Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into next

flight/PiOS/Common/pios_mpu6000.c

@@ -435,9 +435,6 @@ void PIOS_MPU6000_IRQHandler(void)
 		if(PIOS_MPU6000_ClaimBus() != 0)
 			return;		
 		
-		uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
-		uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
-		
 		if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
 			PIOS_MPU6000_ReleaseBus();
 			mpu6000_fails++;

flight/PiOS/STM32F10x/pios_usb_cdc.c

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

flight/PiOS/STM32F10x/pios_usbhook.c

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

flight/PiOS/inc/pios_usb_defs.h

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

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

@@ -38,40 +38,41 @@
 
 namespace Utils {
 
-	HomeLocationUtil::HomeLocationUtil()
+HomeLocationUtil::HomeLocationUtil()
+{
+}
+
+/*
+    /**
+     * @brief Get local magnetic field
+     * @param[in] LLA The longitude-latitude-altitude coordinate to compute the magnetic field at
+     * @param[out] Be The resulting magnetic field at that location and time in [mGau](?)
+     * @returns 0 if successful, -1 otherwise.
+     */
+    int HomeLocationUtil::getDetails(double LLA[3], double Be[3])
     {
-//        Initialize();
+        // *************
-    }
+        // check input parms
 
-	// input params: LLA
+        double latitude = LLA[0];
-	//
+        double longitude = LLA[1];
-	// output params: ECEF, RNE and Be
+        double altitude = LLA[2];
-	int HomeLocationUtil::getDetails(double LLA[3], double ECEF[3], double RNE[9], double Be[3])
-    {
-		// *************
-		// check input parms
 
-		double latitude = LLA[0];
+        if (latitude != latitude) return -1;				// prevent nan error
-		double longitude = LLA[1];
+        if (longitude != longitude) return -2;				// prevent nan error
-		double altitude = LLA[2];
+        if (altitude != altitude) return -3;				// prevent nan error
 
-		if (latitude != latitude) return -1;				// prevent nan error
+        if (latitude < -90 || latitude > 90) return -4;		// range checking
-		if (longitude != longitude) return -2;				// prevent nan error
+        if (longitude < -180 || longitude > 180) return -5;	// range checking
-		if (altitude != altitude) return -3;				// prevent nan error
 
-		if (latitude < -90 || latitude > 90) return -4;		// range checking
+        // *************
-		if (longitude < -180 || longitude > 180) return -5;	// range checking
 
-		// *************
+        QDateTime dt = QDateTime::currentDateTime().toUTC();
 
-		QDateTime dt = QDateTime::currentDateTime().toUTC();
+        //Fetch world magnetic model
+        Q_ASSERT(WorldMagModel().GetMagVector(LLA, dt.date().month(), dt.date().day(), dt.date().year(), Be) >= 0);
 
-		CoordinateConversions().LLA2ECEF(LLA, ECEF);
+        return 0;	// OK
-		CoordinateConversions().RneFromLLA(LLA, (double (*)[3])RNE);
-		if (WorldMagModel().GetMagVector(LLA, dt.date().month(), dt.date().day(), dt.date().year(), Be) < 0)
-			return -6;
-
-		return 0;	// OK
     }
 
 }

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

@@ -40,7 +40,7 @@ namespace Utils {
         public:
 			HomeLocationUtil();
 
-			int getDetails(double LLA[3], double ECEF[3], double RNE[9], double Be[3]);
+            int getDetails(double LLA[3], double Be[3]);
 
         private:
 

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

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

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

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

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

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

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

@@ -46,7 +46,6 @@
 
 #include "uavtalk/telemetrymanager.h"
 #include "uavobject.h"
-#include "uavobjectmanager.h"
 
 #include "positionactual.h"
 #include "homelocation.h"
@@ -590,6 +589,7 @@ void OPMapGadgetWidget::updatePosition()
     VelocityActual *velocityActualObj = VelocityActual::GetInstance(obm);
     Gyros *gyrosObj = Gyros::GetInstance(obm);
 
+    Q_ASSERT(attitudeActualObj);
     Q_ASSERT(positionActualObj);
     Q_ASSERT(velocityActualObj);
     Q_ASSERT(gyrosObj);
@@ -919,7 +919,7 @@ void OPMapGadgetWidget::setHome(QPointF pos)
 /**
   Sets the home position on the map widget
   */
-void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon,double altitude)
+void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon, double altitude)
 {
 	if (!m_widget || !m_map)
 		return;
@@ -941,13 +941,13 @@ void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon,double altitu
     if (longitude >  180) longitude =  180;
     else
     if (longitude < -180) longitude = -180;
-    else if(altitude != altitude) altitude=0;
 
     // *********
 
-	m_home_position.coord = internals::PointLatLng(latitude, longitude);
+    m_home_position.coord = internals::PointLatLng(latitude, longitude);
+    m_home_position.altitude = altitude;
 
-	m_map->Home->SetCoord(m_home_position.coord);
+    m_map->Home->SetCoord(m_home_position.coord);
     m_map->Home->SetAltitude(altitude);
     m_map->Home->RefreshPos();
 
@@ -1659,7 +1659,15 @@ void OPMapGadgetWidget::onSetHomeAct_triggered()
 	if (!m_widget || !m_map)
 		return;
 
-    setHome(m_context_menu_lat_lon,0);
+    float altitude=0;
+    bool ok;
+
+    //Get desired HomeLocation altitude from dialog box.
+    //TODO: Populate box with altitude already in HomeLocation UAVO
+    altitude = QInputDialog::getDouble(this, tr("Set home altitude"),
+                                      tr("In [m], referenced to WGS84:"), altitude, -100, 100000, 2, &ok);
+
+    setHome(m_context_menu_lat_lon, altitude);
 
     setHomeLocationObject();  // update the HomeLocation UAVObject
 }

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

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

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

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

ground/openpilotgcs/src/plugins/plugins.pro

@@ -92,6 +92,7 @@ plugin_uploader.subdir = uploader
 plugin_uploader.depends = plugin_coreplugin
 plugin_uploader.depends += plugin_uavobjects
 plugin_uploader.depends += plugin_rawhid
+plugin_uploader.depends += plugin_uavobjectutil
 SUBDIRS += plugin_uploader
 
 #Dial gadget

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

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

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

@@ -35,7 +35,10 @@
 #include <QEventLoop>
 #include <QTimer>
 #include <objectpersistence.h>
-#include <firmwareiapobj.h>
+
+#include "firmwareiapobj.h"
+#include "homelocation.h"
+#include "gpsposition.h"
 
 // ******************************
 // constructor/destructor
@@ -48,6 +51,18 @@ UAVObjectUtilManager::UAVObjectUtilManager()
     failureTimer.setSingleShot(true);
     failureTimer.setInterval(1000);
     connect(&failureTimer, SIGNAL(timeout()),this,SLOT(objectPersistenceOperationFailed()));
+
+    pm = NULL;
+    obm = NULL;
+    obum = NULL;
+
+    pm = ExtensionSystem::PluginManager::instance();
+    if (pm)
+    {
+        obm = pm->getObject<UAVObjectManager>();
+        obum = pm->getObject<UAVObjectUtilManager>();
+    }
+
 }
 
 UAVObjectUtilManager::~UAVObjectUtilManager()
@@ -67,10 +82,8 @@ UAVObjectUtilManager::~UAVObjectUtilManager()
 
 
 UAVObjectManager* UAVObjectUtilManager::getObjectManager() {
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Q_ASSERT(obm);
-    UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
+    return obm;
-    Q_ASSERT(objMngr);
-    return objMngr;
 }
 
 
@@ -107,7 +120,7 @@ void UAVObjectUtilManager::saveNextObject()
 
     // Get next object from the queue
     UAVObject* obj = queue.head();
-    qDebug() << "Request board to save object " << obj->getName();
+    qDebug() << "Send save object request to board " << obj->getName();
 
     ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( getObjectManager()->getObject(ObjectPersistence::NAME) );
     connect(objper, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(objectPersistenceTransactionCompleted(UAVObject*,bool)));
@@ -233,16 +246,7 @@ FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
 {
     FirmwareIAPObj::DataFields dummy;
 
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(obm);
-    Q_ASSERT(pm);
-    if (!pm)
-        return dummy;
-    UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-    Q_ASSERT(om);
-    if (!om)
-        return dummy;
-
-    FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(om);
     Q_ASSERT(firmwareIap);
     if (!firmwareIap)
         return dummy;
@@ -257,7 +261,12 @@ FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
 int UAVObjectUtilManager::getBoardModel()
 {
     FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
-    return (firmwareIapData.BoardType << 8) + firmwareIapData.BoardRevision;
+    qDebug()<<"Board type="<<firmwareIapData.BoardType;
+    qDebug()<<"Board revision="<<firmwareIapData.BoardRevision;
+    int ret=firmwareIapData.BoardType <<8;
+    ret = ret + firmwareIapData.BoardRevision;
+    qDebug()<<"Board info="<<ret;
+    return ret;
 }
 
 /**
@@ -301,121 +310,47 @@ QByteArray UAVObjectUtilManager::getBoardDescription()
 
 int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
 {
-	double ECEF[3];
+    double Be[3];
-	double RNE[9];
-	double Be[3];
-	UAVObjectField *field;
 
-	QMutexLocker locker(mutex);
+    Q_ASSERT (Utils::HomeLocationUtil().getDetails(LLA, Be) >= 0);
 
-	if (Utils::HomeLocationUtil().getDetails(LLA, ECEF, RNE, Be) < 0)
+    // ******************
-		return -1;	// error
+    // save the new settings
 
-	// ******************
+    HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
-	// save the new settings
+    Q_ASSERT(homeLocation != NULL);
 
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    HomeLocation::DataFields homeLocationData = homeLocation->getData();
-	if (!pm) return -2;
+    homeLocationData.Latitude = LLA[0] * 1e7;
+    homeLocationData.Longitude = LLA[1] * 1e7;
+    homeLocationData.Altitude = LLA[2];
 
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
+    homeLocationData.Be[0] = Be[0];
-	if (!om) return -3;
+    homeLocationData.Be[1] = Be[1];
+    homeLocationData.Be[2] = Be[2];
 
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
+    homeLocationData.Set = HomeLocation::SET_TRUE;
-	if (!obj) return -4;
 
-	UAVObjectField *ECEF_field = obj->getField(QString("ECEF"));
+    homeLocation->setData(homeLocationData);
-	if (!ECEF_field) return -5;
 
-	UAVObjectField *RNE_field = obj->getField(QString("RNE"));
+    if (save_to_sdcard)
-	if (!RNE_field) return -6;
+        saveObjectToSD(homeLocation);
 
-	UAVObjectField *Be_field = obj->getField(QString("Be"));
+    return 0;
-	if (!Be_field) return -7;
-
-	field = obj->getField("Latitude");
-	if (!field) return -8;
-	field->setDouble(LLA[0] * 10e6);
-
-	field = obj->getField("Longitude");
-	if (!field) return -9;
-	field->setDouble(LLA[1] * 10e6);
-
-	field = obj->getField("Altitude");
-	if (!field) return -10;
-	field->setDouble(LLA[2]);
-
-	for (int i = 0; i < 3; i++)
-		ECEF_field->setDouble(ECEF[i] * 100, i);
-
-	for (int i = 0; i < 9; i++)
-		RNE_field->setDouble(RNE[i], i);
-
-	for (int i = 0; i < 3; i++)
-		Be_field->setDouble(Be[i], i);
-
-	field = obj->getField("Set");
-	if (!field) return -11;
-	field->setValue("TRUE");
-
-	obj->updated();
-
-	// ******************
-	// save the new setting to SD card
-
-	if (save_to_sdcard)
-		saveObjectToSD(obj);
-
-	// ******************
-	// debug
-/*
-	qDebug() << "setting HomeLocation UAV Object .. " << endl;
-	QString s;
-	s = "        LAT:" + QString::number(LLA[0], 'f', 7) + " LON:" + QString::number(LLA[1], 'f', 7) + " ALT:" + QString::number(LLA[2], 'f', 1);
-	qDebug() << s << endl;
-	s = "        ECEF "; for (int i = 0; i < 3; i++) s += " " + QString::number((int)(ECEF[i] * 100));
-	qDebug() << s << endl;
-	s = "        RNE  ";  for (int i = 0; i < 9; i++) s += " " + QString::number(RNE[i], 'f', 7);
-	qDebug() << s << endl;
-	s = "        Be   ";  for (int i = 0; i < 3; i++) s += " " + QString::number(Be[i], 'f', 2);
-	qDebug() << s << endl;
-*/
-	// ******************
-
-	return 0;	// OK
 }
 
 int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
 {
-	UAVObjectField *field;
+    HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
+    Q_ASSERT(homeLocation != NULL);
 
-	QMutexLocker locker(mutex);
+    HomeLocation::DataFields homeLocationData = homeLocation->getData();
 
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    set = homeLocationData.Set;
-	if (!pm) return -1;
 
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
+    LLA[0] = homeLocationData.Latitude*1e-7;
-	if (!om) return -2;
+    LLA[1] = homeLocationData.Longitude*1e-7;
-
+    LLA[2] = homeLocationData.Altitude;
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
-	if (!obj) return -3;
-
-//	obj->requestUpdate();
-
-	field = obj->getField("Set");
-	if (!field) return -4;
-	set = field->getValue().toBool();
-
-	field = obj->getField("Latitude");
-	if (!field) return -5;
-	LLA[0] = field->getDouble() * 1e-7;
-
-	field = obj->getField("Longitude");
-	if (!field) return -6;
-	LLA[1] = field->getDouble() * 1e-7;
-
-	field = obj->getField("Altitude");
-	if (!field) return -7;
-	LLA[2] = field->getDouble();
 
 	if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
 	else
@@ -434,88 +369,20 @@ int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
 	return 0;	// OK
 }
 
-int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3])
-{
-	UAVObjectField *field;
-
-	QMutexLocker locker(mutex);
-
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -1;
-
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -2;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
-	if (!obj) return -3;
-
-//	obj->requestUpdate();
-
-	field = obj->getField("Set");
-	if (!field) return -4;
-	set = field->getValue().toBool();
-
-	field = obj->getField("Latitude");
-	if (!field) return -5;
-	LLA[0] = field->getDouble() * 1e-7;
-
-	field = obj->getField("Longitude");
-	if (!field) return -6;
-	LLA[1] = field->getDouble() * 1e-7;
-
-	field = obj->getField("Altitude");
-	if (!field) return -7;
-	LLA[2] = field->getDouble();
-
-	field = obj->getField(QString("ECEF"));
-	if (!field) return -8;
-	for (int i = 0; i < 3; i++)
-		ECEF[i] = field->getDouble(i);
-
-	field = obj->getField(QString("RNE"));
-	if (!field) return -9;
-	for (int i = 0; i < 9; i++)
-		RNE[i] = field->getDouble(i);
-
-	field = obj->getField(QString("Be"));
-	if (!field) return -10;
-	for (int i = 0; i < 3; i++)
-		Be[i] = field->getDouble(i);
-
-	return 0;	// OK
-}
 
 // ******************************
 // GPS
 
 int UAVObjectUtilManager::getGPSPosition(double LLA[3])
 {
-	UAVObjectField *field;
+    GPSPosition *gpsPosition = GPSPosition::GetInstance(obm);
+    Q_ASSERT(gpsPosition != NULL);
 
-	QMutexLocker locker(mutex);
+    GPSPosition::DataFields gpsPositionData = gpsPosition->getData();
 
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    LLA[0] = gpsPositionData.Latitude;
-	if (!pm) return -1;
+    LLA[1] = gpsPositionData.Longitude;
-
+    LLA[2] = gpsPositionData.Altitude;
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -2;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("GPSPosition")));
-	if (!obj) return -3;
-
-//	obj->requestUpdate();
-
-	field = obj->getField(QString("Latitude"));
-	if (!field) return -4;
-	LLA[0] = field->getDouble() * 1e-7;
-
-	field = obj->getField(QString("Longitude"));
-	if (!field) return -5;
-	LLA[1] = field->getDouble() * 1e-7;
-
-	field = obj->getField(QString("Altitude"));
-	if (!field) return -6;
-	LLA[2] = field->getDouble();
 
 	if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
 	else
@@ -534,102 +401,14 @@ int UAVObjectUtilManager::getGPSPosition(double LLA[3])
 	return 0;	// OK
 }
 
-// ******************************
-// telemetry port
-
-int UAVObjectUtilManager::setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard)
-{
-	UAVObjectField *field;
-
-	QMutexLocker locker(mutex);
-
-	// ******************
-	// save the new settings
-
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -1;
-
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -2;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("/*TelemetrySettings*/")));
-	if (!obj) return -3;
-
-	field = obj->getField(QString("Speed"));
-	if (!field) return -4;
-	field->setValue(speed);
-
-	obj->updated();
-
-	// ******************
-	// save the new setting to SD card
-
-	if (save_to_sdcard)
-		saveObjectToSD(obj);
-
-	// ******************
-
-	return 0;	// OK
-}
-
-int UAVObjectUtilManager::getTelemetrySerialPortSpeed(QString &speed)
-{
-	UAVObjectField *field;
-
-	QMutexLocker locker(mutex);
-
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -1;
-
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -2;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
-	if (!obj) return -3;
-
-//	obj->requestUpdate();
-
-	field = obj->getField(QString("Speed"));
-	if (!field) return -4;
-	speed = field->getValue().toString();
-
-	return 0;	// OK
-}
-
-int UAVObjectUtilManager::getTelemetrySerialPortSpeeds(QComboBox *comboBox)
-{
-	UAVObjectField *field;
-
-	QMutexLocker locker(mutex);
-
-	if (!comboBox) return -1;
-
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -2;
-
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -3;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
-	if (!obj) return -4;
-
-//	obj->requestUpdate();
-
-	field = obj->getField(QString("Speed"));
-	if (!field) return -5;
-	comboBox->addItems(field->getOptions());
-
-	return 0;	// OK
-}
-
 deviceDescriptorStruct UAVObjectUtilManager::getBoardDescriptionStruct()
 {
     deviceDescriptorStruct ret;
-    descriptionToStructure(getBoardDescription(),&ret);
+    descriptionToStructure(getBoardDescription(),ret);
     return ret;
 }
 
-bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescriptorStruct *struc)
+bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescriptorStruct & struc)
 {
    if (desc.startsWith("OpFw")) {
        /*
@@ -639,9 +418,9 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
         *  4 bytes: Unix timestamp of last git commit
         *  2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
         *  26 bytes: commit tag if it is there, otherwise "Unreleased". Zero-padded
-        *   ---- 40 bytes limit ---
         *  20 bytes: SHA1 sum of the firmware.
-        *  40 bytes: free for now.
+        *  20 bytes: SHA1 sum of the UAVO definition files.
+        *  20 bytes: free for now.
         */
 
        // Note: the ARM binary is big-endian:
@@ -650,23 +429,26 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
            gitCommitHash = gitCommitHash << 8;
            gitCommitHash += desc.at(7-i) & 0xFF;
        }
-       struc->gitHash = QString::number(gitCommitHash, 16);
+       struc.gitHash = QString("%1").arg(gitCommitHash, 8, 16, QChar('0'));
 
        quint32 gitDate = desc.at(11) & 0xFF;
        for (int i = 1; i < 4; i++) {
            gitDate = gitDate << 8;
            gitDate += desc.at(11-i) & 0xFF;
        }
-       struc->gitDate = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyyMMdd HH:mm");
+       struc.gitDate = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyyMMdd HH:mm");
 
        QString gitTag = QString(desc.mid(14,26));
-       struc->gitTag = gitTag;
+       struc.gitTag = gitTag;
 
        // TODO: check platform compatibility
        QByteArray targetPlatform = desc.mid(12,2);
-       struc->boardType = (int)targetPlatform.at(0);
+       struc.boardType = (int)targetPlatform.at(0);
-       struc->boardRevision = (int)targetPlatform.at(1);
+       struc.boardRevision = (int)targetPlatform.at(1);
-
+       struc.fwHash.clear();
+       struc.fwHash=desc.mid(40,20);
+       struc.uavoHash.clear();
+       struc.uavoHash=desc.mid(60,20);
        return true;
    }
    return false;

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

@@ -55,20 +55,15 @@ public:
 
 	int setHomeLocation(double LLA[3], bool save_to_sdcard);
 	int getHomeLocation(bool &set, double LLA[3]);
-	int getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3]);
 
 	int getGPSPosition(double LLA[3]);
 
-	int setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard);
-	int getTelemetrySerialPortSpeed(QString &speed);
-	int getTelemetrySerialPortSpeeds(QComboBox *comboBox);
-
         int getBoardModel();
         QByteArray getBoardCPUSerial();
         quint32 getFirmwareCRC();
         QByteArray getBoardDescription();
         deviceDescriptorStruct getBoardDescriptionStruct();
-        static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct * struc);
+        static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct & struc);
         UAVObjectManager* getObjectManager();
         void saveObjectToSD(UAVObject *obj);
 protected:
@@ -78,11 +73,15 @@ signals:
         void saveCompleted(int objectID, bool status);
 
 private:
-	QMutex *mutex;
+    QMutex *mutex;
-	QQueue<UAVObject *> queue;
+    QQueue<UAVObject *> queue;
-        enum {IDLE, AWAITING_ACK, AWAITING_COMPLETED} saveState;
+    enum {IDLE, AWAITING_ACK, AWAITING_COMPLETED} saveState;
-	void saveNextObject();
+    void saveNextObject();
-        QTimer failureTimer;
+    QTimer failureTimer;
+
+    ExtensionSystem::PluginManager *pm;
+    UAVObjectManager *obm;
+    UAVObjectUtilManager *obum;
 
 private slots:
         //void transactionCompleted(UAVObject *obj, bool success);

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

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

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

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

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

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

ground/uavobjgenerator/main.cpp

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

ground/uavobjgenerator/uavobjectparser.cpp

@@ -213,6 +213,9 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
         qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
 
         // Make sure that required elements were found
+        if ( !fieldFound )
+            return QString("Object::field element is missing");
+
         if ( !accessFound )
             return QString("Object::access element is missing");
 
@@ -381,11 +384,38 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
     // Get name attribute
     QDomNamedNodeMap elemAttributes = childNode.attributes();
     QDomNode elemAttr = elemAttributes.namedItem("name");
-    if ( elemAttr.isNull() )
+    if (elemAttr.isNull()) {
         return QString("Object:field:name attribute is missing");
+    }
+    QString name = elemAttr.nodeValue();
 
-    field->name = elemAttr.nodeValue();
+    // Check to see is this field is a clone of another
-
+    // field that has already been declared
+    elemAttr = elemAttributes.namedItem("cloneof");
+    if (!elemAttr.isNull()) {
+        QString parentName = elemAttr.nodeValue(); 
+        if (!parentName.isEmpty()) {
+	    foreach(FieldInfo * parent, info->fields) {
+                if (parent->name == parentName) {
+                    // clone from this parent
+                    *field = *parent;   // safe shallow copy, no ptrs in struct
+                    field->name = name; // set our name
+                    // Add field to object
+                    info->fields.append(field);
+                    // Done
+                    return QString();
+                }
+            }
+            return QString("Object:field::cloneof parent unknown");
+        }
+        else {
+            return QString("Object:field:cloneof attribute is empty");
+        }
+    }
+    else {
+        // this field is not a clone, so remember its name
+        field->name = name;
+    }
 
     // Get units attribute
     elemAttr = elemAttributes.namedItem("units");
@@ -410,6 +440,8 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
     }
 
     // Get numelements or elementnames attribute
+    field->numElements = 0;
+    // Look for element names as an attribute first
     elemAttr = elemAttributes.namedItem("elementnames");
     if ( !elemAttr.isNull() ) {
         // Get element names
@@ -422,9 +454,26 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
         field->defaultElementNames = false;
     }
     else {
+        // Look for a list of child elementname nodes
+        QDomNode listNode = childNode.firstChildElement("elementnames");
+        if (!listNode.isNull()) {
+            for (QDomElement node = listNode.firstChildElement("elementname");
+                 !node.isNull(); node = node.nextSiblingElement("elementname")) {
+		QDomNode name = node.firstChild();
+                if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
+                    field->elementNames.append(name.nodeValue());
+                }
+            }
+	    field->numElements = field->elementNames.length();
+            field->defaultElementNames = false;
+        }
+    }
+    // If no element names were found, then fall back to looking
+    // for the number of elements in the 'elements' attribute
+    if (field->numElements == 0) {
         elemAttr = elemAttributes.namedItem("elements");
         if ( elemAttr.isNull() ) {
-            return QString("Object:field:elements and Object:field:elementnames attribute is missing");
+            return QString("Object:field:elements and Object:field:elementnames attribute/element is missing");
         }
         else {
             field->numElements = elemAttr.nodeValue().toInt();
@@ -434,19 +483,34 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
             field->defaultElementNames = true;
         }
     }
-    // Get options attribute (only if an enum type)
+    // Get options attribute or child elements (only if an enum type)
     if (field->type == FIELDTYPE_ENUM) {
 
-        // Get options attribute
+        // Look for options attribute
         elemAttr = elemAttributes.namedItem("options");
-        if ( elemAttr.isNull() )
+        if (!elemAttr.isNull()) {
-            return QString("Object:field:options attribute is missing");
+            QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
-
+            for (int n = 0; n < options.length(); ++n) {
-        QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
+                options[n] = options[n].trimmed();
-        for (int n = 0; n < options.length(); ++n)
+            }
-            options[n] = options[n].trimmed();
+            field->options = options;
-
+        }
-        field->options = options;
+	else {
+	    // Look for a list of child 'option' nodes
+	    QDomNode listNode = childNode.firstChildElement("options");
+	    if (!listNode.isNull()) {
+	        for (QDomElement node = listNode.firstChildElement("option");
+	             !node.isNull(); node = node.nextSiblingElement("option")) {
+		    QDomNode name = node.firstChild();
+                    if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
+	                field->options.append(name.nodeValue());
+	            }
+	        }
+	    }
+        }
+        if (field->options.length() == 0) {
+            return QString("Object:field:options attribute/element is missing");
+        }
     }
 
     // Get the default value attribute (required for settings objects, optional for the rest)
@@ -466,12 +530,14 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
 				return QString("Object:field:incorrect number of default values");
 
 			/*support legacy single default for multiple elements
-			We sould really issue a warning*/
+			We should really issue a warning*/
 			for(int ct=1; ct< field->numElements; ct++)
 				defaults.append(defaults[0]);
 		}
 		field->defaultValues = defaults;
     }
+
+    // Limits attribute
     elemAttr = elemAttributes.namedItem("limits");
     if ( elemAttr.isNull() ) {
         field->limitValues=QString();

make/firmware-defs.mk

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

make/scripts/version-info.py

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

make/templates/firmwareinfotemplate.c

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

make/templates/gcsversioninfotemplate.h

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

shared/uavobjectdefinition/firmwareiapobj.xml

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

shared/uavobjectdefinition/mixersettings.xml

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

shared/uavobjectdefinition/taskinfo.xml

@@ -1,9 +1,79 @@
 <xml>
     <object name="TaskInfo" singleinstance="true" settings="false">
         <description>Task information</description>
-        <field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
+        <field name="StackRemaining" units="bytes" type="uint16">
-	<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
+		<elementnames>
-	<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
+			<elementname>System</elementname>
+			<elementname>Actuator</elementname>
+			<elementname>Attitude</elementname>
+			<elementname>Sensors</elementname>
+			<elementname>TelemetryTx</elementname>
+			<elementname>TelemetryTxPri</elementname>
+			<elementname>TelemetryRx</elementname>
+			<elementname>GPS</elementname>
+			<elementname>ManualControl</elementname>
+			<elementname>Altitude</elementname>
+			<elementname>Stabilization</elementname>
+			<elementname>AltitudeHold</elementname>
+			<elementname>Guidance</elementname>
+			<elementname>FlightPlan</elementname>
+			<elementname>Com2UsbBridge</elementname>
+			<elementname>Usb2ComBridge</elementname>
+			<elementname>OveroSync</elementname>
+			<elementname>Autotune</elementname>
+			<elementname>EventDispatcher</elementname>
+		</elementnames>
+	</field> 
+	<field name="Running" units="bool" type="enum">
+		<elementnames>
+			<elementname>System</elementname>
+			<elementname>Actuator</elementname>
+			<elementname>Attitude</elementname>
+			<elementname>Sensors</elementname>
+			<elementname>TelemetryTx</elementname>
+			<elementname>TelemetryTxPri</elementname>
+			<elementname>TelemetryRx</elementname>
+			<elementname>GPS</elementname>
+			<elementname>ManualControl</elementname>
+			<elementname>Altitude</elementname>
+			<elementname>Stabilization</elementname>
+			<elementname>AltitudeHold</elementname>
+			<elementname>Guidance</elementname>
+			<elementname>FlightPlan</elementname>
+			<elementname>Com2UsbBridge</elementname>
+			<elementname>Usb2ComBridge</elementname>
+			<elementname>OveroSync</elementname>
+			<elementname>Autotune</elementname>
+			<elementname>EventDispatcher</elementname>
+		</elementnames>
+		<options>
+			<option>False</option>
+			<option>True</option>
+		</options>
+	</field>
+	<field name="RunningTime" units="%" type="uint8">
+		<elementnames>
+			<elementname>System</elementname>
+			<elementname>Actuator</elementname>
+			<elementname>Attitude</elementname>
+			<elementname>Sensors</elementname>
+			<elementname>TelemetryTx</elementname>
+			<elementname>TelemetryTxPri</elementname>
+			<elementname>TelemetryRx</elementname>
+			<elementname>GPS</elementname>
+			<elementname>ManualControl</elementname>
+			<elementname>Altitude</elementname>
+			<elementname>Stabilization</elementname>
+			<elementname>AltitudeHold</elementname>
+			<elementname>Guidance</elementname>
+			<elementname>FlightPlan</elementname>
+			<elementname>Com2UsbBridge</elementname>
+			<elementname>Usb2ComBridge</elementname>
+			<elementname>OveroSync</elementname>
+			<elementname>Autotune</elementname>
+			<elementname>EventDispatcher</elementname>
+		</elementnames>
+	</field> 
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="periodic" period="10000"/>