Merge branch 'MikeL_MixerCurve' of ssh://git.openpilot.org/OpenPilot into pt/CC3D_Release

Conflicts:
	ground/openpilotgcs/src/plugins/config/pipxtreme.ui

.gitignore

@@ -20,6 +20,9 @@
 /flight/OpenPilot/Build
 /flight/OpenPilot/Build.win32
 
+#flight/Project/OpenPilotOSX
+flight/Project/OpenPilotOSX/build
+
 # /flight/PipBee/
 /flight/PipBee/Build
 

flight/Libraries/inc/packet_handler.h

@@ -106,7 +106,7 @@ void PHRegisterStatusHandler(PHInstHandle h, PHStatusHandler f);
 void PHRegisterPPMHandler(PHInstHandle h, PHPPMHandler f);
 uint32_t PHConnect(PHInstHandle h, uint32_t dest_id);
 PHPacketHandle PHGetRXPacket(PHInstHandle h);
-void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p);
+void PHReleaseRXPacket(PHInstHandle h, PHPacketHandle p);
 PHPacketHandle PHGetTXPacket(PHInstHandle h);
 void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p);
 uint8_t PHTransmitPacket(PHInstHandle h, PHPacketHandle p);

flight/Libraries/packet_handler.c

@@ -169,16 +169,15 @@ PHPacketHandle PHGetTXPacket(PHInstHandle h)
 
 	// Lock
 	xSemaphoreTakeRecursive(data->lock, portMAX_DELAY);
-	PHPacketHandle p = data->tx_packets + data->tx_win_end;
 
-	// Is the window full?
+	// Find a free packet.
-	uint8_t next_end = (data->tx_win_end + 1) % data->cfg.winSize;
+	PHPacketHandle p = NULL;
-	if(next_end == data->tx_win_start)
+	for (uint8_t i = 0; i < data->cfg.winSize; ++i)
+		if (data->tx_packets[i].header.type == PACKET_TYPE_NONE)
 		{
-		xSemaphoreGiveRecursive(data->lock);
+			p = data->tx_packets + i;
-		return NULL;
+			break;
 		}
-	data->tx_win_end = next_end;
 
 	// Release lock
 	xSemaphoreGiveRecursive(data->lock);
@@ -224,17 +223,15 @@ PHPacketHandle PHGetRXPacket(PHInstHandle h)
 
 	// Lock
 	xSemaphoreTakeRecursive(data->lock, portMAX_DELAY);
-	PHPacketHandle p = data->rx_packets + data->rx_win_end;
 
-	// Is the window full?
+	// Find a free packet.
-	uint8_t next_end = (data->rx_win_end + 1) % data->cfg.winSize;
+	PHPacketHandle p = NULL;
-	if(next_end == data->rx_win_start)
+	for (uint8_t i = 0; i < data->cfg.winSize; ++i)
+		if (data->rx_packets[i].header.type == PACKET_TYPE_NONE)
 		{
-		// Release lock
+			p = data->rx_packets + i;
-		xSemaphoreGiveRecursive(data->lock);
+			break;
-		return NULL;
 		}
-	data->rx_win_end = next_end;
 
 	// Release lock
 	xSemaphoreGiveRecursive(data->lock);

flight/Modules/RadioComBridge/RadioComBridge.c

@@ -61,8 +61,9 @@
 #define PACKET_QUEUE_SIZE 10
 #define MAX_PORT_DELAY 200
 #define EV_PACKET_RECEIVED 0x20
+#define EV_TRANSMIT_PACKET 0x30
 #define EV_SEND_ACK 0x40
-#define EV_SEND_NACK 0x80
+#define EV_SEND_NACK 0x50
 
 // ****************
 // Private types
@@ -79,22 +80,36 @@ typedef struct {
 } PairStats;
 
 typedef struct {
+	uint32_t comPort;
+	UAVTalkConnection UAVTalkCon;
+	xQueueHandle sendQueue;
+	xQueueHandle recvQueue;
+	xQueueHandle gcsQueue;
+	uint16_t wdg;
+	bool checkHID;
+} UAVTalkComTaskParams;
+
+typedef struct {
+
 	// The task handles.
-	xTaskHandle comUAVTalkTaskHandle;
+	xTaskHandle GCSUAVTalkRecvTaskHandle;
+	xTaskHandle UAVTalkRecvTaskHandle;
 	xTaskHandle radioReceiveTaskHandle;
 	xTaskHandle sendPacketTaskHandle;
-	xTaskHandle sendDataTaskHandle;
+	xTaskHandle UAVTalkSendTaskHandle;
 	xTaskHandle radioStatusTaskHandle;
 	xTaskHandle transparentCommTaskHandle;
 	xTaskHandle ppmInputTaskHandle;
 
 	// The UAVTalk connection on the com side.
-	UAVTalkConnection inUAVTalkCon;
+	UAVTalkConnection UAVTalkCon;
-	UAVTalkConnection outUAVTalkCon;
+	UAVTalkConnection GCSUAVTalkCon;
 
 	// Queue handles.
-	xQueueHandle sendPacketQueue;
+	xQueueHandle radioPacketQueue;
-	xQueueHandle objEventQueue;
+	xQueueHandle gcsEventQueue;
+	xQueueHandle uavtalkEventQueue;
+	xQueueHandle ppmOutQueue;
 
 	// Error statistics.
 	uint32_t comTxErrors;
@@ -122,6 +137,10 @@ typedef struct {
 	// The RSSI of the last packet received.
 	int8_t RSSI;
 
+	// Thread parameters.
+	UAVTalkComTaskParams uavtalk_params;
+	UAVTalkComTaskParams gcs_uavtalk_params;
+
 } RadioComBridgeData;
 
 typedef struct {
@@ -135,21 +154,24 @@ typedef struct {
 // ****************
 // Private functions
 
-static void comUAVTalkTask(void *parameters);
+static void UAVTalkRecvTask(void *parameters);
 static void radioReceiveTask(void *parameters);
 static void sendPacketTask(void *parameters);
-static void sendDataTask(void *parameters);
+static void UAVTalkSendTask(void *parameters);
 static void transparentCommTask(void * parameters);
 static void radioStatusTask(void *parameters);
 static void ppmInputTask(void *parameters);
-static int32_t transmitData(uint8_t * data, int32_t length);
+static int32_t UAVTalkSendHandler(uint8_t * data, int32_t length);
+static int32_t GCSUAVTalkSendHandler(uint8_t * data, int32_t length);
 static int32_t transmitPacket(PHPacketHandle packet);
 static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc);
+static void transmitData(uint32_t outputPort, uint8_t *buf, uint8_t len, bool checkHid);
 static void StatusHandler(PHStatusPacketHandle p, int8_t rssi, int8_t afc);
 static void PPMHandler(uint16_t *channels);
 static BufferedReadHandle BufferedReadInit(uint32_t com_port, uint16_t buffer_length);
 static bool BufferedRead(BufferedReadHandle h, uint8_t *value, uint32_t timeout_ms);
 static void BufferedReadSetCom(BufferedReadHandle h, uint32_t com_port);
+static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type);
 static void updateSettings();
 
 // ****************
@@ -165,23 +187,34 @@ static RadioComBridgeData *data;
 static int32_t RadioComBridgeStart(void)
 {
 	if(data) {
+		// Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
+		xTaskCreate(UAVTalkRecvTask, (signed char *)"GCSUAVTalkRecvTask", STACK_SIZE_BYTES, (void*)&(data->gcs_uavtalk_params), TASK_PRIORITY + 2, &(data->GCSUAVTalkRecvTaskHandle));
+		xTaskCreate(UAVTalkSendTask, (signed char *)"GCSUAVTalkSendTask", STACK_SIZE_BYTES, (void*)&(data->gcs_uavtalk_params), TASK_PRIORITY+ 2, &(data->UAVTalkSendTaskHandle));
+
+		// If a UAVTalk (non-GCS) com port is set it implies that the com port is connected on the flight side.
+		// In this case we want to start another com thread on the HID port to talk to the GCS when connected.
+		if (PIOS_COM_UAVTALK)
+		{
+			xTaskCreate(UAVTalkRecvTask, (signed char *)"UAVTalkRecvTask", STACK_SIZE_BYTES, (void*)&(data->uavtalk_params), TASK_PRIORITY + 2, &(data->UAVTalkRecvTaskHandle));
+			xTaskCreate(UAVTalkSendTask, (signed char *)"UAVTalkSendTask", STACK_SIZE_BYTES, (void*)&(data->uavtalk_params), TASK_PRIORITY+ 2, &(data->UAVTalkSendTaskHandle));
+		}
+
 		// Start the tasks
-		xTaskCreate(comUAVTalkTask, (signed char *)"ComUAVTalk", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->comUAVTalkTaskHandle));
 		if(PIOS_COM_TRANS_COM)
 			xTaskCreate(transparentCommTask, (signed char *)"transparentComm", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->transparentCommTaskHandle));
 		xTaskCreate(radioReceiveTask, (signed char *)"RadioReceive", STACK_SIZE_BYTES, NULL, TASK_PRIORITY+ 2, &(data->radioReceiveTaskHandle));
 		xTaskCreate(sendPacketTask, (signed char *)"SendPacketTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->sendPacketTaskHandle));
-		xTaskCreate(sendDataTask, (signed char *)"SendDataTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY+ 2, &(data->sendDataTaskHandle));
 		xTaskCreate(radioStatusTask, (signed char *)"RadioStatus", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioStatusTaskHandle));
 		if(PIOS_PPM_RECEIVER)
 			xTaskCreate(ppmInputTask, (signed char *)"PPMInputTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->ppmInputTaskHandle));
 #ifdef PIOS_INCLUDE_WDG
+		PIOS_WDG_RegisterFlag(PIOS_WDG_COMGCS);
+		if(PIOS_COM_UAVTALK)
 			PIOS_WDG_RegisterFlag(PIOS_WDG_COMUAVTALK);
 		if(PIOS_COM_TRANS_COM)
 			PIOS_WDG_RegisterFlag(PIOS_WDG_TRANSCOMM);
 		PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORECEIVE);
 		//PIOS_WDG_RegisterFlag(PIOS_WDG_SENDPACKET);
-		//PIOS_WDG_RegisterFlag(PIOS_WDG_SENDDATA);
 		if(PIOS_PPM_RECEIVER)
 			PIOS_WDG_RegisterFlag(PIOS_WDG_PPMINPUT);
 #endif
@@ -211,12 +244,21 @@ static int32_t RadioComBridgeInitialize(void)
 	updateSettings();
 
 	// Initialise UAVTalk
-	data->inUAVTalkCon = UAVTalkInitialize(0);
+	data->GCSUAVTalkCon = UAVTalkInitialize(&GCSUAVTalkSendHandler);
-	data->outUAVTalkCon = UAVTalkInitialize(&transmitData);
+	if (PIOS_COM_UAVTALK)
+		data->UAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
 
 	// Initialize the queues.
-	data->sendPacketQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(PHPacketHandle));
+	data->ppmOutQueue = 0;
-	data->objEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
+	data->radioPacketQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
+	data->gcsEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
+	if (PIOS_COM_UAVTALK)
+		data->uavtalkEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
+	else
+	{
+		data->uavtalkEventQueue = 0;
+		data->ppmOutQueue = data->radioPacketQueue;
+	}
 
 	// Initialize the statistics.
 	data->radioTxErrors = 0;
@@ -232,8 +274,8 @@ static int32_t RadioComBridgeInitialize(void)
 	// Register the callbacks with the packet handler
 	PHRegisterOutputStream(pios_packet_handler, transmitPacket);
 	PHRegisterDataHandler(pios_packet_handler, receiveData);
-	PHRegisterStatusHandler(pios_packet_handler, StatusHandler);
 	PHRegisterPPMHandler(pios_packet_handler, PPMHandler);
+	PHRegisterStatusHandler(pios_packet_handler, StatusHandler);
 
 	// Initialize the packet send timeout
 	data->send_timeout = 25; // ms
@@ -255,9 +297,28 @@ static int32_t RadioComBridgeInitialize(void)
 	PipXSettingsPairIDGet(&(data->pairStats[0].pairID));
 
 	// Configure our UAVObjects for updates.
-	UAVObjConnectQueue(UAVObjGetByID(PIPXSTATUS_OBJID), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
+	UAVObjConnectQueue(UAVObjGetByID(PIPXSTATUS_OBJID), data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
-	UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
+	UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue ? data->uavtalkEventQueue : data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
-	UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
+	UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
+
+	// Initialize the UAVTalk comm parameters.
+	data->gcs_uavtalk_params.UAVTalkCon = data->GCSUAVTalkCon;
+	data->gcs_uavtalk_params.sendQueue = data->radioPacketQueue;
+	data->gcs_uavtalk_params.recvQueue = data->gcsEventQueue;
+	data->gcs_uavtalk_params.wdg = PIOS_WDG_COMGCS;
+	data->gcs_uavtalk_params.checkHID = true;
+	data->gcs_uavtalk_params.comPort = PIOS_COM_GCS;
+	if (PIOS_COM_UAVTALK)
+	{
+		data->gcs_uavtalk_params.sendQueue = data->uavtalkEventQueue;
+		data->uavtalk_params.UAVTalkCon = data->UAVTalkCon;
+		data->uavtalk_params.sendQueue = data->radioPacketQueue;
+		data->uavtalk_params.recvQueue = data->uavtalkEventQueue;
+		data->uavtalk_params.gcsQueue = data->gcsEventQueue;
+		data->uavtalk_params.wdg = PIOS_WDG_COMUAVTALK;
+		data->uavtalk_params.checkHID = false;
+		data->uavtalk_params.comPort = PIOS_COM_UAVTALK;
+	}
 
 	return 0;
 }
@@ -266,30 +327,32 @@ MODULE_INITCALL(RadioComBridgeInitialize, RadioComBridgeStart)
 /**
  * Reads UAVTalk messages froma com port and creates packets out of them.
  */
-static void comUAVTalkTask(void *parameters)
+static void UAVTalkRecvTask(void *parameters)
 {
+	UAVTalkComTaskParams *params = (UAVTalkComTaskParams *)parameters;
 	PHPacketHandle p = NULL;
 
 	// Create the buffered reader.
-	BufferedReadHandle f = BufferedReadInit(PIOS_COM_UAVTALK, TEMP_BUFFER_SIZE);
+	BufferedReadHandle f = BufferedReadInit(params->comPort, TEMP_BUFFER_SIZE);
 
 	while (1) {
 
 #ifdef PIOS_INCLUDE_WDG
 		// Update the watchdog timer.
-		PIOS_WDG_UpdateFlag(PIOS_WDG_COMUAVTALK);
+		if (params->wdg)
+			PIOS_WDG_UpdateFlag(params->wdg);
 #endif /* PIOS_INCLUDE_WDG */
 
 		// Receive from USB HID if available, otherwise UAVTalk com if it's available.
 #if defined(PIOS_INCLUDE_USB)
 		// Determine input port (USB takes priority over telemetry port)
-		if (PIOS_USB_CheckAvailable(0))
+		if (params->checkHID && PIOS_USB_CheckAvailable(0))
 			BufferedReadSetCom(f, PIOS_COM_USB_HID);
 		else
 #endif /* PIOS_INCLUDE_USB */
 		{
-			if (PIOS_COM_UAVTALK)
+			if (params->comPort)
-				BufferedReadSetCom(f, PIOS_COM_UAVTALK);
+				BufferedReadSetCom(f, params->comPort);
 			else
 			{
 				vTaskDelay(5);
@@ -307,7 +370,7 @@ static void comUAVTalkTask(void *parameters)
 		{
 
 			// Wait until we receive a sync.
-			UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(data->inUAVTalkCon, rx_byte);
+			UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(params->UAVTalkCon, rx_byte);
 			if (state != UAVTALK_STATE_TYPE)
 				continue;
 
@@ -324,7 +387,6 @@ static void comUAVTalkTask(void *parameters)
 			// Initialize the packet.
 			p->header.destination_id = data->destination_id;
 			p->header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
-			//p->header.type = PACKET_TYPE_ACKED_DATA;
 			p->header.type = PACKET_TYPE_DATA;
 			p->data[0] = rx_byte;
 			p->header.data_size = 1;
@@ -335,12 +397,19 @@ static void comUAVTalkTask(void *parameters)
 		p->data[p->header.data_size++] = rx_byte;
 
 		// Keep reading until we receive a completed packet.
-		UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(data->inUAVTalkCon, rx_byte);
+		UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(params->UAVTalkCon, rx_byte);
-		UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(data->inUAVTalkCon);
+		UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(params->UAVTalkCon);
 		UAVTalkInputProcessor *iproc = &(connection->iproc);
 
 		if (state == UAVTALK_STATE_COMPLETE)
 		{
+			xQueueHandle sendQueue = params->sendQueue;
+#if defined(PIOS_INCLUDE_USB)
+			if (params->gcsQueue)
+				if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
+					sendQueue = params->gcsQueue;
+#endif /* PIOS_INCLUDE_USB */
+
 			// Is this a local UAVObject?
 			// We only generate GcsReceiver ojects, we don't consume them.
 			if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID))
@@ -359,11 +428,7 @@ static void comUAVTalkTask(void *parameters)
 					if (obj_per.ObjectID == PIPXSETTINGS_OBJID)
 					{
 						// Queue up the ACK.
-						UAVObjEvent ev;
+						queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
-						ev.obj = iproc->obj;
-						ev.instId = iproc->instId;
-						ev.event = EV_SEND_ACK;
-						xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
 
 						// Is this a save, load, or delete?
 						bool success = true;
@@ -390,6 +455,19 @@ static void comUAVTalkTask(void *parameters)
 							int32_t ret = PIOS_EEPROM_Save((uint8_t*)&pipxSettings, sizeof(PipXSettingsData));
 							if (ret != 0)
 								success = false;
+#endif
+							break;
+						}
+						case OBJECTPERSISTENCE_OPERATION_DELETE:
+						{
+#if defined(PIOS_INCLUDE_FLASH_EEPROM)
+							// Erase the settings.
+							PipXSettingsData pipxSettings;
+							uint8_t *ptr = (uint8_t*)&pipxSettings;
+							memset(ptr, 0, sizeof(PipXSettingsData));
+							int32_t ret = PIOS_EEPROM_Save(ptr, sizeof(PipXSettingsData));
+							if (ret != 0)
+								success = false;
 #endif
 							break;
 						}
@@ -408,14 +486,11 @@ static void comUAVTalkTask(void *parameters)
 					else
 					{
 						// Otherwise, queue the packet for transmission.
-						xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
+						queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
 					}
 				}
 				else
 				{
-					UAVObjEvent ev;
-					ev.obj = iproc->obj;
-					ev.instId = 0;
 					switch (iproc->type)
 					{
 					case UAVTALK_TYPE_OBJ:
@@ -424,16 +499,12 @@ static void comUAVTalkTask(void *parameters)
 						break;
 					case UAVTALK_TYPE_OBJ_REQ:
 						// Queue up an object send request.
-						ev.event = EV_UPDATE_REQ;
+						queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_UPDATE_REQ);
-						xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
 						break;
 					case UAVTALK_TYPE_OBJ_ACK:
 						if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0)
-						{
 							// Queue up an ACK
-							ev.event = EV_SEND_ACK;
+							queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
-							xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
-						}
 						break;
 					}
 
@@ -444,22 +515,24 @@ static void comUAVTalkTask(void *parameters)
 			else
 			{
 				// Queue the packet for transmission.
-				xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
+				queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
 			}
 			p = NULL;
 
 		} else if(state == UAVTALK_STATE_ERROR) {
-			DEBUG_PRINTF(1, "UAVTalk FAILED!\n\r");
+			xQueueHandle sendQueue = params->sendQueue;
+#if defined(PIOS_INCLUDE_USB)
+			if (params->gcsQueue)
+				if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
+					sendQueue = params->gcsQueue;
+#endif /* PIOS_INCLUDE_USB */
 			data->UAVTalkErrors++;
 
 			// Send a NACK if required.
 			if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK))
 			{
 				// Queue up a NACK
-				UAVObjEvent ev;
+				queueEvent(params->recvQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
-				ev.obj = iproc->obj;
-				ev.event = EV_SEND_NACK;
-				xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
 
 				// Release the packet and start over again.
 				PHReleaseTXPacket(pios_packet_handler, p);
@@ -467,7 +540,7 @@ static void comUAVTalkTask(void *parameters)
 			else
 			{
 				// Transmit the packet anyway...
-				xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
+				queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
 			}
 			p = NULL;
 		}
@@ -512,7 +585,7 @@ static void radioReceiveTask(void *parameters)
 			UAVObjEvent ev;
 			ev.obj = (UAVObjHandle)p;
 			ev.event = EV_PACKET_RECEIVED;
-			xQueueSend(data->objEventQueue, &ev, portMAX_DELAY);
+			xQueueSend(data->gcsEventQueue, &ev, portMAX_DELAY);
 		} else
 		{
 			data->packetErrors++;
@@ -527,7 +600,7 @@ static void radioReceiveTask(void *parameters)
  */
 static void sendPacketTask(void *parameters)
 {
-	PHPacketHandle p;
+	UAVObjEvent ev;
 
 	// Loop forever
 	while (1) {
@@ -536,19 +609,21 @@ static void sendPacketTask(void *parameters)
 		//PIOS_WDG_UpdateFlag(PIOS_WDG_SENDPACKET);
 #endif /* PIOS_INCLUDE_WDG */
 		// Wait for a packet on the queue.
-		if (xQueueReceive(data->sendPacketQueue, &p, MAX_PORT_DELAY) == pdTRUE) {
+		if (xQueueReceive(data->radioPacketQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
+			PHPacketHandle p = (PHPacketHandle)ev.obj;
 			// Send the packet.
 			if(!PHTransmitPacket(pios_packet_handler, p))
-				PHReleaseTXPacket(pios_packet_handler, p);
+				PHReleaseRXPacket(pios_packet_handler, p);
 		}
 	}
 }
 
 /**
- * Send packets to the radio.
+ * Send packets to the com port.
  */
-static void sendDataTask(void *parameters)
+static void UAVTalkSendTask(void *parameters)
 {
+	UAVTalkComTaskParams *params = (UAVTalkComTaskParams *)parameters;
 	UAVObjEvent ev;
 
 	// Loop forever
@@ -560,14 +635,15 @@ static void sendDataTask(void *parameters)
 		//PIOS_WDG_UpdateFlag(PIOS_WDG_SENDDATA);
 #endif /* PIOS_INCLUDE_WDG */
 		// Wait for a packet on the queue.
-		if (xQueueReceive(data->objEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
+		if (xQueueReceive(params->recvQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
 			if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ))
 			{
 				// Send update (with retries)
 				uint32_t retries = 0;
 				int32_t success = -1;
 				while (retries < MAX_RETRIES && success == -1) {
-					success = UAVTalkSendObject(data->outUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS);
+					success = UAVTalkSendObject(params->UAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
+					if (!success)
 						++retries;
 				}
 				data->comTxRetries += retries;
@@ -578,7 +654,8 @@ static void sendDataTask(void *parameters)
 				uint32_t retries = 0;
 				int32_t success = -1;
 				while (retries < MAX_RETRIES && success == -1) {
-					success = UAVTalkSendAck(data->outUAVTalkCon, ev.obj, ev.instId);
+					success = UAVTalkSendAck(params->UAVTalkCon, ev.obj, ev.instId) == 0;
+					if (!success)
 						++retries;
 				}
 				data->comTxRetries += retries;
@@ -589,7 +666,8 @@ static void sendDataTask(void *parameters)
 				uint32_t retries = 0;
 				int32_t success = -1;
 				while (retries < MAX_RETRIES && success == -1) {
-					success = UAVTalkSendNack(data->outUAVTalkCon, UAVObjGetID(ev.obj));
+					success = UAVTalkSendNack(params->UAVTalkCon, UAVObjGetID(ev.obj)) == 0;
+					if (!success)
 						++retries;
 				}
 				data->comTxRetries += retries;
@@ -599,6 +677,13 @@ static void sendDataTask(void *parameters)
 				// Receive the packet.
 				PHReceivePacket(pios_packet_handler, (PHPacketHandle)ev.obj, false);
 			}
+			else if(ev.event == EV_TRANSMIT_PACKET)
+			{
+				// Transmit the packet.
+				PHPacketHandle p = (PHPacketHandle)ev.obj;
+				transmitData(params->comPort, p->data, p->header.data_size, params->checkHID);
+				PHReleaseTXPacket(pios_packet_handler, p);
+			}
 		}
 	}
 }
@@ -675,7 +760,7 @@ static void transparentCommTask(void * parameters)
 			if (send_packet)
 			{
 				// Queue the packet for transmission.
-				xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
+				queueEvent(data->radioPacketQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
 
 				// Reset the timeout
 				timeout = MAX_PORT_DELAY;
@@ -767,7 +852,7 @@ static void radioStatusTask(void *parameters)
 				status_packet.dropped = data->droppedPackets;
 				status_packet.resets = PIOS_RFM22B_Resets(pios_rfm22b_id);
 				PHPacketHandle sph = (PHPacketHandle)&status_packet;
-				xQueueSend(data->sendPacketQueue, &sph, MAX_PORT_DELAY);
+				queueEvent(data->radioPacketQueue, (void*)sph, 0, EV_TRANSMIT_PACKET);
 				cntr = 0;
 			}
 		}
@@ -792,22 +877,52 @@ static void ppmInputTask(void *parameters)
 		PIOS_WDG_UpdateFlag(PIOS_WDG_PPMINPUT);
 #endif /* PIOS_INCLUDE_WDG */
 
-		// Send the PPM packet
+		// Read the receiver.
 		for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i)
 			ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
 
-		// Send the packet.
+		// Send the PPM packet
+		if (data->ppmOutQueue)
+		{
 			ppm_packet.header.destination_id = data->destination_id;
 			ppm_packet.header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
 			ppm_packet.header.type = PACKET_TYPE_PPM;
 			ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet);
-		xQueueSend(data->sendPacketQueue, &pph, MAX_PORT_DELAY);
+			queueEvent(data->ppmOutQueue, (void*)pph, 0, EV_TRANSMIT_PACKET);
+		}
+		else
+			PPMHandler(ppm_packet.channels);
 
 		// Delay until the next update period.
 		vTaskDelay(PIOS_PPM_PACKET_UPDATE_PERIOD_MS / portTICK_RATE_MS);
 	}
 }
 
+/**
+ * Transmit data buffer to the com port.
+ * \param[in] params The comm parameters.
+ * \param[in] buf Data buffer to send
+ * \param[in] length Length of buffer
+ * \return -1 on failure
+ * \return number of bytes transmitted on success
+ */
+static int32_t UAVTalkSend(UAVTalkComTaskParams *params, uint8_t *buf, int32_t length)
+{
+	uint32_t outputPort = params->comPort;
+#if defined(PIOS_INCLUDE_USB)
+	if (params->checkHID)
+	{
+		// Determine output port (USB takes priority over telemetry port)
+		if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
+			outputPort = PIOS_COM_USB_HID;
+	}
+#endif /* PIOS_INCLUDE_USB */
+	if(outputPort)
+		return PIOS_COM_SendBuffer(outputPort, buf, length);
+	else
+		return -1;
+}
+
 /**
  * Transmit data buffer to the com port.
  * \param[in] buf Data buffer to send
@@ -815,18 +930,21 @@ static void ppmInputTask(void *parameters)
  * \return -1 on failure
  * \return number of bytes transmitted on success
  */
-static int32_t transmitData(uint8_t *buf, int32_t length)
+static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
 {
-	uint32_t outputPort = PIOS_COM_UAVTALK;
+	return UAVTalkSend(&(data->uavtalk_params), buf, length);
-#if defined(PIOS_INCLUDE_USB)
+}
-	// Determine output port (USB takes priority over telemetry port)
+
-	if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
+/**
-		outputPort = PIOS_COM_USB_HID;
+ * Transmit data buffer to the com port.
-#endif /* PIOS_INCLUDE_USB */
+ * \param[in] buf Data buffer to send
-	if(outputPort)
+ * \param[in] length Length of buffer
-		return PIOS_COM_SendBuffer(outputPort, buf, length);
+ * \return -1 on failure
-	else
+ * \return number of bytes transmitted on success
-		return -1;
+ */
+static int32_t GCSUAVTalkSendHandler(uint8_t *buf, int32_t length)
+{
+	return UAVTalkSend(&(data->gcs_uavtalk_params), buf, length);
 }
 
 /**
@@ -847,22 +965,15 @@ static int32_t transmitPacket(PHPacketHandle p)
  * \param[in] buf The received data buffer
  * \param[in] length Length of buffer
  */
-static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
+static void transmitData(uint32_t outputPort, uint8_t *buf, uint8_t len, bool checkHid)
 {
-	data->RSSI = rssi;
-
-	// Packet data should go to transparent com if it's configured,
-	// USB HID if it's connected, otherwise, UAVTalk com if it's configured.
-	uint32_t outputPort = PIOS_COM_TRANS_COM;
-	if (!outputPort)
-	{
-		outputPort = PIOS_COM_UAVTALK;
 #if defined(PIOS_INCLUDE_USB)
+	// See if USB is connected if requested.
+	if(checkHid)
 		// Determine output port (USB takes priority over telemetry port)
 		if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
 			outputPort = PIOS_COM_USB_HID;
 #endif /* PIOS_INCLUDE_USB */
-	}
 	if (!outputPort)
 		return;
 
@@ -872,6 +983,22 @@ static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
 		data->comTxErrors++;
 }
 
+/**
+ * Receive a packet
+ * \param[in] buf The received data buffer
+ * \param[in] length Length of buffer
+ */
+static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
+{
+	data->RSSI = rssi;
+
+	// Packet data should go to transparent com if it's configured,
+	// USB HID if it's connected, otherwise, UAVTalk com if it's configured.
+	uint32_t outputPort = PIOS_COM_TRANS_COM ? PIOS_COM_TRANS_COM : PIOS_COM_UAVTALK;
+	bool checkHid = (PIOS_COM_TRANS_COM == 0);
+	transmitData(outputPort, buf, len, checkHid);
+}
+
 /**
  * Receive a status packet
  * \param[in] status The status structure
@@ -987,6 +1114,21 @@ static void BufferedReadSetCom(BufferedReadHandle h, uint32_t com_port)
 	h->com_port = com_port;
 }
 
+/**
+ * Queue and event into an event queue.
+ * \param[in] queue  The event queue
+ * \param[in] obj  The data pointer
+ * \param[in] type The event type
+ */
+static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type)
+{
+	UAVObjEvent ev;
+	ev.obj = (UAVObjHandle)obj;
+	ev.instId = instId;
+	ev.event = type;
+	xQueueSend(queue, &ev, portMAX_DELAY);
+}
+
 /**
  * Update the telemetry settings, called on startup.
  * FIXME: This should be in the TelemetrySettings object. But objects
@@ -1003,7 +1145,6 @@ static void updateSettings()
 
 	// Initialize the destination ID
 	data->destination_id = pipxSettings.PairID ? pipxSettings.PairID : 0xffffffff;
-	DEBUG_PRINTF(2, "PairID: %x\n\r", data->destination_id);
 	
 	if (PIOS_COM_TELEMETRY) {
 		switch (pipxSettings.TelemetrySpeed) {

flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h

@@ -77,6 +77,7 @@ TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
 #define PIOS_WDG_SENDDATA        0x0008
 #define PIOS_WDG_TRANSCOMM       0x0010
 #define PIOS_WDG_PPMINPUT        0x0020
+#define PIOS_WDG_COMGCS          0x0040
 
 //------------------------
 // TELEMETRY
@@ -157,6 +158,7 @@ extern uint32_t pios_com_telemetry_id;
 extern uint32_t pios_com_flexi_id;
 extern uint32_t pios_com_vcp_id;
 extern uint32_t pios_com_uavtalk_com_id;
+extern uint32_t pios_com_gcs_com_id;
 extern uint32_t pios_com_trans_com_id;
 extern uint32_t pios_com_debug_id;
 extern uint32_t pios_com_rfm22b_id;
@@ -166,6 +168,7 @@ extern uint32_t pios_ppm_rcvr_id;
 #define PIOS_COM_FLEXI             (pios_com_flexi_id)
 #define PIOS_COM_VCP               (pios_com_vcp_id)
 #define PIOS_COM_UAVTALK           (pios_com_uavtalk_com_id)
+#define PIOS_COM_GCS               (pios_com_gcs_com_id)
 #define PIOS_COM_TRANS_COM         (pios_com_trans_com_id)
 #define PIOS_COM_DEBUG             (pios_com_debug_id)
 #define PIOS_COM_RADIO             (pios_com_rfm22b_id)

flight/PipXtreme/Makefile

@@ -53,7 +53,7 @@ USE_GPS ?= NO
 USE_I2C ?= YES
 
 # Set to YES when using Code Sourcery toolchain
-CODE_SOURCERY ?= YES
+CODE_SOURCERY ?= NO
 
 # Remove command is different for Code Sourcery on Windows
 ifeq ($(CODE_SOURCERY), YES)

flight/PipXtreme/System/pios_board.c

@@ -33,26 +33,27 @@
 #include <pipxsettings.h>
 #include <board_hw_defs.c>
 
-#define PIOS_COM_SERIAL_RX_BUF_LEN 256
+#define PIOS_COM_SERIAL_RX_BUF_LEN 128
-#define PIOS_COM_SERIAL_TX_BUF_LEN 256
+#define PIOS_COM_SERIAL_TX_BUF_LEN 128
 
-#define PIOS_COM_FLEXI_RX_BUF_LEN 256
+#define PIOS_COM_FLEXI_RX_BUF_LEN 128
-#define PIOS_COM_FLEXI_TX_BUF_LEN 256
+#define PIOS_COM_FLEXI_TX_BUF_LEN 128
 
-#define PIOS_COM_TELEM_USB_RX_BUF_LEN 256
+#define PIOS_COM_TELEM_USB_RX_BUF_LEN 128
-#define PIOS_COM_TELEM_USB_TX_BUF_LEN 256
+#define PIOS_COM_TELEM_USB_TX_BUF_LEN 128
 
-#define PIOS_COM_VCP_USB_RX_BUF_LEN 256
+#define PIOS_COM_VCP_USB_RX_BUF_LEN 128
-#define PIOS_COM_VCP_USB_TX_BUF_LEN 256
+#define PIOS_COM_VCP_USB_TX_BUF_LEN 128
 
-#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 256
+#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 128
-#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 256
+#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 128
 
 uint32_t pios_com_telem_usb_id = 0;
 uint32_t pios_com_telemetry_id;
 uint32_t pios_com_flexi_id;
 uint32_t pios_com_vcp_id;
 uint32_t pios_com_uavtalk_com_id = 0;
+uint32_t pios_com_gcs_com_id = 0;
 uint32_t pios_com_trans_com_id = 0;
 uint32_t pios_com_debug_id = 0;
 uint32_t pios_com_rfm22b_id = 0;
@@ -129,20 +130,17 @@ void PIOS_Board_Init(void) {
 
 
 	/* Flags to determine if various USB interfaces are advertised */
-	bool usb_hid_present = false;
 	bool usb_cdc_present = false;
 
 #if defined(PIOS_INCLUDE_USB_CDC)
 	if (PIOS_USB_DESC_HID_CDC_Init()) {
 		PIOS_Assert(0);
 	}
-	usb_hid_present = true;
 	usb_cdc_present = true;
 #else
 	if (PIOS_USB_DESC_HID_ONLY_Init()) {
 		PIOS_Assert(0);
 	}
-	usb_hid_present = true;
 #endif
 
 	uint32_t pios_usb_id;
@@ -172,7 +170,7 @@ void PIOS_Board_Init(void) {
 											tx_buffer, PIOS_COM_VCP_USB_TX_BUF_LEN)) {
 			PIOS_Assert(0);
 		}
-		switch (pipxSettings.TelemetryConfig)
+		switch (pipxSettings.VCPConfig)
 		{
 		case PIPXSETTINGS_VCPCONFIG_SERIAL:
 			pios_com_trans_com_id = pios_com_vcp_id;
@@ -218,6 +216,7 @@ void PIOS_Board_Init(void) {
 	{
 	case PIPXSETTINGS_TELEMETRYCONFIG_SERIAL:
 	case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
+	case PIPXSETTINGS_TELEMETRYCONFIG_GCS:
 	case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
 	{
 		uint32_t pios_usart1_id;
@@ -241,6 +240,9 @@ void PIOS_Board_Init(void) {
 		case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
 			pios_com_uavtalk_com_id = pios_com_telemetry_id;
 			break;
+		case PIPXSETTINGS_TELEMETRYCONFIG_GCS:
+			pios_com_gcs_com_id = pios_com_telemetry_id;
+			break;
 		case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
 			pios_com_debug_id = pios_com_telemetry_id;
 			break;
@@ -256,6 +258,7 @@ void PIOS_Board_Init(void) {
 	{
 	case PIPXSETTINGS_FLEXICONFIG_SERIAL:
 	case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
+	case PIPXSETTINGS_FLEXICONFIG_GCS:
 	case PIPXSETTINGS_FLEXICONFIG_DEBUG:
 	{
 		uint32_t pios_usart3_id;
@@ -279,6 +282,9 @@ void PIOS_Board_Init(void) {
 		case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
 			pios_com_uavtalk_com_id = pios_com_flexi_id;
 			break;
+		case PIPXSETTINGS_FLEXICONFIG_GCS:
+			pios_com_gcs_com_id = pios_com_flexi_id;
+			break;
 		case PIPXSETTINGS_FLEXICONFIG_DEBUG:
 			pios_com_debug_id = pios_com_flexi_id;
 			break;

ground/openpilotgcs/src/plugins/config/airframe.ui

@@ -2775,7 +2775,7 @@ p, li { white-space: pre-wrap; }
 <table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;">
 <tr>
 <td style="border: none;">
-<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;">SETTING UP FEED FORWARD IS DANGEROUS</span></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;">SETTING UP FEED FORWARD NEEDS CAUTION</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;">Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!</span></p>
 &lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>

ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp

@@ -71,6 +71,8 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
 	addUAVObjectToWidgetRelation("PipXStatus", "MinFrequency", m_pipx->MinFrequency);
 	addUAVObjectToWidgetRelation("PipXStatus", "MaxFrequency", m_pipx->MaxFrequency);
 	addUAVObjectToWidgetRelation("PipXStatus", "FrequencyStepSize", m_pipx->FrequencyStepSize);
+	addUAVObjectToWidgetRelation("PipXStatus", "FrequencyBand", m_pipx->FreqBand);
+	addUAVObjectToWidgetRelation("PipXStatus", "RSSI", m_pipx->RSSI);
 	addUAVObjectToWidgetRelation("PipXStatus", "AFC", m_pipx->RxAFC);
 	addUAVObjectToWidgetRelation("PipXStatus", "Retries", m_pipx->Retries);
 	addUAVObjectToWidgetRelation("PipXStatus", "Errors", m_pipx->Errors);
@@ -81,6 +83,7 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
 	addUAVObjectToWidgetRelation("PipXStatus", "TXRate", m_pipx->TXRate);
 
 	// Connect to the pair ID radio buttons.
+	connect(m_pipx->PairSelectB, SIGNAL(toggled(bool)), this, SLOT(pairBToggled(bool)));
 	connect(m_pipx->PairSelect1, SIGNAL(toggled(bool)), this, SLOT(pair1Toggled(bool)));
 	connect(m_pipx->PairSelect2, SIGNAL(toggled(bool)), this, SLOT(pair2Toggled(bool)));
 	connect(m_pipx->PairSelect3, SIGNAL(toggled(bool)), this, SLOT(pair3Toggled(bool)));
@@ -89,6 +92,7 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
 	//Add scroll bar when necessary
 	QScrollArea *scroll = new QScrollArea;
 	scroll->setWidget(m_pipx->frame_3);
+	scroll->setWidgetResizable(true);
 	m_pipx->verticalLayout_3->addWidget(scroll);
 
 	// Request and update of the setting object.
@@ -148,7 +152,7 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
 	PipXSettings *pipxSettings = PipXSettings::GetInstance(getObjectManager());
 	quint32 pairID = 0;
 	if (pipxSettings)
-		pipxSettings->getPairID();
+		pairID = pipxSettings->getPairID();
 
 	// Update the detected devices.
 	UAVObjectField* pairIdField = object->getField("PairIDs");
@@ -245,6 +249,9 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
 		qDebug() << "PipXtremeGadgetWidget: Count not read DeviceID field.";
 	}
 
+	// Update the PairID field
+	m_pipx->PairID->setText(QString::number(pairID, 16).toUpper());
+
  	// Update the link state
  	UAVObjectField* linkField = object->getField("LinkState");
  	if (linkField) {
@@ -283,12 +290,19 @@ void ConfigPipXtremeWidget::pairIDToggled(bool checked, quint8 idx)
 		PipXSettings *pipxSettings = PipXSettings::GetInstance(getObjectManager());
 
 		if (pipxStatus && pipxSettings)
+		{
+			if (idx == 4)
+			{
+				pipxSettings->setPairID(0);
+			}
+			else
 			{
 				quint32 pairID = pipxStatus->getPairIDs(idx);
 				if (pairID)
 					pipxSettings->setPairID(pairID);
 			}
 		}
+	}
 }
 
 void ConfigPipXtremeWidget::pair1Toggled(bool checked)
@@ -311,6 +325,11 @@ void ConfigPipXtremeWidget::pair4Toggled(bool checked)
 	pairIDToggled(checked, 3);
 }
 
+void ConfigPipXtremeWidget::pairBToggled(bool checked)
+{
+	pairIDToggled(checked, 4);
+}
+
 /**
    @}
    @}

ground/openpilotgcs/src/plugins/config/configpipxtremewidget.h

@@ -63,6 +63,7 @@ private slots:
 	void pair2Toggled(bool checked);
 	void pair3Toggled(bool checked);
 	void pair4Toggled(bool checked);
+	void pairBToggled(bool checked);
 };
 
 #endif // CONFIGTXPIDWIDGET_H

ground/openpilotgcs/src/plugins/config/pipxtreme.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>840</width>
+    <width>834</width>
-    <height>862</height>
+    <height>772</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -63,9 +63,6 @@
         </item>
         <item>
          <layout class="QHBoxLayout" name="submitButtons">
-          <property name="spacing">
-           <number>4</number>
-          </property>
           <item>
            <widget class="QFrame" name="frame">
             <property name="frameShape">
@@ -84,7 +81,7 @@
             <property name="sizeHint" stdset="0">
              <size>
               <width>40</width>
-              <height>20</height>
+              <height>5</height>
              </size>
             </property>
            </spacer>
@@ -138,16 +135,56 @@
            </property>
            <layout class="QGridLayout" name="gridLayout_3">
             <item row="0" column="0">
+             <widget class="QRadioButton" name="PairSelectB">
+              <property name="text">
+               <string/>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QLineEdit" name="PairIDB">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>100</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="text">
+               <string>Broadcast</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="2">
+             <widget class="QLabel" name="PaidIDBLabel">
+              <property name="text">
+               <string>Broadcast Address</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
              <widget class="QRadioButton" name="PairSelect1">
               <property name="text">
                <string/>
               </property>
              </widget>
             </item>
-            <item row="0" column="1" colspan="2">
+            <item row="1" column="1">
-             <widget class="QLineEdit" name="PairID1"/>
+             <widget class="QLineEdit" name="PairID1">
+              <property name="maximumSize">
+               <size>
+                <width>100</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="placeholderText">
+               <string>12345678</string>
+              </property>
+             </widget>
             </item>
-            <item row="0" column="3">
+            <item row="1" column="2">
              <widget class="QProgressBar" name="PairSignalStrengthBar1">
               <property name="minimum">
                <number>-127</number>
@@ -166,17 +203,31 @@
               </property>
              </widget>
             </item>
-            <item row="1" column="0">
+            <item row="1" column="3">
+             <widget class="QLabel" name="PairSignalStrengthLabel1">
+              <property name="text">
+               <string>-100dB</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="0">
              <widget class="QRadioButton" name="PairSelect2">
               <property name="text">
                <string/>
               </property>
              </widget>
             </item>
-            <item row="1" column="1" colspan="2">
+            <item row="2" column="1">
-             <widget class="QLineEdit" name="PairID2"/>
+             <widget class="QLineEdit" name="PairID2">
+              <property name="maximumSize">
+               <size>
+                <width>100</width>
+                <height>16777215</height>
+               </size>
+              </property>
+             </widget>
             </item>
-            <item row="1" column="3">
+            <item row="2" column="2">
              <widget class="QProgressBar" name="PairSignalStrengthBar2">
               <property name="minimum">
                <number>-127</number>
@@ -195,17 +246,31 @@
               </property>
              </widget>
             </item>
-            <item row="2" column="0">
+            <item row="2" column="3">
+             <widget class="QLabel" name="PairSignalStrengthLabel2">
+              <property name="text">
+               <string>-100dB</string>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="0">
              <widget class="QRadioButton" name="PairSelect3">
               <property name="text">
                <string/>
               </property>
              </widget>
             </item>
-            <item row="2" column="1" colspan="2">
+            <item row="3" column="1">
-             <widget class="QLineEdit" name="PairID3"/>
+             <widget class="QLineEdit" name="PairID3">
+              <property name="maximumSize">
+               <size>
+                <width>100</width>
+                <height>16777215</height>
+               </size>
+              </property>
+             </widget>
             </item>
-            <item row="2" column="3">
+            <item row="3" column="2">
              <widget class="QProgressBar" name="PairSignalStrengthBar3">
               <property name="minimum">
                <number>-127</number>
@@ -224,17 +289,31 @@
               </property>
              </widget>
             </item>
-            <item row="3" column="0">
+            <item row="3" column="3">
+             <widget class="QLabel" name="PairSignalStrengthLabel3">
+              <property name="text">
+               <string>-100dB</string>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="0">
              <widget class="QRadioButton" name="PairSelect4">
               <property name="text">
                <string/>
               </property>
              </widget>
             </item>
-            <item row="3" column="1" colspan="2">
+            <item row="4" column="1">
-             <widget class="QLineEdit" name="PairID4"/>
+             <widget class="QLineEdit" name="PairID4">
+              <property name="maximumSize">
+               <size>
+                <width>100</width>
+                <height>16777215</height>
+               </size>
+              </property>
+             </widget>
             </item>
-            <item row="3" column="3">
+            <item row="4" column="2">
              <widget class="QProgressBar" name="PairSignalStrengthBar4">
               <property name="minimum">
                <number>-127</number>
@@ -253,28 +332,7 @@
               </property>
              </widget>
             </item>
-            <item row="0" column="4">
+            <item row="4" column="3">
-             <widget class="QLabel" name="PairSignalStrengthLabel1">
-              <property name="text">
-               <string>-100dB</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="4">
-             <widget class="QLabel" name="PairSignalStrengthLabel2">
-              <property name="text">
-               <string>-100dB</string>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="4">
-             <widget class="QLabel" name="PairSignalStrengthLabel3">
-              <property name="text">
-               <string>-100dB</string>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="4">
              <widget class="QLabel" name="PairSignalStrengthLabel4">
               <property name="text">
                <string>-100dB</string>
@@ -288,7 +346,7 @@
           <widget class="QGroupBox" name="groupBox_3">
            <property name="minimumSize">
             <size>
-             <width>400</width>
+             <width>430</width>
              <height>0</height>
             </size>
            </property>
@@ -305,15 +363,27 @@
             <item row="0" column="0">
              <widget class="QLabel" name="label_9">
               <property name="text">
-               <string>Firmware Version</string>
+               <string>Firmware Ver.</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
               </property>
              </widget>
             </item>
-            <item row="0" column="1">
+            <item row="0" column="1" colspan="3">
              <widget class="QLineEdit" name="FirmwareVersion">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
               <property name="font">
                <font>
                 <weight>75</weight>
@@ -324,7 +394,7 @@
                <string notr="true">QLineEdit {
   border: none;
   border-radius: 1px;
-  padding: 0 8px;
+  padding: 0 4px;
   background: rgba(0, 0, 0, 16);
 /*  background: transparent; */
 /*     selection-background-color: darkgray;*/
@@ -348,7 +418,7 @@
               </property>
              </widget>
             </item>
-            <item row="2" column="1">
+            <item row="2" column="1" colspan="3">
              <widget class="QLineEdit" name="SerialNumber">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -356,6 +426,12 @@
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
               <property name="maximumSize">
                <size>
                 <width>16777215</width>
@@ -379,7 +455,7 @@
                <string notr="true">QLineEdit {
   border: none;
   border-radius: 1px;
-  padding: 0 8px;
+  padding: 0 4px;
   background: rgba(0, 0, 0, 16);
 /*  background: transparent; */
 /*     selection-background-color: darkgray;*/
@@ -396,6 +472,108 @@
               </property>
              </widget>
             </item>
+            <item row="3" column="0">
+             <widget class="QLabel" name="DeviceIDLabel">
+              <property name="text">
+               <string>Device ID</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="1">
+             <widget class="QLineEdit" name="DeviceID">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">QLineEdit {
+  border: none;
+  border-radius: 1px;
+  padding: 0 4px;
+  background: rgba(0, 0, 0, 16);
+/*  background: transparent; */
+/*     selection-background-color: darkgray;*/
+}</string>
+              </property>
+              <property name="frame">
+               <bool>false</bool>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+              <property name="placeholderText">
+               <string>12345678</string>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="2">
+             <widget class="QLabel" name="PairIDLabel">
+              <property name="text">
+               <string>Pair ID</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="3">
+             <widget class="QLineEdit" name="PairID">
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">QLineEdit {
+  border: none;
+  border-radius: 1px;
+  padding: 0 4px;
+  background: rgba(0, 0, 0, 16);
+/*  background: transparent; */
+/*     selection-background-color: darkgray;*/
+}</string>
+              </property>
+              <property name="frame">
+               <bool>false</bool>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+              <property name="placeholderText">
+               <string>90ABCDEF</string>
+              </property>
+             </widget>
+            </item>
             <item row="4" column="0">
              <widget class="QLabel" name="label_3">
               <property name="text">
@@ -414,9 +592,15 @@
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
               <property name="maximumSize">
                <size>
-                <width>16777215</width>
+                <width>101</width>
                 <height>16777215</height>
                </size>
               </property>
@@ -433,7 +617,7 @@
                <string notr="true">QLineEdit {
   border: none;
   border-radius: 1px;
-  padding: 0 8px;
+  padding: 0 4px;
   background: rgba(0, 0, 0, 16);
 /*  background: transparent; */
 /*     selection-background-color: darkgray;*/
@@ -447,7 +631,7 @@
               </property>
              </widget>
             </item>
-            <item row="5" column="0">
+            <item row="4" column="2">
              <widget class="QLabel" name="label_4">
               <property name="text">
                <string>Max Frequency</string>
@@ -457,7 +641,7 @@
               </property>
              </widget>
             </item>
-            <item row="5" column="1">
+            <item row="4" column="3">
              <widget class="QLineEdit" name="MaxFrequency">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -467,7 +651,7 @@
               </property>
               <property name="maximumSize">
                <size>
-                <width>16777215</width>
+                <width>101</width>
                 <height>16777215</height>
                </size>
               </property>
@@ -484,7 +668,7 @@
                <string notr="true">QLineEdit {
   border: none;
   border-radius: 1px;
-  padding: 0 8px;
+  padding: 0 4px;
   background: rgba(0, 0, 0, 16);
 /*  background: transparent; */
 /*     selection-background-color: darkgray;*/
@@ -498,7 +682,7 @@
               </property>
              </widget>
             </item>
-            <item row="6" column="0">
+            <item row="5" column="0">
              <widget class="QLabel" name="label_12">
               <property name="text">
                <string>Freq. Step Size</string>
@@ -508,7 +692,7 @@
               </property>
              </widget>
             </item>
-            <item row="6" column="1">
+            <item row="5" column="1">
              <widget class="QLineEdit" name="FrequencyStepSize">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -516,9 +700,15 @@
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
               <property name="maximumSize">
                <size>
-                <width>16777215</width>
+                <width>101</width>
                 <height>16777215</height>
                </size>
               </property>
@@ -535,7 +725,7 @@
                <string notr="true">QLineEdit {
   border: none;
   border-radius: 1px;
-  padding: 0 8px;
+  padding: 0 4px;
   background: rgba(0, 0, 0, 16);
 /*  background: transparent; */
 /*     selection-background-color: darkgray;*/
@@ -549,7 +739,232 @@
               </property>
              </widget>
             </item>
+            <item row="5" column="2">
+             <widget class="QLabel" name="FreqBandLabel">
+              <property name="text">
+               <string>Freq. Band</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="3">
+             <widget class="QLineEdit" name="FreqBand">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="toolTip">
+               <string>The current frequency band</string>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">QLineEdit {
+  border: none;
+  border-radius: 1px;
+  padding: 0 4px;
+  background: rgba(0, 0, 0, 16);
+/*  background: transparent; */
+/*     selection-background-color: darkgray;*/
+}</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="0">
+             <widget class="QLabel" name="RSSILabel">
+              <property name="text">
+               <string>RSSI</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="1">
+             <widget class="QLineEdit" name="RSSI">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">QLineEdit {
+  border: none;
+  border-radius: 1px;
+  padding: 0 4px;
+  background: rgba(0, 0, 0, 16);
+/*  background: transparent; */
+/*     selection-background-color: darkgray;*/
+}</string>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="2">
+             <widget class="QLabel" name="RxAFCLabel">
+              <property name="text">
+               <string>Rx AFC</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="3">
+             <widget class="QLineEdit" name="RxAFC">
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">QLineEdit {
+  border: none;
+  border-radius: 1px;
+  padding: 0 4px;
+  background: rgba(0, 0, 0, 16);
+/*  background: transparent; */
+/*     selection-background-color: darkgray;*/
+}</string>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
             <item row="7" column="0">
+             <widget class="QLabel" name="TXRateLabel">
+              <property name="text">
+               <string>TX Rate (B/s)</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="7" column="1">
+             <widget class="QLineEdit" name="TXRate">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">QLineEdit {
+  border: none;
+  border-radius: 1px;
+  padding: 0 4px;
+  background: rgba(0, 0, 0, 16);
+/*  background: transparent; */
+/*     selection-background-color: darkgray;*/
+}</string>
+              </property>
+              <property name="frame">
+               <bool>false</bool>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="7" column="2">
+             <widget class="QLabel" name="RXRateLabel">
+              <property name="text">
+               <string>RX Rate (B/s)</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="7" column="3">
+             <widget class="QLineEdit" name="RXRate">
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">QLineEdit {
+  border: none;
+  border-radius: 1px;
+  padding: 0 4px;
+  background: rgba(0, 0, 0, 16);
+/*  background: transparent; */
+/*     selection-background-color: darkgray;*/
+}</string>
+              </property>
+              <property name="frame">
+               <bool>false</bool>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="8" column="0">
              <widget class="QLabel" name="label_11">
               <property name="text">
                <string>Link State</string>
@@ -559,17 +974,23 @@
               </property>
              </widget>
             </item>
-            <item row="7" column="1">
+            <item row="8" column="1">
              <widget class="QLineEdit" name="LinkState">
               <property name="sizePolicy">
-               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+               <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
               <property name="maximumSize">
                <size>
-                <width>16777215</width>
+                <width>101</width>
                 <height>16777215</height>
                </size>
               </property>
@@ -586,7 +1007,7 @@
                <string notr="true">QLineEdit {
   border: none;
   border-radius: 1px;
-  padding: 0 8px;
+  padding: 0 3px;
   background: rgba(0, 0, 0, 16);
 /*  background: transparent; */
 /*     selection-background-color: darkgray;*/
@@ -598,20 +1019,29 @@
               <property name="readOnly">
                <bool>true</bool>
               </property>
+              <property name="placeholderText">
+               <string>Disconnected</string>
+              </property>
              </widget>
             </item>
-            <item row="8" column="0">
+            <item row="8" column="2">
-             <widget class="QLabel" name="label_17">
+             <widget class="QLabel" name="label_19">
               <property name="text">
-               <string>Rx AFC</string>
+               <string>Errors</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
               </property>
              </widget>
             </item>
-            <item row="8" column="1">
+            <item row="8" column="3">
-             <widget class="QLineEdit" name="RxAFC">
+             <widget class="QLineEdit" name="Errors">
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
               <property name="font">
                <font>
                 <weight>75</weight>
@@ -622,12 +1052,15 @@
                <string notr="true">QLineEdit {
   border: none;
   border-radius: 1px;
-  padding: 0 8px;
+  padding: 0 4px;
   background: rgba(0, 0, 0, 16);
 /*  background: transparent; */
 /*     selection-background-color: darkgray;*/
 }</string>
               </property>
+              <property name="frame">
+               <bool>false</bool>
+              </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
@@ -645,6 +1078,18 @@
             </item>
             <item row="9" column="1">
              <widget class="QLineEdit" name="Retries">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
               <property name="font">
                <font>
                 <weight>75</weight>
@@ -655,7 +1100,7 @@
                <string notr="true">QLineEdit {
   border: none;
   border-radius: 1px;
-  padding: 0 8px;
+  padding: 0 4px;
   background: rgba(0, 0, 0, 16);
 /*  background: transparent; */
 /*     selection-background-color: darkgray;*/
@@ -669,8 +1114,24 @@
               </property>
              </widget>
             </item>
-            <item row="10" column="1">
+            <item row="9" column="2">
-             <widget class="QLineEdit" name="Errors">
+             <widget class="QLabel" name="UAVTalkErrorsLabel">
+              <property name="text">
+               <string>UAVTalk Errors</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="9" column="3">
+             <widget class="QLineEdit" name="UAVTalkErrors">
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
               <property name="font">
                <font>
                 <weight>75</weight>
@@ -681,7 +1142,7 @@
                <string notr="true">QLineEdit {
   border: none;
   border-radius: 1px;
-  padding: 0 8px;
+  padding: 0 4px;
   background: rgba(0, 0, 0, 16);
 /*  background: transparent; */
 /*     selection-background-color: darkgray;*/
@@ -696,52 +1157,6 @@
              </widget>
             </item>
             <item row="10" column="0">
-             <widget class="QLabel" name="label_19">
-              <property name="text">
-               <string>Errors</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="11" column="0">
-             <widget class="QLabel" name="UAVTalkErrorsLabel">
-              <property name="text">
-               <string>UAVTalk Errors</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="11" column="1">
-             <widget class="QLineEdit" name="UAVTalkErrors">
-              <property name="font">
-               <font>
-                <weight>75</weight>
-                <bold>true</bold>
-               </font>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">QLineEdit {
-  border: none;
-  border-radius: 1px;
-  padding: 0 8px;
-  background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
-/*     selection-background-color: darkgray;*/
-}</string>
-              </property>
-              <property name="frame">
-               <bool>false</bool>
-              </property>
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="12" column="0">
              <widget class="QLabel" name="ResetsLabel">
               <property name="text">
                <string>Resets</string>
@@ -751,8 +1166,20 @@
               </property>
              </widget>
             </item>
-            <item row="12" column="1">
+            <item row="10" column="1">
              <widget class="QLineEdit" name="Resets">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
               <property name="font">
                <font>
                 <weight>75</weight>
@@ -763,7 +1190,7 @@
                <string notr="true">QLineEdit {
   border: none;
   border-radius: 1px;
-  padding: 0 8px;
+  padding: 0 4px;
   background: rgba(0, 0, 0, 16);
 /*  background: transparent; */
 /*     selection-background-color: darkgray;*/
@@ -777,7 +1204,7 @@
               </property>
              </widget>
             </item>
-            <item row="13" column="0">
+            <item row="10" column="2">
              <widget class="QLabel" name="DroppedLabel">
               <property name="text">
                <string>Dropped</string>
@@ -787,8 +1214,14 @@
               </property>
              </widget>
             </item>
-            <item row="13" column="1">
+            <item row="10" column="3">
              <widget class="QLineEdit" name="Dropped">
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
               <property name="font">
                <font>
                 <weight>75</weight>
@@ -799,7 +1232,7 @@
                <string notr="true">QLineEdit {
   border: none;
   border-radius: 1px;
-  padding: 0 8px;
+  padding: 0 4px;
   background: rgba(0, 0, 0, 16);
 /*  background: transparent; */
 /*     selection-background-color: darkgray;*/
@@ -813,114 +1246,6 @@
               </property>
              </widget>
             </item>
-            <item row="14" column="0">
-             <widget class="QLabel" name="TXRateLabel">
-              <property name="text">
-               <string>TX Rate (B/s)</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="14" column="1">
-             <widget class="QLineEdit" name="TXRate">
-              <property name="font">
-               <font>
-                <weight>75</weight>
-                <bold>true</bold>
-               </font>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">QLineEdit {
-  border: none;
-  border-radius: 1px;
-  padding: 0 8px;
-  background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
-/*     selection-background-color: darkgray;*/
-}</string>
-              </property>
-              <property name="frame">
-               <bool>false</bool>
-              </property>
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="15" column="0">
-             <widget class="QLabel" name="RXRateLabel">
-              <property name="text">
-               <string>RX Rate (B/s)</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="15" column="1">
-             <widget class="QLineEdit" name="RXRate">
-              <property name="font">
-               <font>
-                <weight>75</weight>
-                <bold>true</bold>
-               </font>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">QLineEdit {
-  border: none;
-  border-radius: 1px;
-  padding: 0 8px;
-  background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
-/*     selection-background-color: darkgray;*/
-}</string>
-              </property>
-              <property name="frame">
-               <bool>false</bool>
-              </property>
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="1">
-             <widget class="QLineEdit" name="DeviceID">
-              <property name="font">
-               <font>
-                <weight>75</weight>
-                <bold>true</bold>
-               </font>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">QLineEdit {
-  border: none;
-  border-radius: 1px;
-  padding: 0 8px;
-  background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
-/*     selection-background-color: darkgray;*/
-}</string>
-              </property>
-              <property name="frame">
-               <bool>false</bool>
-              </property>
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="0">
-             <widget class="QLabel" name="label_20">
-              <property name="text">
-               <string>Device ID</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-              </property>
-             </widget>
-            </item>
            </layout>
           </widget>
          </item>
@@ -929,6 +1254,12 @@
       </item>
       <item row="0" column="1">
        <widget class="QGroupBox" name="groupBox">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
         <property name="font">
          <font>
           <weight>75</weight>

ground/openpilotgcs/src/plugins/gcscontrol/Matlab/GCSControl.m

@@ -0,0 +1,48 @@
+% GCSCONTROL
+%  This class allows the user to send 4-axis stick commands to OpenPilot
+%  GCS.
+%
+% Create class by
+%    control = GCSControl
+%
+% Open connection by 
+%    control.connect('01.23.45.67', 89)
+% where the first value is the IP address of the computer running GCS and
+% the second value is the port on which GCS is listening.
+%
+% Send command by
+%    control.command(pitch, yaw, roll, throttle)
+% where all variables are between [-1,1]
+%
+% Close connection by
+%    control.close()
+
+classdef GCSControl < handle
+    
+    properties
+        udpObj;
+        isConnected=false;
+    end
+    
+    methods
+        function obj=GCSControl()
+            obj.isConnected = false;
+        end
+        function obj=connect(obj,rhost,rport)
+            obj.udpObj = udp(rhost,rport);
+            fopen(obj.udpObj);
+            obj.isConnected = true;
+        end
+        function obj=command(obj,pitch,yaw,roll,throttle)
+            if(obj.isConnected)
+                fwrite(obj.udpObj,[42,pitch,yaw,roll,throttle,36],'double')
+            end
+        end
+        function obj=close(obj)
+            if(obj.isConnected)
+                fclose(obj.udpObj);
+                obj.isConnected = false;
+            end
+        end
+    end
+end

ground/openpilotgcs/src/plugins/gcscontrol/gcscontrol.pro

@@ -2,6 +2,7 @@ TEMPLATE = lib
 TARGET = GCSControl 
 QT += svg
 QT += opengl
+QT += network
 
 include(../../openpilotgcsplugin.pri) 
 include(../../plugins/coreplugin/coreplugin.pri) 

ground/openpilotgcs/src/plugins/gcscontrol/gcscontrol.ui

@@ -41,8 +41,21 @@
        </property>
       </widget>
      </item>
+     <item>
+      <widget class="QCheckBox" name="checkBoxUDPControl">
+       <property name="enabled">
+        <bool>false</bool>
+       </property>
+       <property name="text">
+        <string>UDP Control</string>
+       </property>
+      </widget>
+     </item>
      <item>
       <widget class="QCheckBox" name="checkBoxArmed">
+       <property name="enabled">
+        <bool>true</bool>
+       </property>
        <property name="text">
         <string>Armed</string>
        </property>

ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp

@@ -44,6 +44,10 @@ GCSControlGadget::GCSControlGadget(QString classId, GCSControlGadgetWidget *widg
 
     manualControlCommandUpdated(getManualControlCommand());
 
+    control_sock = new QUdpSocket(this);
+
+    connect(control_sock,SIGNAL(readyRead()),this,SLOT(readUDPCommand()));
+
     joystickTime.start();
     GCSControlPlugin *pl = dynamic_cast<GCSControlPlugin*>(plugin);
     connect(pl->sdlGamepad,SIGNAL(gamepads(quint8)),this,SLOT(gamepads(quint8)));
@@ -67,6 +71,12 @@ void GCSControlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
     yawChannel = ql.at(2);
     throttleChannel = ql.at(3);
 
+ //   if(control_sock->isOpen())
+ //       control_sock->close();
+    control_sock->bind(GCSControlConfig->getUDPControlHost(), GCSControlConfig->getUDPControlPort(),QUdpSocket::ShareAddress);
+
+
+
     controlsMode = GCSControlConfig->getControlsMode();
 
     int i;
@@ -174,7 +184,8 @@ void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double r
     }
 
     //if we are not in local gcs control mode, ignore the joystick input
-    if (((GCSControlGadgetWidget *)m_widget)->getGCSControl()==false)return;
+    if (((GCSControlGadgetWidget *)m_widget)->getGCSControl()==false || ((GCSControlGadgetWidget *)m_widget)->getUDPControl())
+        return;
 
     if((newThrottle != oldThrottle) || (newPitch != oldPitch) || (newYaw != oldYaw) || (newRoll != oldRoll)) {
         if (buttonRollControl==0)obj->getField("Roll")->setDouble(newRoll);
@@ -191,6 +202,93 @@ void GCSControlGadget::gamepads(quint8 count)
 //    sdlGamepad.setTickRate(JOYSTICK_UPDATE_RATE);
 }
 
+void GCSControlGadget::readUDPCommand()
+{
+    double pitch, yaw, roll, throttle;
+    while (control_sock->hasPendingDatagrams()) {
+        QByteArray datagram;
+        datagram.resize(control_sock->pendingDatagramSize());
+        control_sock->readDatagram(datagram.data(), datagram.size());
+        QDataStream readData(datagram);
+        bool badPack = false;
+        int state = 0;
+        while(!readData.atEnd() && !badPack)
+        {
+            double buffer;
+            readData >> buffer;
+            switch(state)
+            {
+            case 0:
+                if(buffer == 42){
+                    state = 1;
+                }else{
+                    state = 0;
+                    badPack = true;
+                }
+                break;
+            case 1:
+                pitch = buffer;
+                state = 2;
+                break;
+            case 2:
+                yaw = buffer;
+                state = 3;
+                break;
+            case 3:
+                roll = buffer;
+                state = 4;
+                break;
+            case 4:
+                throttle = buffer;
+                state = 5;
+                break;
+            case 5:
+                if(buffer != 36 || !readData.atEnd())
+                    badPack=true;
+                break;
+            }
+
+        }
+        if(!badPack && ((GCSControlGadgetWidget *)m_widget)->getUDPControl())
+        {
+             ManualControlCommand * obj = getManualControlCommand();
+             bool update = false;
+
+             if(pitch != obj->getField("Pitch")->getDouble()){
+                 obj->getField("Pitch")->setDouble(constrain(pitch));
+                 update = true;
+             }
+             if(yaw != obj->getField("Yaw")->getDouble()){
+                 obj->getField("Yaw")->setDouble(constrain(yaw));
+                 update = true;
+             }
+             if(roll != obj->getField("Roll")->getDouble()){
+                 obj->getField("Roll")->setDouble(constrain(roll));
+                 update = true;
+             }
+             if(throttle != obj->getField("Throttle")->getDouble()){
+                obj->getField("Throttle")->setDouble(constrain(throttle));
+                update = true;
+             }
+             if(update)
+                 obj->updated();
+        }
+    }
+
+    qDebug() << "Pitch: " << pitch << " Yaw: " << yaw << " Roll: " << roll << " Throttle: " << throttle;
+
+
+}
+
+double GCSControlGadget::constrain(double value)
+{
+    if(value < -1)
+        return -1;
+    if(value > 1)
+        return 1;
+    return value;
+}
+
 void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
 {
     int state;
@@ -200,6 +298,7 @@ void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
         UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
         UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
         bool currentCGSControl = ((GCSControlGadgetWidget *)m_widget)->getGCSControl();
+        bool currentUDPControl = ((GCSControlGadgetWidget *)m_widget)->getUDPControl();
 
         switch (buttonSettings[number].ActionID)
         {
@@ -267,6 +366,11 @@ void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
                 //Toggle the GCS Control checkbox, its built in signalling will handle the update to OP
                 ((GCSControlGadgetWidget *)m_widget)->setGCSControl(!currentCGSControl);
 
+               break;
+            case 3: //UDP Control
+                    if(currentCGSControl)
+                        ((GCSControlGadgetWidget *)m_widget)->setUDPControl(!currentUDPControl);
+
                     break;
             }
 

ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.h

@@ -34,6 +34,9 @@
 #include "sdlgamepad/sdlgamepad.h"
 #include <QTime>
 #include "gcscontrolplugin.h"
+#include <QUdpSocket>
+#include <QHostAddress>
+
 
 namespace Core {
 class IUAVGadget;
@@ -59,6 +62,7 @@ public:
 
 private:
     ManualControlCommand* getManualControlCommand();
+    double constrain(double value);
     QTime joystickTime;
     QWidget *m_widget;
     QList<int> m_context;
@@ -72,6 +76,8 @@ private:
     double bound(double input);
     double wrap(double input);
     bool channelReverse[8];
+    QUdpSocket *control_sock;
+
 
 signals:
     void sticksChangedRemotely(double leftX, double leftY, double rightX, double rightY);
@@ -79,6 +85,7 @@ signals:
 protected slots:
     void manualControlCommandUpdated(UAVObject *);
     void sticksChangedLocally(double leftX, double leftY, double rightX, double rightY);
+    void readUDPCommand();
 
     // signals from joystick
     void gamepads(quint8 count);

ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetconfiguration.cpp

@@ -54,6 +54,9 @@ GCSControlGadgetConfiguration::GCSControlGadgetConfiguration(QString classId, QS
         yawChannel = qSettings->value("yawChannel").toInt();
         throttleChannel = qSettings->value("throttleChannel").toInt();
 
+        udp_port = qSettings->value("controlPortUDP").toUInt();
+        udp_host = QHostAddress(qSettings->value("controlHostUDP").toString());
+
         int i;
         for (i=0;i<8;i++)
         {
@@ -66,6 +69,21 @@ GCSControlGadgetConfiguration::GCSControlGadgetConfiguration(QString classId, QS
 
 }
 
+void GCSControlGadgetConfiguration::setUDPControlSettings(int port, QString host)
+{
+    udp_port = port;
+    udp_host = QHostAddress(host);
+}
+
+int GCSControlGadgetConfiguration::getUDPControlPort()
+{
+    return udp_port;
+}
+QHostAddress GCSControlGadgetConfiguration::getUDPControlHost()
+{
+    return udp_host;
+}
+
 void GCSControlGadgetConfiguration::setRPYTchannels(int roll, int pitch, int yaw, int throttle) {
     rollChannel = roll;
     pitchChannel = pitch;
@@ -102,6 +120,9 @@ IUAVGadgetConfiguration *GCSControlGadgetConfiguration::clone()
     m->yawChannel = yawChannel;
     m->throttleChannel = throttleChannel;
 
+    m->udp_host = udp_host;
+    m->udp_port = udp_port;
+
     int i;
     for (i=0;i<8;i++)
     {
@@ -126,6 +147,9 @@ void GCSControlGadgetConfiguration::saveConfig(QSettings* settings) const {
     settings->setValue("yawChannel", yawChannel);
     settings->setValue("throttleChannel", throttleChannel);
 
+    settings->setValue("controlPortUDP",QString::number(udp_port));
+    settings->setValue("controlHostUDP",udp_host.toString());
+
     int i;
     for (i=0;i<8;i++)
     {

ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetconfiguration.h

@@ -29,6 +29,7 @@
 #define GCSCONTROLGADGETCONFIGURATION_H
 
 #include <coreplugin/iuavgadgetconfiguration.h>
+#include <QtNetwork/QHostAddress>
 
 typedef struct{
     int     ActionID;
@@ -36,6 +37,11 @@ typedef struct{
     double  Amount;
 }buttonSettingsStruct;
 
+typedef struct{
+    int port;
+    QHostAddress address;
+}portSettingsStruct;
+
 
 using namespace Core;
 
@@ -49,6 +55,9 @@ class GCSControlGadgetConfiguration : public IUAVGadgetConfiguration
 
     void setControlsMode(int mode) { controlsMode = mode; }
     void setRPYTchannels(int roll, int pitch, int yaw, int throttle);
+    void setUDPControlSettings(int port, QString host);
+    int getUDPControlPort();
+    QHostAddress getUDPControlHost();
     int getControlsMode() { return controlsMode; }
     QList<int>  getChannelsMapping();
     QList<bool>  getChannelsReverse();
@@ -72,6 +81,8 @@ class GCSControlGadgetConfiguration : public IUAVGadgetConfiguration
         int throttleChannel;
         buttonSettingsStruct buttonSettings[8];
         bool channelReverse[8];
+        int udp_port;
+        QHostAddress udp_host;
 
 
 };

ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.cpp

@@ -137,7 +137,7 @@ QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
               options_page->buttonFunction4 << options_page->buttonFunction5 <<
               options_page->buttonFunction6 << options_page->buttonFunction7;
     QStringList buttonOptions;
-    buttonOptions <<"-" << "Roll" << "Pitch" << "Yaw" << "Throttle" << "Armed" << "GCS Control" ;
+    buttonOptions <<"-" << "Roll" << "Pitch" << "Yaw" << "Throttle" << "Armed" << "GCS Control"; //added UDP control to action list
     foreach (QComboBox* qb, buttonFunctionList) {
         qb->addItems(buttonOptions);
     }
@@ -187,6 +187,9 @@ QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
 
     //updateButtonFunction();
 
+    options_page->udp_host->setText(m_config->getUDPControlHost().toString());
+    options_page->udp_port->setText(QString::number(m_config->getUDPControlPort()));
+
 
     // Controls mode are from 1 to 4.
     if (m_config->getControlsMode()>0 && m_config->getControlsMode() < 5)
@@ -262,6 +265,9 @@ void GCSControlGadgetOptionsPage::apply()
    }
    m_config->setRPYTchannels(roll,pitch,yaw,throttle);
 
+   m_config->setUDPControlSettings(options_page->udp_port->text().toInt(),options_page->udp_host->text());
+
+
    int j;
    for (j=0;j<8;j++)
    {
@@ -271,6 +277,7 @@ void GCSControlGadgetOptionsPage::apply()
        m_config->setChannelReverse(j,chRevList.at(j)->isChecked());
    }
 
+
 }
 
 void GCSControlGadgetOptionsPage::finish()
@@ -369,7 +376,7 @@ void GCSControlGadgetOptionsPage::updateButtonAction(int controlID)
         if (buttonActionList.at(i)->currentText().compare("Toggles")==0)
         {
             disconnect(buttonFunctionList.at(i),SIGNAL(currentIndexChanged(int)),this,SLOT(updateButtonFunction()));
-            buttonOptions <<"-" << "Armed" << "GCS Control" ;
+            buttonOptions <<"-" << "Armed" << "GCS Control" << "UDP Control";
             buttonFunctionList.at(i)->clear();
             buttonFunctionList.at(i)->insertItems(-1,buttonOptions);
 

ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.ui

@@ -141,7 +141,7 @@
        </widget>
       </item>
       <item>
-       <widget class="QTabWidget" name="tabWidget">
+       <widget class="QTabWidget" name="UDPSetup">
         <property name="currentIndex">
          <number>0</number>
         </property>
@@ -1011,6 +1011,66 @@
           </item>
          </layout>
         </widget>
+        <widget class="QWidget" name="UDPSetup_2">
+         <attribute name="title">
+          <string>UDP Setup</string>
+         </attribute>
+         <widget class="QGroupBox" name="groupBox">
+          <property name="geometry">
+           <rect>
+            <x>20</x>
+            <y>20</y>
+            <width>301</width>
+            <height>71</height>
+           </rect>
+          </property>
+          <property name="title">
+           <string>UDP Port Configuration</string>
+          </property>
+          <layout class="QHBoxLayout" name="horizontalLayout_2">
+           <item>
+            <widget class="QLabel" name="label_7">
+             <property name="text">
+              <string>Host:</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLineEdit" name="udp_host">
+             <property name="maximumSize">
+              <size>
+               <width>120</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="text">
+              <string>127.0.0.1</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_6">
+             <property name="text">
+              <string>Port:</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLineEdit" name="udp_port">
+             <property name="maximumSize">
+              <size>
+               <width>50</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="text">
+              <string>2323</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </widget>
+        </widget>
        </widget>
       </item>
      </layout>

ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp

@@ -34,6 +34,7 @@
 #include <QtGui/QVBoxLayout>
 #include <QtGui/QPushButton>
 
+
 #include "uavobject.h"
 #include "uavobjectmanager.h"
 #include "manualcontrolcommand.h"
@@ -64,9 +65,14 @@ GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
     connect(m_gcscontrol->checkBoxArmed, SIGNAL(stateChanged(int)), this, SLOT(toggleArmed(int)));
     connect(m_gcscontrol->comboBoxFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(selectFlightMode(int)));
 
+    connect(m_gcscontrol->checkBoxUDPControl, SIGNAL(stateChanged(int)),this,SLOT(toggleUDPControl(int))); //UDP control checkbox
+
     // Connect object updated event from UAVObject to also update check boxes and dropdown
     connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(mccChanged(UAVObject*)));
 
+
+
+
     leftX = 0;
     leftY = 0;
     rightX = 0;
@@ -122,11 +128,14 @@ void GCSControlGadgetWidget::toggleControl(int state)
         UAVObject::SetGcsTelemetryAcked(mdata, false);
         UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
         mdata.gcsTelemetryUpdatePeriod = 100;
+        m_gcscontrol->checkBoxUDPControl->setEnabled(true);
 
     }
     else
     {
         mdata = mccInitialData;
+        toggleUDPControl(false);
+        m_gcscontrol->checkBoxUDPControl->setEnabled(false);
     }
     obj->setMetadata(mdata);
 }
@@ -152,6 +161,16 @@ void GCSControlGadgetWidget::mccChanged(UAVObject * obj)
     m_gcscontrol->checkBoxArmed->setChecked(flightStatus->getField("Armed")->getValue() == "Armed");
 }
 
+void GCSControlGadgetWidget::toggleUDPControl(int state)
+{
+    if(state)
+    {
+        setUDPControl(true);
+    }else{
+        setUDPControl(false);
+    }
+}
+
 /*!
   \brief Called when the flight mode drop down is changed and sets the ManualControlCommand->FlightMode accordingly
   */
@@ -168,11 +187,21 @@ void GCSControlGadgetWidget::selectFlightMode(int state)
 void GCSControlGadgetWidget::setGCSControl(bool newState)
 {
     m_gcscontrol->checkBoxGcsControl->setChecked(newState);
-};
+}
 bool GCSControlGadgetWidget::getGCSControl(void)
 {
     return m_gcscontrol->checkBoxGcsControl->isChecked();
-};
+}
+
+void GCSControlGadgetWidget::setUDPControl(bool newState)
+{
+    m_gcscontrol->checkBoxUDPControl->setChecked(newState);
+}
+
+bool GCSControlGadgetWidget::getUDPControl(void)
+{
+    return m_gcscontrol->checkBoxUDPControl->isChecked();
+}
 
 
 /**

ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.h

@@ -31,6 +31,8 @@
 #include <QtGui/QLabel>
 #include "manualcontrolcommand.h"
 
+#define UDP_PORT 2323
+
 class Ui_GCSControl;
 
 class GCSControlGadgetWidget : public QLabel
@@ -42,6 +44,8 @@ public:
     ~GCSControlGadgetWidget();
     void setGCSControl(bool newState);
     bool getGCSControl(void);
+    void setUDPControl(bool newState);
+    bool getUDPControl(void);
 
 signals:
     void sticksChanged(double leftX, double leftY, double rightX, double rightY);
@@ -59,6 +63,7 @@ protected slots:
     void toggleArmed(int state);
     void selectFlightMode(int state);
     void mccChanged(UAVObject *);
+    void toggleUDPControl(int state);
 
 private:
     Ui_GCSControl *m_gcscontrol;

shared/uavobjectdefinition/gcsreceiver.xml

@@ -2,7 +2,7 @@
     <object name="GCSReceiver" singleinstance="true" settings="false">
         <description>A receiver channel group carried over the telemetry link.</description>
         <field name="Channel" units="us" type="uint16" elements="8"/>
-        <access gcs="readwrite" flight="readonly"/>
+        <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="onchange" period="0"/>
         <telemetryflight acked="false" updatemode="onchange" period="0"/>
         <logging updatemode="manual" period="0"/>

shared/uavobjectdefinition/pipxsettings.xml

@@ -2,9 +2,9 @@
 	<object name="PipXSettings" singleinstance="true" settings="true">
 		<description>PipXtreme configurations options.</description>
 		<field name="PairID" units="" type="uint32" elements="1" defaultvalue="0"/>
-		<field name="TelemetryConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,Debug" defaultvalue="UAVTalk"/>
+		<field name="TelemetryConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,GCS,Debug" defaultvalue="UAVTalk"/>
 		<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
-		<field name="FlexiConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,PPM_In,PPM_Out,RSSI,Debug" defaultvalue="Disabled"/>
+		<field name="FlexiConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,GCS,PPM_In,PPM_Out,RSSI,Debug" defaultvalue="Disabled"/>
 		<field name="FlexiSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
 		<field name="VCPConfig" units="function" type="enum" elements="1" options="Disabled,Serial,Debug" defaultvalue="Disabled"/>
 		<field name="VCPSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>