merged chages 995:1015 into posix branch

(See? That's why I hate branching - thank the gods that subversion has the "merge" command)


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1016 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot.posix/Makefile

@@ -57,7 +57,7 @@ FLASH_TOOL = OPENOCD
 USE_THUMB_MODE = YES
 
 # List of modules to include
-MODULES =  Telemetry GPS ManualControl Actuator Altitude Attitude Stabilization
+MODULES =  Telemetry GPS ManualControl Actuator Altitude AHRSComms Stabilization
 #MODULES = Telemetry Example
 #MODULES = Telemetry MK/MKSerial
 
@@ -159,10 +159,12 @@ SRC += $(OPUAVOBJ)/manualcontrolcommand.c
 SRC += $(OPUAVOBJ)/manualcontrolsettings.c
 SRC += $(OPUAVOBJ)/attitudedesired.c
 SRC += $(OPUAVOBJ)/stabilizationsettings.c
+SRC += $(OPUAVOBJ)/ahrsstatus.c
 SRC += $(OPUAVOBJ)/altitudeactual.c
 SRC += $(OPUAVOBJ)/attitudeactual.c
 SRC += $(OPUAVOBJ)/attitudesettings.c
 SRC += $(OPUAVOBJ)/flightbatterystate.c
+SRC += $(OPUAVOBJ)/headingactual.c
 endif
 
 ## PIOS Hardware (STM32F10x)
@@ -189,6 +191,7 @@ SRC += $(PIOSCOMMON)/pios_sdcard.c
 SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_bmp085.c
 SRC += $(PIOSCOMMON)/pios_opahrs.c
+SRC += $(PIOSCOMMON)/pios_opahrs_proto.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 
 ## CMSIS for STM32
@@ -275,21 +278,6 @@ EXTRAINCDIRS  += $(OPUAVTALK)
 EXTRAINCDIRS  += $(OPUAVTALKINC)
 EXTRAINCDIRS  += $(OPUAVOBJ)
 EXTRAINCDIRS  += $(OPUAVOBJINC)
-EXTRAINCDIRS  += $(MODEXAMPLE)
-EXTRAINCDIRS  += $(MODEXAMPLEINC)
-EXTRAINCDIRS  += $(MODSYSTEMINC)
-EXTRAINCDIRS  += $(MODTELEMETRY)
-EXTRAINCDIRS  += $(MODTELEMETRYINC)
-EXTRAINCDIRS  += $(MODGPS)
-EXTRAINCDIRS  += $(MODGPSINC)
-EXTRAINCDIRS  += $(MODMANUALCONTROL)
-EXTRAINCDIRS  += $(MODMANUALCONTROLINC)
-EXTRAINCDIRS  += $(MODACTUATOR)
-EXTRAINCDIRS  += $(MODACTUATORINC)
-EXTRAINCDIRS  += $(MODALTITUDE)
-EXTRAINCDIRS  += $(MODALTITUDEINC)
-EXTRAINCDIRS  += $(MODATTITUDE)
-EXTRAINCDIRS  += $(MODATTITUDEINC)
 EXTRAINCDIRS  += $(PIOS)
 EXTRAINCDIRS  += $(PIOSINC)
 EXTRAINCDIRS  += $(PIOSSTM32F10X)

flight/OpenPilot.posix/Makefile.posix

@@ -145,10 +145,12 @@ SRC += $(OPUAVOBJ)/manualcontrolcommand.c
 SRC += $(OPUAVOBJ)/manualcontrolsettings.c
 SRC += $(OPUAVOBJ)/attitudedesired.c
 SRC += $(OPUAVOBJ)/stabilizationsettings.c
+SRC += $(OPUAVOBJ)/ahrsstatus.c
 SRC += $(OPUAVOBJ)/altitudeactual.c
 SRC += $(OPUAVOBJ)/attitudeactual.c
 SRC += $(OPUAVOBJ)/attitudesettings.c
 SRC += $(OPUAVOBJ)/flightbatterystate.c
+SRC += $(OPUAVOBJ)/headingactual.c
 endif
 
 ## PIOS Hardware (posix)
@@ -193,21 +195,6 @@ EXTRAINCDIRS  += $(OPUAVTALK)
 EXTRAINCDIRS  += $(OPUAVTALKINC)
 EXTRAINCDIRS  += $(OPUAVOBJ)
 EXTRAINCDIRS  += $(OPUAVOBJINC)
-EXTRAINCDIRS  += $(MODEXAMPLE)
-EXTRAINCDIRS  += $(MODEXAMPLEINC)
-EXTRAINCDIRS  += $(MODSYSTEMINC)
-EXTRAINCDIRS  += $(MODTELEMETRY)
-EXTRAINCDIRS  += $(MODTELEMETRYINC)
-EXTRAINCDIRS  += $(MODGPS)
-EXTRAINCDIRS  += $(MODGPSINC)
-EXTRAINCDIRS  += $(MODMANUALCONTROL)
-EXTRAINCDIRS  += $(MODMANUALCONTROLINC)
-EXTRAINCDIRS  += $(MODACTUATOR)
-EXTRAINCDIRS  += $(MODACTUATORINC)
-EXTRAINCDIRS  += $(MODALTITUDE)
-EXTRAINCDIRS  += $(MODALTITUDEINC)
-EXTRAINCDIRS  += $(MODATTITUDE)
-EXTRAINCDIRS  += $(MODATTITUDEINC)
 EXTRAINCDIRS  += $(PIOS)
 EXTRAINCDIRS  += $(PIOSINC)
 EXTRAINCDIRS  += $(PIOSPOSIX)

flight/OpenPilot.posix/Modules/AHRSComms/ahrs_comms.c

@@ -0,0 +1,182 @@
+/**
+ ******************************************************************************
+ *
+ * @file       ahrs_comms.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Module to handle all comms to the AHRS on a periodic basis.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/**
+ * Input object: AttitudeSettings
+ * Output object: AttitudeActual
+ *
+ * This module will periodically update the value of latest attitude solution
+ * that is available from the AHRS.
+ * The module settings can configure how often AHRS is polled for a new solution.
+ *
+ * The module executes in its own thread.
+ *
+ * UAVObjects are automatically generated by the UAVObjectGenerator from
+ * the object definition XML file.
+ *
+ * Modules have no API, all communication to other modules is done through UAVObjects.
+ * However modules may use the API exposed by shared libraries.
+ * See the OpenPilot wiki for more details.
+ * http://www.openpilot.org/OpenPilot_Application_Architecture
+ *
+ */
+
+#include "ahrs_comms.h"
+#include "attitudeactual.h"
+#include "attitudesettings.h"
+#include "headingactual.h"
+#include "ahrsstatus.h"
+#include "alarms.h"
+
+#include "pios_opahrs.h" // library for OpenPilot AHRS access functions
+#include "pios_opahrs_proto.h"
+
+// Private constants
+#define STACK_SIZE 400
+#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
+
+// Private types
+
+// Private variables
+static xTaskHandle taskHandle;
+
+// Private functions
+static void ahrscommsTask(void* parameters);
+static void update_attitude_actual(struct opahrs_msg_v1_rsp_attitude * attitude);
+static void update_heading_actual(struct opahrs_msg_v1_rsp_heading * heading);
+static void update_ahrs_status(struct opahrs_msg_v1_rsp_serial * serial);
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t AHRSCommsInitialize(void)
+{
+  PIOS_OPAHRS_Init();
+
+  // Start main task
+  xTaskCreate(ahrscommsTask, (signed char*)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+
+  return 0;
+}
+
+/**
+ * Module thread, should not return.
+ */
+static void ahrscommsTask(void* parameters)
+{
+  // Main task loop
+  while (1) {
+    struct opahrs_msg_v1 rsp;
+
+    AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_CRITICAL);
+
+    /* Spin here until we're in sync */
+    while (PIOS_OPAHRS_resync() != OPAHRS_RESULT_OK) {
+      vTaskDelay(100 / portTICK_RATE_MS);
+    }
+      
+    /* Give the other side a chance to keep up */
+    //vTaskDelay(100 / portTICK_RATE_MS);
+
+    if (PIOS_OPAHRS_GetSerial(&rsp) == OPAHRS_RESULT_OK) {
+      update_ahrs_status(&(rsp.payload.user.v.rsp.serial));
+    } else {
+      /* Comms error */
+      continue;
+    }
+
+    AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS);
+
+    /* We're in sync with the AHRS, spin here until an error occurs */
+    while (1) {
+      AttitudeSettingsData settings;
+
+      /* Update settings with latest value */
+      AttitudeSettingsGet(&settings);
+  
+      if (PIOS_OPAHRS_GetAttitude(&rsp) == OPAHRS_RESULT_OK) {
+	update_attitude_actual(&(rsp.payload.user.v.rsp.attitude));
+      } else {
+	/* Comms error */
+	break;
+      }
+
+      if (PIOS_OPAHRS_GetHeading(&rsp) == OPAHRS_RESULT_OK) {
+	update_heading_actual(&(rsp.payload.user.v.rsp.heading));
+      } else {
+	/* Comms error */
+	break;
+      }
+    
+      /* Wait for the next update interval */
+      vTaskDelay( settings.UpdatePeriod / portTICK_RATE_MS );
+    }
+  }
+}
+
+static void update_attitude_actual(struct opahrs_msg_v1_rsp_attitude * attitude)
+{
+  AttitudeActualData   data;
+
+  data.q1 = attitude->quaternion.q1;
+  data.q2 = attitude->quaternion.q2;
+  data.q3 = attitude->quaternion.q3;
+  data.q4 = attitude->quaternion.q4;
+  
+  data.Roll  = attitude->euler.roll;
+  data.Pitch = attitude->euler.pitch;
+  data.Yaw   = attitude->euler.yaw;
+  
+  AttitudeActualSet(&data);
+}
+
+static void update_heading_actual(struct opahrs_msg_v1_rsp_heading * heading)
+{
+  HeadingActualData    data;
+
+  data.raw[HEADINGACTUAL_RAW_X] = heading->raw_mag.x;
+  data.raw[HEADINGACTUAL_RAW_Y] = heading->raw_mag.y;
+  data.raw[HEADINGACTUAL_RAW_Z] = heading->raw_mag.z;
+  
+  data.heading                  = heading->heading;
+  
+  HeadingActualSet(&data);
+}
+
+static void update_ahrs_status(struct opahrs_msg_v1_rsp_serial * serial)
+{
+  AhrsStatusData       data;
+
+  // Get the current object data
+  AhrsStatusGet(&data);
+
+  for (uint8_t i = 0; i < sizeof(serial->serial_bcd); i++) {
+    data.SerialNumber[i] = serial->serial_bcd[i];
+  }
+
+  AhrsStatusSet(&data);
+}

flight/OpenPilot.posix/Modules/AHRSComms/inc/ahrs_comms.h

@@ -1,9 +1,9 @@
 /**
  ******************************************************************************
  *
- * @file       attitude.h
+ * @file       ahrs_comms.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Module to read the attitude solution from the AHRS on a periodic basis.
+ * @brief      Module to handle all comms to the AHRS on a periodic basis.
  *
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -23,12 +23,12 @@
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#ifndef ATTITUDE_H
+#ifndef AHRS_COMMS_H
-#define ATTITUDE_H
+#define AHRS_COMMS_H
 
 #include "openpilot.h"
 
-int32_t AttitudeInitialize(void);
+int32_t AHRSCommsInitialize(void);
 
-#endif // ATTITUDE_H
+#endif // AHRS_COMMS_H
 

flight/OpenPilot.posix/Modules/Attitude/attitude.c

@@ -1,121 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       attitude.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Module to read the attitude solution from the AHRS on a periodic basis.
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-/**
- * Input object: AttitudeSettings
- * Output object: AttitudeActual
- *
- * This module will periodically update the value of latest attitude solution
- * that is available from the AHRS.
- * The module settings can configure how often AHRS is polled for a new solution.
- *
- * The module executes in its own thread.
- *
- * UAVObjects are automatically generated by the UAVObjectGenerator from
- * the object definition XML file.
- *
- * Modules have no API, all communication to other modules is done through UAVObjects.
- * However modules may use the API exposed by shared libraries.
- * See the OpenPilot wiki for more details.
- * http://www.openpilot.org/OpenPilot_Application_Architecture
- *
- */
-
-#include "attitude.h"
-#include "attitudeactual.h" // object that will be updated by the module
-#include "attitudesettings.h" // object holding module settings
-
-#include "pios_opahrs.h" // library for OpenPilot AHRS access functions
-
-// Private constants
-#define STACK_SIZE 200
-#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
-
-// Private types
-
-// Private variables
-static xTaskHandle taskHandle;
-
-// Private functions
-static void attitudeTask(void* parameters);
-
-/**
- * Initialise the module, called on startup
- * \returns 0 on success or -1 if initialisation failed
- */
-int32_t AttitudeInitialize(void)
-{
-	// Start main task
-	xTaskCreate(attitudeTask, (signed char*)"Attitude", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
-
-	return 0;
-}
-
-/**
- * Module thread, should not return.
- */
-static void attitudeTask(void* parameters)
-{
-	AttitudeSettingsData settings;
-	AttitudeActualData data;
-
-	// Main task loop
-	while (1)
-	{
-		// Update settings with latest value
-		AttitudeSettingsGet(&settings);
-
-		// Get the current object data
-		AttitudeActualGet(&data);
-
-		// Query the latest attitude solution from the AHRS
-		PIOS_OPAHRS_ReadAttitude();
-
-		// Update the data
-		data.seq++;
-		data.q1 += 0.111;
-		data.q2 += 1.1;
-		data.q3 += 7.0;
-		data.q4 -= 2.321;
-
-		data.Roll += 0.01;
-		data.Pitch -= 0.03;
-		data.Yaw += 0.05;
-
-		// Update the ExampleObject, after this function is called
-		// notifications to any other modules listening to that object
-		// will be sent and the GCS object will be updated through the
-		// telemetry link. All operations will take place asynchronously
-		// and the following call will return immediately.
-		AttitudeActualSet(&data);
-
-		// Since this module executes at fixed time intervals, we need to
-		// block the task until it is time for the next update.
-		// The settings field is in ms, to convert to RTOS ticks we need
-		// to divide by portTICK_RATE_MS.
-		vTaskDelay( settings.UpdatePeriod / portTICK_RATE_MS );
-	}
-}

flight/OpenPilot.posix/System/pios_board.c

@@ -76,10 +76,12 @@ void PIOS_Board_Init(void) {
 
 /* MicroSD Interface
  * 
- * NOTE: Leave this declared as const static data so that it ends up in the 
+ * NOTE: Leave this declared as const data so that it ends up in the 
  * .rodata section (ie. Flash) rather than in the .bss section (RAM).
  */
 void PIOS_SPI_sdcard_irq_handler(void);
+void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
+void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
 const struct pios_spi_cfg pios_spi_sdcard_cfg = {
   .regs   = SPI1,
   .init   = {
@@ -172,10 +174,12 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = {
 
 /* AHRS Interface
  * 
- * NOTE: Leave this declared as const static data so that it ends up in the 
+ * NOTE: Leave this declared as const data so that it ends up in the 
  * .rodata section (ie. Flash) rather than in the .bss section (RAM).
  */
 void PIOS_SPI_ahrs_irq_handler(void);
+void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
+void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
 const struct pios_spi_cfg pios_spi_ahrs_cfg = {
   .regs   = SPI2,
   .init   = {
@@ -189,6 +193,7 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = {
     .SPI_CPHA              = SPI_CPHA_2Edge,
     .SPI_BaudRatePrescaler = 7 << 3, /* Maximum divider (ie. slowest clock rate) */
   },
+  .use_crc = TRUE,
   .dma = {
     .ahb_clk  = RCC_AHBPeriph_DMA1,
     
@@ -253,7 +258,7 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = {
     .init = {
       .GPIO_Pin   = GPIO_Pin_14,
       .GPIO_Speed = GPIO_Speed_50MHz,
-      .GPIO_Mode  = GPIO_Mode_IPU,
+      .GPIO_Mode  = GPIO_Mode_IN_FLOATING,
     },
   },
   .mosi = {

flight/OpenPilot.posix/UAVObjects/ahrsstatus.c

@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ *
+ * @file       ahrsstatus.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the AhrsStatus object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: ahrsstatus.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "ahrsstatus.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t AhrsStatusInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(AHRSSTATUS_OBJID, AHRSSTATUS_NAME, AHRSSTATUS_METANAME, 0,
+			AHRSSTATUS_ISSINGLEINST, AHRSSTATUS_ISSETTINGS, AHRSSTATUS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	AhrsStatusData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(AhrsStatusData));
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 0;
+	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.telemetryUpdatePeriod = 1000;
+	metadata.gcsTelemetryAcked = 0;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.loggingUpdatePeriod = 1000;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle AhrsStatusHandle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot.posix/UAVObjects/headingactual.c

@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ *
+ * @file       headingactual.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the HeadingActual object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: headingactual.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "headingactual.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t HeadingActualInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(HEADINGACTUAL_OBJID, HEADINGACTUAL_NAME, HEADINGACTUAL_METANAME, 0,
+			HEADINGACTUAL_ISSINGLEINST, HEADINGACTUAL_ISSETTINGS, HEADINGACTUAL_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	HeadingActualData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(HeadingActualData));
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 0;
+	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.telemetryUpdatePeriod = 500;
+	metadata.gcsTelemetryAcked = 0;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle HeadingActualHandle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot.posix/UAVObjects/inc/ahrsstatus.h

@@ -0,0 +1,74 @@
+/**
+ ******************************************************************************
+ *
+ * @file       ahrsstatus.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the AhrsStatus object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: ahrsstatus.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef AHRSSTATUS_H
+#define AHRSSTATUS_H
+
+// Object constants
+#define AHRSSTATUS_OBJID 3344048156U
+#define AHRSSTATUS_NAME "AhrsStatus"
+#define AHRSSTATUS_METANAME "AhrsStatusMeta"
+#define AHRSSTATUS_ISSINGLEINST 1
+#define AHRSSTATUS_ISSETTINGS 0
+#define AHRSSTATUS_NUMBYTES sizeof(AhrsStatusData)
+
+// Object access macros
+#define AhrsStatusGet(dataOut) UAVObjGetData(AhrsStatusHandle(), dataOut)
+#define AhrsStatusSet(dataIn) UAVObjSetData(AhrsStatusHandle(), dataIn)
+#define AhrsStatusInstGet(instId, dataOut) UAVObjGetInstanceData(AhrsStatusHandle(), instId, dataOut)
+#define AhrsStatusInstSet(instId, dataIn) UAVObjSetInstanceData(AhrsStatusHandle(), instId, dataIn)
+#define AhrsStatusConnectQueue(queue) UAVObjConnectQueue(AhrsStatusHandle(), queue, EV_MASK_ALL_UPDATES)
+#define AhrsStatusConnectCallback(cb) UAVObjConnectCallback(AhrsStatusHandle(), cb, EV_MASK_ALL_UPDATES)
+#define AhrsStatusCreateInstance() UAVObjCreateInstance(AhrsStatusHandle())
+#define AhrsStatusRequestUpdate() UAVObjRequestUpdate(AhrsStatusHandle())
+#define AhrsStatusRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(AhrsStatusHandle(), instId)
+#define AhrsStatusUpdated() UAVObjUpdated(AhrsStatusHandle())
+#define AhrsStatusInstUpdated(instId) UAVObjUpdated(AhrsStatusHandle(), instId)
+#define AhrsStatusGetMetadata(dataOut) UAVObjGetMetadata(AhrsStatusHandle(), dataOut)
+#define AhrsStatusSetMetadata(dataIn) UAVObjSetMetadata(AhrsStatusHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint8_t SerialNumber[25];
+
+} __attribute__((packed)) AhrsStatusData;
+
+// Field information
+// Field SerialNumber information
+/* Number of elements for field SerialNumber */
+#define AHRSSTATUS_SERIALNUMBER_NUMELEM 25
+
+
+// Generic interface functions
+int32_t AhrsStatusInitialize();
+UAVObjHandle AhrsStatusHandle();
+
+#endif // AHRSSTATUS_H

flight/OpenPilot.posix/UAVObjects/inc/attitudeactual.h

@@ -33,7 +33,7 @@
 #define ATTITUDEACTUAL_H
 
 // Object constants
-#define ATTITUDEACTUAL_OBJID 1730350400U
+#define ATTITUDEACTUAL_OBJID 4233858292U
 #define ATTITUDEACTUAL_NAME "AttitudeActual"
 #define ATTITUDEACTUAL_METANAME "AttitudeActualMeta"
 #define ATTITUDEACTUAL_ISSINGLEINST 1
@@ -57,7 +57,6 @@
 
 // Object data
 typedef struct {
-    uint32_t seq;
     float q1;
     float q2;
     float q3;
@@ -69,7 +68,6 @@ typedef struct {
 } __attribute__((packed)) AttitudeActualData;
 
 // Field information
-// Field seq information
 // Field q1 information
 // Field q2 information
 // Field q3 information

flight/OpenPilot.posix/UAVObjects/inc/headingactual.h

@@ -0,0 +1,78 @@
+/**
+ ******************************************************************************
+ *
+ * @file       headingactual.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the HeadingActual object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: headingactual.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef HEADINGACTUAL_H
+#define HEADINGACTUAL_H
+
+// Object constants
+#define HEADINGACTUAL_OBJID 2921442332U
+#define HEADINGACTUAL_NAME "HeadingActual"
+#define HEADINGACTUAL_METANAME "HeadingActualMeta"
+#define HEADINGACTUAL_ISSINGLEINST 1
+#define HEADINGACTUAL_ISSETTINGS 0
+#define HEADINGACTUAL_NUMBYTES sizeof(HeadingActualData)
+
+// Object access macros
+#define HeadingActualGet(dataOut) UAVObjGetData(HeadingActualHandle(), dataOut)
+#define HeadingActualSet(dataIn) UAVObjSetData(HeadingActualHandle(), dataIn)
+#define HeadingActualInstGet(instId, dataOut) UAVObjGetInstanceData(HeadingActualHandle(), instId, dataOut)
+#define HeadingActualInstSet(instId, dataIn) UAVObjSetInstanceData(HeadingActualHandle(), instId, dataIn)
+#define HeadingActualConnectQueue(queue) UAVObjConnectQueue(HeadingActualHandle(), queue, EV_MASK_ALL_UPDATES)
+#define HeadingActualConnectCallback(cb) UAVObjConnectCallback(HeadingActualHandle(), cb, EV_MASK_ALL_UPDATES)
+#define HeadingActualCreateInstance() UAVObjCreateInstance(HeadingActualHandle())
+#define HeadingActualRequestUpdate() UAVObjRequestUpdate(HeadingActualHandle())
+#define HeadingActualRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(HeadingActualHandle(), instId)
+#define HeadingActualUpdated() UAVObjUpdated(HeadingActualHandle())
+#define HeadingActualInstUpdated(instId) UAVObjUpdated(HeadingActualHandle(), instId)
+#define HeadingActualGetMetadata(dataOut) UAVObjGetMetadata(HeadingActualHandle(), dataOut)
+#define HeadingActualSetMetadata(dataIn) UAVObjSetMetadata(HeadingActualHandle(), dataIn)
+
+// Object data
+typedef struct {
+    int16_t raw[3];
+    float heading;
+
+} __attribute__((packed)) HeadingActualData;
+
+// Field information
+// Field raw information
+/* Array element names for field raw */
+typedef enum { HEADINGACTUAL_RAW_X=0, HEADINGACTUAL_RAW_Y=1, HEADINGACTUAL_RAW_Z=2,  } HeadingActualrawElem;
+/* Number of elements for field raw */
+#define HEADINGACTUAL_RAW_NUMELEM 3
+// Field heading information
+
+
+// Generic interface functions
+int32_t HeadingActualInitialize();
+UAVObjHandle HeadingActualHandle();
+
+#endif // HEADINGACTUAL_H

flight/OpenPilot.posix/UAVObjects/inc/systemalarms.h

@@ -33,7 +33,7 @@
 #define SYSTEMALARMS_H
 
 // Object constants
-#define SYSTEMALARMS_OBJID 2311311520U
+#define SYSTEMALARMS_OBJID 2311311584U
 #define SYSTEMALARMS_NAME "SystemAlarms"
 #define SYSTEMALARMS_METANAME "SystemAlarmsMeta"
 #define SYSTEMALARMS_ISSINGLEINST 1
@@ -57,7 +57,7 @@
 
 // Object data
 typedef struct {
-    uint8_t Alarm[9];
+    uint8_t Alarm[10];
 
 } __attribute__((packed)) SystemAlarmsData;
 
@@ -66,9 +66,9 @@ typedef struct {
 /* Enumeration options for field Alarm */
 typedef enum { SYSTEMALARMS_ALARM_OK=0, SYSTEMALARMS_ALARM_WARNING=1, SYSTEMALARMS_ALARM_ERROR=2, SYSTEMALARMS_ALARM_CRITICAL=3,  } SystemAlarmsAlarmOptions;
 /* Array element names for field Alarm */
-typedef enum { SYSTEMALARMS_ALARM_OUTOFMEMORY=0, SYSTEMALARMS_ALARM_STACKOVERFLOW=1, SYSTEMALARMS_ALARM_CPUOVERLOAD=2, SYSTEMALARMS_ALARM_EVENTSYSTEM=3, SYSTEMALARMS_ALARM_SDCARD=4, SYSTEMALARMS_ALARM_TELEMETRY=5, SYSTEMALARMS_ALARM_MANUALCONTROL=6, SYSTEMALARMS_ALARM_ACTUATOR=7, SYSTEMALARMS_ALARM_STABILIZATION=8,  } SystemAlarmsAlarmElem;
+typedef enum { SYSTEMALARMS_ALARM_OUTOFMEMORY=0, SYSTEMALARMS_ALARM_STACKOVERFLOW=1, SYSTEMALARMS_ALARM_CPUOVERLOAD=2, SYSTEMALARMS_ALARM_EVENTSYSTEM=3, SYSTEMALARMS_ALARM_SDCARD=4, SYSTEMALARMS_ALARM_TELEMETRY=5, SYSTEMALARMS_ALARM_MANUALCONTROL=6, SYSTEMALARMS_ALARM_ACTUATOR=7, SYSTEMALARMS_ALARM_STABILIZATION=8, SYSTEMALARMS_ALARM_AHRSCOMMS=9,  } SystemAlarmsAlarmElem;
 /* Number of elements for field Alarm */
-#define SYSTEMALARMS_ALARM_NUMELEM 9
+#define SYSTEMALARMS_ALARM_NUMELEM 10
 
 
 // Generic interface functions

flight/OpenPilot.posix/UAVObjects/uavobjectsinit.c

@@ -31,6 +31,7 @@
 #include "actuatorcommand.h"
 #include "actuatordesired.h"
 #include "actuatorsettings.h"
+#include "ahrsstatus.h"
 #include "altitudeactual.h"
 #include "attitudeactual.h"
 #include "attitudedesired.h"
@@ -41,6 +42,7 @@
 #include "flightbatterystate.h"
 #include "flighttelemetrystats.h"
 #include "gcstelemetrystats.h"
+#include "headingactual.h"
 #include "manualcontrolcommand.h"
 #include "manualcontrolsettings.h"
 #include "objectpersistence.h"
@@ -61,6 +63,7 @@ void UAVObjectsInitializeAll()
     ActuatorCommandInitialize();
     ActuatorDesiredInitialize();
     ActuatorSettingsInitialize();
+    AhrsStatusInitialize();
     AltitudeActualInitialize();
     AttitudeActualInitialize();
     AttitudeDesiredInitialize();
@@ -71,6 +74,7 @@ void UAVObjectsInitializeAll()
     FlightBatteryStateInitialize();
     FlightTelemetryStatsInitialize();
     GCSTelemetryStatsInitialize();
+    HeadingActualInitialize();
     ManualControlCommandInitialize();
     ManualControlSettingsInitialize();
     ObjectPersistenceInitialize();