables found, makefile internal DL_DIR and TOOLS_DIR paths
-# will be used. They still can be overriden by the make command line parameters:
-# make DL_DIR=/path/to/download/directory TOOLS_DIR=/path/to/tools/directory targets...
-
-# Function for converting Windows style slashes into Unix style
-slashfix = $(subst \,/,$(1))
-
-# Function for converting an absolute path to one relative
-# to the top of the source tree
-toprel = $(subst $(realpath $(ROOT_DIR))/,,$(abspath $(1)))
+override DL_DIR    := $(if $(DL_DIR),$(call slashfix,$(DL_DIR)),$(ROOT_DIR)/downloads)
+override TOOLS_DIR := $(if $(TOOLS_DIR),$(call slashfix,$(TOOLS_DIR)),$(ROOT_DIR)/tools)
+export DL_DIR
+export TOOLS_DIR
 
 # Set up some macros for common directories within the tree
-export ROOT_DIR    := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
-export DL_DIR      := $(if $(OPENPILOT_DL_DIR),$(call slashfix,$(OPENPILOT_DL_DIR)),$(ROOT_DIR)/downloads)
-export TOOLS_DIR   := $(if $(OPENPILOT_TOOLS_DIR),$(call slashfix,$(OPENPILOT_TOOLS_DIR)),$(ROOT_DIR)/tools)
-export BUILD_DIR   := $(ROOT_DIR)/build
-export PACKAGE_DIR := $(ROOT_DIR)/build/package
-export DIST_DIR    := $(ROOT_DIR)/build/dist
+export BUILD_DIR     := $(CURDIR)/build
+export PACKAGE_DIR   := $(BUILD_DIR)/package
+export DIST_DIR      := $(BUILD_DIR)/dist
+export OPGCSSYNTHDIR := $(BUILD_DIR)/gcs-synthetics
+
+DIRS := $(DL_DIR) $(TOOLS_DIR) $(BUILD_DIR) $(PACKAGE_DIR) $(DIST_DIR) $(OPGCSSYNTHDIR)
+
+# Naming for binaries and packaging etc,.
+export ORG_BIG_NAME := LibrePilot
+GCS_LABEL := GCS
+GCS_BIG_NAME := $(ORG_BIG_NAME) $(GCS_LABEL)
+# These should be lowercase with no spaces
+export ORG_SMALL_NAME := $(call smallify,$(ORG_BIG_NAME))
+GCS_SMALL_NAME := $(call smallify,$(GCS_BIG_NAME))
+
+WEBSITE_URL      := http://librepilot.org
+GIT_URL          := https://bitbucket.org/librepilot/librepilot.git
+GITWEB_URL       := https://bitbucket.org/librepilot/librepilot
+# Change this once the DNS is set to http://wiki.librepilot.org/
+WIKI_URL_ROOT    := https://librepilot.atlassian.net/wiki/display/LPDOC/
+USAGETRACKER_URL := https://usagetracker.librepilot.org/
+
+PACKAGING_EMAIL_ADDRESS := packaging@librepilot.org
+
+define DESCRIPTION_SHORT :=
+A ground control station and firmware for UAV flight controllers
+endef
+
+define DESCRIPTION_LONG :=
+The LibrePilot open source project was founded in July 2015.
+It focuses on research and development of software and hardware to be used in a variety of applications including vehicle control and stabilization, unmanned autonomous vehicles and robotics.
+One of the project’s primary goals is to provide an open and collaborative environment making it the ideal home for development of innovative ideas.
+endef
 
-DIRS = $(DL_DIR) $(TOOLS_DIR) $(BUILD_DIR) $(PACKAGE_DIR) $(DIST_DIR)
 
 # Set up default build configurations (debug | release)
 GCS_BUILD_CONF		:= release
@@ -81,7 +112,7 @@ $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),de
 
 # Make sure this isn't being run as root unless installing (no whoami on Windows, but that is ok here)
 ifeq ($(shell whoami 2>/dev/null),root)
-    ifeq ($(filter install,$(MAKECMDGOALS)),)
+    ifeq ($(filter install uninstall,$(MAKECMDGOALS)),)
         ifndef FAKEROOTKEY
             $(error You should not be running this as root)
         endif
@@ -116,16 +147,18 @@ include $(ROOT_DIR)/make/tools.mk
 
 # We almost need to consider autoconf/automake instead of this
 ifeq ($(UNAME), Linux)
-    QT_SPEC = linux-g++
-    UAVOBJGENERATOR = $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
+    QT_SPEC := linux-g++
+    UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
 else ifeq ($(UNAME), Darwin)
-    QT_SPEC = macx-g++
-    UAVOBJGENERATOR = $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
+    QT_SPEC := macx-g++
+    UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator
 else ifeq ($(UNAME), Windows)
-    QT_SPEC = win32-g++
-    UAVOBJGENERATOR = $(BUILD_DIR)/uavobjgenerator/uavobjgenerator.exe
+    QT_SPEC := win32-g++
+    UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator.exe
 endif
 
+export UAVOBJGENERATOR
+
 ##############################
 #
 # All targets
@@ -140,7 +173,7 @@ all_clean:
 	@$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR))"
 	$(V1) [ ! -d "$(BUILD_DIR)" ] || $(RM) -rf "$(BUILD_DIR)"
 
-.PONY: clean
+.PHONY: clean
 clean: all_clean
 
 
@@ -150,11 +183,13 @@ clean: all_clean
 #
 ##############################
 
-UAVOBJGENERATOR_DIR = $(BUILD_DIR)/uavobjgenerator
+UAVOBJGENERATOR_DIR := $(BUILD_DIR)/uavobjgenerator
 DIRS += $(UAVOBJGENERATOR_DIR)
 
 .PHONY: uavobjgenerator
-uavobjgenerator $(UAVOBJGENERATOR): | $(UAVOBJGENERATOR_DIR)
+uavobjgenerator: $(UAVOBJGENERATOR)
+
+$(UAVOBJGENERATOR): | $(UAVOBJGENERATOR_DIR)
 	$(V1) cd $(UAVOBJGENERATOR_DIR) && \
 	    ( [ -f Makefile ] || $(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro \
 	    -spec $(QT_SPEC) CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) ) && \
@@ -168,13 +203,13 @@ uavobjects:  $(addprefix uavobjects_, $(UAVOBJ_TARGETS))
 UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
 UAVOBJ_OUT_DIR := $(BUILD_DIR)/uavobject-synthetics
 
-uavobjects_%:  uavobjgenerator
+uavobjects_%: $(UAVOBJGENERATOR)
 	@$(MKDIR) -p $(UAVOBJ_OUT_DIR)/$*
 	$(V1) ( cd $(UAVOBJ_OUT_DIR)/$* && \
 	    $(UAVOBJGENERATOR) -$* $(UAVOBJ_XML_DIR) $(ROOT_DIR) ; \
 	)
 
-uavobjects_test:  uavobjgenerator
+uavobjects_test: $(UAVOBJGENERATOR)
 	$(V1) $(UAVOBJGENERATOR) -v $(UAVOBJ_XML_DIR) $(ROOT_DIR)
 
 uavobjects_clean:
@@ -187,54 +222,6 @@ uavobjects_clean:
 #
 ##############################
 
-# Define some pointers to the various important pieces of the flight code
-# to prevent these being repeated in every sub makefile
-export PIOS          := $(ROOT_DIR)/flight/pios
-export FLIGHTLIB     := $(ROOT_DIR)/flight/libraries
-export OPMODULEDIR   := $(ROOT_DIR)/flight/modules
-export OPUAVOBJ      := $(ROOT_DIR)/flight/uavobjects
-export OPUAVTALK     := $(ROOT_DIR)/flight/uavtalk
-export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
-export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
-
-DIRS += $(OPGCSSYNTHDIR)
-
-# Define supported board lists
-ALL_BOARDS    := oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
-
-# Short names of each board (used to display board name in parallel builds)
-oplinkmini_short       := 'oplm'
-revolution_short       := 'revo'
-osd_short              := 'osd '
-revoproto_short        := 'revp'
-revonano_short         := 'revn'
-simposix_short         := 'posx'
-discoveryf4bare_short  := 'df4b'
-gpsplatinum_short      := 'gps9'
-
-# SimPosix only builds on Linux so drop it from the list for
-# all other platforms.
-ifneq ($(UNAME), Linux)
-    ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
-endif
-
-# Start out assuming that we'll build fw, bl and bu for all boards
-FW_BOARDS  := $(ALL_BOARDS)
-BL_BOARDS  := $(ALL_BOARDS)
-BU_BOARDS  := $(ALL_BOARDS)
-EF_BOARDS  := $(ALL_BOARDS)
-
-# SimPosix doesn't have a BL, BU or EF target so we need to
-# filter them out to prevent errors on the all_flight target.
-BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
-BU_BOARDS  := $(filter-out simposix gpsplatinum, $(BU_BOARDS))
-EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
-
-# Generate the targets for whatever boards are left in each list
-FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
-BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
-BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
-EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
 
 # When building any of the "all_*" targets, tell all sub makefiles to display
 # additional details on each line of output to describe which build and target
@@ -250,190 +237,10 @@ ifneq ($(word 2,$(MAKECMDGOALS)),)
     export ENABLE_MSG_EXTRA := yes
 endif
 
-# TEMPLATES (used to generate build rules)
+FLIGHT_OUT_DIR := $(BUILD_DIR)/firmware
+DIRS += $(FLIGHT_OUT_DIR)
 
-# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-# $(2) = Short name for board (e.g cc)
-define FW_TEMPLATE
-.PHONY: $(1) fw_$(1)
-$(1): fw_$(1)_opfw
-fw_$(1): fw_$(1)_opfw
-
-fw_$(1)_%: uavobjects_flight
-	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
-	$(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/firmware && \
-		$$(MAKE) -r --no-print-directory \
-		BUILD_TYPE=fw \
-		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(2) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/firmware \
-		OUTDIR=$(BUILD_DIR)/fw_$(1) \
-		TARGET=fw_$(1) \
-		$$*
-
-.PHONY: $(1)_clean
-$(1)_clean: fw_$(1)_clean
-fw_$(1)_clean:
-	@$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/fw_$(1))"
-	$(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
-endef
-
-# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-# $(2) = Short name for board (e.g cc)
-define BL_TEMPLATE
-.PHONY: bl_$(1)
-bl_$(1): bl_$(1)_bin
-bl_$(1)_bino: bl_$(1)_bin
-
-bl_$(1)_%:
-	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
-	$(V1) $(MKDIR) -p $(BUILD_DIR)/bl_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/bootloader && \
-		$$(MAKE) -r --no-print-directory \
-		BUILD_TYPE=bl \
-		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(2) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/bootloader \
-		OUTDIR=$(BUILD_DIR)/bl_$(1) \
-		TARGET=bl_$(1) \
-		$$*
-
-.PHONY: unbrick_$(1)
-unbrick_$(1): bl_$(1)_hex
-$(if $(filter-out undefined,$(origin UNBRICK_TTY)),
-	$(V0) @$(ECHO) " UNBRICK    $(1) via $$(UNBRICK_TTY)"
-	$(V1) $(STM32FLASH_DIR)/stm32flash \
-		-w $(BUILD_DIR)/bl_$(1)/bl_$(1).hex \
-		-g 0x0 \
-		$$(UNBRICK_TTY)
-,
-	$(V0) @$(ECHO)
-	$(V0) @$(ECHO) "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
-	$(V0) @$(ECHO) "       eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
-)
-
-.PHONY: bl_$(1)_clean
-bl_$(1)_clean:
-	@$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/bl_$(1))"
-	$(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
-endef
-
-# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-# $(2) = Short name for board (e.g cc)
-define BU_TEMPLATE
-.PHONY: bu_$(1)
-bu_$(1): bu_$(1)_opfw
-
-bu_$(1)_%: bl_$(1)_bino
-	$(V1) $(MKDIR) -p $(BUILD_DIR)/bu_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/common/bootloader_updater && \
-		$$(MAKE) -r --no-print-directory \
-		BUILD_TYPE=bu \
-		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(2) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/common/bootloader_updater \
-		OUTDIR=$(BUILD_DIR)/bu_$(1) \
-		TARGET=bu_$(1) \
-		$$*
-
-.PHONY: bu_$(1)_clean
-bu_$(1)_clean:
-	@$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/bu_$(1))"
-	$(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
-endef
-
-# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-# $(2) = Short name for board (e.g cc)
-define EF_TEMPLATE
-.PHONY: ef_$(1)
-ef_$(1): ef_$(1)_bin
-
-ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
-	$(V1) $(MKDIR) -p $(BUILD_DIR)/ef_$(1)
-	$(V1) cd $(ROOT_DIR)/flight/targets/common/entire_flash && \
-		$$(MAKE) -r --no-print-directory \
-		BUILD_TYPE=ef \
-		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(2) \
-		DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
-		TOPDIR=$(ROOT_DIR)/flight/targets/common/entire_flash \
-		OUTDIR=$(BUILD_DIR)/ef_$(1) \
-		TARGET=ef_$(1) \
-		$$*
-
-.PHONY: ef_$(1)_clean
-ef_$(1)_clean:
-	@$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/ef_$(1))"
-	$(V1) $(RM) -fr $(BUILD_DIR)/ef_$(1)
-endef
-
-# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-define BOARD_PHONY_TEMPLATE
-.PHONY: all_$(1)
-all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
-all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
-all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
-all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
-
-.PHONY: all_$(1)_clean
-all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
-all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
-all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
-all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
-endef
-
-# Generate flight build rules
-.PHONY: all_fw all_fw_clean
-all_fw:        $(addsuffix _opfw,  $(FW_TARGETS))
-all_fw_clean:  $(addsuffix _clean, $(FW_TARGETS))
-
-.PHONY: all_bl all_bl_clean
-all_bl:        $(addsuffix _bin,   $(BL_TARGETS))
-all_bl_clean:  $(addsuffix _clean, $(BL_TARGETS))
-
-.PHONY: all_bu all_bu_clean
-all_bu:        $(addsuffix _opfw,  $(BU_TARGETS))
-all_bu_clean:  $(addsuffix _clean, $(BU_TARGETS))
-
-.PHONY: all_ef all_ef_clean
-all_ef:        $(EF_TARGETS)
-all_ef_clean:  $(addsuffix _clean, $(EF_TARGETS))
-
-.PHONY: all_flight all_flight_clean
-all_flight:       all_fw all_bl all_bu all_ef
-all_flight_clean: all_fw_clean all_bl_clean all_bu_clean all_ef_clean
-
-# Expand the groups of targets for each board
-$(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
-
-# Expand the firmware rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_short))))
-
-# Expand the bootloader rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_short))))
-
-# Expand the bootloader updater rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_short))))
-
-# Expand the entire-flash rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_short))))
-
-.PHONY: sim_win32
-sim_win32: sim_win32_exe
-
-sim_win32_%: uavobjects_flight
-	$(V1) $(MKDIR) -p $(BUILD_DIR)/sitl_win32
-	$(V1) $(MAKE) --no-print-directory \
-		-C $(ROOT_DIR)/flight/targets/OpenPilot --file=$(ROOT_DIR)/flight/targets/OpenPilot/Makefile.win32 $*
-
-.PHONY: sim_osx
-sim_osx: sim_osx_elf
-
-sim_osx_%: uavobjects_flight
-	$(V1) $(MKDIR) -p $(BUILD_DIR)/sim_osx
-	$(V1) $(MAKE) --no-print-directory \
-		-C $(ROOT_DIR)/flight/targets/SensorTest --file=$(ROOT_DIR)/flight/targets/SensorTest/Makefile.osx $*
+include $(ROOT_DIR)/flight/Makefile
 
 ##############################
 #
@@ -442,13 +249,7 @@ sim_osx_%: uavobjects_flight
 ##############################
 
 .PHONY: all_ground
-all_ground: openpilotgcs uploader
-
-# Convenience target for the GCS
-.PHONY: gcs gcs_qmake gcs_clean
-gcs: openpilotgcs
-gcs_qmake: openpilotgcs_qmake
-gcs_clean: openpilotgcs_clean
+all_ground: gcs uploader
 
 ifeq ($(V), 1)
     GCS_SILENT :=
@@ -456,25 +257,31 @@ else
     GCS_SILENT := silent
 endif
 
-OPENPILOTGCS_DIR := $(BUILD_DIR)/openpilotgcs_$(GCS_BUILD_CONF)
-DIRS += $(OPENPILOTGCS_DIR)
+GCS_DIR := $(BUILD_DIR)/$(GCS_SMALL_NAME)_$(GCS_BUILD_CONF)
+DIRS += $(GCS_DIR)
 
-OPENPILOTGCS_MAKEFILE := $(OPENPILOTGCS_DIR)/Makefile
+GCS_MAKEFILE := $(GCS_DIR)/Makefile
 
-.PHONY: openpilotgcs_qmake
-openpilotgcs_qmake $(OPENPILOTGCS_MAKEFILE): | $(OPENPILOTGCS_DIR)
-	$(V1) cd $(OPENPILOTGCS_DIR) && \
-	    $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro \
-	    -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) $(GCS_QMAKE_OPTS)
+.PHONY: gcs_qmake
+gcs_qmake $(GCS_MAKEFILE): | $(GCS_DIR)
+	$(V1) cd $(GCS_DIR) && \
+	    $(QMAKE) $(ROOT_DIR)/ground/gcs/gcs.pro \
+	    -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) \
+	    'GCS_BIG_NAME="$(GCS_BIG_NAME)"' GCS_SMALL_NAME=$(GCS_SMALL_NAME) \
+	    'ORG_BIG_NAME="$(ORG_BIG_NAME)"' ORG_SMALL_NAME=$(ORG_SMALL_NAME) \
+	    'WIKI_URL_ROOT="$(WIKI_URL_ROOT)"' \
+	    'USAGETRACKER_URL="$(USAGETRACKER_URL)"' \
+	    'GCS_LIBRARY_BASENAME=$(libbasename)' \
+	    $(GCS_QMAKE_OPTS)
 
-.PHONY: openpilotgcs
-openpilotgcs: uavobjgenerator $(OPENPILOTGCS_MAKEFILE)
-	$(V1) $(MAKE) -w -C $(OPENPILOTGCS_DIR)/$(MAKE_DIR);
+.PHONY: gcs
+gcs: $(UAVOBJGENERATOR) $(GCS_MAKEFILE)
+	$(V1) $(MAKE) -w -C $(GCS_DIR)/$(MAKE_DIR);
 
-.PHONY: openpilotgcs_clean
-openpilotgcs_clean:
-	@$(ECHO) " CLEAN      $(call toprel, $(OPENPILOTGCS_DIR))"
-	$(V1) [ ! -d "$(OPENPILOTGCS_DIR)" ] || $(RM) -r "$(OPENPILOTGCS_DIR)"
+.PHONY: gcs_clean
+gcs_clean:
+	@$(ECHO) " CLEAN      $(call toprel, $(GCS_DIR))"
+	$(V1) [ ! -d "$(GCS_DIR)" ] || $(RM) -r "$(GCS_DIR)"
 
 
 
@@ -492,7 +299,7 @@ UPLOADER_MAKEFILE := $(UPLOADER_DIR)/Makefile
 .PHONY: uploader_qmake
 uploader_qmake $(UPLOADER_MAKEFILE): | $(UPLOADER_DIR)
 	$(V1) cd $(UPLOADER_DIR) && \
-	    $(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/src/experimental/USB_UPLOAD_TOOL/upload.pro \
+	    $(QMAKE) $(ROOT_DIR)/ground/gcs/src/experimental/USB_UPLOAD_TOOL/upload.pro \
 	    -spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) $(GCS_QMAKE_OPTS)
 
 .PHONY: uploader
@@ -679,35 +486,40 @@ endif
 # Packaging components
 #
 ##############################
-
 # Firmware files to package
-PACKAGE_FW_EXCLUDE  := fw_simposix $(if $(PACKAGE_FW_INCLUDE_DISCOVERYF4BARE),,fw_discoveryf4bare)
-PACKAGE_FW_TARGETS  := $(filter-out $(PACKAGE_FW_EXCLUDE), $(FW_TARGETS))
-PACKAGE_ELF_TARGETS := $(filter     fw_simposix, $(FW_TARGETS))
+PACKAGE_FW_TARGETS := fw_coptercontrol fw_oplinkmini fw_revolution fw_osd fw_revoproto fw_gpsplatinum fw_revonano
 
 # Rules to generate GCS resources used to embed firmware binaries into the GCS.
 # They are used later by the vehicle setup wizard to update board firmware.
 # To open a firmware image use ":/firmware/fw_coptercontrol.opfw"
 OPFW_RESOURCE := $(OPGCSSYNTHDIR)/opfw_resource.qrc
-OPFW_RESOURCE_PREFIX := ../../
-OPFW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(call toprel, $(BUILD_DIR)/$(fw_targ)/$(fw_targ).opfw))
+
+ifeq ($(WITH_PREBUILT_FW),)
+FIRMWARE_DIR := $(FLIGHT_OUT_DIR)
+# We need to build the FW targets
+$(OPFW_RESOURCE): $(PACKAGE_FW_TARGETS)
+else
+FIRMWARE_DIR := $(WITH_PREBUILT_FW)
+endif
+
+OPFW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(FIRMWARE_DIR)/$(fw_targ)/$(fw_targ).opfw)
 OPFW_CONTENTS := \
 <!DOCTYPE RCC><RCC version="1.0"> \
     <qresource prefix="/firmware"> \
-        $(foreach fw_file, $(OPFW_FILES), <file alias="$(notdir $(fw_file))">$(OPFW_RESOURCE_PREFIX)$(fw_file)</file>) \
+        $(foreach fw_file, $(OPFW_FILES), <file alias="$(notdir $(fw_file))">$(fw_file)</file>) \
     </qresource> \
 </RCC>
 
 .PHONY: opfw_resource
 opfw_resource: $(OPFW_RESOURCE)
 
-$(OPFW_RESOURCE): $(FW_TARGETS) | $(OPGCSSYNTHDIR)
+$(OPFW_RESOURCE): | $(OPGCSSYNTHDIR)
 	@$(ECHO) Generating OPFW resource file $(call toprel, $@)
 	$(V1) $(ECHO) $(QUOTE)$(OPFW_CONTENTS)$(QUOTE) > $@
 
 # If opfw_resource or all firmware are requested, GCS should depend on the resource
 ifneq ($(strip $(filter opfw_resource all all_fw all_flight package,$(MAKECMDGOALS))),)
-$(OPENPILOTGCS_MAKEFILE): $(OPFW_RESOURCE)
+$(GCS_MAKEFILE): $(OPFW_RESOURCE)
 endif
 
 # Packaging targets: package
@@ -717,14 +529,64 @@ endif
 
 # Define some variables
 PACKAGE_LBL       := $(shell $(VERSION_INFO) --format=\$${LABEL})
-PACKAGE_NAME      := OpenPilot
+PACKAGE_NAME      := $(subst $(SPACE),,$(ORG_BIG_NAME))
 PACKAGE_SEP       := -
 PACKAGE_FULL_NAME := $(PACKAGE_NAME)$(PACKAGE_SEP)$(PACKAGE_LBL)
 
+# Source distribution is never dirty because it uses git archive
+DIST_LBL       := $(subst -dirty,,$(PACKAGE_LBL))
+DIST_NAME      := $(PACKAGE_NAME)$(PACKAGE_SEP)$(DIST_LBL)
+DIST_TAR       := $(DIST_DIR)/$(DIST_NAME).tar
+DIST_TAR_GZ    := $(DIST_TAR).gz
+FW_DIST_NAME   := $(DIST_NAME)_firmware
+FW_DIST_TAR    := $(DIST_DIR)/$(FW_DIST_NAME).tar
+FW_DIST_TAR_GZ := $(FW_DIST_TAR).gz
+DIST_VER_INFO  := $(DIST_DIR)/version-info.json
+
 include $(ROOT_DIR)/package/$(UNAME).mk
 
-# Source distribution is never dirty because it uses git archive
-DIST_NAME := $(DIST_DIR)/$(subst dirty-,,$(PACKAGE_FULL_NAME)).tar
+##############################
+#
+# Source for distribution
+#
+##############################
+$(DIST_VER_INFO): .git/index | $(DIST_DIR)
+	$(V1) $(VERSION_INFO) --jsonpath="$(DIST_DIR)"
+
+$(DIST_TAR): $(DIST_VER_INFO) .git/index | $(DIST_DIR)
+	@$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR))"
+	$(V1) git archive --prefix="$(PACKAGE_NAME)/" -o "$(DIST_TAR)" HEAD
+	$(V1) tar --append --file="$(DIST_TAR)" \
+		--transform='s,.*version-info.json,$(PACKAGE_NAME)/version-info.json,' \
+		$(call toprel, "$(DIST_VER_INFO)")
+
+$(DIST_TAR_GZ): $(DIST_TAR)
+	@$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_TAR_GZ))"
+	$(V1) gzip -kf "$(DIST_TAR)"
+
+.PHONY: dist_tar_gz
+dist_tar_gz: $(DIST_TAR_GZ)
+
+.PHONY: dist
+dist: dist_tar_gz
+
+
+$(FW_DIST_TAR): $(PACKAGE_FW_TARGETS) | $(DIST_DIR)
+	@$(ECHO) " FIRMWARE FOR DISTRIBUTION $(call toprel, $(FW_DIST_TAR))"
+	$(V1) tar -c --file="$(FW_DIST_TAR)" --directory=$(FLIGHT_OUT_DIR) \
+		--transform='s,^,firmware/,' \
+		$(foreach fw_targ,$(PACKAGE_FW_TARGETS),$(fw_targ)/$(fw_targ).opfw)
+
+$(FW_DIST_TAR_GZ): $(FW_DIST_TAR)
+	@$(ECHO) " FIRMWARE FOR DISTRIBUTION $(call toprel, $(FW_DIST_TAR_GZ))"
+	$(V1) gzip -kf "$(FW_DIST_TAR)"
+
+.PHONY: fw_dist_tar_gz
+fw_dist_tar_gz: $(FW_DIST_TAR_GZ)
+
+.PHONY: fw_dist
+fw_dist: fw_dist_tar_gz
+
 
 ##############################
 #
@@ -802,26 +664,28 @@ build-info: | $(BUILD_DIR)
 
 ##############################
 #
-# Source for distribution
+# Config
 #
 ##############################
 
-DIST_VER_INFO := $(DIST_DIR)/version-info.json
+CONFIG_OPTS := $(addsuffix \n,$(MAKEOVERRIDES))
+CONFIG_OPTS := $(addprefix override$(SPACE),$(CONFIG_OPTS))
 
-$(DIST_VER_INFO): .git/index | $(DIST_DIR)
-	$(V1) $(VERSION_INFO) --jsonpath="$(DIST_DIR)"
+.PHONY: config_new
+config_new:
+	@printf '$(CONFIG_OPTS)' > $(CONFIG_FILE)
 
+.PHONY: config_append
+config_append:
+	@printf '$(CONFIG_OPTS)' >> $(CONFIG_FILE)
 
-$(DIST_NAME).gz: $(DIST_VER_INFO) .git/index | $(DIST_DIR)
-	@$(ECHO) " SOURCE FOR DISTRIBUTION $(call toprel, $(DIST_NAME).gz)"
-	$(V1) git archive --prefix="$(PACKAGE_NAME)/" -o "$(DIST_NAME)" HEAD
-	$(V1) tar --append --file="$(DIST_NAME)" \
-		--transform='s,.*version-info.json,$(PACKAGE_NAME)/version-info.json,' \
-		$(call toprel, "$(DIST_VER_INFO)")
-	$(V1) gzip -f "$(DIST_NAME)"
+.PHONY: config_show
+config_show:
+	@cat $(CONFIG_FILE)
 
-.PHONY: dist
-dist: $(DIST_NAME).gz
+.PHONY: config_clean
+config_clean:
+	rm -f $(CONFIG_FILE)
 
 
 ##############################
@@ -847,7 +711,7 @@ help:
 	@$(ECHO)
 	@$(ECHO) "   This Makefile is known to work on Linux and Mac in a standard shell environment."
 	@$(ECHO) "   It also works on Windows by following the instructions given on this wiki page:"
-	@$(ECHO) "       http://wiki.openpilot.org/display/Doc/Windows%3A+Building+and+Packaging"
+	@$(ECHO) "       $(WIKI_ROOT_URL)Windows+Building+and+Packaging"
 	@$(ECHO)
 	@$(ECHO) "   Here is a summary of the available targets:"
 	@$(ECHO)
@@ -863,6 +727,7 @@ help:
 	@$(ECHO) "     uncrustify_install   - Install the Uncrustify source code beautifier"
 	@$(ECHO) "     doxygen_install      - Install the Doxygen documentation generator"
 	@$(ECHO) "     gtest_install        - Install the GoogleTest framework"
+	@$(ECHO) "     ccache_install       - Install ccache"
 	@$(ECHO) "   These targets are not updated yet and are probably broken:"
 	@$(ECHO) "     openocd_install      - Install the OpenOCD JTAG daemon"
 	@$(ECHO) "     stm32flash_install   - Install the stm32flash tool for unbricking F1-based boards"
@@ -877,7 +742,7 @@ help:
 	@$(ECHO) "     <tool>_distclean     - Remove downloaded <tool> distribution file(s)"
 	@$(ECHO)
 	@$(ECHO) "   [Big Hammer]"
-	@$(ECHO) "     all                  - Generate UAVObjects, build openpilot firmware and gcs"
+	@$(ECHO) "     all                  - Generate UAVObjects, build $(ORG_BIG_NAME) firmware and gcs"
 	@$(ECHO) "     all_flight           - Build all firmware, bootloaders and bootloader updaters"
 	@$(ECHO) "     all_fw               - Build only firmware for all boards"
 	@$(ECHO) "     all_bl               - Build only bootloaders for all boards"
@@ -930,9 +795,9 @@ help:
 	@$(ECHO) "     ut_<test>_run        - Run test and dump output to console"
 	@$(ECHO)
 	@$(ECHO) "   [Simulation]"
-	@$(ECHO) "     sim_osx              - Build OpenPilot simulation firmware for OSX"
+	@$(ECHO) "     sim_osx              - Build $(ORG_BIG_NAME) simulation firmware for OSX"
 	@$(ECHO) "     sim_osx_clean        - Delete all build output for the osx simulation"
-	@$(ECHO) "     sim_win32            - Build OpenPilot simulation firmware for Windows"
+	@$(ECHO) "     sim_win32            - Build $(ORG_BIG_NAME) simulation firmware for Windows"
 	@$(ECHO) "                            using mingw and msys"
 	@$(ECHO) "     sim_win32_clean      - Delete all build output for the win32 simulation"
 	@$(ECHO)
@@ -958,9 +823,10 @@ help:
 	@$(ECHO) "                            Supported groups are ($(UAVOBJ_TARGETS))"
 	@$(ECHO)
 	@$(ECHO) "   [Packaging]"
-	@$(ECHO) "     package              - Build and package the OpenPilot platform-dependent package (no clean)"
+	@$(ECHO) "     package              - Build and package the platform-dependent package (no clean)"
 	@$(ECHO) "     opfw_resource        - Generate resources to embed firmware binaries into the GCS"
 	@$(ECHO) "     dist                 - Generate source archive for distribution"
+	@$(ECHO) "     fw_dist              - Generate archive of firmware"
 	@$(ECHO) "     install              - Install GCS to \"DESTDIR\" with prefix \"prefix\" (Linux only)"
 	@$(ECHO)
 	@$(ECHO) "   [Code Formatting]"
@@ -975,6 +841,11 @@ help:
 	@$(ECHO) "     docs_<source>_clean  - Delete generated documentation for <source>"
 	@$(ECHO) "     docs_all_clean       - Delete all generated documentation"
 	@$(ECHO)
+	@$(ECHO) "   [Configuration]"
+	@$(ECHO) "     config_new           - Place your make arguments in the config file"
+	@$(ECHO) "     config_append        - Place your make arguments in the config file but append"
+	@$(ECHO) "     config_clean         - Removes the config file"
+	@$(ECHO)
 	@$(ECHO) "   Hint: Add V=1 to your command line to see verbose build output."
 	@$(ECHO)
 	@$(ECHO) "  Notes: All tool distribution files will be downloaded into $(DL_DIR)"
@@ -982,7 +853,7 @@ help:
 	@$(ECHO) "         All build output will be placed in $(BUILD_DIR)"
 	@$(ECHO)
 	@$(ECHO) "  Tool download and install directories can be changed using environment variables:"
-	@$(ECHO) "         OPENPILOT_DL_DIR        full path to downloads directory [downloads if not set]"
-	@$(ECHO) "         OPENPILOT_TOOLS_DIR     full path to installed tools directory [tools if not set]"
-	@$(ECHO) "  More info: http://wiki.openpilot.org/display/Doc/OpenPilot+Build+System+Overview"
+	@$(ECHO) "         DL_DIR        full path to downloads directory [downloads if not set]"
+	@$(ECHO) "         TOOLS_DIR     full path to installed tools directory [tools if not set]"
+	@$(ECHO) "  More info: $(WIKI_URL_ROOT)LibrePilot+Build+System+Overview"
 	@$(ECHO)

README.md

@@ -0,0 +1,38 @@
+About the LibrePilot Project
+============================
+
+### Open - Collaborative - Free
+
+The LibrePilot open source project was founded in July 2015. It focuses on
+research and development of software and hardware to be used in a variety of
+applications including vehicle control and stabilization, unmanned autonomous
+vehicles and robotics. One of the project’s primary goals is to provide an open
+and collaborative environment making it the ideal home for development of
+innovative ideas.
+
+LibrePilot welcomes and encourages exchange and collaboration with other
+projects, like adding support for existing hardware or software in
+collaboration under the spirit of open source.
+
+LibrePilot finds its roots in the OpenPilot project and the founding members
+are all long-standing contributors in that project.
+
+The LibrePilot Project will be governed by a board of members using consensual
+methods to make important decisions and to set the overall direction of the
+project.
+
+The LibrePilot source code is released under the OSI approved GPLv3 license.
+Integral text of the license can be found at [www.gnu.org](http://www.gnu.org/licenses/gpl-3.0.en.html)
+
+
+Links for the LibrePilot Project
+--------------------------------
+
+- [Main project web site](https://www.librepilot.org)
+- [Project forums](https://forum.librepilot.org)
+- [Source code repository](https://bitbucket.org/librepilot)
+- [Mirror](https://github.com/librepilot)
+- [Issue tracker](https://librepilot.atlassian.net)
+- [Gitter Chat](https://gitter.im/librepilot/LibrePilot)
+- IRC: #LibrePilot on FreeNode
+

README.txt

@@ -1,44 +0,0 @@
-What is OpenPilot all about?
-----------------------------
-
-The project aims at implementing the best features of all existing similar systems developed by
-enthusiasts and combines them into a single, easy-to-use software/hardware package. The ease-of-use
-in this case does not imply functional simplicity or compromises. There are no rigidly defined
-constraints and settings, but a full-fledged programming language configuration loaded via a
-Ground Control Station and other advanced features. OpenPilot is developed as a powerful platform
-for all types of vehicles.
-
-This is a non-profit project of the OpenPilot Foundation
---------------------------------------------------------
-
-This is a project using only volunteer personnel who have donated enormous amounts of time, money
-and effort. Please respect the people that are part of the project and their generosity. OpenPilot
-is funded entirely at the expense of those who spend their time and money in the development of the
-public project which helps it grow. Giving complete and correct references to all their work is not
-only a legal requirement of the CC-BY-SA license, but also simple respect for their work. The people
-who create this project, really deserve it for their very hard work.
-
-The OpenPilot project web sites
--------------------------------
-
-The project provides feature-rich development and collaboration environment using advanced tools such
-as GCC compilers, git, Atlassian JIRA, Confluence, FishEye, Crucible, Bamboo, Crowd, forums and blogs.
-
-Main project web site:	http://www.openpilot.org/
-Project forums:		http://forums.openpilot.org/
-Wiki, docs and manuals:	http://wiki.openpilot.org/
-Bug and issue tracker:	http://progress.openpilot.org/
-Source code repository:	http://git.openpilot.org/
-Crucible code reviews:	http://reviews.openpilot.org/cru
-Project build server:	http://bamboo.openpilot.org/
-Community blogs:	http://forums.openpilot.org/blogs/
-Software downloads:	http://wiki.openpilot.org/display/WIKI/OpenPilot+Downloads
-
-How to build from source?
--------------------------
-
-make all_sdk_install
-make all
-
-The project supports Windows, Linux and Mac OS X platforms as well as Android.
-Check the wiki for more details: http://wiki.openpilot.org/display/Doc/OpenPilot+Developer+Manual

WHATSNEW.txt

@@ -1,4 +1,128 @@
---- RELEASE-15.05 --- Revolution Nano ---
+-- RELEASE-15.09 - First LibrePilot Release -- Supermoon Eclipse
+This is the first LibrePilot release. 
+The main focus of this release is to bring back support for CC3D and a general re-branding of the GCS.
+
+The full list of bug fixes and enhancements in this release is available here:
+https://librepilot.atlassian.net/issues/?filter=10300
+
+
+** Bug
+    * [LP-37] - Memory wasted in pvPortMallocGeneric
+    * [LP-57] - Errors during NewsPanel data scraping
+    * [LP-58] - Splash Screen doesn't display
+    * [LP-59] - Replace openpilot email address in packaging
+    * [LP-65] - Heli config tab refresh
+    * [LP-69] - Add SRXL to CC3D target
+    * [LP-70] - Vehicle Setup Wizard allows a not working CC3D configuration
+    * [LP-84] - Nano (Revo Nano) does not automatically select correct firmware after Firmware then Halt
+    * [LP-89] - Port bug fixes from OP HotFix 150501
+    * [LP-107] - Motors could accidentally turn off with the recent motor output scaling feature
+    * [LP-115] - TPS and Acro+ settings are initialized incorrectly
+    * [LP-116] - Add uninstall to Makefile to prevent side effects from Installing over a previous installation
+    * [LP-123] - EasyTune yaw calculation is active even if easytune is not active
+    * [LP-125] - PathUtils should return absolute pathes
+    * [LP-127] - Fix Mac tool install md5 check
+    * [LP-128] - ElevateAndCompress is broken at full throttle
+    * [LP-134] - Obsolete Google Satellite Version
+    * [LP-135] - Aux mag calibration issue
+    * [LP-136] - Build errors caused by broken uavobjgenerator make dependencies
+    * [LP-153] - Bug in configrevohwwidget.cpp use MAINPORT enum not FLEXIPORT
+    * [LP-155] - GCS crashes on OS X 10.11 when the board is halted
+    * [LP-156] - Update Vehicle templates to work with current UAVO's
+
+** Epic
+    * [LP-1] - Code Rebranding
+
+** Story
+    * [LP-3] - Artwork rebranding
+    * [LP-4] - Add a Gitter chat link to README.txt
+    * [LP-5] - Add back CC/CC3D Support
+    * [LP-6] - Laurent/lp 03 artwork rebranding
+    * [LP-7] - OP-1879 remove openpilot hardcoding
+    * [LP-8] - OP-1929 broken package src
+    * [LP-9] - Hotfix for files that were missed in share directory move due to rebase
+    * [LP-12] - Openpilot migration
+    * [LP-13] - some more OP hardcoding fixes
+    * [LP-14] - Remove some more openpilot hardcoding
+    * [LP-17] - Laurent/lp 03 artwork icons splashscreen
+    * [LP-18] - Makefile fix
+    * [LP-19] - Remove openpilot hardcoding
+    * [LP-20] - Menu item change
+    * [LP-21] - udevdir fix
+    * [LP-22] - Desktopfile migration
+    * [LP-23] - amorale/lp-05 readd cc rebased
+    * [LP-24] - filnet/op 1518 osgearth
+    * [LP-28] - Removed OpenPilot reference in About menu
+    * [LP-33] - Remove op from gcs dir structure
+    * [LP-35] - Removed OpenPilot reference in About Menu
+    * [LP-43] - change links and headers in welcome plugin
+    * [LP-44] - Review and cleanup to free some memory for CC3D
+    * [LP-47] - Fixed missing QDataStream includes to make compilation on qt 5.5 work
+    * [LP-48] - French translation
+    * [LP-49] - Laurent/lp 48 update rebranding strings translations
+    * [LP-50] - Make name define available for all by setting in openpilotgcs.pri
+    * [LP-51] - Wrong config tab contents
+    * [LP-52] - LP-51 Fix merge issue for Revo / Revonano HW config display
+    * [LP-53] - Set up Anonymous data collection to send information to the LibrePilot website
+    * [LP-55] - Config fix for echo without -e
+    * [LP-62] - Implement rpm spec
+
+** New Feature
+    * [LP-100] - Make firmware package
+    * [LP-101] - Make build possible with prebuilt firmware
+
+** Task
+    * [LP-16] - Vehicle template enhancements.
+    * [LP-26] - Update Welcome page plugin.
+    * [LP-27] - LP-16 Vehicle templates enhancements
+    * [LP-36] - Win install fixes
+    * [LP-41] - Add support for ccache
+    * [LP-42] - Added option for config file.
+    * [LP-60] - Fix project links in readme
+    * [LP-92] - Remove old Feed Forward
+    * [LP-98] - SystemHealth refresh
+    * [LP-99] - Decouple flight build
+    * [LP-113] - Create new tool install framework
+    * [LP-129] - Remove broken scaleMotor modes
+    * [LP-138] - Remove OpenPilot branding from Makefile Help text
+    * [LP-141] - Missing link for wiki help page on Stabilization Configuration page
+    * [LP-142] - Replace remaining OpenPilot wiki links with LibrePilot links
+
+** Improvement
+    * [LP-10] - Cleanup build warnings on OSX
+    * [LP-56] - Split roll/pitch acro+ factors
+    * [LP-61] - Make more things configurable with make config
+    * [LP-64] - Install target for ccache
+    * [LP-66] - Add differential Roll mixing to Fixed Wing frames
+    * [LP-67] - Add a txpid option that manage all PID factors at once
+    * [LP-77] - Jira needs more Component options
+    * [LP-80] - Extend linux packaging to easily support new distros
+    * [LP-82] - Define all packaging descriptions and URLs in top Makefile
+    * [LP-87] - Remove OpenPilot branding from Doxygen Documentation
+    * [LP-93] - Thermal calibration should calculate also gyro bias 
+    * [LP-94] - Set up Wiki link in Configuration tabs to point to Librepilot Wiki
+    * [LP-102] - Remove OpenPilot links in "About Plugins" dialog boxes
+    * [LP-106] - Setup Wizard refresh
+    * [LP-108] - Fixes for mpu6k
+    * [LP-110] - Wizard : high rate servos and normal Esc rate for planes and ground vehicles
+    * [LP-114] - Support to more than three Accessory channels
+    * [LP-124] - Rename RollRatePID and PitcahRatePID to EasyTuneRateRoll and EasyTuneRatePitch
+    * [LP-130] - Add an overridable postfix that is appended to GCS name
+    * [LP-162] - Add more data to usage tracker.
+
+
+--- RELEASE-15.05.01 HOTFIX --- Banana Split ---
+This release fixes an important bug.  All Revolution hardware running 15.05 should upgrade to 15.05.01. Note that this is a hotfix; it can
+simply be flashed without an erase settings. Furthermore, please review your vtolpathfollowersettings:HorizontalVelMax; a value of around 4m/s would be more appropriate for preliminary trialing of a new release and will be changed in future.
+
+Release Notes - OP Next Generation - Version OP15.05.01
+
+** Bug
+    * [NG-55] - 15.05 PositionHold exhibits fly-away behaviour at the vtolpathfollowersettings maxRollPitch and HorizontalVelMax values.
+
+
+
+--- RELEASE-15.05 --- Banana Split ---
 
 This release introduces new features and new hardware support for the Revolution Nano.  
 Note that the CC3D is not supported by this feature release.  

flight/Makefile

@@ -0,0 +1,256 @@
+export FLIGHT_MAKEFILE := TRUE
+export FLIGHT_ROOT_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
+export PIOS            := $(FLIGHT_ROOT_DIR)/pios
+export FLIGHTLIB       := $(FLIGHT_ROOT_DIR)/libraries
+export OPMODULEDIR     := $(FLIGHT_ROOT_DIR)/modules
+export OPUAVOBJ        := $(FLIGHT_ROOT_DIR)/uavobjects
+export OPUAVTALK       := $(FLIGHT_ROOT_DIR)/uavtalk
+export FLIGHT_OUT_DIR  ?= $(CURDIR)
+
+# Define supported board lists
+ALL_BOARDS    := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
+
+# Short names of each board (used to display board name in parallel builds)
+coptercontrol_short    := 'cc  '
+oplinkmini_short       := 'oplm'
+revolution_short       := 'revo'
+osd_short              := 'osd '
+revoproto_short        := 'revp'
+revonano_short         := 'revn'
+simposix_short         := 'posx'
+discoveryf4bare_short  := 'df4b'
+gpsplatinum_short      := 'gps9'
+
+# SimPosix only builds on Linux so drop it from the list for
+# all other platforms.
+ifneq ($(UNAME), Linux)
+    ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
+endif
+
+# Start out assuming that we'll build fw, bl and bu for all boards
+FW_BOARDS  := $(ALL_BOARDS)
+BL_BOARDS  := $(ALL_BOARDS)
+BU_BOARDS  := $(ALL_BOARDS)
+EF_BOARDS  := $(ALL_BOARDS)
+
+# SimPosix doesn't have a BL, BU or EF target so we need to
+# filter them out to prevent errors on the all_flight target.
+BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
+BU_BOARDS  := $(filter-out simposix gpsplatinum, $(BU_BOARDS))
+EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
+
+# Generate the targets for whatever boards are left in each list
+FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
+BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
+BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
+EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
+
+ALL_FLIGHT       := all_fw all_bl all_bu all_ef
+ALL_FLIGHT_CLEAN := $(addsuffix _clean,$(ALL_FLIGHT))
+
+.PHONY: all_flight all_flight_clean
+all_flight:       $(ALL_FLIGHT)
+all_flight_clean: $(ALL_FLIGHT_CLEAN)
+
+
+# TEMPLATES (used to generate build rules)
+
+# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+# $(2) = Short name for board (e.g cc)
+define FW_TEMPLATE
+.PHONY: $(1) fw_$(1)
+$(1): fw_$(1)_opfw
+fw_$(1): fw_$(1)_opfw
+
+fw_$(1)_%: flight_uavobjects
+	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
+	$(V1) mkdir -p $(FLIGHT_OUT_DIR)/fw_$(1)/dep
+	$(V1) cd $(FLIGHT_ROOT_DIR)/targets/boards/$(1)/firmware && \
+		$$(MAKE) -r --no-print-directory \
+		BUILD_TYPE=fw \
+		BOARD_NAME=$(1) \
+		BOARD_SHORT_NAME=$(2) \
+		TOPDIR=$(FLIGHT_ROOT_DIR)/targets/boards/$(1)/firmware \
+		OUTDIR=$(FLIGHT_OUT_DIR)/fw_$(1) \
+		TARGET=fw_$(1) \
+		$$*
+
+.PHONY: $(1)_clean
+$(1)_clean: fw_$(1)_clean
+fw_$(1)_clean:
+	@echo " CLEAN      $(call toprel, $(FLIGHT_OUT_DIR)/fw_$(1))"
+	$(V1) rm -fr $(FLIGHT_OUT_DIR)/fw_$(1)
+endef
+
+# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+# $(2) = Short name for board (e.g cc)
+define BL_TEMPLATE
+.PHONY: bl_$(1)
+bl_$(1): bl_$(1)_bin
+bl_$(1)_bino: bl_$(1)_bin
+
+bl_$(1)_%:
+	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
+	$(V1) mkdir -p $(FLIGHT_OUT_DIR)/bl_$(1)/dep
+	$(V1) cd $(FLIGHT_ROOT_DIR)/targets/boards/$(1)/bootloader && \
+		$$(MAKE) -r --no-print-directory \
+		BUILD_TYPE=bl \
+		BOARD_NAME=$(1) \
+		BOARD_SHORT_NAME=$(2) \
+		TOPDIR=$(FLIGHT_ROOT_DIR)/targets/boards/$(1)/bootloader \
+		OUTDIR=$(FLIGHT_OUT_DIR)/bl_$(1) \
+		TARGET=bl_$(1) \
+		$$*
+
+.PHONY: unbrick_$(1)
+unbrick_$(1): bl_$(1)_hex
+$(if $(filter-out undefined,$(origin UNBRICK_TTY)),
+	$(V0) @echo " UNBRICK    $(1) via $$(UNBRICK_TTY)"
+	$(V1) $(STM32FLASH_DIR)/stm32flash \
+		-w $(FLIGHT_OUT_DIR)/bl_$(1)/bl_$(1).hex \
+		-g 0x0 \
+		$$(UNBRICK_TTY)
+,
+	$(V0) @echo
+	$(V0) @echo "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
+	$(V0) @echo "       eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
+)
+
+.PHONY: bl_$(1)_clean
+bl_$(1)_clean:
+	@echo " CLEAN      $(call toprel, $(FLIGHT_OUT_DIR)/bl_$(1))"
+	$(V1) rm -fr $(FLIGHT_OUT_DIR)/bl_$(1)
+endef
+
+# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+# $(2) = Short name for board (e.g cc)
+define BU_TEMPLATE
+.PHONY: bu_$(1)
+bu_$(1): bu_$(1)_opfw
+
+bu_$(1)_%: bl_$(1)_bino
+	$(V1) mkdir -p $(FLIGHT_OUT_DIR)/bu_$(1)/dep
+	$(V1) cd $(FLIGHT_ROOT_DIR)/targets/common/bootloader_updater && \
+		$$(MAKE) -r --no-print-directory \
+		BUILD_TYPE=bu \
+		BOARD_NAME=$(1) \
+		BOARD_SHORT_NAME=$(2) \
+		TOPDIR=$(FLIGHT_ROOT_DIR)/targets/common/bootloader_updater \
+		OUTDIR=$(FLIGHT_OUT_DIR)/bu_$(1) \
+		TARGET=bu_$(1) \
+		$$*
+
+.PHONY: bu_$(1)_clean
+bu_$(1)_clean:
+	@echo " CLEAN      $(call toprel, $(FLIGHT_OUT_DIR)/bu_$(1))"
+	$(V1) rm -fr $(FLIGHT_OUT_DIR)/bu_$(1)
+endef
+
+# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+# $(2) = Short name for board (e.g cc)
+define EF_TEMPLATE
+.PHONY: ef_$(1)
+ef_$(1): ef_$(1)_bin
+
+ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
+	$(V1) mkdir -p $(FLIGHT_OUT_DIR)/ef_$(1)
+	$(V1) cd $(FLIGHT_ROOT_DIR)/targets/common/entire_flash && \
+		$$(MAKE) -r --no-print-directory \
+		BUILD_TYPE=ef \
+		BOARD_NAME=$(1) \
+		BOARD_SHORT_NAME=$(2) \
+		DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
+		TOPDIR=$(FLIGHT_ROOT_DIR)/targets/common/entire_flash \
+		OUTDIR=$(FLIGHT_OUT_DIR)/ef_$(1) \
+		TARGET=ef_$(1) \
+		$$*
+
+.PHONY: ef_$(1)_clean
+ef_$(1)_clean:
+	@echo " CLEAN      $(call toprel, $(FLIGHT_OUT_DIR)/ef_$(1))"
+	$(V1) rm -fr $(FLIGHT_OUT_DIR)/ef_$(1)
+endef
+
+# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+define BOARD_PHONY_TEMPLATE
+.PHONY: all_$(1)
+all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
+all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
+all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
+all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
+
+.PHONY: all_$(1)_clean
+all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
+all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
+all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
+all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
+endef
+
+
+# Generate flight build rules
+ .PHONY: first
+first: all_fw
+
+.PHONY: all_fw all_fw_clean
+all_fw:        $(addsuffix _opfw,  $(FW_TARGETS))
+all_fw_clean:  $(addsuffix _clean, $(FW_TARGETS))
+
+.PHONY: all_bl all_bl_clean
+all_bl:        $(addsuffix _bin,   $(BL_TARGETS))
+all_bl_clean:  $(addsuffix _clean, $(BL_TARGETS))
+
+.PHONY: all_bu all_bu_clean
+all_bu:        $(addsuffix _opfw,  $(BU_TARGETS))
+all_bu_clean:  $(addsuffix _clean, $(BU_TARGETS))
+
+.PHONY: all_ef all_ef_clean
+all_ef:        $(EF_TARGETS)
+all_ef_clean:  $(addsuffix _clean, $(EF_TARGETS))
+
+# Expand the groups of targets for each board
+$(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
+
+# Expand the firmware rules
+$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_short))))
+
+# Expand the bootloader rules
+$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_short))))
+
+# Expand the bootloader updater rules
+$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_short))))
+
+# Expand the entire-flash rules
+$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_short))))
+
+.PHONY: sim_win32
+sim_win32: sim_win32_exe
+
+sim_win32_%: flight_uavobjects
+	$(V1) mkdir -p $(FLIGHT_OUT_DIR)/sitl_win32
+	$(V1) $(MAKE) --no-print-directory \
+		-C $(FLIGHT_ROOT_DIR)/targets/OpenPilot --file=$(FLIGHT_ROOT_DIR)/targets/OpenPilot/Makefile.win32 $*
+
+.PHONY: sim_osx
+sim_osx: sim_osx_elf
+
+sim_osx_%: flight_uavobjects
+	$(V1) mkdir -p $(FLIGHT_OUT_DIR)/sim_osx
+	$(V1) $(MAKE) --no-print-directory \
+		-C $(FLIGHT_ROOT_DIR)/targets/SensorTest --file=$(FLIGHT_ROOT_DIR)/targets/SensorTest/Makefile.osx $*
+
+##############################
+#
+# UAV Objects
+#
+##############################
+UAVOBJGENERATOR ?= $(shell which uavobjgenerator)
+
+UAVOBJ_XML_DIR := $(FLIGHT_ROOT_DIR)/../shared/uavobjectdefinition
+export FLIGHT_UAVOBJ_DIR := $(FLIGHT_OUT_DIR)/uavobjects
+
+.PHONY: flight_uavobjects
+flight_uavobjects: $(UAVOBJGENERATOR)
+	@mkdir -p $(FLIGHT_UAVOBJ_DIR)
+	$(V1) cd $(FLIGHT_UAVOBJ_DIR) && \
+	    $(UAVOBJGENERATOR) -flight $(UAVOBJ_XML_DIR) $(FLIGHT_ROOT_DIR)/..
+

flight/libraries/PyMite/platform/desktop/Makefile

@@ -43,4 +43,4 @@ $(TARGET)_nat.c $(TARGET)_img.c: $(PM_USR_SOURCES) pmfeatures.py
 
 clean :
 	$(MAKE) -C ../../vm clean
-	$(RM) $(TARGET).out $(OBJS) $(TARGET)_img.* $(TARGET)_nat.* pmfeatures.h
+	rm $(TARGET).out $(OBJS) $(TARGET)_img.* $(TARGET)_nat.* pmfeatures.h

flight/libraries/PyMite/pymite.mk

@@ -40,13 +40,13 @@ PYSCRIPTS	+= $(wildcard $(FLIGHTPLANS)/*.py)
 $(PYSRC): | $(PYLIB) $(OUTDIR)/pmfeatures.h
 
 $(OUTDIR)/pmfeatures.h: $(PYSCRIPTS)
-	@$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
+	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
 	$(V1) $(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $@
 
 $(OUTDIR)/pmlib_img.c: | $(OUTDIR)/pmlib_nat.c
 
 $(OUTDIR)/pmlib_nat.c: $(PYSCRIPTS)
-	@$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
+	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
 	$(V1) $(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -c -s --memspace=flash \
 			-f $(PYMITEPLAT)/pmfeatures.py \
 			-o $(OUTDIR)/pmlib_img.c \
@@ -61,7 +61,7 @@ $(OUTDIR)/pmlib_nat.c: $(PYSCRIPTS)
 $(OUTDIR)/pmlibusr_img.c: | $(OUTDIR)/pmlibusr_nat.c
 
 $(OUTDIR)/pmlibusr_nat.c: $(PYSCRIPTS)
-	@$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
+	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
 	$(V1) $(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -c -u \
 			-f $(PYMITEPLAT)/pmfeatures.py \
 			-o $(OUTDIR)/pmlibusr_img.c \

flight/libraries/pid/pidcontroldown.cpp

@@ -41,7 +41,6 @@ extern "C" {
 #include <paths.h>
 #include "plans.h"
 #include <stabilizationdesired.h>
-#include <pidstatus.h>
 #include <vtolselftuningstats.h>
 }
 
@@ -348,7 +347,6 @@ float PIDControlDown::GetVelocityDesired(void)
 
 float PIDControlDown::GetDownCommand(void)
 {
-    PIDStatusData pidStatus;
     float ulow  = mMinThrust;
     float uhigh = mMaxThrust;
 
@@ -356,17 +354,6 @@ float PIDControlDown::GetDownCommand(void)
         mCallback->BoundThrust(ulow, uhigh);
     }
     float downCommand = pid2_apply(&PID, mVelocitySetpointCurrent, mVelocityState, ulow, uhigh);
-    pidStatus.setpoint = mVelocitySetpointCurrent;
-    pidStatus.actual   = mVelocityState;
-    pidStatus.error    = mVelocitySetpointCurrent - mVelocityState;
-    pidStatus.setpoint = mVelocitySetpointCurrent;
-    pidStatus.ulow     = ulow;
-    pidStatus.uhigh    = uhigh;
-    pidStatus.command  = downCommand;
-    pidStatus.P  = PID.P;
-    pidStatus.I  = PID.I;
-    pidStatus.D  = PID.D;
-    PIDStatusSet(&pidStatus);
     mDownCommand = downCommand;
     return mDownCommand;
 }

flight/libraries/plans.c

@@ -102,7 +102,8 @@ void plan_setup_positionHold()
 
     PositionStateGet(&positionState);
     PathDesiredData pathDesired;
-    PathDesiredGet(&pathDesired);
+    // re-initialise in setup stage
+    memset(&pathDesired, 0, sizeof(PathDesiredData));
 
     FlightModeSettingsPositionHoldOffsetData offset;
     FlightModeSettingsPositionHoldOffsetGet(&offset);
@@ -132,7 +133,8 @@ void plan_setup_returnToBase()
     PositionStateDownGet(&positionStateDown);
 
     PathDesiredData pathDesired;
-    PathDesiredGet(&pathDesired);
+    // re-initialise in setup stage
+    memset(&pathDesired, 0, sizeof(PathDesiredData));
 
     TakeOffLocationData takeoffLocation;
     TakeOffLocationGet(&takeoffLocation);
@@ -241,6 +243,8 @@ void plan_setup_AutoTakeoff()
             // stabi command.
         }
         PathDesiredData pathDesired;
+        // re-initialise in setup stage
+        memset(&pathDesired, 0, sizeof(PathDesiredData));
         plan_setup_AutoTakeoff_helper(&pathDesired);
         PathDesiredSet(&pathDesired);
     }
@@ -312,6 +316,8 @@ void plan_run_AutoTakeoff()
         autotakeoffState != STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD) {
         if (priorState != autotakeoffState) {
             PathDesiredData pathDesired;
+            // re-initialise in setup stage
+            memset(&pathDesired, 0, sizeof(PathDesiredData));
             plan_setup_AutoTakeoff_helper(&pathDesired);
             PathDesiredSet(&pathDesired);
         }
@@ -348,6 +354,9 @@ void plan_setup_land()
 {
     PathDesiredData pathDesired;
 
+    // re-initialise in setup stage
+    memset(&pathDesired, 0, sizeof(PathDesiredData));
+
     plan_setup_land_helper(&pathDesired);
     PathDesiredSet(&pathDesired);
 }
@@ -506,7 +515,10 @@ static void plan_run_PositionVario(vario_type type)
     float alpha;
     PathDesiredData pathDesired;
 
+    // Reuse the existing pathdesired object as setup in the setup to avoid
+    // updating values already set.
     PathDesiredGet(&pathDesired);
+
     FlightModeSettingsPositionHoldOffsetData offset;
     FlightModeSettingsPositionHoldOffsetGet(&offset);
 
@@ -587,10 +599,12 @@ void plan_run_VelocityRoam()
 {
     // float alpha;
     PathDesiredData pathDesired;
+
+    // velocity roam code completely sets pathdesired object. it was not set in setup phase
+    memset(&pathDesired, 0, sizeof(PathDesiredData));
     FlightStatusAssistedControlStateOptions assistedControlFlightMode;
     FlightStatusFlightModeOptions flightMode;
 
-    PathDesiredGet(&pathDesired);
     FlightModeSettingsPositionHoldOffsetData offset;
     FlightModeSettingsPositionHoldOffsetGet(&offset);
     FlightStatusAssistedControlStateGet(&assistedControlFlightMode);
@@ -713,8 +727,10 @@ void plan_setup_AutoCruise()
     PositionStateData positionState;
 
     PositionStateGet(&positionState);
+
     PathDesiredData pathDesired;
-    PathDesiredGet(&pathDesired);
+    // setup needs to reinitialise the pathdesired object
+    memset(&pathDesired, 0, sizeof(PathDesiredData));
 
     FlightModeSettingsPositionHoldOffsetData offset;
     FlightModeSettingsPositionHoldOffsetGet(&offset);
@@ -757,7 +773,9 @@ void plan_run_AutoCruise()
 
     PositionStateGet(&positionState);
     PathDesiredData pathDesired;
+    // re-use pathdesired that was setup correctly in setup stage.
     PathDesiredGet(&pathDesired);
+
     FlightModeSettingsPositionHoldOffsetData offset;
     FlightModeSettingsPositionHoldOffsetGet(&offset);
 
@@ -830,6 +848,8 @@ void plan_setup_assistedcontrol()
 
     PositionStateGet(&positionState);
     PathDesiredData pathDesired;
+    // setup function, avoid carry over from previous mode
+    memset(&pathDesired, 0, sizeof(PathDesiredData));
 
     FlightStatusAssistedControlStateOptions assistedControlFlightMode;
 

flight/libraries/rscode/Makefile

@@ -29,7 +29,7 @@ TARGETS = $(TARGET_LIB) $(TEST_PROGS)
 all: $(TARGETS)
 
 $(TARGET_LIB): $(LIB_OBJS)
-	$(RM) $@
+	rm $@
 	$(AR) cq $@ $(LIB_OBJS)
 	if [ "$(RANLIB)" ]; then $(RANLIB) $@; fi
 

flight/make/apps-defs.mk

@@ -1,4 +1,5 @@
 #
+# Copyright (C) 2015, The LibrePilot Project, http://www.librepilot.org
 # Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
 #
 # This program is free software; you can redistribute it and/or modify
@@ -16,7 +17,7 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #
 
-ifndef OPENPILOT_IS_COOL
+ifndef FLIGHT_MAKEFILE
     $(error Top level Makefile must be used to build this target)
 endif
 
@@ -137,7 +138,7 @@ SRC += $(foreach mod, $(OPTMODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c
 # Declare all non-optional modules as built-in to force inclusion.
 # Built-in modules are always enabled and cannot be disabled.
 MODNAMES := $(notdir $(subst /revolution,,$(MODULES)))
-MODULES_BUILTIN := $(foreach mod, $(MODNAMES), -DMODULE_$(shell $(ECHO) $(mod) | tr '[:lower:]' '[:upper:]')_BUILTIN)
+MODULES_BUILTIN := $(foreach mod, $(MODNAMES), -DMODULE_$(shell echo $(mod) | tr '[:lower:]' '[:upper:]')_BUILTIN)
 CDEFS += $(MODULES_BUILTIN)
 
 # List C source files here which must be compiled in ARM-Mode (no -mthumb).
@@ -176,7 +177,7 @@ EXTRAINCDIRS += $(MATHLIBINC)
 EXTRAINCDIRS += $(PIDLIBINC)
 EXTRAINCDIRS += $(OPUAVOBJINC)
 EXTRAINCDIRS += $(OPUAVTALKINC)
-EXTRAINCDIRS += $(OPUAVSYNTHDIR)
+EXTRAINCDIRS += $(FLIGHT_UAVOBJ_DIR)
 
 # Modules
 EXTRAINCDIRS += $(foreach mod, $(OPTMODULES) $(MODULES), $(OPMODULEDIR)/$(mod)/inc) $(OPMODULEDIR)/System/inc

flight/make/boot-defs.mk

@@ -1,4 +1,5 @@
 #
+# Copyright (C) 2015, The LibrePilot Project, http://www.librepilot.org
 # Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
 #
 # This program is free software; you can redistribute it and/or modify
@@ -16,7 +17,7 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #
 
-ifndef OPENPILOT_IS_COOL
+ifndef FLIGHT_MAKEFILE
     $(error Top level Makefile must be used to build this target)
 endif
 

flight/make/common-defs.mk

@@ -16,7 +16,7 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #
 
-ifndef OPENPILOT_IS_COOL
+ifndef FLIGHT_MAKEFILE
     $(error Top level Makefile must be used to build this target)
 endif
 
@@ -234,7 +234,7 @@ endif
 
 # Generate code for PyMite
 # $(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
-#	@$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
+#	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
 #	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
 #	@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
 #	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
@@ -292,30 +292,30 @@ $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
 # Target: clean project
 clean:
 	@echo $(MSG_CLEANING)
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).map
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).elf
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).hex
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).sym
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).lss
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin.o
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).opfw
-	$(V1) $(RM) -f $(wildcard $(OUTDIR)/*.c)
-	$(V1) $(RM) -f $(wildcard $(OUTDIR)/*.h)
-	$(V1) $(RM) -f $(ALLOBJ)
-	$(V1) $(RM) -f $(LSTFILES)
-	$(V1) $(RM) -f $(DEPFILES)
-	$(V1) $(RM) -f $(SRC:.c=.s)
-	$(V1) $(RM) -f $(SRCARM:.c=.s)
-	$(V1) $(RM) -f $(CPPSRC:.cpp=.s)
-	$(V1) $(RM) -f $(CPPSRCARM:.cpp=.s)
+	$(V1) rm -f $(OUTDIR)/$(TARGET).map
+	$(V1) rm -f $(OUTDIR)/$(TARGET).elf
+	$(V1) rm -f $(OUTDIR)/$(TARGET).hex
+	$(V1) rm -f $(OUTDIR)/$(TARGET).bin
+	$(V1) rm -f $(OUTDIR)/$(TARGET).sym
+	$(V1) rm -f $(OUTDIR)/$(TARGET).lss
+	$(V1) rm -f $(OUTDIR)/$(TARGET).bin.o
+	$(V1) rm -f $(OUTDIR)/$(TARGET).opfw
+	$(V1) rm -f $(wildcard $(OUTDIR)/*.c)
+	$(V1) rm -f $(wildcard $(OUTDIR)/*.h)
+	$(V1) rm -f $(ALLOBJ)
+	$(V1) rm -f $(LSTFILES)
+	$(V1) rm -f $(DEPFILES)
+	$(V1) rm -f $(SRC:.c=.s)
+	$(V1) rm -f $(SRCARM:.c=.s)
+	$(V1) rm -f $(CPPSRC:.cpp=.s)
+	$(V1) rm -f $(CPPSRCARM:.cpp=.s)
 
 # Create output files directory
 # all known MS Windows OS define the ComSpec environment variable
-$(shell $(MKDIR) -p $(OUTDIR) 2>/dev/null)
+$(shell mkdir -p $(OUTDIR) 2>/dev/null)
 
 # Include the dependency files.
--include $(shell $(MKDIR) -p $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
+-include $(shell mkdir -p $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
 
 # Listing of phony targets.
 .PHONY: all build clean install

flight/make/firmware-defs.mk

@@ -1,4 +1,5 @@
 #
+# Copyright (C) 2015, The LibrePilot Project, http://www.librepilot.org
 # Copyright (c) 2010-2013, The OpenPilot Team, http://www.openpilot.org
 #
 # This program is free software; you can redistribute it and/or modify
@@ -16,13 +17,13 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #
 
-ifndef OPENPILOT_IS_COOL
+ifndef FLIGHT_MAKEFILE
     $(error Top level Makefile must be used to build this target)
 endif
 
 # Define toolchain component names.
-CC      = $(ARM_SDK_PREFIX)gcc
-CXX     = $(ARM_SDK_PREFIX)g++
+CC      = $(CCACHE) $(ARM_SDK_PREFIX)gcc
+CXX     = $(CCACHE) $(ARM_SDK_PREFIX)g++
 AR      = $(ARM_SDK_PREFIX)ar
 OBJCOPY = $(ARM_SDK_PREFIX)objcopy
 OBJDUMP = $(ARM_SDK_PREFIX)objdump
@@ -69,7 +70,7 @@ MSG_FLASH_IMG        = $(QUOTE) FLASH_IMG $(MSG_EXTRA) $(QUOTE)
 
 # Function for converting an absolute path to one relative
 # to the top of the source tree.
-toprel = $(subst $(realpath $(ROOT_DIR))/,,$(abspath $(1)))
+toprel = $(subst $(realpath $(FLIGHT_ROOT_DIR))/,,$(abspath $(1)))
 
 # Function to replace special characters like is done for the symbols.
 replace_special_chars = $(subst +,_,$(subst ~,_,$(subst @,_,$(subst :,_,$(subst -,_,$(subst .,_,$(subst /,_,$1)))))))
@@ -81,25 +82,25 @@ gccversion:
 
 # Create final output file (.hex) from ELF output file.
 %.hex: %.elf
-	@$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
+	@echo $(MSG_LOAD_FILE) $(call toprel, $@)
 	$(V1) $(OBJCOPY) -O ihex $< $@
 
 # Create stripped output file (.elf.stripped) from ELF output file.
 %.elf.stripped: %.elf
-	@$(ECHO) $(MSG_STRIP_FILE) $(call toprel, $@)
+	@echo $(MSG_STRIP_FILE) $(call toprel, $@)
 	$(V1) $(STRIP) --strip-unneeded $< -o $@
 
 # Create final output file (.bin) from ELF output file.
 %.bin: %.elf
-	@$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
+	@echo $(MSG_LOAD_FILE) $(call toprel, $@)
 	$(V1) $(OBJCOPY) -O binary $< $@
 
 %.bin: %.o
-	@$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
+	@echo $(MSG_LOAD_FILE) $(call toprel, $@)
 	$(V1) $(OBJCOPY) -O binary $< $@
 
 %.bin.o: %.bin
-	@$(ECHO) $(MSG_BIN_OBJ) $(call toprel, $@)
+	@echo $(MSG_BIN_OBJ) $(call toprel, $@)
 	$(V1) $(OBJCOPY) -I binary -O elf32-littlearm --binary-architecture arm \
 		--rename-section .data=.rodata,alloc,load,readonly,data,contents \
 		--wildcard \
@@ -111,12 +112,12 @@ gccversion:
 # Create extended listing file/disassambly from ELF output file.
 # using objdump testing: option -C
 %.lss: %.elf
-	@$(ECHO) $(MSG_EXTENDED_LISTING) $(call toprel, $@)
+	@echo $(MSG_EXTENDED_LISTING) $(call toprel, $@)
 	$(V1) $(OBJDUMP) -h -S -C -r $< > $@
 
 # Create a symbol table from ELF output file.
 %.sym: %.elf
-	@$(ECHO) $(MSG_SYMBOL_TABLE) $(call toprel, $@)
+	@echo $(MSG_SYMBOL_TABLE) $(call toprel, $@)
 	$(V1) $(NM) -n $< > $@
 
 define SIZE_TEMPLATE
@@ -125,7 +126,7 @@ size: $(1)_size
 
 .PHONY: $(1)_size
 $(1)_size: $(1)
-	@$(ECHO) $(MSG_SIZE) $$(call toprel, $$<)
+	@echo $(MSG_SIZE) $$(call toprel, $$<)
 	$(V1) $(SIZE) -A $$<
 endef
 
@@ -136,62 +137,62 @@ endef
 define OPFW_TEMPLATE
 FORCE:
 
-$(1).firmware_info.c: $(1) $(ROOT_DIR)/flight/templates/firmware_info.c.template FORCE
-	@$(ECHO) $(MSG_FWINFO) $$(call toprel, $$@)
+$(1).firmware_info.c: $(1) $(FLIGHT_ROOT_DIR)/templates/firmware_info.c.template FORCE
+	@echo $(MSG_FWINFO) $$(call toprel, $$@)
 	$(V1) $(VERSION_INFO) \
-		--template=$(ROOT_DIR)/flight/templates/firmware_info.c.template \
+		--template=$(FLIGHT_ROOT_DIR)/templates/firmware_info.c.template \
 		--outfile=$$@ \
 		--image=$(1) \
 		--type=$(2) \
 		--revision=$(3) \
-		--uavodir=$(ROOT_DIR)/shared/uavobjectdefinition
+		--uavodir=$(FLIGHT_ROOT_DIR)/../shared/uavobjectdefinition
 
 $(eval $(call COMPILE_C_TEMPLATE, $(1).firmware_info.c))
 
 $(OUTDIR)/$(notdir $(basename $(1))).opfw : $(1) $(1).firmware_info.bin
-	@$(ECHO) $(MSG_OPFIRMWARE) $$(call toprel, $$@)
-	$(V1) $(CAT) $(1) $(1).firmware_info.bin > $$@
+	@echo $(MSG_OPFIRMWARE) $$(call toprel, $$@)
+	$(V1) cat $(1) $(1).firmware_info.bin > $$@
 endef
 
 # Assemble: create object files from assembler source files.
 define ASSEMBLE_TEMPLATE
 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-	@$(ECHO) $(MSG_ASSEMBLING) $$(call toprel, $$<)
+	@echo $(MSG_ASSEMBLING) $$(call toprel, $$<)
 	$(V1) $(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
 endef
 
 # Assemble: create object files from assembler source files. ARM-only
 define ASSEMBLE_ARM_TEMPLATE
 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-	@$(ECHO) $(MSG_ASSEMBLING_ARM) $$(call toprel, $$<)
+	@echo $(MSG_ASSEMBLING_ARM) $$(call toprel, $$<)
 	$(V1) $(CC) -c $$(ASFLAGS) $$< -o $$@
 endef
 
 # Compile: create object files from C source files.
 define COMPILE_C_TEMPLATE
 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-	@$(ECHO) $(MSG_COMPILING) $$(call toprel, $$<)
+	@echo $(MSG_COMPILING) $$(call toprel, $$<)
 	$(V1) $(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$(CPPFLAGS) $$< -o $$@
 endef
 
 # Compile: create object files from C source files. ARM-only
 define COMPILE_C_ARM_TEMPLATE
 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-	@$(ECHO) $(MSG_COMPILING_ARM) $$(call toprel, $$<)
+	@echo $(MSG_COMPILING_ARM) $$(call toprel, $$<)
 	$(V1) $(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$(CPPFLAGS) $$< -o $$@
 endef
 
 # Compile: create object files from C++ source files.
 define COMPILE_CXX_TEMPLATE
 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-	@$(ECHO) $(MSG_COMPILINGCXX) $$(call toprel, $$<)
+	@echo $(MSG_COMPILINGCXX) $$(call toprel, $$<)
 	$(V1) $(CXX) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $$< -o $$@
 endef
 
 # Compile: create object files from C++ source files. ARM-only
 define COMPILE_CXX_ARM_TEMPLATE
 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-	@$(ECHO) $(MSG_COMPILINGCXX_ARM) $$(call toprel, $$<)
+	@echo $(MSG_COMPILINGCXX_ARM) $$(call toprel, $$<)
 	$(V1) $(CPP) -c $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $$< -o $$@
 endef
 
@@ -203,7 +204,7 @@ define ARCHIVE_TEMPLATE
 .SECONDARY : $(1)
 .PRECIOUS : $(2)
 $(1):  $(2)
-	@$(ECHO) $(MSG_ARCHIVING) $$(call toprel, $$@)
+	@echo $(MSG_ARCHIVING) $$(call toprel, $$@)
 ifeq ($(3),)
 	$(V1) $(AR) rcs $$@ $(2)
 else
@@ -227,7 +228,7 @@ define LINK_TEMPLATE
 .SECONDARY : $(1)
 .PRECIOUS : $(2) $(3)
 $(1):  $(2) $(3)
-	@$(ECHO) $(MSG_LINKING) $$(call toprel, $$@)
+	@echo $(MSG_LINKING) $$(call toprel, $$@)
 	$(V1) $(CC) $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $(2) $(3) --output $$@ $$(LDFLAGS)
 endef
 
@@ -238,21 +239,21 @@ define LINK_CXX_TEMPLATE
 .SECONDARY : $(1)
 .PRECIOUS : $(2) $(3)
 $(1):  $(2) $(3)
-	@$(ECHO) $(MSG_LINKING) $$(call toprel, $$@)
+	@echo $(MSG_LINKING) $$(call toprel, $$@)
 	$(V1) $(CXX) $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $(2) $(3) --output $$@ $$(LDFLAGS)
 endef
 
 # Compile: create assembler files from C source files. ARM/Thumb
 define PARTIAL_COMPILE_TEMPLATE
 $($(1):.c=.s) : %.s : %.c
-	@$(ECHO) $(MSG_ASMFROMC) $$(call toprel, $$<)
+	@echo $(MSG_ASMFROMC) $$(call toprel, $$<)
 	$(V1) $(CC) $(THUMB) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 endef
 
 # Compile: create assembler files from C source files. ARM only
 define PARTIAL_COMPILE_ARM_TEMPLATE
 $($(1):.c=.s) : %.s : %.c
-	@$(ECHO) $(MSG_ASMFROMC_ARM) $$(call toprel, $$<)
+	@echo $(MSG_ASMFROMC_ARM) $$(call toprel, $$<)
 	$(V1) $(CC) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 endef
 
@@ -269,7 +270,7 @@ define JTAG_TEMPLATE
 # debug level
 OOCD_JTAG_SETUP  = -d0
 # interface and board/target settings (using the OOCD target-library here)
-OOCD_JTAG_SETUP += -s $(ROOT_DIR)/flight/Project/OpenOCD
+OOCD_JTAG_SETUP += -s $(FLIGHT_ROOT_DIR)/Project/OpenOCD
 OOCD_JTAG_SETUP += -f $(4) -f $(5)
 
 # initialize
@@ -281,7 +282,7 @@ OOCD_BOARD_RESET += -c "reset halt"
 
 .PHONY: program
 program: $(1)
-	@$(ECHO) $(MSG_JTAG_PROGRAM) $$(call toprel, $$<)
+	@echo $(MSG_JTAG_PROGRAM) $$(call toprel, $$<)
 	$(V1) $(OPENOCD) \
 		$$(OOCD_JTAG_SETUP) \
 		$$(OOCD_BOARD_RESET) \
@@ -292,7 +293,7 @@ program: $(1)
 
 .PHONY: wipe
 wipe:
-	@$(ECHO) $(MSG_JTAG_WIPE) wiping $(3) bytes starting from $(2)
+	@echo $(MSG_JTAG_WIPE) wiping $(3) bytes starting from $(2)
 	$(V1) $(OPENOCD) \
 		$$(OOCD_JTAG_SETUP) \
 		$$(OOCD_BOARD_RESET) \

flight/modules/Actuator/actuator.c

@@ -8,7 +8,8 @@
  * @{
  *
  * @file       actuator.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      Actuator module. Drives the actuators (servos, motors etc).
  *
  * @see        The GNU Public License (GPL) Version 3
@@ -85,8 +86,6 @@ static xTaskHandle taskHandle;
 static FrameType_t frameType = FRAME_TYPE_MULTIROTOR;
 static SystemSettingsThrustControlOptions thrustType = SYSTEMSETTINGS_THRUSTCONTROL_THROTTLE;
 
-static float lastResult[MAX_MIX_ACTUATORS] = { 0 };
-static float filterAccumulator[MAX_MIX_ACTUATORS] = { 0 };
 static uint8_t pinsMode[MAX_MIX_ACTUATORS];
 // used to inform the actuator thread that actuator update rate is changed
 static ActuatorSettingsData actuatorSettings;
@@ -110,7 +109,7 @@ static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
 static void SettingsUpdatedCb(UAVObjEvent *ev);
 float ProcessMixer(const int index, const float curve1, const float curve2,
                    ActuatorDesiredData *desired,
-                   const float period, bool multirotor);
+                   bool multirotor, bool fixedwing);
 
 // this structure is equivalent to the UAVObjects for one mixer.
 typedef struct {
@@ -195,7 +194,6 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
     UAVObjEvent ev;
     portTickType lastSysTime;
     portTickType thisSysTime;
-    float dTSeconds;
     uint32_t dTMilliseconds;
 
     ActuatorCommandData command;
@@ -245,7 +243,6 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
         thisSysTime    = xTaskGetTickCount();
         dTMilliseconds = (thisSysTime == lastSysTime) ? 1 : (thisSysTime - lastSysTime) * portTICK_RATE_MS;
         lastSysTime    = thisSysTime;
-        dTSeconds = dTMilliseconds * 0.001f;
 
         FlightStatusGet(&flightStatus);
         FlightModeSettingsGet(&settings);
@@ -271,6 +268,7 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
         bool activeThrottle   = (throttleDesired < -0.001f || throttleDesired > 0.001f); // for ground and reversible motors
         bool positiveThrottle = (throttleDesired > 0.00f);
         bool multirotor  = (GetCurrentFrameType() == FRAME_TYPE_MULTIROTOR); // check if frame is a multirotor.
+        bool fixedwing   = (GetCurrentFrameType() == FRAME_TYPE_FIXED_WING); // check if frame is a fixedwing.
         bool alwaysArmed = settings.Arming == FLIGHTMODESETTINGS_ARMING_ALWAYSARMED;
         bool AlwaysStabilizeWhenArmed = settings.AlwaysStabilizeWhenArmed == FLIGHTMODESETTINGS_ALWAYSSTABILIZEWHENARMED_TRUE;
 
@@ -406,12 +404,10 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
                         nonreversible_curve2 = 0.0f;
                     }
                 }
-                status[ct] = ProcessMixer(ct, nonreversible_curve1, nonreversible_curve2, &desired, dTSeconds, multirotor);
+                status[ct] = ProcessMixer(ct, nonreversible_curve1, nonreversible_curve2, &desired, multirotor, fixedwing);
                 // If not armed or motors aren't meant to spin all the time
                 if (!armed ||
                     (!spinWhileArmed && !positiveThrottle)) {
-                    filterAccumulator[ct] = 0;
-                    lastResult[ct] = 0;
                     status[ct] = -1; // force min throttle
                 }
                 // If armed meant to keep spinning,
@@ -424,16 +420,14 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
                     }
                 }
             } else if (mixer_type == MIXERSETTINGS_MIXER1TYPE_REVERSABLEMOTOR) {
-                status[ct] = ProcessMixer(ct, curve1, curve2, &desired, dTSeconds, multirotor);
+                status[ct] = ProcessMixer(ct, curve1, curve2, &desired, multirotor, fixedwing);
                 // Reversable Motors are like Motors but go to neutral instead of minimum
                 // If not armed or motor is inactive - no "spinwhilearmed" for this engine type
                 if (!armed || !activeThrottle) {
-                    filterAccumulator[ct] = 0;
-                    lastResult[ct] = 0;
                     status[ct] = 0; // force neutral throttle
                 }
             } else if (mixer_type == MIXERSETTINGS_MIXER1TYPE_SERVO) {
-                status[ct] = ProcessMixer(ct, curve1, curve2, &desired, dTSeconds, multirotor);
+                status[ct] = ProcessMixer(ct, curve1, curve2, &desired, multirotor, fixedwing);
             } else {
                 status[ct] = -1;
 
@@ -555,56 +549,43 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
  * Process mixing for one actuator
  */
 float ProcessMixer(const int index, const float curve1, const float curve2,
-                   ActuatorDesiredData *desired, const float period, bool multirotor)
+                   ActuatorDesiredData *desired, bool multirotor, bool fixedwing)
 {
-    static float lastFilteredResult[MAX_MIX_ACTUATORS];
     const Mixer_t *mixers = (Mixer_t *)&mixerSettings.Mixer1Type; // pointer to array of mixers in UAVObjects
     const Mixer_t *mixer  = &mixers[index];
+    float differential    = 1.0f;
+
+    // Apply differential only for fixedwing and Roll servos
+    if (fixedwing && (mixerSettings.FirstRollServo > 0) &&
+        (mixer->type == MIXERSETTINGS_MIXER1TYPE_SERVO) &&
+        (mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL] != 0)) {
+        // Positive differential
+        if (mixerSettings.RollDifferential > 0) {
+            // Check for first Roll servo (should be left aileron or elevon) and Roll desired (positive/negative)
+            if (((index == mixerSettings.FirstRollServo - 1) && (desired->Roll > 0.0f))
+                || ((index != mixerSettings.FirstRollServo - 1) && (desired->Roll < 0.0f))) {
+                differential -= (mixerSettings.RollDifferential * 0.01f);
+            }
+        } else if (mixerSettings.RollDifferential < 0) {
+            if (((index == mixerSettings.FirstRollServo - 1) && (desired->Roll < 0.0f))
+                || ((index != mixerSettings.FirstRollServo - 1) && (desired->Roll > 0.0f))) {
+                differential -= (-mixerSettings.RollDifferential * 0.01f);
+            }
+        }
+    }
 
     float result = ((((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE1]) * curve1) +
                     (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE2]) * curve2) +
-                    (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL]) * desired->Roll) +
+                    (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL]) * desired->Roll * differential) +
                     (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_PITCH]) * desired->Pitch) +
                     (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_YAW]) * desired->Yaw)) / 128.0f;
 
-    // note: no feedforward for reversable motors yet for safety reasons
     if (mixer->type == MIXERSETTINGS_MIXER1TYPE_MOTOR) {
         if (!multirotor) { // we allow negative throttle with a multirotor
             if (result < 0.0f) { // zero throttle
                 result = 0.0f;
             }
         }
-
-        // feed forward
-        float accumulator = filterAccumulator[index];
-        accumulator += (result - lastResult[index]) * mixerSettings.FeedForward;
-        lastResult[index] = result;
-        result += accumulator;
-        if (period > 0.0f) {
-            if (accumulator > 0.0f) {
-                float invFilter = period / mixerSettings.AccelTime;
-                if (invFilter > 1) {
-                    invFilter = 1;
-                }
-                accumulator -= accumulator * invFilter;
-            } else {
-                float invFilter = period / mixerSettings.DecelTime;
-                if (invFilter > 1) {
-                    invFilter = 1;
-                }
-                accumulator -= accumulator * invFilter;
-            }
-        }
-        filterAccumulator[index] = accumulator;
-        result += accumulator;
-
-        // acceleration limit
-        float dt    = result - lastFilteredResult[index];
-        float maxDt = mixerSettings.MaxAccel * period;
-        if (dt > maxDt) { // we are accelerating too hard
-            result = lastFilteredResult[index] + maxDt;
-        }
-        lastFilteredResult[index] = result;
     }
 
     return result;
@@ -706,51 +687,74 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
     return valueScaled;
 }
 
+/**
+ * Move and compress all motor outputs so that none goes below neutral,
+ * and all motors are below or equal to max.
+ */
+static inline int16_t scaleMotorMoveAndCompress(float valueMotor, int16_t max, int16_t neutral, float maxMotor, float minMotor)
+{
+    // The valueMotor parameter is the desired motor value somewhere in the
+    // [minMotor, maxMotor] range, which is [< -1.00, > 1.00].
+    //
+    // Before converting valueMotor to the [neutral, max] range, we scale
+    // valueMotor to a value in the [0.0f, 1.0f] range.
+    //
+    // This is done by, first, conceptually moving all three values valueMotor,
+    // minMotor, and maxMotor, equally so that the [minMotor, maxMotor] range,
+    // are contained or overlaps with the [0.0f, 1.0f] range.
+    //
+    // Then if the [minMotor, maxMotor] range is larger than 1.0f, the values
+    // are compressed enough to shrink the [minMotor + move, maxMotor + move]
+    // range to fit within the [0.0f, 1.0f] range.
+
+    // First move the values so that the source range [minMotor, maxMotor]
+    // covers the target range [0.0f, 1.0f] as much as possible.
+    float moveValue = 0.0f;
+
+    if (minMotor <= 0.0f) {
+        // Negative minMotor always adjust to 0.
+        moveValue = -minMotor;
+    } else if (maxMotor > 1.0f) {
+        // A too large maxMotor value adjust the range down towards, but not past, the minMotor value.
+        float beyondMax = maxMotor - 1.0f;
+        moveValue = -(beyondMax < minMotor ? beyondMax : minMotor);
+    }
+
+    // Then calculate the compress value, if the source range is greater than 1.0f.
+    float compressValue = 1.0f;
+
+    float rangeMotor    = maxMotor - minMotor;
+    if (rangeMotor > 1.0f) {
+        compressValue = rangeMotor;
+    }
+
+    // Combine the movement and compression, to get the value within [0.0f, 1.0f]
+    float movedAndCompressedValue = (valueMotor + moveValue) / compressValue;
+
+    // And last, convert the value into the [neutral, max] range.
+    int16_t valueScaled = movedAndCompressedValue * ((float)(max - neutral)) + neutral;
+
+    if (valueScaled > max) {
+        valueScaled = max; // clamp to max value only after scaling is done.
+    }
+
+    PIOS_Assert(valueScaled >= neutral);
+
+    return valueScaled;
+}
+
 /**
  * Constrain motor values to keep any one motor value from going too far out of range of another motor
  */
 static int16_t scaleMotor(float value, int16_t max, int16_t min, int16_t neutral, float maxMotor, float minMotor, bool armed, bool AlwaysStabilizeWhenArmed, float throttleDesired)
 {
     int16_t valueScaled;
-    int16_t maxMotorScaled;
-    int16_t minMotorScaled;
-    int16_t diff;
-
-    // Scale
-    valueScaled    = (int16_t)(value * ((float)(max - neutral))) + neutral;
-    maxMotorScaled = (int16_t)(maxMotor * ((float)(max - neutral))) + neutral;
-    minMotorScaled = (int16_t)(minMotor * ((float)(max - neutral))) + neutral;
-
 
     if (max > min) {
-        diff = max - maxMotorScaled; // difference between max allowed and actual max motor
-        if (diff < 0) { // if the difference is smaller than 0 we add it to the scaled value
-            valueScaled += diff;
-        }
-        diff = neutral - minMotorScaled; // difference between min allowed and actual min motor
-        if (diff > 0) { // if the difference is larger than 0 we add it to the scaled value
-            valueScaled += diff;
-        }
-        // todo: make this flow easier to understand
-        if (valueScaled > max) {
-            valueScaled = max; // clamp to max value only after scaling is done.
-        }
-
-        if ((valueScaled < neutral) && (spinWhileArmed) && AlwaysStabilizeWhenArmed) {
-            valueScaled = neutral; // clamp to neutral value only after scaling is done.
-        } else if ((valueScaled < neutral) && (!spinWhileArmed) && AlwaysStabilizeWhenArmed) {
-            valueScaled = neutral; // clamp to neutral value only after scaling is done. //throttle goes to min if throttledesired is equal to or less than 0 below
-        } else if (valueScaled < neutral) {
-            valueScaled = min; // clamp to min value only after scaling is done.
-        }
+        valueScaled = scaleMotorMoveAndCompress(value, max, neutral, maxMotor, minMotor);
     } else {
         // not sure what to do about reversed polarity right now. Why would anyone do this?
-        if (valueScaled < max) {
-            valueScaled = max; // clamp to max value only after scaling is done.
-        }
-        if (valueScaled > min) {
-            valueScaled = min; // clamp to min value only after scaling is done.
-        }
+        valueScaled = scaleChannel(value, max, min, neutral);
     }
 
     // I've added the bool AlwaysStabilizeWhenArmed to this function. Right now we command the motors at min or a range between neutral and max.

flight/modules/PathFollower/inc/pidcontrolne.h

@@ -39,7 +39,6 @@ class PIDControlNE {
 public:
     PIDControlNE();
     ~PIDControlNE();
-    void Initialize();
     void Deactivate();
     void Activate();
     void UpdateParameters(float kp, float ki, float kd, __attribute__((unused)) float ilimit, float dT, float velocityMax);

flight/modules/PathFollower/pidcontrolne.cpp

@@ -47,13 +47,24 @@ extern "C" {
 
 PIDControlNE::PIDControlNE()
     : deltaTime(0), mNECommand(0), mNeutral(0), mVelocityMax(0), mMinCommand(0), mMaxCommand(0), mVelocityFeedforward(0), mActive(false)
-{}
+{
+    memset((void *)PIDvel, 0, 2 * sizeof(pid2));
+    memset((void *)PIDposH, 0, 2 * sizeof(pid));
+
+    mVelocitySetpointTarget[0]  = 0.0f;
+    mVelocitySetpointTarget[1]  = 0.0f;
+    mVelocityState[0] = 0.0f;
+    mVelocityState[1] = 0.0f;
+    mPositionSetpointTarget[0]  = 0.0f;
+    mPositionSetpointTarget[1]  = 0.0f;
+    mPositionState[0] = 0.0f;
+    mPositionState[1] = 0.0f;
+    mVelocitySetpointCurrent[0] = 0.0f;
+    mVelocitySetpointCurrent[1] = 0.0f;
+}
 
 PIDControlNE::~PIDControlNE() {}
 
-void PIDControlNE::Initialize()
-{}
-
 void PIDControlNE::Deactivate()
 {
     mActive = false;
@@ -62,6 +73,10 @@ void PIDControlNE::Deactivate()
 void PIDControlNE::Activate()
 {
     mActive = true;
+    pid2_transfer(&PIDvel[0], 0.0f);
+    pid2_transfer(&PIDvel[1], 0.0f);
+    pid_zero(&PIDposH[0]);
+    pid_zero(&PIDposH[1]);
 }
 
 void PIDControlNE::UpdateParameters(float kp, float ki, float kd, float beta, float dT, float velocityMax)

flight/modules/PathFollower/vtolflycontroller.cpp

@@ -84,6 +84,7 @@ void VtolFlyController::Activate(void)
         mManualThrust = false;
         SettingsUpdated();
         controlDown.Activate();
+        controlNE.UpdateVelocitySetpoint(0.0f, 0.0f);
         controlNE.Activate();
         mMode = pathDesired->Mode;
 
@@ -175,8 +176,6 @@ void VtolFlyController::UpdateVelocityDesired()
 
     VelocityStateData velocityState;
     VelocityStateGet(&velocityState);
-    controlNE.UpdateVelocityState(velocityState.North, velocityState.East);
-    controlDown.UpdateVelocityState(velocityState.Down);
 
     VelocityDesiredData velocityDesired;
 
@@ -192,6 +191,9 @@ void VtolFlyController::UpdateVelocityDesired()
         controlDown.ControlPositionWithPath(&progress);
     }
 
+    controlNE.UpdateVelocityState(velocityState.North, velocityState.East);
+    controlDown.UpdateVelocityState(velocityState.Down);
+
     float north, east;
     controlNE.GetVelocityDesired(&north, &east);
     velocityDesired.North = north;
@@ -368,10 +370,12 @@ void VtolFlyController::UpdateAutoPilot()
     // to the pathDesired to initiate a Landing sequence. This is the simpliest approach. plans.c
     // can't manage this.  And pathplanner whilst similar does not manage this as it is not a
     // waypoint traversal and is not aware of flight modes other than path plan.
-    if ((uint8_t)pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_NEXTCOMMAND] == FLIGHTMODESETTINGS_RETURNTOBASENEXTCOMMAND_LAND) {
-        if (pathStatus->fractional_progress > RTB_LAND_FRACTIONAL_PROGRESS_START_CHECKS) {
-            if (fabsf(pathStatus->correction_direction_north) < RTB_LAND_NE_DISTANCE_REQUIRED_TO_START_LAND_SEQUENCE && fabsf(pathStatus->correction_direction_east) < RTB_LAND_NE_DISTANCE_REQUIRED_TO_START_LAND_SEQUENCE) {
-                plan_setup_land();
+    if (flightStatus->FlightMode == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE) {
+        if ((uint8_t)pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_NEXTCOMMAND] == FLIGHTMODESETTINGS_RETURNTOBASENEXTCOMMAND_LAND) {
+            if (pathStatus->fractional_progress > RTB_LAND_FRACTIONAL_PROGRESS_START_CHECKS) {
+                if (fabsf(pathStatus->correction_direction_north) < RTB_LAND_NE_DISTANCE_REQUIRED_TO_START_LAND_SEQUENCE && fabsf(pathStatus->correction_direction_east) < RTB_LAND_NE_DISTANCE_REQUIRED_TO_START_LAND_SEQUENCE) {
+                    plan_setup_land();
+                }
             }
         }
     }

flight/modules/Receiver/receiver.c

@@ -10,7 +10,8 @@
  * pass it to ManualControl
  *
  * @file       receiver.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
  * @brief      Receiver module. Handles safety R/C link and flight mode.
  *
  * @see        The GNU Public License (GPL) Version 3
@@ -68,7 +69,7 @@
 // safe band to allow a bit of calibration error or trim offset (in microseconds)
 #define CONNECTION_OFFSET                250
 
-#define ASSISTEDCONTROL_DEADBAND_MINIMUM 0.02f // minimum value for a well bahaved Tx.
+#define ASSISTEDCONTROL_DEADBAND_MINIMUM 2 // minimum value for a well bahaved Tx, in percent.
 
 // Private types
 
@@ -87,7 +88,7 @@ static void receiverTask(void *parameters);
 static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
 static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
 static bool validInputRange(int16_t min, int16_t max, uint16_t value);
-static void applyDeadband(float *value, float deadband);
+static void applyDeadband(float *value, uint8_t deadband);
 static void SettingsUpdatedCb(UAVObjEvent *ev);
 
 #ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
@@ -95,7 +96,7 @@ static uint8_t isAssistedFlightMode(uint8_t position);
 #endif
 
 #ifdef USE_INPUT_LPF
-static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsResponseTimeData *responseTime, float deadband, float dT);
+static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsResponseTimeData *responseTime, uint8_t deadband, float dT);
 #endif
 
 #define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12
@@ -206,6 +207,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
     // this includes not even registering it if not used
     AccessoryDesiredCreateInstance();
     AccessoryDesiredCreateInstance();
+    AccessoryDesiredCreateInstance();
 
     // Whenever the configuration changes, make sure it is safe to fly
 
@@ -377,6 +379,10 @@ static void receiverTask(__attribute__((unused)) void *parameters)
             valid_input_detected &= validInputRange(settings.ChannelMin.Accessory2,
                                                     settings.ChannelMax.Accessory2, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2]);
         }
+        if (settings.ChannelGroups.Accessory3 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
+            valid_input_detected &= validInputRange(settings.ChannelMin.Accessory3,
+                                                    settings.ChannelMax.Accessory3, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY3]);
+        }
 
         // Implement hysteresis loop on connection status
         if (valid_input_detected && (++connected_count > 10)) {
@@ -436,6 +442,13 @@ static void receiverTask(__attribute__((unused)) void *parameters)
                     AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
                 }
             }
+            // Set Accessory 3
+            if (settings.ChannelGroups.Accessory3 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
+                accessory.AccessoryVal = settings.FailsafeChannel.Accessory3;
+                if (AccessoryDesiredInstSet(3, &accessory) != 0) {
+                    AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
+                }
+            }
         } else if (valid_input_detected) {
             AlarmsClear(SYSTEMALARMS_ALARM_RECEIVER);
 
@@ -450,7 +463,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
                 cmd.FlightModeSwitchPosition = settings.FlightModeNumber - 1;
             }
 
-            float deadband_checked = settings.Deadband;
+            uint8_t deadband_checked = settings.Deadband;
 #ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
             // AssistedControl must have deadband set for pitch/roll hence
             // we default to a higher value for badly behaved TXs and also enforce a minimum value
@@ -470,7 +483,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
 #endif // PIOS_EXCLUDE_ADVANCED_FEATURES
 
             // Apply deadband for Roll/Pitch/Yaw stick inputs
-            if (deadband_checked > 0.0f) {
+            if (deadband_checked > 0) {
                 applyDeadband(&cmd.Roll, deadband_checked);
                 applyDeadband(&cmd.Pitch, deadband_checked);
                 applyDeadband(&cmd.Yaw, deadband_checked);
@@ -494,7 +507,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
                 && cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != (uint16_t)PIOS_RCVR_NODRIVER
                 && cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != (uint16_t)PIOS_RCVR_TIMEOUT) {
                 cmd.Collective = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE];
-                if (settings.Deadband > 0.0f) {
+                if (settings.Deadband > 0) {
                     applyDeadband(&cmd.Collective, settings.Deadband);
                 }
 #ifdef USE_INPUT_LPF
@@ -545,6 +558,17 @@ static void receiverTask(__attribute__((unused)) void *parameters)
                     AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
                 }
             }
+            // Set Accessory 3
+            if (settings.ChannelGroups.Accessory3 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
+                accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY3];
+#ifdef USE_INPUT_LPF
+                applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY3, &settings.ResponseTime, settings.Deadband, dT);
+#endif
+
+                if (AccessoryDesiredInstSet(3, &accessory) != 0) {
+                    AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
+                }
+            }
         }
 
         // Update cmd object
@@ -790,14 +814,16 @@ bool validInputRange(int16_t min, int16_t max, uint16_t value)
 /**
  * @brief Apply deadband to Roll/Pitch/Yaw channels
  */
-static void applyDeadband(float *value, float deadband)
+static void applyDeadband(float *value, uint8_t deadband)
 {
-    if (fabsf(*value) < deadband) {
+    float floatDeadband = ((float)deadband) * 0.01f;
+
+    if (fabsf(*value) < floatDeadband) {
         *value = 0.0f;
     } else if (*value > 0.0f) {
-        *value = (*value - deadband) / (1.0f - deadband);
+        *value = (*value - floatDeadband) / (1.0f - floatDeadband);
     } else {
-        *value = (*value + deadband) / (1.0f - deadband);
+        *value = (*value + floatDeadband) / (1.0f - floatDeadband);
     }
 }
 
@@ -805,16 +831,17 @@ static void applyDeadband(float *value, float deadband)
 /**
  * @brief Apply Low Pass Filter to Throttle/Roll/Pitch/Yaw or Accessory channel
  */
-static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsResponseTimeData *responseTime, float deadband, float dT)
+static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsResponseTimeData *responseTime, uint8_t deadband, float dT)
 {
     float rt = (float)ManualControlSettingsResponseTimeToArray((*responseTime))[channel];
 
     if (rt > 0.0f) {
         inputFiltered[channel] = ((rt * inputFiltered[channel]) + (dT * (*value))) / (rt + dT);
 
+        float floatDeadband = ((float)deadband) * 0.01f;
         // avoid a long tail of non-zero data. if we have deadband, once the filtered result reduces to 1/10th
         // of deadband revert to 0.  We downstream rely on this to know when sticks are centered.
-        if (deadband > 0.0f && fabsf(inputFiltered[channel]) < deadband / 10.0f) {
+        if (floatDeadband > 0.0f && fabsf(inputFiltered[channel]) < floatDeadband * 0.1f) {
             inputFiltered[channel] = 0.0f;
         }
         *value = inputFiltered[channel];

flight/modules/Stabilization/inc/stabilization.h

@@ -45,6 +45,8 @@ typedef struct {
     StabilizationSettingsData settings;
     StabilizationBankData     stabBank;
     float gyro_alpha;
+    float floatThrustPIDScaleCurve[STABILIZATIONBANK_THRUSTPIDSCALECURVE_NUMELEM];
+    float acroInsanityFactors[STABILIZATIONBANK_ACROINSANITYFACTOR_NUMELEM];
     struct {
         float min_thrust;
         float max_thrust;

flight/modules/Stabilization/innerloop.c

@@ -9,7 +9,8 @@
  * @{
  *
  * @file       innerloop.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
  * @brief      Attitude stabilization module.
  *
  * @see        The GNU Public License (GPL) Version 3
@@ -151,11 +152,11 @@ static pid_scaler create_pid_scaler(int axis)
         const pid_curve_scaler curve_scaler = {
             .x      = get_pid_scale_source_value(),
             .points = {
-                { 0.00f, stabSettings.stabBank.ThrustPIDScaleCurve[0] },
-                { 0.25f, stabSettings.stabBank.ThrustPIDScaleCurve[1] },
-                { 0.50f, stabSettings.stabBank.ThrustPIDScaleCurve[2] },
-                { 0.75f, stabSettings.stabBank.ThrustPIDScaleCurve[3] },
-                { 1.00f, stabSettings.stabBank.ThrustPIDScaleCurve[4] }
+                { 0.00f, stabSettings.floatThrustPIDScaleCurve[0] },
+                { 0.25f, stabSettings.floatThrustPIDScaleCurve[1] },
+                { 0.50f, stabSettings.floatThrustPIDScaleCurve[2] },
+                { 0.75f, stabSettings.floatThrustPIDScaleCurve[3] },
+                { 1.00f, stabSettings.floatThrustPIDScaleCurve[4] }
             }
         };
 
@@ -301,10 +302,11 @@ static void stabilizationInnerloopTask()
                                  -StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t],
                                  StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t]
                                  );
+
                 pid_scaler ascaler = create_pid_scaler(t);
                 ascaler.i *= boundf(1.0f - (1.5f * fabsf(stickinput[t])), 0.0f, 1.0f); // this prevents Integral from getting too high while controlled manually
                 float arate  = pid_apply_setpoint(&stabSettings.innerPids[t], &ascaler, rate[t], gyro_filtered[t], dT);
-                float factor = fabsf(stickinput[t]) * stabSettings.stabBank.AcroInsanityFactor;
+                float factor = fabsf(stickinput[t]) * stabSettings.acroInsanityFactors[t];
                 actuatorDesiredAxis[t] = factor * stickinput[t] + (1.0f - factor) * arate;
             }
             break;

flight/modules/Stabilization/outerloop.c

@@ -9,7 +9,8 @@
  * @{
  *
  * @file       outerloop.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
  * @brief      Attitude stabilization module.
  *
  * @see        The GNU Public License (GPL) Version 3
@@ -105,8 +106,9 @@ static void stabilizationOuterloopTask()
     int t;
     float dT    = PIOS_DELTATIME_GetAverageSeconds(&timeval);
     StabilizationStatusOuterLoopOptions newThrustMode = StabilizationStatusOuterLoopToArray(enabled)[STABILIZATIONSTATUS_OUTERLOOP_THRUST];
-
     bool reinit = (newThrustMode != previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST]);
+
+#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
     // Trigger a disable message to the alt hold on reinit to prevent that loop from running when not in use.
     if (reinit) {
         if (previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] == STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE ||
@@ -117,17 +119,20 @@ static void stabilizationOuterloopTask()
             }
         }
     }
+#endif
     // update previous mode
     previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = newThrustMode;
 
     // calculate the thrust desired
     switch (newThrustMode) {
+#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
     case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE:
         rateDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = stabilizationAltitudeHold(stabilizationDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST], ALTITUDEHOLD, reinit);
         break;
     case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO:
         rateDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = stabilizationAltitudeHold(stabilizationDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST], ALTITUDEVARIO, reinit);
         break;
+#endif
     case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
     case STABILIZATIONSTATUS_OUTERLOOP_DIRECTWITHLIMITS:
     default:

flight/modules/Stabilization/stabilization.c

@@ -341,6 +341,14 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
                                                                  && tps_for_pid[pid];
         }
     }
+
+    for (int i = 0; i < STABILIZATIONSETTINGSBANK1_THRUSTPIDSCALECURVE_NUMELEM; i++) {
+        stabSettings.floatThrustPIDScaleCurve[i] = (float)(stabSettings.stabBank.ThrustPIDScaleCurve[i]) * 0.01f;
+    }
+
+    stabSettings.acroInsanityFactors[0] = (float)(stabSettings.stabBank.AcroInsanityFactor.Roll) * 0.01f;
+    stabSettings.acroInsanityFactors[1] = (float)(stabSettings.stabBank.AcroInsanityFactor.Pitch) * 0.01f;
+    stabSettings.acroInsanityFactors[2] = (float)(stabSettings.stabBank.AcroInsanityFactor.Yaw) * 0.01f;
 }
 
 

flight/modules/Telemetry/telemetry.c

@@ -9,8 +9,10 @@
  * @{
  *
  * @file       telemetry.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  * @brief      Telemetry module, handles telemetry and UAVObject updates
+ *
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
@@ -95,6 +97,9 @@
 #define STATS_UPDATE_PERIOD_MS    4000
 #define CONNECTION_TIMEOUT_MS     8000
 
+#ifdef PIOS_INCLUDE_RFM22B
+#define HAS_RADIO
+#endif
 // Private types
 typedef struct {
     // Determine port on which to communicate telemetry information
@@ -111,12 +116,14 @@ typedef struct {
     // Telemetry stream
     UAVTalkConnection uavTalkCon;
 } channelContext;
-
+#ifdef HAS_RADIO
 // Main telemetry channel
 static channelContext localChannel;
 static int32_t transmitLocalData(uint8_t *data, int32_t length);
 static void registerLocalObject(UAVObjHandle obj);
 static uint32_t localPort();
+static void updateSettings(channelContext *channel);
+#endif
 
 // OPLink telemetry channel
 static channelContext radioChannel;
@@ -150,7 +157,6 @@ static int32_t setLoggingPeriod(
     int32_t updatePeriodMs);
 static void updateTelemetryStats();
 static void gcsTelemetryStatsUpdated();
-static void updateSettings(channelContext *channel);
 
 /**
  * Initialise the telemetry module
@@ -159,6 +165,7 @@ static void updateSettings(channelContext *channel);
  */
 int32_t TelemetryStart(void)
 {
+#ifdef HAS_RADIO
     // Only start the local telemetry tasks if needed
     if (localPort()) {
         UAVObjIterate(&registerLocalObject);
@@ -187,7 +194,7 @@ int32_t TelemetryStart(void)
         PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYRX,
                                        localChannel.rxTaskHandle);
     }
-
+#endif /* ifdef HAS_RADIO */
     // Start the telemetry tasks associated with Radio/USB
     UAVObjIterate(&registerRadioObject);
 
@@ -229,9 +236,6 @@ void TelemetryInitializeChannel(channelContext *channel)
                                           sizeof(UAVObjEvent));
 #endif /* PIOS_TELEM_PRIORITY_QUEUE */
 
-    // Initialise UAVTalk
-    channel->uavTalkCon = UAVTalkInitialize(&transmitLocalData);
-
     // Create periodic event that will be used to update the telemetry stats
     UAVObjEvent ev;
     memset(&ev, 0, sizeof(UAVObjEvent));
@@ -267,7 +271,7 @@ int32_t TelemetryInitialize(void)
         radio_port = PIOS_COM_RF;
     }
 #else /* PIOS_INCLUDE_RFM22B */
-    radio_port = 0;
+    radio_port = PIOS_COM_TELEM_RF;
 #endif /* PIOS_INCLUDE_RFM22B */
 
     FlightTelemetryStatsInitialize();
@@ -279,10 +283,9 @@ int32_t TelemetryInitialize(void)
     // Reset link stats
     txErrors  = 0;
     txRetries = 0;
-
+#ifdef HAS_RADIO
     // Set channel port handlers
     localChannel.getPort = localPort;
-    radioChannel.getPort = radioPort;
 
     // Set the local telemetry baud rate
     updateSettings(&localChannel);
@@ -295,6 +298,9 @@ int32_t TelemetryInitialize(void)
         localChannel.uavTalkCon = UAVTalkInitialize(&transmitLocalData);
     }
 
+#endif
+    // Set channel port handlers
+    radioChannel.getPort = radioPort;
     // Initialise channel
     TelemetryInitializeChannel(&radioChannel);
     // Initialise UAVTalk
@@ -304,7 +310,7 @@ int32_t TelemetryInitialize(void)
 }
 
 MODULE_INITCALL(TelemetryInitialize, TelemetryStart);
-
+#ifdef HAS_RADIO
 /**
  * Register a new object, adds object to local list and connects the queue depending on the object's
  * telemetry settings.
@@ -327,7 +333,7 @@ static void registerLocalObject(UAVObjHandle obj)
             EV_NONE);
     }
 }
-
+#endif
 static void registerRadioObject(UAVObjHandle obj)
 {
     if (UAVObjIsMetaobject(obj)) {
@@ -635,7 +641,7 @@ static void telemetryRxTask(void *parameters)
     }
 }
 
-
+#ifdef HAS_RADIO
 /**
  * Determine the port to be used for communication on the  telemetry channel
  * \return com port number
@@ -644,7 +650,7 @@ static uint32_t localPort()
 {
     return PIOS_COM_TELEM_RF;
 }
-
+#endif
 
 /**
  * Determine the port to be used for communication on the radio channel
@@ -664,7 +670,7 @@ static uint32_t radioPort()
     return port;
 }
 
-
+#ifdef HAS_RADIO
 /**
  * Transmit data buffer to the modem or USB port.
  * \param[in] data Data buffer to send
@@ -682,7 +688,7 @@ static int32_t transmitLocalData(uint8_t *data, int32_t length)
 
     return -1;
 }
-
+#endif
 
 /**
  * Transmit data buffer to the radioport.
@@ -804,9 +810,10 @@ static void updateTelemetryStats()
     uint32_t timeNow;
 
     // Get stats
-    UAVTalkGetStats(localChannel.uavTalkCon, &utalkStats, true);
-    UAVTalkAddStats(radioChannel.uavTalkCon, &utalkStats, true);
-
+    UAVTalkGetStats(radioChannel.uavTalkCon, &utalkStats, true);
+#ifdef HAS_RADIO
+    UAVTalkAddStats(localChannel.uavTalkCon, &utalkStats, true);
+#endif
     // Get object data
     FlightTelemetryStatsGet(&flightStats);
     GCSTelemetryStatsGet(&gcsStats);
@@ -888,6 +895,7 @@ static void updateTelemetryStats()
     }
 }
 
+#ifdef HAS_RADIO
 /**
  * Update the telemetry settings, called on startup.
  * FIXME: This should be in the TelemetrySettings object. But objects
@@ -931,7 +939,7 @@ static void updateSettings(channelContext *channel)
     }
 }
 
-
+#endif /* ifdef HAS_RADIO */
 /**
  * @}
  * @}

flight/modules/TxPID/txpid.c

@@ -8,7 +8,8 @@
  * @{
  *
  * @file       txpid.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
  * @brief      Optional module to tune PID settings using R/C transmitter.
  *
  * @see        The GNU Public License (GPL) Version 3
@@ -87,6 +88,7 @@
 // Private functions
 static void updatePIDs(UAVObjEvent *ev);
 static uint8_t update(float *var, float val);
+static uint8_t updateUint16(uint16_t *var, float val);
 static uint8_t updateUint8(uint8_t *var, float val);
 static uint8_t updateInt8(int8_t *var, float val);
 static float scale(float val, float inMin, float inMax, float outMin, float outMax);
@@ -218,6 +220,8 @@ static void updatePIDs(UAVObjEvent *ev)
     TxPIDStatusData txpid_status;
     TxPIDStatusGet(&txpid_status);
 
+    bool easyTuneEnabled        = false;
+
     uint8_t needsUpdateBank     = 0;
     uint8_t needsUpdateStab     = 0;
     uint8_t needsUpdateAtt      = 0;
@@ -252,6 +256,18 @@ static void updatePIDs(UAVObjEvent *ev)
             case TXPIDSETTINGS_PIDS_ROLLRATEKP:
                 needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
                 break;
+            case TXPIDSETTINGS_PIDS_EASYTUNERATEROLL:
+                easyTuneEnabled  = true;
+                needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
+                needsUpdateBank |= update(&bank.RollRatePID.Ki, value * inst.EasyTunePitchRollRateFactors.I);
+                needsUpdateBank |= update(&bank.RollRatePID.Kd, value * inst.EasyTunePitchRollRateFactors.D);
+                break;
+            case TXPIDSETTINGS_PIDS_EASYTUNERATEPITCH:
+                easyTuneEnabled  = true;
+                needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
+                needsUpdateBank |= update(&bank.PitchRatePID.Ki, value * inst.EasyTunePitchRollRateFactors.I);
+                needsUpdateBank |= update(&bank.PitchRatePID.Kd, value * inst.EasyTunePitchRollRateFactors.D);
+                break;
             case TXPIDSETTINGS_PIDS_ROLLRATEKI:
                 needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
                 break;
@@ -262,7 +278,7 @@ static void updatePIDs(UAVObjEvent *ev)
                 needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLRATERESP:
-                needsUpdateBank |= update(&bank.ManualRate.Roll, value);
+                needsUpdateBank |= updateUint16(&bank.ManualRate.Roll, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
                 needsUpdateBank |= update(&bank.RollPI.Kp, value);
@@ -289,7 +305,7 @@ static void updatePIDs(UAVObjEvent *ev)
                 needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
                 break;
             case TXPIDSETTINGS_PIDS_PITCHRATERESP:
-                needsUpdateBank |= update(&bank.ManualRate.Pitch, value);
+                needsUpdateBank |= updateUint16(&bank.ManualRate.Pitch, value);
                 break;
             case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
                 needsUpdateBank |= update(&bank.PitchPI.Kp, value);
@@ -320,8 +336,8 @@ static void updatePIDs(UAVObjEvent *ev)
                 needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLPITCHRATERESP:
-                needsUpdateBank |= update(&bank.ManualRate.Roll, value);
-                needsUpdateBank |= update(&bank.ManualRate.Pitch, value);
+                needsUpdateBank |= updateUint16(&bank.ManualRate.Roll, value);
+                needsUpdateBank |= updateUint16(&bank.ManualRate.Pitch, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
                 needsUpdateBank |= update(&bank.RollPI.Kp, value);
@@ -352,7 +368,7 @@ static void updatePIDs(UAVObjEvent *ev)
                 needsUpdateBank |= update(&bank.YawRatePID.ILimit, value);
                 break;
             case TXPIDSETTINGS_PIDS_YAWRATERESP:
-                needsUpdateBank |= update(&bank.ManualRate.Yaw, value);
+                needsUpdateBank |= updateUint16(&bank.ManualRate.Yaw, value);
                 break;
             case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
                 needsUpdateBank |= update(&bank.YawPI.Kp, value);
@@ -382,8 +398,15 @@ static void updatePIDs(UAVObjEvent *ev)
             case TXPIDSETTINGS_PIDS_GYROTAU:
                 needsUpdateStab |= update(&stab.GyroTau, value);
                 break;
-            case TXPIDSETTINGS_PIDS_ACROPLUSFACTOR:
-                needsUpdateBank |= update(&bank.AcroInsanityFactor, value);
+            case TXPIDSETTINGS_PIDS_ACROROLLFACTOR:
+                needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Roll, value);
+                break;
+            case TXPIDSETTINGS_PIDS_ACROPITCHFACTOR:
+                needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Pitch, value);
+                break;
+            case TXPIDSETTINGS_PIDS_ACROROLLPITCHFACTOR:
+                needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Roll, value);
+                needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Pitch, value);
                 break;
             case TXPIDSETTINGS_PIDS_ACCELTAU:
                 needsUpdateAtt  |= update(&att.AccelTau, value);
@@ -428,6 +451,12 @@ static void updatePIDs(UAVObjEvent *ev)
         AltitudeHoldSettingsSet(&altitude);
     }
 #endif
+    if (easyTuneEnabled && (inst.EasyTuneRatePIDRecalculateYaw != TXPIDSETTINGS_EASYTUNERATEPIDRECALCULATEYAW_FALSE)) {
+        float newKp = (bank.RollRatePID.Kp + bank.PitchRatePID.Kp) * .5f * inst.EasyTuneYawRateFactors.P;
+        needsUpdateBank |= update(&bank.YawRatePID.Kp, newKp);
+        needsUpdateBank |= update(&bank.YawRatePID.Ki, newKp * inst.EasyTuneYawRateFactors.I);
+        needsUpdateBank |= update(&bank.YawRatePID.Kd, newKp * inst.EasyTuneYawRateFactors.D);
+    }
     if (needsUpdateBank) {
         switch (inst.BankNumber) {
         case 0:
@@ -510,6 +539,21 @@ static uint8_t update(float *var, float val)
     return 0;
 }
 
+/**
+ * Updates var using val if needed.
+ * \returns 1 if updated, 0 otherwise
+ */
+static uint8_t updateUint16(uint16_t *var, float val)
+{
+    uint16_t roundedVal = (uint16_t)roundf(val);
+
+    if (*var != roundedVal) {
+        *var = roundedVal;
+        return 1;
+    }
+    return 0;
+}
+
 /**
  * Updates var using val if needed.
  * \returns 1 if updated, 0 otherwise

flight/pios/common/libraries/FreeRTOS/Source/portable/MemMang/heap_1.c

@@ -103,7 +103,7 @@ static uint8_t *pucAlignedHeap = NULL;
 size_t mask = alignment - 1;
 	/* Ensure that blocks are always aligned to the required number of bytes. */
 	#if portBYTE_ALIGNMENT != 1
-		if( xWantedSize & portBYTE_ALIGNMENT_MASK )
+		if( xWantedSize & mask )
 		{
 			/* Byte alignment required. */
 		    xWantedSize += ( alignment - ( xWantedSize & mask ) );

flight/pios/common/pios_mpu6000.c

@@ -598,7 +598,8 @@ static bool PIOS_MPU6000_HandleData()
     queue_data->sample[0].z = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Z));
     queue_data->sample[1].z = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Z));
     const int16_t temp = GET_SENSOR_DATA(mpu6000_data, Temperature);
-    queue_data->temperature = 3500 + ((float)(temp + 512)) * (1.0f / 3.4f);
+    // Temperature in degrees C = (TEMP_OUT Register Value as a signed quantity)/340 + 36.53
+    queue_data->temperature = 3653 + (temp * 100) / 340;
 
     BaseType_t higherPriorityTaskWoken;
     xQueueSendToBackFromISR(dev->queue, (void *)queue_data, &higherPriorityTaskWoken);

flight/pios/inc/pios_usb_defs.h

@@ -7,7 +7,8 @@
  * @{
  *
  * @file       pios_usb_defs.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @brief      USB Standard types and definitions
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -353,6 +354,7 @@ enum usb_cdc_notification {
 
 enum usb_product_ids {
     USB_PRODUCT_ID_OPENPILOT_MAIN = 0x415A,
+    USB_PRODUCT_ID_COPTERCONTROL  = 0x415B,
     USB_PRODUCT_ID_OPLINK = 0x415C,
     USB_PRODUCT_ID_CC3D = 0x415D,
     USB_PRODUCT_ID_REVOLUTION     = 0x415E,
@@ -363,9 +365,9 @@ enum usb_product_ids {
 enum usb_op_board_ids {
     USB_OP_BOARD_ID_OPENPILOT_MAIN = 1,
     /* Board ID 2 may be unused or AHRS */
-    USB_OP_BOARD_ID_OPLINK     = 3,
-    /* USB_OP_BOARD_ID_COPTERCONTROL  = 4, */
-    USB_OP_BOARD_ID_REVOLUTION = 5,
+    USB_OP_BOARD_ID_OPLINK = 3,
+    USB_OP_BOARD_ID_COPTERCONTROL  = 4,
+    USB_OP_BOARD_ID_REVOLUTION     = 5,
     USB_OP_BOARD_ID_OSD = 6,
 } __attribute__((packed));